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fix

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This commit is contained in:
psh
2024-06-18 14:08:14 +08:00
parent 56b83f9532
commit c2576e1e30
5 changed files with 144 additions and 132 deletions
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12
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -82,7 +82,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
int nextAddress = 520;
if(!inst.getInstruction_type().equals("3")){
deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
}
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(1);
@@ -145,13 +148,14 @@ public class NDCAgvServiceImpl implements NDCAgvService {
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X0A,
(byte) 0X00, (byte) 0X0C,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X6D,
(byte) 0X00, (byte) 0X06,
(byte) 0X00, (byte) 0X08,
(byte) indexhigh, (byte) indexlow,
(byte) 0X01, (byte) 0X12,
(byte) phasehigh, (byte) phaselow
(byte) phasehigh, (byte) phaselow,
(byte) nextPointHigh,(byte) nextPointLow
};
log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:" + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF));

33
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
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@@ -219,6 +219,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//到达放货等待点
//(需要WCS反馈)
} else if (phase == 0x06) {
data = getData(data, index, inst, task);
//到达放货点
//(需要WCS反馈)
} else if (phase == 0x07) {
@@ -332,34 +333,16 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
private byte[] getData(byte[] data, int index, Instruction inst, TaskDto task) {
String next_point;
String start_point;
int next_height;
int start_height;
if (!"2".equals(task.getTask_type())) {
BaseRequest request = new BaseRequest();
request.setRequestNo(IdUtil.simpleUUID());
request.setTaskId(task.getExt_task_id());
JSONObject resp = JSONObject.parseObject(acsToWmsService.feedbackState(request));
if ("200".equals(resp.getString("code"))) {
start_height = resp.getJSONObject("parameters").getInteger("start_height");
next_height = resp.getJSONObject("parameters").getInteger("next_height");
start_point = resp.getJSONObject("parameters").getString("start_point");
next_point = resp.getJSONObject("parameters").getString("next_point");
task.setStart_height(String.valueOf(start_height));
task.setNext_height(String.valueOf(next_height));
task.setStart_point_code(start_point);
task.setStart_device_code(start_point);
task.setNext_point_code(next_point);
task.setNext_device_code(next_point);
int start_address = deviceService.queryAddressBydeviceCode(start_point);
int next_address = deviceService.queryAddressBydeviceCode(next_point);
String resp = acsToWmsService.requestTaskAgain(task.getNext_point_code(),task.getExt_task_id(),inst.getVehicle_code());
JSONObject respjson = JSONObject.parseObject(resp);
String next_device_code = respjson.getString("next_point_code");
task.setNext_point_code(next_device_code);
int start_address = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int next_address = deviceService.queryAddressBydeviceCode(next_device_code);
taskService.update(task);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, start_address, next_address, start_height, next_height);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, start_address, next_address, 0, 0);
log.info("指令号:{},phase:{},acs请求wms申请成功", inst.getInstruction_code(), phase);
} else {
log.info("指令号:{},phase:{},acs请求wms申请失败", inst.getInstruction_code(), phase);
