fix:rgv行架冲突问题

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java

@@ -9,18 +9,16 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.jinterop.dcom.common.JIException;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
-import org.nl.acs.device_driver.basedriver.plugging_unplugging_machine.PluggingUnpluggingMachineDeviceDriver;
+import org.nl.acs.device_driver.basedriver.rgv.RgvDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.ext.wms.data.ApplyManipulatorActionRequest;
 import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse;
-import org.nl.acs.ext.wms.data.JsonUtl;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.history.ErrorUtil;
 import org.nl.acs.history.service.DeviceErrorLogService;
@@ -37,13 +35,7 @@ import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.system.service.impl.ParamServiceImpl;
-import org.nl.modules.wql.core.bean.WQLObject;
-import org.nl.modules.wql.exception.WDKException;
 import org.nl.modules.wql.util.SpringContextHolder;
-import org.openscada.opc.lib.da.AddFailedException;
-import org.openscada.opc.lib.da.Group;
-import org.openscada.opc.lib.da.Item;
-import org.openscada.opc.lib.da.ItemState;
 import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.*;
@@ -789,7 +781,20 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 if (ObjectUtil.isNotEmpty(taskDtos)) {
                     //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);
+                    TaskDto taskDto = null;
+                    for (int i1 = 0; i1 < taskDtos.size(); i1++) {
+                        taskDto = taskDtos.get(i1);
+                        Boolean flag;
+                        if ("6".equals(task.getTruss_type())) {
+                             flag = checkAgv(taskDto);
+                            if (flag){
+                                break;
+                            }
+                        }else {
+                            break;
+                        }
+
+                    }
 
                     //存在行架->暂存的AGV任务 需要过滤
                     // 9 行架任务
@@ -800,13 +805,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDto.getTask_code());
                     String start_device_code = instruction.getStart_device_code();
                     String next_device_code = instruction.getNext_device_code();
-                    Device nextdevice = deviceAppService.findDeviceByCode(next_device_code);
-                    Device startdevice = deviceAppService.findDeviceByCode(start_device_code);
-                    SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
-                    StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-                    /*instruction.setInstruction_status("1");
-                    instruction.setUpdate_time(DateUtil.now());
-                    instructionService.update(instruction);*/
                     Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
                     Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
                     if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) {
@@ -847,7 +845,19 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                         for (int j = 0; j < taskDtoList.size(); j++) {
                             //按照优先级排序 优先级相等按照创建时间排序
                             taskDtoList = this.sortTask(taskDtoList);
-                            task = taskDtoList.get(j);
+                            for (int i1 = 0; i1 < taskDtoList.size(); i1++) {
+                                task = taskDtoList.get(i1);
+                                Boolean flag;
+                                if ("6".equals(task.getTruss_type())) {
+                                    flag = checkAgv(task);
+                                    if (flag){
+                                        break;
+                                    }
+                                }else {
+                                    break;
+                                }
+
+                            }
                             // 9 行架任务
                             if (!StrUtil.equals(task.getTask_type(), "9")) {
                                 task = null;
@@ -934,7 +944,9 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 map.put("to_onset", Integer.parseInt(start_addr));
                 map.put("to_task", Integer.parseInt(instdto.getInstruction_code()));
                 map.put("to_target", Integer.parseInt(next_addr));
-                if(!StrUtil.isEmpty(task.getVersion())){map.put("inflatableShaftVersion", task.getVersion());}
+                if (!StrUtil.isEmpty(task.getVersion())) {
+                    map.put("inflatableShaftVersion", task.getVersion());
+                }
                 this.writing(map);
                 try {
                     this.writing(map);
@@ -951,5 +963,27 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
             return true;
         }
     }
-}
 
+    private Boolean checkAgv(TaskDto taskDto) {
+        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+        RgvDeviceDriver rgv1;
+        RgvDeviceDriver rgv2;
+        Device deviceByCode = deviceAppService.findDeviceByCode(taskDto.getNext_device_code());
+        if (deviceByCode.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+            standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) deviceByCode.getDeviceDriver();
+            List<String> linkDeviceCode = standardOrdinarySiteDeviceDriver.getExtraDeviceCodes("link_device_code");
+            if (linkDeviceCode.size() > 1) {
+                Device agv1 = deviceAppService.findDeviceByCode(linkDeviceCode.get(0));
+                Device agv2 = deviceAppService.findDeviceByCode(linkDeviceCode.get(1));
+                if (agv1.getDeviceDriver() instanceof RgvDeviceDriver && agv2.getDeviceDriver() instanceof RgvDeviceDriver) {
+                    rgv1 = (RgvDeviceDriver) agv1.getDeviceDriver();
+                    rgv2 = (RgvDeviceDriver) agv2.getDeviceDriver();
+                    if ((rgv1.getMode() == 2 && rgv1.getMove1() == 1) || (rgv2.getMode() == 2 && rgv2.getMove1() == 1)) {
+                        return true;
+                    }
+                }
+            }
+        }
+        return false;
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java

@@ -25,7 +25,9 @@ import org.nl.acs.task.service.TaskService;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.beans.factory.annotation.Autowired;
 
+import java.util.ArrayList;
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -244,5 +246,20 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
             option = Integer.parseInt(flag);
         }
     }
+
+    public List<String> getExtraDeviceCodes(String extraName) {
+        String extraValue = (String) this.getDevice().getExtraValue().get(extraName);
+        if (StrUtil.isEmpty(extraValue)) {
+            return new ArrayList<>();
+        }
+        String devicesString = extraValue.substring(1, extraValue.length() - 1);
+        List<String> devicesList = new ArrayList<>();
+        String[] devices = devicesString.split(",");
+        for (int i = 0; i < devices.length; i++) {
+            String s = devices[i].replace("\"", "").replace("\"", "");
+            devicesList.add(s);
+        }
+        return devicesList;
+    }
 }
 

acs/nladmin-ui/src/views/acs/device/driver/standard_ordinary_site.vue

@@ -98,6 +98,25 @@
             </el-form-item>
           </el-col>
         </el-row>
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备" prop="device_code">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                multiple
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+        </el-row>
       </el-form>
     </el-card>