fix: 联调

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java

@@ -170,6 +170,9 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     int to_container_type = 0;
     int last_to_container_type = 0;
 
+    int to_height_level = 0;
+    int last_to_height_level = 0;
+
     String barcode = null;
 
 
@@ -237,6 +240,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
             to_target = this.itemProtocol.getTotarget();
             to_task = this.itemProtocol.getTo_task();
             to_container_no = this.itemProtocol.getContainer_direction();
+            to_height_level = this.itemProtocol.getTo_height_level();
 
 
             if (mode != last_mode) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/ItemProtocol.java

@@ -63,6 +63,11 @@ public class    ItemProtocol {
      */
     public static String item_to_target = "to_target";
 
+    /**
+     * 下发高度等级
+     */
+    public static String item_to_height_level = "to_height_level";
+
 
 
 
@@ -124,7 +129,9 @@ public class    ItemProtocol {
         return this.getOpcIntegerValue(item_to_container_type);
     }
 
-
+    public int getTo_height_level(){
+        return this.getOpcIntegerValue(item_to_height_level);
+    }
     Boolean isonline;
 
     public int getOpcIntegerValue(String protocol) {
@@ -180,6 +187,7 @@ public class    ItemProtocol {
         list.add(new ItemDto(item_to_command, "下发命令", "DB102.W4"));
         list.add(new ItemDto(item_to_task, "下发任务号", "DB102.D1"));
         list.add(new ItemDto(item_to_container_type, "下发托盘类型", "DB102.B5"));
+        list.add(new ItemDto(item_to_height_level, "下发高度等级", "DB2.W10"));
         return list;
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -118,6 +118,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     int to_container_type = 0;
     int last_to_container_type = 0;
 
+    int to_height_level = 0;
+    int last_to_height_level = 0;
+
     //托盘类型
     int container_type = 0;
     int last_container_type = 0;
@@ -224,6 +227,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             weight = this.itemProtocol.getWeight();
             barcode = this.itemProtocol.getBarcode();
             material_barcode = this.itemProtocol.getMaterialBarcode();
+            to_height_level = this.itemProtocol.getTo_height_level();
 
             if (mode != last_mode) {
                 JSONObject param = new JSONObject();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ItemProtocol.java

@@ -79,6 +79,11 @@ public class ItemProtocol {
      */
     public static String item_to_container_type = "to_container_type";
 
+    /**
+     * 下发高度等级
+     */
+    public static String item_to_height_level = "to_height_level";
+
     private ConveyorWithScannerWeightDeviceDriver driver;
 
     public ItemProtocol(ConveyorWithScannerWeightDeviceDriver driver){
@@ -147,7 +152,9 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_to_container_type);
     }
 
-
+    public int getTo_height_level(){
+        return this.getOpcIntegerValue(item_to_height_level);
+    }
     Boolean isonline;
 
 
@@ -210,6 +217,7 @@ public class ItemProtocol {
         list.add(new ItemDto(item_to_target, "下发目标站", "DB2.W4"));
         list.add(new ItemDto(item_to_task, "下发任务号", "DB2.D6"));
         list.add(new ItemDto(item_to_container_type, "下发托盘类型", "DB2.W8"));
+        list.add(new ItemDto(item_to_height_level, "下发高度等级", "DB2.W10"));
         return list;
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java

@@ -16,7 +16,6 @@ import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
-import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.device_driver.one_conveyor.box_subvolumes_conveyor.BoxSubvolumesConveyorDeviceDriver;
@@ -369,8 +368,9 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         Map<String, Object> map8 = new HashMap<>();
                         Map<String, Object> map9 = new HashMap<>();
                         Map<String, Object> map10 = new HashMap<>();
+                        Map<String, Object> map11 = new HashMap<>();
                         try {
-                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instruction.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8,map9,map10);
+                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instruction.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8,map9,map10,map11);
                         } catch (Exception e) {
 
