fix: 出入库驱动开发

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/one_floor/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java

@@ -1,16 +1,22 @@
 package org.nl.acs.device.deviceDriver.service.defination.opcDefination.one_floor.conveyor.belt_conveyor;
 
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device.service.DeviceAppService;
 import org.nl.acs.device.device.service.entity.Device;
 import org.nl.acs.device.deviceDriver.service.defination.opcDefination.AbstractOpcDeviceDriver;
 import org.nl.acs.device.deviceDriver.service.driver.DeviceDriver;
 import org.nl.acs.device.deviceDriver.service.driver.base.DeviceDriverBaseReader;
 import org.nl.acs.device.deviceDriver.service.driver.plugin.DeviceStageMonitorPlugin;
 import org.nl.acs.device.deviceDriver.service.driver.plugin.DriverExecutePlugin;
+import org.nl.acs.task.instruction.domain.Instruction;
+import org.nl.acs.task.instruction.enums.InstructionStatusEnum;
+import org.nl.acs.task.instruction.service.InstructionService;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
@@ -18,6 +24,8 @@ import com.google.common.util.concurrent.Uninterruptibles;
 
 import java.util.Arrays;
 import java.util.Date;
+import java.util.HashMap;
+import java.util.Map;
 import java.util.concurrent.TimeUnit;
 
 @Slf4j
@@ -32,6 +40,10 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
 
     private final LuceneExecuteLogService logService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
 
+    private final InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+
+    private final DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
+
     /**
      * 心跳
      */
@@ -171,20 +183,102 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         } else {
             this.isError = false;
             this.message = "";
-            //编写业务逻辑方法
+            if (move == 1 && mode == 2 && !requireSuccess) {
-            this.templateMethod();
+                // 下发指令
+                issueInstruction();
+            }
+            if (task != 0 && !requireSuccess) {
+                // 更新指令执行中
+                updateInstructionStatus();
+            }
+            if (move == 1 && task != 0 && !requireSuccess) {
+                // 指令完成
+                finishInstruction();
+            }
         }
     }
 
     /**
      * 模板方法
      */
-    public void templateMethod() {
+    public void issueInstruction() {
         long currentTimeMillis = System.currentTimeMillis();
         if (!isTimeValid(currentTimeMillis)) {
             log.trace("触发时间因为小于{}毫秒，而被无视", this.requireTimeOut);
         } else {
             this.requireTime = currentTimeMillis;
+            // 查找指令
+            Instruction instruction = instructionService.findByStartCodeAndReady(getDeviceCode());
+            if (null == instruction) {
+                message = "无指令...";
+                return;
+            }
+            Device nextDevice = deviceAppService.findDeviceByCode(instruction.getNext_device_code());
+            String nextAddr = nextDevice.getExtraValue().get("address").toString();
+            if (ObjectUtil.isEmpty(nextAddr) || "0".equals(nextAddr)) {
+                message = "请配置电气调度号";
+                return;
+            }
+
+            Map<String, Object> map = new HashMap<>();
+            map.put("to_command", 1);
+            map.put("to_target", nextAddr);
+            map.put("to_task", instruction.getInstruction_code());
+            writing(map);
+            requireSuccess = true;
+        }
+    }
+
+    /**
+     * 模板方法
+     */
+    public void finishInstruction() {
+        long currentTimeMillis = System.currentTimeMillis();
+        if (!isTimeValid(currentTimeMillis)) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.requireTimeOut);
+        } else {
+            this.requireTime = currentTimeMillis;
+
+            Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(task));
+            if (null == instruction) {
+                message = "无指令...";
+                return;
+            }
+            if (getDeviceCode().equals(instruction.getNext_device_code())) {
+                // 指令完成
+                try {
+                    instructionService.finish(instruction.getInstruction_id());
+                    requireSuccess = true;
+                } catch (Exception e) {
+                    log.error("输送线【{}】完成指令出现异常", getDevice(), e);
+                    message = "指令完成失败，出现异常：" + e.getMessage();
+                }
+            }
+
+        }
+    }
+
+    /**
+     * 模板方法
+     */
+    public void updateInstructionStatus() {
+        long currentTimeMillis = System.currentTimeMillis();
+        if (!isTimeValid(currentTimeMillis)) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.requireTimeOut);
+        } else {
+            this.requireTime = currentTimeMillis;
+            Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(task));
+            if (null == instruction) {
+                message = "无指令...";
+                return;
+            }
+            // 任务执行中
+            if (StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
+                instruction.setInstruction_status(InstructionStatusEnum.BUSY.getIndex());
+                instructionService.update(instruction);
+
+                requireSuccess = true;
+            }
         }
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/one_floor/conveyor/conveyor_with_scanner_weight/ConveyorWithScannerWeightDeviceDriver.java

