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opt:优化kit调用时可能导致的并发问题

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This commit is contained in:
zhangzq
2026-02-25 15:29:27 +08:00
parent 088ecca8ed
commit dfcc97da03
5 changed files with 164 additions and 266 deletions
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6
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/DeviceDriver.java
View File

@@ -2,8 +2,6 @@ package org.nl.acs.device_driver;
import org.nl.acs.opc.Device;
import java.util.List;
public interface DeviceDriver {
default String getDeviceCode() {
return this.getDevice().getDevice_code();
@@ -19,5 +17,9 @@ public interface DeviceDriver {
return this.getDriverDefination().getDriverCode();
}
// B设置新任务
default void setDeviceInnerParam(String taskId, String agvphase) {
throw new RuntimeException("not such method");
}
}

98
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
View File

@@ -11,26 +11,22 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import net.dreamlu.mica.core.utils.StringUtil;
import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device.service.dto.StorageCellDto;
import org.nl.acs.device.service.impl.StorageCellServiceImpl;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.RouteableDeviceDriver;
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.service.AcsToHJXService;
import org.nl.acs.ext.wms.service.AcsToMesService;
import org.nl.acs.ext.wms.service.AcsToNDCService;
import org.nl.acs.ext.wms.service.AcsToZDWmsService;
import org.nl.acs.instruction.enums.InstTypeEnum;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.opc.WcsConfig;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.dto.RouteLineDto;
@@ -81,6 +77,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
//有货标记
protected boolean has_goods_tag = false;
int mode = 0;
int error = 0;
int move = 0;
@@ -137,7 +134,8 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
*/
private volatile String reqTakeInstCode = null;
private volatile Boolean reqTakeRequireSuccess = false;
private volatile String lastTakeInstCode = null; // 上次处理的taskId，处理完成后更新
private final Object lock = new Object();
//申请搬运任务
private Boolean apply_handling = false;
//申请物料
@@ -180,9 +178,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
Object ext_system = device.getExtraValue().get("ext_system");
@@ -210,9 +206,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.error("请求wms取货失败参数:{}", response);
@@ -263,9 +257,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.error("请求焊接线失败，申请区货 错误信息{}", response);
@@ -288,9 +280,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
}
} else {
@@ -323,9 +313,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
Object ext_system = device.getExtraValue().get("ext_system");
@@ -353,9 +341,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.error("请求wms取货失败参数:{}", response);
@@ -399,9 +385,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.info("请求焊接线失败，申请取货完成 错误信息{}", response2);
@@ -431,9 +415,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
}
}
@@ -460,9 +442,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
Object ext_system = device.getExtraValue().get("ext_system");
@@ -490,9 +470,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.error("请求wms请求放货失败参数:{}", response);
@@ -525,9 +503,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.error("请求焊接线放货失败，申请区货 错误信息{}", response);
@@ -545,9 +521,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
}
} else {
@@ -573,9 +547,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
Object ext_system = device.getExtraValue().get("ext_system");
@@ -603,9 +575,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.error("请求wms放货失败参数:{}", response);
@@ -648,9 +618,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.info("请求焊接线放货货完成失败 错误信息{}", response2);
@@ -682,9 +650,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
log.info("请求MES放货货完成失败 错误信息{}", responseCode);
@@ -901,4 +867,30 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
public void setDeviceStatus(JSONObject data) {
}
// B设置新任务
@Override
public void setDeviceInnerParam(String taskId, String agvphase) {
synchronized (lock) {
// 不允许设置和上次处理相同的taskId
if (taskId.equals(lastTakeInstCode)) {
// 可以记录日志并返回，或者抛出异常
return;
}
// 设置新任务
this.agvphase = Integer.valueOf(agvphase);
this.reqTakeInstCode = taskId;
this.reqTakeRequireSuccess = true;
}
}
// B设置新任务
public void resetInstTask() {
synchronized (lock) {
// 设置新任务
// 处理完成，更新状态
this.lastTakeInstCode = reqTakeInstCode;
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
}
}
}