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}

52
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceExecuteAutoRun.java
View File

@@ -1,10 +1,12 @@
package org.nl.acs.opc;
import cn.hutool.core.util.ObjectUtil;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.auto.run.AbstractAutoRunnable;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.config.thread.TheadFactoryName;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Component;
import java.util.*;
@@ -15,6 +17,7 @@ import java.util.concurrent.*;
*/
@Component
@Slf4j
@Lazy
public class DeviceExecuteAutoRun extends AbstractAutoRunnable {
@Autowired
DeviceAppService deviceAppService;
@@ -89,32 +92,35 @@ public class DeviceExecuteAutoRun extends AbstractAutoRunnable {
log.info("设备执行线程开始...");
while (true) {
Thread.sleep((long) this.loop_time_millions);
List<ExecutableDeviceDriver> deviceDrivers = this.deviceAppService.findDeviceDriver(ExecutableDeviceDriver.class);
Iterator it = deviceDrivers.iterator();
while (it.hasNext()) {
final ExecutableDeviceDriver deviceDriver = (ExecutableDeviceDriver) it.next();
//不包含正在执行的线程，则进行执行
if (!this.runs.keySet().contains(deviceDriver.getDeviceCode())) {
BlockedRunable runnable = new BlockedRunable() {
@Override
public void subRun() throws Exception {
deviceDriver.executeAuto();
}
@Override
public String getCode() {
return deviceDriver.getDeviceCode();
}
};
try {
Thread.sleep((long) this.loop_time_millions);
List<ExecutableDeviceDriver> deviceDrivers = this.deviceAppService.findDeviceDriver(ExecutableDeviceDriver.class);
Iterator it = deviceDrivers.iterator();
while (it.hasNext()) {
final ExecutableDeviceDriver deviceDriver = (ExecutableDeviceDriver) it.next();
//不包含正在执行的线程，则进行执行
if (!this.runs.keySet().contains(deviceDriver.getDeviceCode())) {
this.runs.put(deviceDriver.getDeviceCode(), runnable);
}
BlockedRunable runnable = new BlockedRunable() {
@Override
public void subRun() throws Exception {
deviceDriver.executeAuto();
}
runnable.setIndex(this.runs);
this.executorService.submit(runnable);
@Override
public String getCode() {
return deviceDriver.getDeviceCode();
}
};
if (!this.runs.keySet().contains(deviceDriver.getDeviceCode())) {
this.runs.put(deviceDriver.getDeviceCode(), runnable);
}
runnable.setIndex(this.runs);
this.executorService.submit(runnable);
}
}
}catch (Exception e){
log.info("设备执行线程失败DeviceExecuteAutoRun:{}{}",e,e.getMessage());
}
}
}

68
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceManageServiceImpl.java
View File

@@ -5,16 +5,13 @@ import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.domain.DeviceExtra;
import org.nl.acs.device.service.mapper.DeviceExtraMapper;
import org.nl.acs.device.service.mapper.DeviceMapper;
import org.nl.acs.device.service.mapper.DeviceRunpointMapper;
import org.nl.acs.opc.domain.Opc;
import org.nl.acs.opc.domain.OpcPlc;
import org.nl.acs.opc.service.mapper.OpcMapper;
import org.nl.acs.opc.service.mapper.OpcPlcMapper;
import org.springframework.beans.factory.annotation.Autowired;
@@ -24,11 +21,7 @@ import java.util.ArrayList;
import java.util.Iterator;
import java.util.List;
/**
* @author 20220102CG\noblelift
*/
@Service
@Slf4j
public class DeviceManageServiceImpl implements DeviceManageService {
@Autowired
@@ -48,19 +41,24 @@ public class DeviceManageServiceImpl implements DeviceManageService {
@Override
public List<DeviceManageDto> queryAllWithExtra() {
// JSONArray arr = WQLObject.getWQLObject("acs_device").query().getResultJSONArray(0);
// 获取所有的设备
