root/longdianningxing
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

rev:优化拔前行架任务下发以及手动创建指令

Browse Source
This commit is contained in:
tuqiang
2024-06-20 20:01:27 +08:00
parent 06e7f163e2
commit cdd51816fc
9 changed files with 188 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
View File

@@ -360,9 +360,11 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}*/
if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() != 1) {
notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "无货,无法下发指令!指令号:" + instruction.getInstruction_code();
return false;
if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
if (standardInspectSiteDeviceDriver.getMove() != 1) {
notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "无货,无法下发指令!指令号:" + instruction.getInstruction_code();
return false;
}
}
}
if (startdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
@@ -375,9 +377,11 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() != 0) {
notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "有货,无法下发指令!指令号:" + instruction.getInstruction_code();
return false;
if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
if (standardInspectSiteDeviceDriver.getMove() != 0) {
notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "有货,无法下发指令!指令号:" + instruction.getInstruction_code();
return false;
}
}
}
if (nextdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
@@ -503,9 +507,11 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}*/
if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() != 1) {
notCreateInstMessage = "就绪任务未创建指令原因->取货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "光电无货,无法生成指令!";
return false;
if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
if (standardInspectSiteDeviceDriver.getMove() != 1) {
notCreateInstMessage = "就绪任务未创建指令原因->取货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "光电无货,无法生成指令!";
return false;
}
}
}
if (startdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
@@ -525,9 +531,11 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() != 0) {
notCreateInstMessage = "就绪任务未创建指令原因->放货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "光电有货,无法生成指令!";
return false;
if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
if (standardInspectSiteDeviceDriver.getMove() != 0) {
notCreateInstMessage = "就绪任务未创建指令原因->放货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "光电有货,无法生成指令!";
return false;
}
}
}

46
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/pull_head_manipulator/PullHeadManipulatorDeviceDriver.java
View File