@@ -22,8 +22,12 @@ import org.nl.extInterface.wms.WmsApi;
 import org.nl.extInterface.wms.data.req.ApplyInboundReqVO;
 
 import java.util.Arrays;
+import java.util.List;
 import java.util.concurrent.TimeUnit;
 
+/**
+ * 标准版-输送机(带扫码、称重、外形检测) 驱动
+ */
 @Slf4j
 @Getter
 @Setter
@@ -207,7 +211,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 applyFinishedProductIn();
             }
         }
-        lastMode = mode;
     }
 
     public void applyEmptyBoxIn() {
@@ -252,6 +255,12 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             this.message = businessName + "失败，重量读取为空。";
             return;
         }
+        // 请求的deviceCode使用关联点位
+        List<String> linkDeviceCode = this.getExtraDeviceCodes("link_device_code");
+        if (linkDeviceCode.isEmpty()) {
+            message = "申请空托盘入库失败，扫码位没有关联点位，请检查！";
+            return;
+        }
 
         JSONObject data = new JSONObject();
         data.put("vehicleCode", this.barcode);
@@ -259,7 +268,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
 
         ApplyInboundReqVO request = ApplyInboundReqVO.builder()
                 .type(type)
-                .deviceCode(this.device.getDevice_code())
+                .deviceCode(linkDeviceCode.get(0))
                 .data(data)
                 .build();
 
@@ -300,13 +309,19 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 message = "申请空托盘入库失败，托盘码不能为空，请检查！";
                 return;
             }
+            // 请求的deviceCode使用关联点位
+            List<String> linkDeviceCode = this.getExtraDeviceCodes("link_device_code");
+            if (linkDeviceCode.isEmpty()) {
+                message = "申请空托盘入库失败，扫码位没有关联点位，请检查！";
+                return;
+            }
             // 调用 wms申请空托盘入库
             JSONObject data = new JSONObject();
             data.put("vehicleCode", this.barcode);
             JSONObject applyRes = ResponseData.getCheckData(
                     wmsApi.applyInboundTask(ApplyInboundReqVO
                             .builder()
-                            .deviceCode(getDeviceCode())
+                            .deviceCode(linkDeviceCode.get(0))
                             .type(InboundTypeEnum.DISKS_IN.getType())
                             .data(data)
                             .build()));

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/one_floor/conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java

@@ -215,7 +215,6 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr
                 this.requestBundleInfo();
             }
         }
-        lastMode = mode;
     }
 
     /**

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/one_floor/conveyor/fold_disc_site/FoldDiscSiteDeviceDriver.java

@@ -6,12 +6,15 @@ import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device.service.DeviceAppService;
 import org.nl.acs.device.device.service.entity.Device;
 import org.nl.acs.device.deviceDriver.service.defination.opcDefination.AbstractOpcDeviceDriver;
 import org.nl.acs.device.deviceDriver.service.driver.DeviceDriver;
 import org.nl.acs.device.deviceDriver.service.driver.base.DeviceDriverBaseReader;
 import org.nl.acs.device.deviceDriver.service.driver.plugin.DeviceStageMonitorPlugin;
 import org.nl.acs.device.deviceDriver.service.driver.plugin.DriverExecutePlugin;
+import org.nl.acs.task.instruction.domain.Instruction;
+import org.nl.acs.task.instruction.service.InstructionService;
 import org.nl.common.base.ResponseData;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
@@ -38,6 +41,8 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
     private final LuceneExecuteLogService logService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
     private final WmsApi wmsApi = SpringContextHolder.getBean(WmsApi.class);
 
+    private final InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+
     /**
      * 心跳
      */
@@ -177,47 +182,92 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
             this.isError = false;
             this.message = "";
             //编写业务逻辑方法
-            if (10 == this.mode) {
+            if (10 == this.mode && !requireSuccess) {
-                this.doCallEmptyPalletStack();
+                doCallEmptyPalletStack();
+            }
+            if (3 == mode && 1 == move && task != 0 && !requireSuccess) {
+                finishInstruction();
             }
         }
-        lastMode = mode;
     }
 