                             logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
@@ -453,8 +453,9 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         Map<String, Object> map8 = new HashMap<>();
                         Map<String, Object> map9 = new HashMap<>();
                         Map<String, Object> map10 = new HashMap<>();
+                        Map<String, Object> map11 = new HashMap<>();
                         try {
-                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instdto.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8,map9,map10);
+                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instdto.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8,map9,map10, map11);
                         } catch (Exception e) {
                              LuceneLogDto logDto = LuceneLogDto.builder()
                                     .device_code(device_code)
@@ -475,7 +476,7 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     }
 
-    private void pushPLC(Map<String, Object> map1, Map<String, Object> map2, String next_addr, Map<String, Object> map3, String start_addr, Map<String, Object> map4, String task, InteractionJsonDTO interactionJsonDTO, Map<String, Object> map5, Map<String, Object> map6, Map<String, Object> map7, Map<String, Object> map8,Map<String, Object> map9,Map<String, Object> map10) {
+    private void pushPLC(Map<String, Object> map1, Map<String, Object> map2, String next_addr, Map<String, Object> map3, String start_addr, Map<String, Object> map4, String task, InteractionJsonDTO interactionJsonDTO, Map<String, Object> map5, Map<String, Object> map6, Map<String, Object> map7, Map<String, Object> map8,Map<String, Object> map9,Map<String, Object> map10,Map<String, Object> map11) {
         List list = new ArrayList();
         map1.put("code", "to_command");
         map1.put("value", 1);
@@ -517,6 +518,11 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 map10.put("value", interactionJsonDTO.getLen());
                 list.add(map10);
             }
+            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getHeightLevel())) {
+                map11.put("code", "to_height_level");
+                map11.put("value", interactionJsonDTO.getHeightLevel());
+                list.add(map11);
+            }
         }
         this.writing(list);
     }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/InteractionJsonDTO.java

@@ -36,4 +36,9 @@ public class InteractionJsonDTO {
      * 托盘类型
      */
     private String containerType;
+
+    /**
+     * 高度等级
+     */
+    private String heightLevel;
 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java

@@ -473,6 +473,12 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 map10.put("value", interactionJsonDTO.getContainerType());
                 list.add(map10);
             }
+            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getHeightLevel())) {
+                Map<String, Object> map11 = new HashMap<>();
+                map11.put("code", "to_height_level");
+                map11.put("value", interactionJsonDTO.getHeightLevel());
+                list.add(map11);
+            }
         }
         this.writing(list);
     }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/InteractionJsonDTO.java

@@ -33,6 +33,11 @@ public class InteractionJsonDTO {
      */
     private String containerType;
 
+    /**
+     * 高度等级
+     */
+    private String heightLevel;
+
     /**
      * 是否拔轴
      */

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java

@@ -393,7 +393,6 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                         try {
                             instructionService.create(instdto);
                         } catch (Exception e) {
-                            notCreateInstMessage = e.getMessage();
                               LuceneLogDto logDto = LuceneLogDto.builder()
                                     .device_code(device_code)
                                     .content(device_code+"创建指令时出现异常:" + e.getMessage())

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java

@@ -580,17 +580,17 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         if (error == 5 && count < WcsConfig.stacker_error_in_count) {
             //清警
             cleanErro();
+            applyUpdatePointCode(StandarStirageErroEnum.FILL.getType());
             //相同任务时限制加一
             if (Objects.equals(task, last_task)) {
                 count++;
             }
-            applyUpdatePointCode(StandarStirageErroEnum.FILL.getType());
+
         }
-        //空出直接完结指令
+
         if (error == 6) {
-            Instruction instruction = checkInst();
             try {
-                finish_instruction(instruction);
+                applyUpdatePointCode(StandarStirageErroEnum.VOIDANCE.getType());
                 //清警
                 cleanErro();
             } catch (Exception e) {
@@ -603,16 +603,17 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             //清警
             cleanErro();
             //放货
-            if (cargoMove == 1 && count < WcsConfig.stacker_error_in_count) {
+            if (forkCargo == 2 && count < WcsConfig.stacker_error_in_count) {
                 //相同任务时限制加一
                 if (Objects.equals(task, last_task)) {
                     count++;
                 }
                 applyUpdatePointCode(StandarStirageErroEnum.BLOCK_OUT.getType());
-            } else if (cargoMove == 0) {
+            } else if (forkCargo == 0) {
                 //取货
                 applyUpdatePointCode(StandarStirageErroEnum.BLOCK_IN.getType());
             }
+
         }
     }
 