@@ -224,7 +224,6 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
if (inst != null) {
if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex())) {
try {
TaskDto dto = taskserver.findByCode(inst.getTask_code());
Map<String, Object> map = new LinkedHashMap<>();
/*if (ObjectUtil.isNotEmpty(dto)){
String interaction_json = dto.getInteraction_json();
@@ -257,11 +256,11 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
if (mode == 0) {
this.setIsonline(false);
message = LangProcess.msg("universal_off-line");
message = "universal_off-line";
//有报警
} else if (error != 0) {
this.setIserror(true);
message = LangProcess.msg("universal_message3");
message = "universal_message3";
//无报警
} else {
this.setIsonline(true);
@@ -337,6 +336,7 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
//放货工位
List<String> putDeviceCodeList = this.getExtraDeviceCodes("put_device_code");
TaskDto task = null;
PlugPullDeviceSiteDeviceDriver plugPullDeviceSiteDeviceDriver;
for (int i = 0; i < getDeviceCodeList.size(); i++) {
String startDeviceCode = getDeviceCodeList.get(i);
List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
@@ -344,6 +344,22 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
//按照优先级排序 优先级相等按照创建时间排序
taskDtos = this.sortTask(taskDtos);
TaskDto taskDto = taskDtos.get(0);
String startPoint = task.getStart_device_code();
Device startPointDevice = deviceAppService.findDeviceByCode(startPoint);
if (startPointDevice.getDeviceDriver() instanceof PlugPullDeviceSiteDeviceDriver) {
plugPullDeviceSiteDeviceDriver = (PlugPullDeviceSiteDeviceDriver) startPointDevice.getDeviceDriver();
if (plugPullDeviceSiteDeviceDriver.getAction() != 1&&plugPullDeviceSiteDeviceDriver.getAction() != 3)
notCreateInstMessage = "universal_notCreateInstMessage9";
return false;
}
String nextDeviceCode = taskDto.getNext_device_code();
Device device = deviceAppService.findDeviceByCode(nextDeviceCode);
if (device.getDeviceDriver() instanceof PlugPullDeviceSiteDeviceDriver) {
plugPullDeviceSiteDeviceDriver = (PlugPullDeviceSiteDeviceDriver) device.getDeviceDriver();
if (plugPullDeviceSiteDeviceDriver.getMode() != 2 || plugPullDeviceSiteDeviceDriver.getMove() != 0 || plugPullDeviceSiteDeviceDriver.getAction() != 2&&plugPullDeviceSiteDeviceDriver.getAction() != 3)
notCreateInstMessage = "universal_notCreateInstMessage9";
return false;
}
Instruction instruction = instructionService.findByTaskcode(taskDto.getTask_code());
String startCode = instruction.getStart_device_code();
String nextCode = instruction.getNext_device_code();
@@ -380,12 +396,20 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
}
}
if (!ObjectUtil.isEmpty(task)) {
String startDeviceCode = task.getStart_device_code();
Device start_device = deviceAppService.findDeviceByCode(startDeviceCode);
if (start_device.getDeviceDriver() instanceof PlugPullDeviceSiteDeviceDriver) {
plugPullDeviceSiteDeviceDriver = (PlugPullDeviceSiteDeviceDriver) start_device.getDeviceDriver();
if (plugPullDeviceSiteDeviceDriver.getAction() != 1&&plugPullDeviceSiteDeviceDriver.getAction() != 3)
notCreateInstMessage = "universal_notCreateInstMessage9";
return false;
}
String nextDeviceCode = task.getNext_device_code();
Device device = deviceAppService.findDeviceByCode(nextDeviceCode);
PlugPullDeviceSiteDeviceDriver plugPullDeviceSiteDeviceDriver;
if (device.getDeviceDriver() instanceof PlugPullDeviceSiteDeviceDriver) {
plugPullDeviceSiteDeviceDriver = (PlugPullDeviceSiteDeviceDriver) device.getDeviceDriver();
if (plugPullDeviceSiteDeviceDriver.getMode() != 2 && plugPullDeviceSiteDeviceDriver.getMove() != 0 && plugPullDeviceSiteDeviceDriver.getAction() != 1)
Device next_device = deviceAppService.findDeviceByCode(nextDeviceCode);
if (next_device.getDeviceDriver() instanceof PlugPullDeviceSiteDeviceDriver) {
plugPullDeviceSiteDeviceDriver = (PlugPullDeviceSiteDeviceDriver) next_device.getDeviceDriver();
if (plugPullDeviceSiteDeviceDriver.getMode() != 2 || plugPullDeviceSiteDeviceDriver.getMove() != 0 || plugPullDeviceSiteDeviceDriver.getAction() != 2&&plugPullDeviceSiteDeviceDriver.getAction() != 3)
notCreateInstMessage = "universal_notCreateInstMessage9";
return false;
}
String taskId = task.getTask_id();
@@ -393,11 +417,9 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
String vehicleCode = task.getVehicle_code();
String priority = task.getPriority();
String startPointCode = task.getStart_point_code();
String startDeviceCode = task.getStart_device_code();
String routePlanCode = task.getRoute_plan_code();
String nextPointCode = task.getNext_point_code();
Instruction instdto = new Instruction();
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(routePlanCode);
@@ -680,8 +702,8 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
map.put("is_click", true);
map.put("message", message);
map.put("error", ErrorUtil.getDictDetail("error_type", String.valueOf(this.getError())));
map.put("notCreateTaskMessage", notCreateTaskMessage);
map.put("notCreateInstMessage", notCreateInstMessage);
map.put("notCreateTaskMessage", LangProcess.msg(notCreateTaskMessage));
map.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
/*jo.put("x", xPosition);
jo.put("y", yPosition);*/
JSONObject jo = new JSONObject(map);