     /**
      * 呼叫空托盘垛
      */
     public void doCallEmptyPalletStack() {
+        long currentTimeMillis = System.currentTimeMillis();
+        // 时间校验不通过直接返回
+        if (!isTimeValid(currentTimeMillis)) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", requireTimeOut);
+            return;
+        }
+
+        requireTime = currentTimeMillis;
+
+        // move=1代表有货，不能呼叫空托盘垛
+        if (move != 0) {
+            message = "move=1，显示有货，无法呼叫空托盘垛";
+            return;
+        }
+
+        // 构建请求VO
+        CallTaskReqVO reqVo = CallTaskReqVO.builder()
+                .deviceCode(device.getDevice_code())
+                .build();
+
+        JSONObject applyRes;
+        try {
+            applyRes = ResponseData.getCheckData(wmsApi.emptyPalletStack(reqVo));
+        } catch (Exception e) {
+            message = "请求WMS出错，" + e.getMessage();
+            log.error("呼叫空托盘垛-调用WMS接口异常,deviceCode:{}", device.getDevice_code(), e);
+            return;
+        }
+
+        if (ObjectUtil.isEmpty(applyRes)) {
+            message = "WMS 反馈数据为空！";
+            log.warn("呼叫空托盘垛-WMS返回空响应,deviceCode:{}", device.getDevice_code());
+            return;
+        }
+
+        int code = applyRes.getIntValue("code");
+        if (code == 0) {
+            writing("to_command", 10);
+            requireSuccess = true;
+            message = "呼叫空托盘垛任务申请成功！";
+            log.info("呼叫空托盘垛申请成功，deviceCode:{}", device.getDevice_code());
+        } else {
+            String msg = applyRes.getString("msg");
+            message = "ACS请求WMS报错，错误响应：" + msg;
+            log.warn("呼叫空托盘垛WMS业务返回失败，code:{},msg:{},deviceCode:{}", code, msg, device.getDevice_code());
+        }
+    }
+
+    /** 完成指令 */
+    public void finishInstruction() {
         long currentTimeMillis = System.currentTimeMillis();
         if (!isTimeValid(currentTimeMillis)) {
             log.trace("触发时间因为小于{}毫秒，而被无视", this.requireTimeOut);
         } else {
             this.requireTime = currentTimeMillis;
-            if (this.move == 0) {
+
-                // 调用 wms呼叫空托盘垛
+            Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(task));
-                try {
+            if (null == instruction) {
-                    JSONObject applyRes = ResponseData.getCheckData(
+                message = "无指令...";
-                            wmsApi.emptyPalletStack(CallTaskReqVO
+                return;
-                                    .builder()
-                                    .deviceCode(this.device.getDevice_code())
-                                    .build()));
-                    if (ObjectUtil.isNotEmpty(applyRes)) {
-                        if (applyRes.getIntValue("code") == 0) {
-                            this.writing("to_command", 10);
-                            this.requireSuccess = true;
-                            this.message = "呼叫空托盘垛任务申请成功！";
-                        } else {
-                            this.message = "ACS请求WMS报错，错误相应：" + applyRes.getString("msg");
-                        }
-                    } else {
-                        this.message = "WMS 反馈数据为空！";
-                    }
-                } catch (Exception e) {
-                    this.message = "请求WMS出错，" + e.getMessage();
-                }
-            } else {
-                this.message = "move=1，显示有货，无法呼叫空托盘垛";
             }
+            if (getDeviceCode().equals(instruction.getNext_device_code())) {
+                // 指令完成
+                try {
+                    instructionService.finish(instruction.getInstruction_id());
+                    requireSuccess = true;
+                } catch (Exception e) {
+                    log.error("输送线【{}】完成指令出现异常", getDevice(), e);
+                    message = "指令完成失败，出现异常：" + e.getMessage();
+                }
+            }
+
+
         }
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/one_floor/conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java

@@ -26,10 +26,7 @@ import org.nl.extInterface.wms.WmsApi;
 import org.nl.extInterface.wms.data.req.BundleInfoReqVO;
 import org.nl.extInterface.wms.data.resp.OpenCoverInfoVO;
 
-import java.util.ArrayList;
+import java.util.*;
-import java.util.Arrays;
-import java.util.Date;
-import java.util.List;
 import java.util.concurrent.TimeUnit;
 
 @Slf4j
@@ -210,7 +207,6 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                 this.requestOpenCoverInfo();
             }
         }
-        lastMode = mode;
     }
 
