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This commit is contained in:
zhangjiangwei
2023-03-22 16:43:35 +08:00
parent dd94aec48b
commit 256409b9fa
10 changed files with 295 additions and 132 deletions
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2
acs/nladmin-system/src/main/java/org/nl/acs/AcsConfig.java
View File

@@ -56,4 +56,6 @@ public interface AcsConfig {
String MAXSENDTASKTIME = "maxSendTaskTime";
//指令下发立库
String INSTSENDLK = "instSendLk";
String SEND_INST = "sendInst";
}

29
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@@ -75,7 +75,22 @@ public class NDCAgvServiceImpl implements NDCAgvService {
public void sendAgvInstToNDC(String agv_system_type, Instruction inst) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
String instcode = inst.getInstruction_code();
int type = Integer.parseInt(inst.getAgv_inst_type());
String start_height_str = inst.getStart_height();
String next_height_str = inst.getNext_height();
int type;
if (StrUtil.isNotBlank(start_height_str) && StrUtil.isNotBlank(next_height_str)) {
type = 1;
} else if (StrUtil.isNotBlank(start_height_str)) {
type = 2;
} else if (StrUtil.isNotBlank(next_height_str)) {
type = 3;
} else {
type = 4;
}
int start_height = Integer.parseInt(start_height_str);
int next_height = Integer.parseInt(next_height_str);
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
@@ -90,6 +105,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
byte qhghigh = (byte) IntToHexHigh(start_height);
byte qhglow = (byte) IntToHexLow(start_height);
byte fhghigh = (byte) IntToHexHigh(next_height);
byte fhglow = (byte) IntToHexLow(next_height);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
@@ -102,6 +121,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
str += "/qhg:" + (start_height);
str1 += "/qhg:" + hexToString(qhghigh & 0XFF) + hexToString(qhglow & 0XFF);
str += "/fhg:" + (next_height);
str1 += "/fhg:" + hexToString(fhghigh & 0XFF) + hexToString(fhglow & 0XFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
@@ -116,7 +139,9 @@ public class NDCAgvServiceImpl implements NDCAgvService {
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) fhdhigh, (byte) fhdlow
(byte) fhdhigh, (byte) fhdlow,
(byte) qhghigh, (byte) qhglow,
(byte) fhghigh, (byte) fhglow
};
log.info("下发AGV作业指令--{}", str1);
OneNDCSocketConnectionAutoRun.write(b);

10
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
View File

@@ -53,6 +53,16 @@ public class CreateTaskRequest extends BaseRequest {
*/
String remark;
/**
* 起点高度
*/
String start_height;
/**
* 终点高度
*/
String next_height;
/**
* 扩展属性
*/