55
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
View File

@@ -8,10 +8,8 @@ import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device.service.StorageCellService;
import org.nl.acs.device.service.dto.StorageCellDto;
import org.nl.acs.device.service.impl.StorageCellServiceImpl;
import org.nl.acs.device_driver.DeviceDriver;
@@ -134,6 +132,8 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
*/
private volatile String reqTakeInstCode = null;
private volatile Boolean reqTakeRequireSuccess = false;
private volatile String lastTakeInstCode = null; // 上次处理的taskId，处理完成后更新
private final Object lock = new Object();
int index = 0;
int mode = 2;
@@ -161,9 +161,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
}
if (agvphase == 2) {
@@ -183,9 +181,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
//MES下发需要上报取货完成
@@ -208,9 +204,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
}
}
@@ -230,9 +224,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
}
if (agvphase == 4) {
@@ -252,9 +244,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
} else {
//mes下发需要上报放货完成
@@ -291,9 +281,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
return;
} else {
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
resetInstTask();
}
}
}
@@ -345,5 +333,32 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
public void setDeviceStatus(JSONObject data) {
}
// B设置新任务
@Override
public void setDeviceInnerParam(String taskId, String agvphase) {
synchronized (lock) {
// 不允许设置和上次处理相同的taskId
if (taskId.equals(lastTakeInstCode)) {
// 可以记录日志并返回，或者抛出异常
return;
}
// 设置新任务
this.agvphase = Integer.valueOf(agvphase);
this.reqTakeInstCode = taskId;
this.reqTakeRequireSuccess = true;
}
}
// B设置新任务
public void resetInstTask() {
synchronized (lock) {
// 设置新任务
// 处理完成，更新状态
this.lastTakeInstCode = reqTakeInstCode;
this.reqTakeRequireSuccess = false;
this.reqTakeInstCode = null;
this.agvphase = 0;
}
}
}

2
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/enums/TaskPhaseEnum.java
View File

@@ -27,7 +27,7 @@ public enum TaskPhaseEnum {
/**
* 根据值获取对应的枚举
*/
public static TaskPhaseEnum fromValue(String value) {
public static TaskPhaseEnum fromPhase(String value) {
for (TaskPhaseEnum phase : values()) {
if (phase.getValue() == value) {
return phase;

269
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/NDCToAcsServiceImpl.java
View File