@@ -664,9 +665,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                             message = "one_message18";
                         }
 
-                        if (type.equals(StandarStirageErroEnum.BLOCK_IN.getType()) || type.equals(StandarStirageErroEnum.FILL.getType())) {
+                        if (type.equals(StandarStirageErroEnum.BLOCK_IN.getType()) || type.equals(StandarStirageErroEnum.FILL.getType()) || type.equals(StandarStirageErroEnum.VOIDANCE.getType())) {
-                            task = task * 1000;
+                            updateData2(poinCode, instruction, point, split);
-                            updateData2(poinCode, instruction, point, split, task);
                             List list = new ArrayList();
                             String x = point.getExtraValue().get("x").toString();
                             String y = split[1];
@@ -754,12 +754,11 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         message = null;
     }
 
-    private void updateData2(String poinCode, Instruction instruction, Device point, String[] split, Integer task) {
+    private void updateData2(String poinCode, Instruction instruction, Device point, String[] split) {
         Instruction instructionUpdate = checkInst();
         TaskDto taskUpdate = new TaskDto();
         instructionUpdate.setNext_point_code(poinCode);
         instructionUpdate.setNext_device_code(split[0]);
-        instructionUpdate.setInstruction_code(String.valueOf(task));
         taskUpdate.setNext_point_code(poinCode);
         taskUpdate.setNext_device_code(split[0]);
         taskUpdate.setTask_id(instructionUpdate.getTask_id());
@@ -799,9 +798,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
                 if (startDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
                     //放货完成
-                    if (forkCargo==0) {
+                    if (forkCargo == 0) {
                         //取货中或者取货完成（分入库出库）
-                        if ("1".equals(instructionErro.getExecute_code())||"2".equals(instructionErro.getExecute_code())) {
+                        if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) {
                             List list = new ArrayList();
                             String startDeviceCode = instructionErro.getStart_device_code();
                             Device startDeviceError = deviceAppService.findDeviceByCode(startDeviceCode);
@@ -813,10 +812,10 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                         }
                     }
                     //放货中报警
-                    if ("3".equals(instructionErro.getExecute_code())&&forkCargo==2) {
+                    if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) {
                         List list = new ArrayList();
                         if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) {
-                            pakagePLCData(list, instructionErro.getTo_x(),  instructionErro.getTo_y(),  instructionErro.getTo_z(), instructionErro.getExecute_code(), instructionErro.getInstruction_code());
+                            pakagePLCData(list, instructionErro.getTo_x(), instructionErro.getTo_y(), instructionErro.getTo_z(), instructionErro.getExecute_code(), instructionErro.getInstruction_code());
                             requireSucess = true;
                             return true;
                         }
@@ -825,7 +824,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 //出库报警
                 if (startDevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                     //取货报警
-                    if ("1".equals(instructionErro.getExecute_code())||"2".equals(instructionErro.getExecute_code())) {
+                    if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) {
                         List list = new ArrayList();
                         if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name())) {
                             pakagePLCData(list, instructionErro.getFrom_x(), instructionErro.getFrom_y(), instructionErro.getFrom_z(), instructionErro.getExecute_code(), instructionErro.getInstruction_code());
@@ -834,7 +833,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                         }
                     }
                     //放货中报警
-                    if ("3".equals(instructionErro.getExecute_code())&&forkCargo==2) {
+                    if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) {
                         String next_device_code = instructionErro.getNext_device_code();
                         Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
                         List list = new ArrayList();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/WcsConfig.java

@@ -20,7 +20,7 @@ public class WcsConfig {
     /**
      *  堆垛机异常入库次数限制
      */
-    public static Integer stacker_error_in_count ;
+    public static Integer stacker_error_in_count = 5;
 
 
     /**