27
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
View File

@@ -36,7 +36,7 @@ public class WmsToAcsController {
private final WmsToAcsService wmstoacsService;
@PostMapping("/task")
@Log(value = "ACS接收WMS任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "ACS接收WMS任务", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("接收WMS任务")
@SaIgnore
public ResponseEntity<Object> createFromWms(@RequestBody List<CreateTaskRequest> reqs) {
@@ -44,7 +44,7 @@ public class WmsToAcsController {
}
@PostMapping("/cancelTask")
@Log(value = "WMS取消任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "WMS取消任务", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS取消任务")
@SaIgnore
public ResponseEntity<Object> cancelFromWms(@RequestBody List<CancelTaskRequest> reqs) throws Exception {
@@ -52,21 +52,21 @@ public class WmsToAcsController {
}
@PostMapping("/updateDeviceGoodsFromWms")
@Log(value = "WMS修改点位状态",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "WMS修改点位状态", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS修改点位状态")
public ResponseEntity<Object> updateDeviceGoodsFromWms(@RequestBody String whereJson) {
return new ResponseEntity<>(wmstoacsService.updateDeviceGoodsFromWms(whereJson), HttpStatus.OK);
}
@PostMapping("/areaControl")
@Log(value = "区域控制",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "区域控制", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("区域控制")
public ResponseEntity<Object> areaControl(@RequestBody JSONObject whereJson) {
return new ResponseEntity<>(wmstoacsService.areaControl(whereJson), HttpStatus.OK);
}
@PostMapping("/action")
@Log(value = "WMS下发点位信号",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "WMS下发点位信号", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS下发点位信号")
@SaIgnore
public ResponseEntity<Object> putAction(@RequestBody String whereJson) throws Exception {
@@ -74,7 +74,7 @@ public class WmsToAcsController {
}
@PostMapping("/querydevice")
@Log(value = "WMS查询设备状态",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "WMS查询设备状态", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS查询设备状态")
@SaIgnore
public ResponseEntity<Object> queryDevice(@RequestBody String whereJson) throws Exception {
@@ -82,20 +82,27 @@ public class WmsToAcsController {
}
@PostMapping("/queryDeviceDBValue")
@Log(value = "WMS查询设备DB值",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "WMS查询设备DB值", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS查询设备DB值")
@SaIgnore
public ResponseEntity<Object> queryDeviceDBValue(@RequestBody String whereJson){
public ResponseEntity<Object> queryDeviceDBValue(@RequestBody String whereJson) {
return new ResponseEntity<>(wmstoacsService.queryDeviceDBValue(whereJson), HttpStatus.OK);
}
@PostMapping("/putPlusPullAction")
@Log(value = "WMS下发插拔轴动作",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@Log(value = "WMS下发插拔轴动作", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS下发插拔轴动作")
@SaIgnore
public ResponseEntity<Object> putPlusPullAction(@RequestBody String whereJson){
public ResponseEntity<Object> putPlusPullAction(@RequestBody String whereJson) {
return new ResponseEntity<>(wmstoacsService.putPlusPullAction(whereJson), HttpStatus.OK);
}
@PostMapping("/deviceOption")
@Log(value = "WMS下发设备暂停恢复", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS下发设备暂停恢复")
@SaIgnore
public ResponseEntity<Object> deviceOption(@RequestBody String whereJson) {
return new ResponseEntity<>(wmstoacsService.deviceOption(whereJson), HttpStatus.OK);
}
}

7
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java
View File

@@ -83,4 +83,11 @@ public interface WmsToAcsService {
Map<String, Object> putPlusPullAction(String whereJson);
/**
* 设备暂停恢复
*
* @param whereJson 条件
* @return JSONObject
*/
JSONObject deviceOption(String whereJson);
}

80
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@@ -10,6 +10,8 @@ import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.common.IDriverService;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.CargoLiftConveyorDeviceDriver;
@@ -32,6 +34,7 @@ import org.nl.acs.task.service.TaskService;
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.dto.ParamDto;
import org.nl.modules.wql.core.bean.WQLObject;
import org.nl.modules.wql.exception.WDKException;
import org.nl.modules.wql.util.SpringContextHolder;
@@ -59,6 +62,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
private final RouteLineService routeLineService;
private final AcsToLiKuService acsToLiKuService;
private final ParamService paramService;
private String log_file_type = "log_file_type";
private String log_type = "LMS请求ACS";
@@ -469,6 +474,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
String task_type = req.getTask_type();
String remark = req.getRemark();
Map<String, String> params = req.getParams();
String start_height = req.getStart_height();
String next_height = req.getNext_height();
String start_point_code = "";
String next_point_code = "";
@@ -570,6 +577,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
jo.put("remark", remark);
jo.put("params", params);
jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type));
jo.put("start_height", start_height);
jo.put("next_height", next_height);
TaskDto task_dto = jo.toJavaObject(TaskDto.class);
try {
@@ -604,5 +613,76 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
}
/**
* 设备暂停恢复
*
* @param whereJson 条件
* @return JSONObject
*/
@Override
public JSONObject deviceOption(String whereJson) {
try {
MDC.put(log_file_type, log_type);
log.info("deviceOption-----输入参数{}", whereJson);
String option = JSONObject.parseObject(whereJson).getString("option");
JSONObject resultJSON = new JSONObject();
switch (option) {
case "1":
// 急停AGV车辆
byte[] bytes1 = {
(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X0C,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X08,
(byte) 0X32, (byte) 0X80,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X01
};
OneNDCSocketConnectionAutoRun.write(bytes1);
System.out.println("下发agv指令数据:" + NDCAgvServiceImpl.Bytes2HexString(bytes1));
break;
case "2":
// 恢复急停AGV车辆
byte[] bytes2 = {
(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X0C,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X08,
(byte) 0X32, (byte) 0X80,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X00
};
OneNDCSocketConnectionAutoRun.write(bytes2);
System.out.println("下发agv指令数据:" + NDCAgvServiceImpl.Bytes2HexString(bytes2));
break;
case "3":
ParamDto sysParam3 = paramService.findByCode(AcsConfig.SEND_INST);
sysParam3.setValue("0");
paramService.update(sysParam3);
break;
case "4":
ParamDto sysParam4 = paramService.findByCode(AcsConfig.SEND_INST);
sysParam4.setValue("1");
paramService.update(sysParam4);
break;
default:
resultJSON.put("status", HttpStatus.BAD_REQUEST.value());
resultJSON.put("message", "未知操作类型");
return resultJSON;
}
resultJSON.put("status", HttpStatus.OK.value());
resultJSON.put("message", "操作成功");
return resultJSON;
} finally {
MDC.remove(log_file_type);
}
}
}