@@ -9,24 +9,19 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.service.StorageCellService;
import org.nl.acs.device.service.dto.StorageCellDto;
import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.ext.wms.enums.MsgTypeEnum;
import org.nl.acs.ext.wms.enums.TaskPhaseEnum;
import org.nl.acs.ext.wms.enums.TaskStateEnum;
import org.nl.acs.ext.wms.service.NDCToAcsService;
import org.nl.acs.instruction.enums.InstStatusEnum;
import org.nl.acs.instruction.enums.InstTypeEnum;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.common.exception.BadRequestException;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.Optional;
@Service
@RequiredArgsConstructor
@Slf4j
@@ -46,197 +41,89 @@ public class NDCToAcsServiceImpl implements NDCToAcsService {
JSONObject params = requestParam.getJSONObject("params");
//任务状态上报
if (MsgTypeEnum.TASK_STATE_RPT.getValue().equals(type)) {
String taskId = params.getString("taskId");
String instTaskId = params.getString("taskId");
String taskPhase = params.getString("taskPhase");
String taskState = params.getString("taskState");
String taskPoint = params.getString("taskPoint");//请求进入/离开需要上报站点号
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
//请求进入/请求离开
if (StrUtil.isNotEmpty(taskPhase)
&&(TaskPhaseEnum.ENTER_REQUEST_OR_ALLOWED.getValue().equals(taskPhase)
||TaskPhaseEnum.LEAVE_NOTICE_OR_ALLOWED.getValue().equals(taskPhase))){
StorageCellDto storageCellDto = storageCellService.findByAddress(taskPoint);
if (ObjectUtil.isEmpty(storageCellDto)) {
resp.put("code", "400");
resp.put("message", "请求失败，点位信息不存在,点位站点号:" + taskPoint);
return resp;
}
Device device = deviceAppService.findDeviceByCode(storageCellDto.getStorage_code());
if (ObjectUtil.isEmpty(device)) {
resp.put("code", "400");
resp.put("message", "请求失败，请求位置编号不存在！");
return resp;
}
if (TaskPhaseEnum.ENTER_REQUEST_OR_ALLOWED.getValue().equals(taskPhase)){
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(-1);
standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskId);
standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
}
if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
standardInspectSiteDeviceDriver.setAgvphase(-1);
standardInspectSiteDeviceDriver.setReqTakeInstCode(taskId);
standardInspectSiteDeviceDriver.setReqTakeRequireSuccess(true);
}
resp.put("code", "200");
resp.put("message", "反馈请求进入成功");
return resp;
}
if (TaskPhaseEnum.LEAVE_NOTICE_OR_ALLOWED.getValue().equals(taskPhase)){
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(-2);
standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskId);
standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
}
if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
standardInspectSiteDeviceDriver.setAgvphase(-2);
standardInspectSiteDeviceDriver.setReqTakeInstCode(taskId);
standardInspectSiteDeviceDriver.setReqTakeRequireSuccess(true);
}
resp.put("code", "200");
resp.put("message", "反馈请求离开成功");
return resp;
}
if (StrUtil.isEmpty(taskPhase)){
resp.put("code", "400");
resp.put("message", "taskPhase参数异常");
return resp;
}
else if (StrUtil.isNotEmpty(taskPhase)&&(TaskPhaseEnum.PICKUP_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)
||TaskPhaseEnum.PICKUP_COMPLETE.getValue().equals(taskPhase)
||TaskPhaseEnum.RELEASE_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)
||TaskPhaseEnum.RELEASE_COMPLETE.getValue().equals(taskPhase)
||TaskStateEnum.NOT_STARTED.getValue().equals(taskPhase)
||TaskStateEnum.EXECUTING.getValue().equals(taskPhase)||TaskStateEnum.COMPLETED.getValue().equals(taskPhase))){
Instruction instruction = instructionService.findByCodeFromCache(taskId);
if (ObjectUtil.isEmpty(instruction)) {
Instruction instruction = instructionService.findByCodeFromCache(instTaskId);
if (ObjectUtil.isEmpty(instruction)) {
instruction = instructionService.findByTaskcode(instTaskId);
if (ObjectUtil.isEmpty(instruction)){
resp.put("code", "400");
resp.put("message", "请求失败，任务信息不存在,指令号:" + taskId);
resp.put("message", "请求失败，任务信息不存在,指令号:" + instTaskId);
return resp;
}
//taskPhase 任务完成
if (TaskStateEnum.COMPLETED.getValue().equals(taskState)){
instructionService.finish(instruction.getInstruction_id());
resp.put("code", "200");
resp.put("message", "完成任务成功");
return resp;
}
//taskPhase 任务取消
if (TaskStateEnum.CANCELED.getValue().equals(taskState)){
instructionService.cancel(instruction.getInstruction_id());
resp.put("code", "200");
resp.put("message", "取消任务成功");
return resp;
}
String start_point_code = instruction.getStart_point_code();
String next_point_code = instruction.getNext_point_code();
Device startDevice = deviceAppService.findDeviceByCode(start_point_code);
Device nextDevice = deviceAppService.findDeviceByCode(next_point_code);
//taskPhase 请求取货上报
if (TaskPhaseEnum.PICKUP_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)){
if (ObjectUtil.isEmpty(startDevice)) {
resp.put("code", "400");
resp.put("message", "请求取货失败，请求位置编号不存在！");
return resp;
}
if (startDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) startDevice.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(1);
standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskId);
standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
}
if (startDevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startDevice.getDeviceDriver();
standardInspectSiteDeviceDriver.setAgvphase(1);
standardInspectSiteDeviceDriver.setReqTakeInstCode(taskId);
standardInspectSiteDeviceDriver.setReqTakeRequireSuccess(true);