114
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -562,6 +562,16 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
if (regional(dto.getStart_device_code(), dto.getNext_device_code())) {
throw new BadRequestException(LangProcess.msg("error_regional_max"));
}
String start_device_code = dto.getStart_device_code();
if (StrUtil.isNotEmpty(dto.getTask_code())) {
List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
.eq(InstructionMybatis::getTask_code, dto.getTask_code()));
if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
.equals(start_device_code))) {
return;
}
}
String currentUsername = SecurityUtils.getCurrentNickName();
String now = DateUtil.now();
if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
@@ -582,14 +592,22 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
if (StrUtil.isEmpty(dto.getLink_num())) {
dto.setIs_send(task.getLink_num());
}
if (task.getTask_type().equals(CommonFinalParam.ONE) || "2".equals(task.getTask_type())) {
dto.setInstruction_type(task.getTask_type());
} else if (false) {
} else {
dto.setInstruction_type("3");
}
// if (task.getTask_type().equals(CommonFinalParam.ONE) || task.getTask_type().equals("2")) {
dto.setInstruction_type(task.getTask_type());
// } else if (false) {
//
// } else {
// dto.setInstruction_type("3");
// }
// 查询是否存在相同指令号
// if (!StrUtil.isEmpty(dto.getVehicle_code() )) {
// Instruction inst_dto = findByContainer(dto.getVehicle_code());
// if (inst_dto != null) {
// log.error("存在相同载具号任务,载具号"+dto.getVehicle_code());
// throw new BadRequestException("存在相同载具号任务！");
// }
// }
// 起点设备与终点设备相同则为初始指令
if (StrUtil.equals(task.getStart_device_code(), dto.getStart_device_code())) {
if (!StrUtil.equals(dto.getCompound_inst(), "0")
@@ -598,12 +616,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
dto.setCompound_inst_data(task.getCompound_task_data());
}
}
if (StringUtils.isNotBlank(currentUsername)) {
dto.setCreate_by(currentUsername);
}
if (StringUtils.isNotBlank(currentUsername)) {
dto.setUpdate_by(currentUsername);
}
dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
dto.setUpdate_time(now);
dto.setCreate_time(now);
dto.setStart_parent_code(task.getStart_parent_code());
@@ -615,18 +629,12 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
Device nextdevice = appService.findDeviceByCode(dto.getNext_device_code());
HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
if (startdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startdevice.getDeviceDriver();
hongXiangConveyorDeviceDriver.writing("3", dto.getInstruction_code());
}
try {
String start_device_code = dto.getStart_device_code();
/*String start_device_code = dto.getStart_device_code();*/
String next_device_code = dto.getNext_device_code();
String route_plan_code = task.getRoute_plan_code();
List<RouteLineDto> shortPathsList =
@@ -642,16 +650,30 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
break;
}
}
if (ObjectUtil.isEmpty(route) && !(start_device_code.equals(next_device_code))) {
if (ObjectUtil.isEmpty(route) && (!start_device_code.equals(next_device_code))) {
throw new BadRequestException(LangProcess.msg("error_isNull", "route"));
}
if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && dto.getAgv_system_type().equals(AgvSystemTypeEnum.Two_NDC_System_Type.getIndex())) {
// 0为输送、立库任务 1 1楼叉车系统 2 2楼1区域AGV系统 3 2楼2区域AGV系统
if (!StrUtil.equals(task.getAgv_system_type(), "0")
&& ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type()
+ ",AGV指令类型:" + dto.getInstruction_type());
try {
if (StrUtil.isEmpty(dto.getAgv_inst_type()) || StrUtil.isEmpty(dto.getAgv_system_type())) {
log.info("sendAgvInstToNDC 指令校验:" + dto.getInstruction_code() + ",inst_type:" + dto.getInstruction_type()
+ ",inst_system_type:" + dto.getAgv_system_type());
}
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
} catch (Exception e) {
dto.setSend_status("2");
dto.setRemark(e.getMessage());
e.printStackTrace();
log.warn("下发AGV指令异常:" + e);
}
} else {
// Boolean result = createLkInst(task.getStorage_task_type(),dto);
Resp resp = acsToLiKuService.sendInst(task.getStorage_task_type(), dto);
if (StrUtil.equals(resp.result, "true")) {
dto.setSend_status("1");
@@ -660,11 +682,53 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
}
}
}
//判断是否是仙工AGV
if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
Device deviceByCode = deviceAppService.findDeviceByCode(dto.getStart_device_code());
// if (StrUtil.equals(task.getRequest_again_success(), "1")) {
// //追加订单
// HttpResponse result = xiangGongAgvService.addOrderSequences(dto);
// if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
// dto.setSend_status("2");
// } else {
// dto.setSend_status("1");
// }
//
// } else
if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
String interactionJson = task.getInteraction_json();
if (StrUtil.isNotEmpty(interactionJson)){
throw new BadRequestException("agv叉车调整长宽参数为空");
}
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
//仙工叉车
HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto,interactionJsonDTO);
if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
} else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
//一楼agv任务创建运单序列
HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto);
if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
}
}
} catch (Exception e) {
dto.setSend_status("2");
e.printStackTrace();
log.error(e.getMessage());
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code("创建指令报错")
.content("任务号" + dto.getTask_code() + "报错原因:" + e.getMessage())
.build();
logDto.setLog_level(2);
luceneExecuteLogService.deviceExecuteLog(logDto);
throw e;
}
InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
instructionMapper.insert(entity);
instructions.add(dto);