10
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
View File

@@ -348,4 +348,14 @@ public class InstructionDto implements Serializable {
*/
private String agv_system_type;
/**
* 起点高度
*/
private String start_height;
/**
* 终点高度
*/
private String next_height;
}

2
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -302,8 +302,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
}
if (task.getTask_type().equals("1") || task.getTask_type().equals("2")) {
dto.setInstruction_type(task.getTask_type());
} else if (false) {
} else {
dto.setInstruction_type("3");
}

10
acs/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
View File

@@ -290,4 +290,14 @@ public class TaskDto implements Serializable {
* 烘箱温度
*/
private String temperature;
/**
* 起点高度
*/
private String start_height;
/**
* 终点高度
*/
private String next_height;
}

250
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
View File

@@ -5,6 +5,7 @@ import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.StrUtil;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.AcsConfig;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.opc.DeviceAppService;
@@ -13,6 +14,8 @@ import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.dto.RouteLineDto;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.dto.ParamDto;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.stereotype.Component;
@@ -31,128 +34,139 @@ public class AutoCreateInst {
* 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货
*/
public void run() throws Exception {
TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
ParamService paramService = SpringContextHolder.getBean(ParamService.class);
List<TaskDto> list = taskserver.queryAll("task_status = '0'");
for (int i = 0; i < list.size(); i++) {
TaskDto acsTask = list.get(i);
if(StrUtil.equals(acsTask.getTask_type(),"7") && !StrUtil.startWith(acsTask.getTask_code(), "-") ){
continue;
}
String taskid = acsTask.getTask_id();
String taskcode = acsTask.getTask_code();
String task_type = acsTask.getTask_type();
String vehiclecode = acsTask.getVehicle_code();
String storage_task_type = acsTask.getStorage_task_type();
String priority = acsTask.getPriority();
String is_send = acsTask.getIs_send();
ParamDto sendInst = paramService.findByCode(AcsConfig.SEND_INST);
if ("1".equals(sendInst.getValue())) {
TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
String start_device_code = acsTask.getStart_device_code();
String start_point_code = acsTask.getStart_point_code();
String put_device_code = acsTask.getPut_device_code();
String put_point_code = acsTask.getPut_point_code();
String next_device_code = acsTask.getNext_device_code();
String next_point_code = acsTask.getNext_point_code();
String start_point_code2 = acsTask.getStart_point_code2();
String start_device_code2 = acsTask.getStart_device_code2();
String next_point_code2 = acsTask.getNext_point_code2();
String next_device_code2 = acsTask.getNext_device_code2();
String route_plan_code = acsTask.getRoute_plan_code();
String vehicleType = acsTask.getVehicle_type();
String agv_system_type = acsTask.getAgv_system_type();
if (StrUtil.equals(is_send, "0")) {
continue;
}
//校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) {
acsTask.setRemark("路由不通无法生成指令");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
continue;
}
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
List<TaskDto> list = taskserver.queryAll("task_status = '0'");
for (int i = 0; i < list.size(); i++) {
TaskDto acsTask = list.get(i);
if (StrUtil.equals(acsTask.getTask_type(), "7") && !StrUtil.startWith(acsTask.getTask_code(), "-")) {
continue;
}
String taskid = acsTask.getTask_id();
String taskcode = acsTask.getTask_code();
String task_type = acsTask.getTask_type();
String vehiclecode = acsTask.getVehicle_code();
String storage_task_type = acsTask.getStorage_task_type();
String priority = acsTask.getPriority();
String is_send = acsTask.getIs_send();
String start_device_code = acsTask.getStart_device_code();
