浙大调度fix

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

@@ -5,6 +5,7 @@ import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
@@ -17,6 +18,7 @@ import org.apache.commons.lang3.ObjectUtils;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.MagicAgvService;
 import org.nl.acs.agv.server.NDCAgvService;
+import org.nl.acs.agv.server.ZheDaAgvService;
 import org.nl.acs.auto.initial.ApplicationAutoInitial;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
@@ -450,6 +452,19 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
                 NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
                 ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
+            }else if(StrUtil.equals(shortPathsList.get(0).getType(), "2")) {
+                ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
+                HttpResponse result = zheDaAgvService.sendAgvInstToAgv(dto);
+                if (!ObjectUtils.isEmpty(result)) {
+                    JSONObject jo = JSON.parseObject(result.body());
+                    if (jo.getInteger("status") != 200) {
+                        dto.setSend_status("2");
+                    } else {
+                        dto.setSend_status("1");
+                    }
+                } else {
+                    dto.setSend_status("2");
+                }
             }
         } catch (Exception e) {
             dto.setSend_status("2");

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/tbx/TBXMLTask.java

@@ -94,6 +94,7 @@ public class TBXMLTask extends AbstractTask {
             String requestParam = task.getRequest_param();
             JSONObject jsonObject = JSONObject.parseObject(requestParam);
             SchBasePoint point = findNextPoint(nextRegionStr, jsonObject);
+            String pointCode = againApplyLocal(task,point.getPoint_code(),task.getTask_id());
             if (ObjectUtil.isEmpty(point)) {
                 task.setRemark("涂板线[" + task.getPoint_code1() + "]未找到所需点位!");
                 taskService.updateById(task);
@@ -103,7 +104,8 @@ public class TBXMLTask extends AbstractTask {
                 continue;
             }
             // 设置终点并修改创建成功状态
-            task.setPoint_code2(point.getPoint_code());
+//            task.setPoint_code2(point.getPoint_code());
+            task.setPoint_code2(pointCode);
             task.setTask_status(TaskStatus.CREATED.getCode());
             task.setRemark("");
             taskService.updateById(task);
@@ -129,6 +131,7 @@ public class TBXMLTask extends AbstractTask {
         String requestParam = task.getRequest_param();
         JSONObject jsonObject = JSONObject.parseObject(requestParam);
         SchBasePoint point = findNextPoint(nextRegionStr, jsonObject);
+        String pointCode = againApplyLocal(task,point.getPoint_code(),task.getTask_id());
         if (ObjectUtil.isEmpty(point)) {
             throw new BadRequestException("涂板线[" + task.getPoint_code1() + "]未找到所需点位!");
         }
@@ -139,6 +142,7 @@ public class TBXMLTask 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(pointCode);
         task.setTask_status(TaskStatus.CREATED.getCode());
         task.setRemark("");
         task.setVehicle_code(vehicleCode);
@@ -393,7 +397,46 @@ public class TBXMLTask extends AbstractTask {
      * @param task_id: 任务标识
      * @return
      */
-    @Override
+    public String againApplyLocal(SchBaseTask task,String waitPoint,String task_id) {
+        if (ObjectUtil.isEmpty(task)) {
+            throw new BadRequestException("任务：[" + task_id + "]不存在!");
+        }
+        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!");
+        }
+        // 根据任务上等待点的位置获取准确的固化室位置。
+        // mark: 不考虑前空中间有货后空的问题
+        SchBasePoint ghsInPoint = pointService.getById(waitPoint);
+        List<SchBasePoint> pointList = pointService.list(new LambdaQueryWrapper<SchBasePoint>()
+                .eq(SchBasePoint::getParent_point_code, ghsInPoint.getParent_point_code())
+                .eq(SchBasePoint::getPoint_type, PointTypeConstant.DOCKING_POINT)
+                .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));
+        // hint: 如果满了，是否可以考虑转到其他固化室等待点
+        if (pointList.size() == 0) {
+            throw new BadRequestException("找不到对应的固化室");
+        }
+        // 获取第一条
+        SchBasePoint point = pointList.get(0);
+        // 锁住货位点
+        PointUtils.setUpdateByAcs(point);
+        point.setIng_task_code(task.getTask_code());
+        pointService.updateById(point);
+        // 任务修改点位
+        task.setPoint_code2(point.getPoint_code());
+        TaskUtils.setUpdateByAcs(task);
+        taskService.updateById(task);
+        return point.getPoint_code();
+    }
+
     public String againApply(String task_id) {
         SchBaseTask task = taskService.getById(task_id);
         if (ObjectUtil.isEmpty(task)) {