32
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -901,6 +901,8 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
String next_point_code2 = acsTask.getNext_point_code2();
String agv_system_type = acsTask.getAgv_system_type();
String task_type = acsTask.getTask_type();
String start_height = acsTask.getStart_height();
String next_height = acsTask.getNext_height();
/** 开始平均分解校验 */
String this_device_code =
this.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
@@ -962,31 +964,37 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
instdto.setNext_device_code2(next_point_code2);
instdto.setNext_point_code2(next_point_code2);
instdto.setAgv_system_type(agv_system_type);
instdto.setAgv_inst_type(CommonFinalParam.ONE);
instdto.setStart_height(start_height);
instdto.setNext_height(next_height);
if (!StrUtil.equals(agv_system_type, "1")) {
//判断agv系统
//1、1楼叉车系统
//2、2楼1区域AGV系统
//3、2楼2区域AGV系统 -已废弃
if (StrUtil.equals(agv_system_type, CommonFinalParam.TWO)) {
// task_type
// 1、生箔； Itype=1:取空，取满，放空，放满；
// 2、分切 Itype=3取满、取空、放满、放空；
// 3、普通任务 Itype=2:取货、放货；
// 4、叉车任务
// 5、输送任务
// 6、行架
// 7、立库
if (StrUtil.equals(task_type, "1")) {
instdto.setAgv_inst_type("1");
//1、生箔； Itype=1:取空，取满，放空，放满；
//2、分切 Itype=3取满、取空、放满、放空；
//3、普通任务 Itype=2:取货、放货；
//4、叉车任务
//5、输送任务
//6、行架
//7、立库
if (StrUtil.equals(task_type, CommonFinalParam.ONE)) {
instdto.setAgv_inst_type(CommonFinalParam.ONE);
} else if (StrUtil.equals(task_type, "3")) {
instdto.setAgv_inst_type("2");
} else if (StrUtil.equals(task_type, "2")) {
instdto.setAgv_inst_type("3");
} else if (StrUtil.equals(task_type, "8")) {
instdto.setAgv_inst_type("2");
} else {
log.info("未找到对应的AGV指令类型，任务号:" + acsTask.getTask_code() + ",task_type:" + acsTask.getTask_type());
}
} else {
instdto.setAgv_inst_type("4");
}
instructionservice.create2(instdto);
acsTask.setTask_status(CommonFinalParam.ONE);
this.update(acsTask);
return instdto;