     /**
@@ -259,19 +255,13 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                         }
                         OpenCoverInfoVO openCoverInfoVO =
                                 JSONObject.parseObject(JSON.toJSONString(data), OpenCoverInfoVO.class);
-                        List<String> keys = new ArrayList<>();
+                        Map<String, Object> map = new HashMap<>();
-                        List<Object> values = new ArrayList<>();
+                        map.put("to_command", 11);
-                        keys.add("to_command");
+                        map.put("to_length", openCoverInfoVO.getLength());
-                        values.add(11);
+                        map.put("to_width", openCoverInfoVO.getWidth());
-                        keys.add("to_length");
+                        map.put("to_height", openCoverInfoVO.getHeight());
-                        values.add(openCoverInfoVO.getLength());
+                        map.put("to_desiccant", openCoverInfoVO.getDesiccant());
-                        keys.add("to_width");
+                        writing(map);
-                        values.add(openCoverInfoVO.getWidth());
-                        keys.add("to_height");
-                        values.add(openCoverInfoVO.getHeight());
-                        keys.add("to_desiccant");
-                        values.add(openCoverInfoVO.getDesiccant());
-                        writing(keys, values);
                         this.requireSuccess = true;
                         this.message = "获取开盖信息成功！";
                     } else {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/one_floor/manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java

@@ -369,57 +369,6 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         requireSuccess = true;
                         return;
                     }
-                } else {
-                    TaskDto taskDto = taskService.findByStartCodeAndReady(startDeviceCode);
-                    if (ObjectUtil.isNotEmpty(taskDto)
-                            && TaskTypeEnum.TRUSS_TASK.getIndex().equals(taskDto.getTask_type())) {
-                        String start_device_code = taskDto.getStart_device_code();
-                        String next_device_code = taskDto.getNext_device_code();
-                        Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
-                        Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
-                        String start_addr = startDevice.getExtraValue().get("address").toString();
-                        String next_addr = nextDevice.getExtraValue().get("address").toString();
-                        JSONObject extJson = taskDto.getParamJson();
-                        if (ObjectUtil.isEmpty(start_addr)) {
-                            throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
-                        }
-                        if (ObjectUtil.isEmpty(next_addr)) {
-                            throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
-                        }
-                        String taskid = taskDto.getTask_id();
-                        String taskcode = taskDto.getTask_code();
-                        String start_point_code = taskDto.getStart_point_code();
-                        String route_plan_code = taskDto.getRoute_plan_code();
-                        String next_point_code = taskDto.getNext_point_code();
-                        Instruction instdto = new Instruction();
-                        instdto.setInstruction_id(IdUtil.simpleUUID());
-                        instdto.setRoute_plan_code(route_plan_code);
-                        instdto.setTask_id(taskid);
-                        instdto.setTask_code(taskcode);
-                        instdto.setCreate_id(SecurityUtils.getCurrentUserId());
-                        instdto.setCreate_name(SecurityUtils.getCurrentNickName());
-                        instdto.setStart_device_code(start_device_code);
-                        instdto.setNext_device_code(next_device_code);
-                        instdto.setStart_point_code(start_point_code);
-                        instdto.setNext_point_code(next_point_code);
-                        instdto.setInstruction_status("0");
-                        try {
-                            instructionService.create(instdto);
-                        } catch (Exception e) {
-                            LuceneLogDto logDto = LuceneLogDto.builder()
-                                    .device_code(getDeviceCode())
-                                    .content(getDeviceCode() + "创建指令时出现异常:" + e.getMessage())
-                                    .build();
-                            logService.deviceExecuteLog(logDto);
-                            return;
-                        }
-                        //创建指令后修改任务状态
-                        taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
-                        taskService.update(taskDto);
-                        doWriteSignal(start_addr, next_addr, instdto, extJson);
-                        message = "执行写入电气信号完毕！";
-                        requireSuccess = true;
-                    }
                 }
 
             }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/InstructionService.java

@@ -176,4 +176,12 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
     Instruction findByTaskCodeAndStatus(String taskCode);
 
     Instruction findByDeviceCodeFromCache(String nextDeviceCode);
+
+    /**
+     * 根据起点设备编号查询当前是否有就绪指令
+     *
+     * @param startDeviceCode
+     * @return
+     */
+    Instruction findByStartCodeAndReady(String startDeviceCode);
 }

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

@@ -575,4 +575,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         return null;
     }
 
+    @Override
+    public Instruction findByStartCodeAndReady(String startDeviceCode) {
+        Optional<Instruction> optionalInstruction = instructions.stream()
+                .filter(instruction -> StrUtil.equals(instruction.getStart_device_code(), startDeviceCode)
+                        && StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()))
+                .findFirst();
+        return optionalInstruction.orElse(null);
+    }
+
 }