List<Device> deviceList = new LambdaQueryChainWrapper<>(deviceMapper).list();
List<Device> deviceList= new LambdaQueryChainWrapper<>(deviceMapper).list();
JSONArray arr = JSONArray.parseArray(JSON.toJSONString(deviceList));
// 获取列表扩展
List<DeviceExtra> deviceExtraList = new LambdaQueryChainWrapper<>(deviceExtraMapper).list();
// JSONArray extArr = WQLObject.getWQLObject("acs_device_extra").query().getResultJSONArray(0);
List<DeviceExtra> deviceExtraList= new LambdaQueryChainWrapper<>(deviceExtraMapper).list();
JSONArray extArr = JSONArray.parseArray(JSON.toJSONString(deviceExtraList));
// 设备+扩展DTO
List<DeviceExtraManageDto> extras = extArr.toJavaList(DeviceExtraManageDto.class);
// WQLObject runpointTab = WQLObject.getWQLObject("acs_device_runpoint");
// WQLObject opcTab = WQLObject.getWQLObject("acs_opc");
//OPC_PLC表【acs_opc_plc】
// WQLObject plcTab = WQLObject.getWQLObject("acs_opc_plc");
List<DeviceManageDto> devices = new ArrayList<>();
for (int i = 0; i < arr.size(); i++) {
JSONObject json = arr.getJSONObject(i);
@@ -69,23 +67,18 @@ public class DeviceManageServiceImpl implements DeviceManageService {
String opc_plc_id = json.getString("opc_plc_id");
if (StrUtil.isNotEmpty(opc_plc_id) && StrUtil.isNotEmpty(opc_server_id)) {
//OPC表【acs_opc】
Opc opc = new LambdaQueryChainWrapper<>(opcMapper).apply("is_delete= '0' AND is_active= '1' AND opc_id = '" + opc_server_id + "'")
.one();
if (opc == null) {
log.info("设备:{},配置的OPC数据源不存在,opc_id:{}", json.getString("device_code"), opc_server_id);
continue;
}
device.setOpc_server_code(opc.getOpc_code());
if (ObjectUtil.isEmpty(new LambdaQueryChainWrapper<>(opcPlcMapper).apply("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").one())) {
// String opc_code = opcTab.query("is_delete= '0' AND is_active= '1' AND opc_id = '" + opc_server_id + "'").uniqueResult(0).getString("opc_code");
String opc_code = new LambdaQueryChainWrapper<>(opcMapper).apply("is_delete= '0' AND is_active= '1' AND opc_id = '" + opc_server_id + "'").one().getOpc_code();
device.setOpc_server_code(opc_code);
// if(ObjectUtil.isEmpty(plcTab.query("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").uniqueResult(0)))
if(ObjectUtil.isEmpty(new LambdaQueryChainWrapper<>(opcPlcMapper).apply("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").one()))
{
System.out.println(device.getDevice_code());
continue;
}
OpcPlc opcPlc = new LambdaQueryChainWrapper<>(opcPlcMapper).apply("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").one();
if (opcPlc == null) {
log.info("设备:{},配置的PLC数据源不存在,plc_id:{}", json.getString("device_code"), opc_plc_id);
continue;
}
device.setOpc_plc_code(opcPlc.getPlc_code());
// String plc_code = plcTab.query("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").uniqueResult(0).getString("plc_code");
String plc_code = new LambdaQueryChainWrapper<>(opcPlcMapper).apply("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").one().getPlc_code();
device.setOpc_plc_code(plc_code);
}
devices.add(device);
}
@@ -100,6 +93,10 @@ public class DeviceManageServiceImpl implements DeviceManageService {
if (extra.getDevice_id().equals(device.getDevice_id())) {
device.getExtra().add(extra);
if (StrUtil.equals(extra.getExtra_code(), "station_manager") && StrUtil.equals(extra.getExtra_value().toString(), "true")) {
// String has_goods = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("hasgoods");
// String material_type = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("material_type");
// String batch = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("batch");