String start_point_code = acsTask.getStart_point_code();
String put_device_code = acsTask.getPut_device_code();
String put_point_code = acsTask.getPut_point_code();
String next_device_code = acsTask.getNext_device_code();
String next_point_code = acsTask.getNext_point_code();
String start_point_code2 = acsTask.getStart_point_code2();
String start_device_code2 = acsTask.getStart_device_code2();
String next_point_code2 = acsTask.getNext_point_code2();
String next_device_code2 = acsTask.getNext_device_code2();
String route_plan_code = acsTask.getRoute_plan_code();
String vehicleType = acsTask.getVehicle_type();
String agv_system_type = acsTask.getAgv_system_type();
String start_height = acsTask.getStart_height();
String next_height = acsTask.getNext_height();
if (StrUtil.equals(is_send, "0")) {
continue;
}
//校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) {
acsTask.setRemark("路由不通无法生成指令");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
continue;
}
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
}
}
next_device_code = pathlist.get(index);
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
} else {
next_point_code = next_device_code;
}
Instruction instdto = new Instruction();
instdto.setInstruction_type(task_type);
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(acsTask.getRemark());
instdto.setMaterial(acsTask.getMaterial());
instdto.setQuantity(acsTask.getQuantity());
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
instdto.setVehicle_code(vehiclecode);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by("auto");
instdto.setStart_device_code(start_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setPut_device_code(put_device_code);
instdto.setPut_point_code(put_point_code);
instdto.setNext_device_code(next_device_code);
instdto.setNext_point_code(next_point_code);
instdto.setStart_point_code2(start_point_code2);
instdto.setStart_device_code2(start_device_code2);
instdto.setNext_point_code2(next_point_code2);
instdto.setNext_device_code2(next_device_code2);
instdto.setPriority(priority);
instdto.setInstruction_status("0");
instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType);
instdto.setAgv_system_type(agv_system_type);
instdto.setAgv_inst_type("1");
instdto.setStart_height(start_height);
instdto.setNext_height(next_height);
try {
instructionService.create(instdto);
} catch (Exception e) {
acsTask.setRemark(e.getMessage());
taskserver.updateByCodeFromCache(acsTask);
continue;
}
//创建指令后修改任务状态
acsTask.setTask_status("1");
taskserver.update(acsTask);
}
next_device_code = pathlist.get(index);
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
} else {
next_point_code = next_device_code;
}
Instruction instdto = new Instruction();
instdto.setInstruction_type(task_type);
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(acsTask.getRemark());
instdto.setMaterial(acsTask.getMaterial());
instdto.setQuantity(acsTask.getQuantity());
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
instdto.setVehicle_code(vehiclecode);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by("auto");
instdto.setStart_device_code(start_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setPut_device_code(put_device_code);
instdto.setPut_point_code(put_point_code);
instdto.setNext_device_code(next_device_code);
instdto.setNext_point_code(next_point_code);
instdto.setStart_point_code2(start_point_code2);
instdto.setStart_device_code2(start_device_code2);
instdto.setNext_point_code2(next_point_code2);
instdto.setNext_device_code2(next_device_code2);
instdto.setPriority(priority);
instdto.setInstruction_status("0");
instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType);
instdto.setAgv_system_type(agv_system_type);
instdto.setAgv_inst_type("1");
try {
instructionService.create(instdto);
} catch (Exception e) {
acsTask.setRemark(e.getMessage());
taskserver.updateByCodeFromCache(acsTask);
continue;
}
//创建指令后修改任务状态
acsTask.setTask_status("1");
taskserver.update(acsTask);
}
}
}