}
instruction.setExecute_status("1");
instructionService.update(instruction);
resp.put("code", "200");
resp.put("message", "反馈请求取货成功");
return resp;
}
//taskPhase 取货完成上报
if (TaskPhaseEnum.PICKUP_COMPLETE.getValue().equals(taskPhase)){
if (ObjectUtil.isEmpty(startDevice)) {
resp.put("code", "400");
resp.put("message", "请求取货完成失败，请求位置编号不存在！");
return resp;
}
if (startDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) startDevice.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(2);
standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskId);
standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
}
if (startDevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startDevice.getDeviceDriver();
standardInspectSiteDeviceDriver.setAgvphase(2);
standardInspectSiteDeviceDriver.setReqTakeInstCode(taskId);
standardInspectSiteDeviceDriver.setReqTakeRequireSuccess(true);
}
instruction.setExecute_status("2");
instructionService.update(instruction);
resp.put("code", "200");
resp.put("message", "反馈取货完成成功");
return resp;
}
//taskPhase 请求放货上报
if (TaskPhaseEnum.RELEASE_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)){
if (ObjectUtil.isEmpty(nextDevice)) {
resp.put("code", "400");
resp.put("message", "请求放货失败，请求位置编号不存在！");
return resp;
}
if (nextDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) nextDevice.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(3);
standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskId);
standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
}
if (nextDevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextDevice.getDeviceDriver();
standardInspectSiteDeviceDriver.setAgvphase(3);
standardInspectSiteDeviceDriver.setReqTakeInstCode(taskId);
standardInspectSiteDeviceDriver.setReqTakeRequireSuccess(true);
}
instruction.setExecute_status("3");
instructionService.update(instruction);
resp.put("code", "200");
resp.put("message", "反馈请求放货成功");
return resp;
}
//taskPhase 放货完成上报
if (TaskPhaseEnum.RELEASE_COMPLETE.getValue().equals(taskPhase)){
if (ObjectUtil.isEmpty(nextDevice)) {
resp.put("code", "400");
resp.put("message", "请求放货完成失败，请求位置编号不存在！");
return resp;
}
if (nextDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) nextDevice.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(4);
standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskId);
standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
}
if (nextDevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextDevice.getDeviceDriver();
standardInspectSiteDeviceDriver.setAgvphase(4);
standardInspectSiteDeviceDriver.setReqTakeInstCode(taskId);
standardInspectSiteDeviceDriver.setReqTakeRequireSuccess(true);
}
instruction.setExecute_status("4");
instructionService.update(instruction);
resp.put("code", "200");
resp.put("message", "反馈放货完成成功");
return resp;
}
}else {
throw new BadRequestException("上报的阶段值有误！");
instructionService.reload();
}
//taskPhase 任务完成
if (TaskStateEnum.COMPLETED.getValue().equals(taskState)){
instructionService.finish(instruction.getInstruction_id());
resp.put("code", "200");
resp.put("message", "完成任务成功");
return resp;
}
//taskPhase 任务取消
if (TaskStateEnum.CANCELED.getValue().equals(taskState)){
instructionService.cancel(instruction.getInstruction_id());
resp.put("code", "200");
resp.put("message", "取消任务成功");
return resp;
}
Device device = null;
TaskPhaseEnum taskPhaseEnum = TaskPhaseEnum.fromPhase(taskPhase);
switch (taskPhaseEnum){
case ENTER_REQUEST_OR_ALLOWED:
case LEAVE_NOTICE_OR_ALLOWED:
StorageCellDto storageCellDto = storageCellService.findByAddress(taskPoint);
if (ObjectUtil.isEmpty(storageCellDto)) {
resp.put("code", "400");
resp.put("message", "请求失败，点位信息不存在,点位站点号:" + taskPoint);
return resp;
}
device = deviceAppService.findDeviceByCode(storageCellDto.getStorage_code());
if (ObjectUtil.isEmpty(device)) {
resp.put("code", "400");
resp.put("message", "请求失败，请求位置编号不存在！");
return resp;
}
DeviceDriver deviceDriver = device.getDeviceDriver();
deviceDriver.setDeviceInnerParam(instTaskId,taskPhase);
break;
case PICKUP_REQUEST_OR_RESPONSE:
case PICKUP_COMPLETE:
case RELEASE_REQUEST_OR_RESPONSE:
case RELEASE_COMPLETE:
if (TaskPhaseEnum.PICKUP_REQUEST_OR_RESPONSE.getValue().equals(taskPhase) || TaskPhaseEnum.PICKUP_COMPLETE.getValue().equals(taskPhase)){
device = deviceAppService.findDeviceByCode(instruction.getStart_point_code());
}
//taskPhase 请求放货上报,放货完成上报
if (TaskPhaseEnum.RELEASE_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)||TaskPhaseEnum.RELEASE_COMPLETE.getValue().equals(taskPhase)){
device = deviceAppService.findDeviceByCode(instruction.getNext_point_code());
}
if (device == null){
resp.put("code", "400");
resp.put("message", "点位驱动不存在");
return resp;
}
device.getDeviceDriver().setDeviceInnerParam(instTaskId,taskPhase);
if (!instruction.getExecute_status().equals(taskPhase)){
instruction.setExecute_status(taskPhase);
instructionService.update(instruction);
}
break;
default:
resp.put("code", "400");
resp.put("message", "taskPhase值不存在");
return resp;
}
resp.put("code", "200");
resp.put("message", taskPhaseEnum.getDescription()+"处理完毕");
return resp;
}
//任务分配车辆上报
else if (MsgTypeEnum.AGV_ID_RPT.getValue().equals(type)){
@@ -305,6 +192,8 @@ public class NDCToAcsServiceImpl implements NDCToAcsService {
resp.put("message", "更新指令执行中成功");
return resp;
}
return null;
resp.put("code", "400");
resp.put("message", type+"type类型未定义");
return resp;
}
}