// String islock = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("islock");
String has_goods = new LambdaQueryChainWrapper<>(deviceRunpointMapper).apply("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").one().getHasgoods();
String material_type = new LambdaQueryChainWrapper<>(deviceRunpointMapper).apply("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").one().getMaterial_type();
String batch = new LambdaQueryChainWrapper<>(deviceRunpointMapper).apply("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").one().getBatch();
@@ -118,15 +115,21 @@ public class DeviceManageServiceImpl implements DeviceManageService {
@Override
public List<DeviceManageDto> queryAllWithExtra(String device_code) {
List<Device> deviceList = new LambdaQueryChainWrapper<>(deviceMapper).eq(Device::getDevice_code, device_code).list();
// JSONArray arr = WQLObject.getWQLObject("acs_device").query("device_code = '" + device_code + " '").getResultJSONArray(0);
List<Device> deviceList= new LambdaQueryChainWrapper<>(deviceMapper).eq(Device::getDevice_code,device_code).list();
JSONArray arr = JSONArray.parseArray(JSON.toJSONString(deviceList));
List<DeviceExtra> deviceExtraList = new LambdaQueryChainWrapper<>(deviceExtraMapper).eq(DeviceExtra::getDevice_code, device_code).list();
// JSONArray extArr = WQLObject.getWQLObject("acs_device_extra").query("device_code = '" + device_code + " '").getResultJSONArray(0);
List<DeviceExtra> deviceExtraList= new LambdaQueryChainWrapper<>(deviceExtraMapper).eq(DeviceExtra::getDevice_code,device_code).list();
JSONArray extArr = JSONArray.parseArray(JSON.toJSONString(deviceExtraList));
List<DeviceExtraManageDto> extras = extArr.toJavaList(DeviceExtraManageDto.class);
// WQLObject runpointTab = WQLObject.getWQLObject("acs_device_runpoint");
// WQLObject opcTab = WQLObject.getWQLObject("acs_opc");
//OPC_PLC表【acs_opc_plc】
// WQLObject plcTab = WQLObject.getWQLObject("acs_opc_plc");
List<DeviceManageDto> devices = new ArrayList<>();
for (int i = 0; i < arr.size(); i++) {
JSONObject json = arr.getJSONObject(i);
@@ -134,17 +137,22 @@ public class DeviceManageServiceImpl implements DeviceManageService {
String opc_server_id = json.getString("opc_server_id");
String opc_plc_id = json.getString("opc_plc_id");
if (StrUtil.isNotEmpty(opc_plc_id) && StrUtil.isNotEmpty(opc_server_id)) {
//OPC表【acs_opc】
// JSONObject rb = opcTab.query("is_delete= '0' AND is_active= '1' AND opc_id = '" + opc_server_id + "'").uniqueResult(0);
Opc opc = new LambdaQueryChainWrapper<>(opcMapper).apply("is_delete= '0' AND is_active= '1' AND opc_id = '" + opc_server_id + "'").one();
if (ObjectUtil.isEmpty(opc)) {
if(ObjectUtil.isEmpty(opc)){
System.out.println(device.getDevice_code());
continue;
}
String opc_code = opc.getOpc_code();
String opc_code=opc.getOpc_code();
device.setOpc_server_code(opc_code);
if (ObjectUtil.isEmpty(new LambdaQueryChainWrapper<>(opcPlcMapper).apply("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").one())) {
// if(ObjectUtil.isEmpty(plcTab.query("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").uniqueResult(0)))
if(ObjectUtil.isEmpty(new LambdaQueryChainWrapper<>(opcPlcMapper).apply("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").one()))
{
System.out.println(device.getDevice_code());
continue;
}
// String plc_code = plcTab.query("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").uniqueResult(0).getString("plc_code");
String plc_code = new LambdaQueryChainWrapper<>(opcPlcMapper).apply("is_delete= '0' AND is_active= '1' AND plc_id = '" + opc_plc_id + "'").one().getPlc_code();
