From c2576e1e3002330981cc450fbed54ce0f086f404 Mon Sep 17 00:00:00 2001 From: psh Date: Tue, 18 Jun 2024 14:08:14 +0800 Subject: [PATCH] fix --- .../agv/server/impl/NDCAgvServiceImpl.java | 12 +- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 33 ++---- .../org/nl/acs/opc/DeviceExecuteAutoRun.java | 52 ++++---- .../nl/acs/opc/DeviceManageServiceImpl.java | 68 ++++++----- .../task/tasks/auto/GHCMLTask.java | 111 ++++++++++-------- 5 files changed, 144 insertions(+), 132 deletions(-) diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java index 5532712..b5ad53a 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java @@ -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)); diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 3af8328..1b96bbc 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -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); } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceExecuteAutoRun.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceExecuteAutoRun.java index 7acb57b..46b5bdd 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceExecuteAutoRun.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceExecuteAutoRun.java @@ -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 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 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()); } } } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceManageServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceManageServiceImpl.java index 9254b5e..4505b3d 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceManageServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceManageServiceImpl.java @@ -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 queryAllWithExtra() { +// JSONArray arr = WQLObject.getWQLObject("acs_device").query().getResultJSONArray(0); // 获取所有的设备 - List deviceList = new LambdaQueryChainWrapper<>(deviceMapper).list(); + List deviceList= new LambdaQueryChainWrapper<>(deviceMapper).list(); JSONArray arr = JSONArray.parseArray(JSON.toJSONString(deviceList)); // 获取列表扩展 - List deviceExtraList = new LambdaQueryChainWrapper<>(deviceExtraMapper).list(); +// JSONArray extArr = WQLObject.getWQLObject("acs_device_extra").query().getResultJSONArray(0); + List deviceExtraList= new LambdaQueryChainWrapper<>(deviceExtraMapper).list(); JSONArray extArr = JSONArray.parseArray(JSON.toJSONString(deviceExtraList)); // 设备+扩展DTO List 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 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 queryAllWithExtra(String device_code) { - List 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 deviceList= new LambdaQueryChainWrapper<>(deviceMapper).eq(Device::getDevice_code,device_code).list(); JSONArray arr = JSONArray.parseArray(JSON.toJSONString(deviceList)); - List 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 deviceExtraList= new LambdaQueryChainWrapper<>(deviceExtraMapper).eq(DeviceExtra::getDevice_code,device_code).list(); JSONArray extArr = JSONArray.parseArray(JSON.toJSONString(deviceExtraList)); List 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 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(); diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/auto/GHCMLTask.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/auto/GHCMLTask.java index ba503b7..18284c4 100644 --- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/auto/GHCMLTask.java +++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/auto/GHCMLTask.java @@ -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 points = pointService.list(new LambdaQueryWrapper() - .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() - .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() - .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 points = pointService.list(new LambdaQueryWrapper() +// .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() +// .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() +// .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() + .eq(SchBaseTaskconfig::getConfig_code, TASK_CONFIG_CODE)); + List 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());