device.setOpc_plc_code(plc_code);
}
@@ -161,6 +169,10 @@ public class DeviceManageServiceImpl implements DeviceManageService {
if (extra.getDevice_id().equals(device.getDevice_id())) {
device.getExtra().add(extra);
if (StrUtil.equals(extra.getExtra_code(), "station_manager") && StrUtil.equals(extra.getExtra_value().toString(), "true")) {
// String has_goods = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("hasgoods");
// String material_type = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("material_type");
// String batch = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("batch");
// String islock = runpointTab.query("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").uniqueResult(0).getString("islock");
String has_goods = new LambdaQueryChainWrapper<>(deviceRunpointMapper).apply("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").one().getHasgoods();
String material_type = new LambdaQueryChainWrapper<>(deviceRunpointMapper).apply("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").one().getMaterial_type();
String batch = new LambdaQueryChainWrapper<>(deviceRunpointMapper).apply("is_delete= '0' AND is_active= '1' AND device_id = '" + extra.getDevice_id() + "'").one().getBatch();

111
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/auto/GHCMLTask.java
View File

@@ -117,7 +117,7 @@ public class GHCMLTask extends AbstractTask {
task.setGroup_id(setGroupPlate(jsonObject));
// 设置等待点并修改创建成功状态
// task.setNext_wait_point(point.getPoint_code());
task.setPoint_code2(point.getPoint_code());
task.setPoint_code2("DDD");
task.setTask_status(TaskStatus.CREATED.getCode());
task.setRemark("");
TaskUtils.setUpdateByAcs(task);
@@ -126,10 +126,6 @@ public class GHCMLTask extends AbstractTask {
PointUtils.setUpdateByAcs(point);
pointService.updateById(point);
//任务创建后锁住起点
startPoint.setIng_task_code(task.getTask_code());
pointService.updateById(startPoint);
}
/**
@@ -152,6 +148,10 @@ public class GHCMLTask extends AbstractTask {
.eq(SchBasePoint::getRow_num, sameMaterialPoints.getRow_num())
.eq(SchBasePoint::getIs_used, true)
.eq(SchBasePoint::getPoint_status, PointStatusEnum.EMPTY_POINT.getCode())
// 当前执行的任务为空或者NULL，有数据表示锁住
.and(la -> la.isNull(SchBasePoint::getIng_task_code)
.or()
.eq(SchBasePoint::getIng_task_code, ""))
.orderByAsc(SchBasePoint::getCol_num), false);
if (ObjectUtil.isNotEmpty(point)) {
return point;
@@ -299,54 +299,61 @@ public class GHCMLTask extends AbstractTask {
if (ObjectUtil.isEmpty(task)) {
throw new BadRequestException("任务：[" + task_id + "]不存在!");
}
String waitPoint = task.getNext_wait_point();
if (ObjectUtil.isEmpty(waitPoint)) {
throw new BadRequestException("找不到任务：[" + task_id + "]等待点!");
}
if (ObjectUtil.isNotEmpty(task.getPoint_code2())) {
throw new BadRequestException("任务：[" + task_id + "]已请求过!");
}
SchBasePoint waitPointObj = pointService.getById(waitPoint);
SchBasePoint result;
// 找到这排对应的准确货位，
// hint: 需要考虑前后空，中间有货的情况，有货之后的即使是空也不能放。
// 寻找有货的数据
List<SchBasePoint> points = pointService.list(new LambdaQueryWrapper<SchBasePoint>()
.eq(SchBasePoint::getRegion_code, waitPointObj.getRegion_code())
.eq(SchBasePoint::getRow_num, waitPointObj.getRow_num())
.eq(SchBasePoint::getPoint_status, PointStatusEnum.EMPTY_VEHICLE.getCode())
.eq(SchBasePoint::getIs_used, true)
.orderByDesc(SchBasePoint::getIn_order_seq));
if (points.size() > 0) {
SchBasePoint basePoint = points.get(0);
// 找到物料位置的下一个位置
result = pointService.getOne(new LambdaQueryWrapper<SchBasePoint>()
.eq(SchBasePoint::getRegion_code, waitPointObj.getRegion_code())
.eq(SchBasePoint::getRow_num, waitPointObj.getRow_num())
.eq(SchBasePoint::getCol_num, basePoint.getCol_num() - 1)
// 当前执行的任务为空或者NULL，有数据表示锁住
.and(la -> la.isNull(SchBasePoint::getIng_task_code)
.or()
.eq(SchBasePoint::getIng_task_code, ""))
.eq(SchBasePoint::getIs_used, true));
if (ObjectUtil.isEmpty(result)) {
throw new BadRequestException("点位错误");
}
} else {
// 空的话代表这排是新的一排，找个位置就行
points = pointService.list(new LambdaQueryWrapper<SchBasePoint>()
.eq(SchBasePoint::getRegion_code, waitPointObj.getRegion_code())
.eq(SchBasePoint::getRow_num, waitPointObj.getRow_num())
.eq(SchBasePoint::getPoint_status, PointStatusEnum.EMPTY_POINT.getCode())
// 当前执行的任务为空或者NULL，有数据表示锁住
.and(la -> la.isNull(SchBasePoint::getIng_task_code)
.or()
.eq(SchBasePoint::getIng_task_code, ""))
.eq(SchBasePoint::getIs_used, true)
.orderByAsc(SchBasePoint::getIn_order_seq));
// 获取第一条
result = points.get(0);
// String waitPoint = task.getNext_wait_point();
// if (ObjectUtil.isEmpty(waitPoint)) {
// throw new BadRequestException("找不到任务：[" + task_id + "]等待点!");
// }
if (!"DDD".equals(task.getPoint_code2())) {
log.info("任务号{}已请求过二次分配，直接返回已分配地址{}",task_id,task.getPoint_code2());
return task.getPoint_code2();
}
// SchBasePoint waitPointObj = pointService.getById(waitPoint);
// SchBasePoint result;
// // 找到这排对应的准确货位，
// // hint: 需要考虑前后空，中间有货的情况，有货之后的即使是空也不能放。
// // 寻找有货的数据
// List<SchBasePoint> points = pointService.list(new LambdaQueryWrapper<SchBasePoint>()
// .eq(SchBasePoint::getRegion_code, waitPointObj.getRegion_code())
// .eq(SchBasePoint::getRow_num, waitPointObj.getRow_num())
// .eq(SchBasePoint::getPoint_status, PointStatusEnum.EMPTY_VEHICLE.getCode())
// .eq(SchBasePoint::getIs_used, true)
// .orderByDesc(SchBasePoint::getIn_order_seq));
// if (points.size() > 0) {
// SchBasePoint basePoint = points.get(0);
// // 找到物料位置的下一个位置
// result = pointService.getOne(new LambdaQueryWrapper<SchBasePoint>()
// .eq(SchBasePoint::getRegion_code, waitPointObj.getRegion_code())
// .eq(SchBasePoint::getRow_num, waitPointObj.getRow_num())
// .eq(SchBasePoint::getCol_num, basePoint.getCol_num() - 1)
// // 当前执行的任务为空或者NULL，有数据表示锁住
// .and(la -> la.isNull(SchBasePoint::getIng_task_code)
// .or()
// .eq(SchBasePoint::getIng_task_code, ""))
// .eq(SchBasePoint::getIs_used, true));
// if (ObjectUtil.isEmpty(result)) {
// throw new BadRequestException("点位错误");
// }
// } else {
// // 空的话代表这排是新的一排，找个位置就行
// points = pointService.list(new LambdaQueryWrapper<SchBasePoint>()
// .eq(SchBasePoint::getRegion_code, waitPointObj.getRegion_code())
// .eq(SchBasePoint::getRow_num, waitPointObj.getRow_num())
// .eq(SchBasePoint::getPoint_status, PointStatusEnum.EMPTY_POINT.getCode())
// // 当前执行的任务为空或者NULL，有数据表示锁住
// .and(la -> la.isNull(SchBasePoint::getIng_task_code)
// .or()
// .eq(SchBasePoint::getIng_task_code, ""))
// .eq(SchBasePoint::getIs_used, true)
// .orderByAsc(SchBasePoint::getIn_order_seq));
// // 获取第一条
// result = points.get(0);
// }
SchBaseTaskconfig taskConfig = taskConfigService.getOne(new LambdaQueryWrapper<SchBaseTaskconfig>()
.eq(SchBaseTaskconfig::getConfig_code, TASK_CONFIG_CODE));
List<String> nextRegionStr = Arrays.stream(taskConfig.getNext_region_str().split(","))
.collect(Collectors.toList());
JSONObject jsonObject = JSONObject.parseObject(task.getRequest_param());
SchBasePoint result = findNextPoint(nextRegionStr, jsonObject);
// 锁住货位点
PointUtils.setUpdateByAcs(result);
result.setIng_task_code(task.getTask_code());