rev:海康对接

nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java

@@ -1,5 +1,7 @@
 package org.nl.acs.device_driver.conveyor.standard_ordinary_site;
 
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -8,12 +10,20 @@ import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.enums.ApplyPassEnum;
+import org.nl.acs.ext.hk.UnifiedResponse;
 import org.nl.acs.ext.hk.service.AcsToHkService;
+import org.nl.acs.ext.hk.service.data.BoxApplyPassReq;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.instruction.domain.Instruction;
+import org.nl.acs.instruction.enums.InstTypeEnum;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.task.service.TaskService;
 import org.nl.config.SpringContextHolder;
 
+import java.util.Optional;
+
 
 /**
  * 普通站点
@@ -26,16 +36,85 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
     private final InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
     private final TaskService taskService = SpringContextHolder.getBean(TaskService.class);
     private final AcsToHkService acsToHkService = SpringContextHolder.getBean(AcsToHkService.class);
+    private final AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
 
 
     String device_code = null;
 
     String message;
 
+    /**
+     * CTU请求取货标记和任务号
+     */
+    private volatile String reqTakeInstCode = null;
+    private volatile Boolean reqTakeRequireSuccess = false;
+
+    /**
+     * 请求时间
+     */
+    private long requireTime = System.currentTimeMillis();
+
+    /**
+     * 请求间隔时间
+     */
+    private long requireTimeOut = 5000L;
+
 
     @Override
     public void execute() {
         device_code = this.getDevice().getDevice_code();
+        if (this.reqTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqTakeInstCode)) {
+            Instruction instruction = instructionService.findByCodeFromCache(this.reqTakeInstCode);
+            //取货申请
+            if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getStart_device_code(), this.device_code)) {
+                this.boxApplyPass(ApplyPassEnum.GET_PASS.getCode());
+            }
+            //放货申请
+            else if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getNext_device_code(), this.device_code)) {
+                boolean putFlag = Optional.ofNullable(this.getDevice().getExtraValue().get("ignore_release_check")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
+                if (putFlag) {
+                    this.applyPass(instruction);
+                } else {
+                    this.boxApplyPass(ApplyPassEnum.PUT_PASS.getCode());
+                }
+            }
+        }
+    }
+
+    private boolean isTimeValid(long currentTimeMillis) {
+        return currentTimeMillis - this.requireTime >= this.requireTimeOut;
+    }
+    private void applyPass(Instruction instruction) {
+        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;
+            JSONObject reqParam = new JSONObject();
+            reqParam.put("task_code", instruction.getTask_code());
+            reqParam.put("point_code", instruction.getNext_point_code());
+            UnifiedResponse<JSONObject> wmsUnifiedResponse = acsToWmsService.applyPass(reqParam, JSONObject.class);
+            if (wmsUnifiedResponse.isSuccess() && wmsUnifiedResponse.getData() != null) {
+                JSONObject data = wmsUnifiedResponse.getData();
+                if (data != null && "1".equals(data.getString("is_confirm"))) {
+                    this.boxApplyPass(ApplyPassEnum.PUT_PASS.getCode());
+//                    this.reqTakeRequireSuccess = false;
+//                    this.reqTakeInstCode = null;
+                }
+            }
+        }
+    }
+
+    private void boxApplyPass(String type) {
+        BoxApplyPassReq bapReq = BoxApplyPassReq.builder()
+                .taskCode(this.reqTakeInstCode)
+                .type(type)
+                .build();
+        UnifiedResponse<String> unifiedResponse = acsToHkService.boxApplyPass(bapReq, String.class);
+        if (unifiedResponse.isSuccess()) {
+            this.reqTakeRequireSuccess = false;
+            this.reqTakeInstCode = null;
+        }
     }
 
     @Override

nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java

@@ -15,6 +15,7 @@ import org.nl.acs.ext.enums.ApplyPassEnum;
 import org.nl.acs.ext.hk.UnifiedResponse;
 import org.nl.acs.ext.hk.service.AcsToHkService;
 import org.nl.acs.ext.hk.service.data.BoxApplyPassReq;
+import org.nl.acs.ext.hk.service.data.ContinueTaskReq;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.enums.InstTypeEnum;
@@ -100,8 +101,10 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl
                     } else {
                         this.boxApplyPass(ApplyPassEnum.GET_PASS.getCode());
                     }
-                } else {
+                } else if (StrUtil.equals(InstTypeEnum.AGV_THREE_TASK.getCode(), instruction.getInstruction_type()) ||
-                    this.boxApplyPass(ApplyPassEnum.GET_PASS.getCode());
+                        StrUtil.equals(InstTypeEnum.AGV_TWO_TASK.getCode(), instruction.getInstruction_type())) {
+                    //this.boxApplyPass(ApplyPassEnum.GET_PASS.getCode());
+                    this.continueTask();
                 }
             }
             //放货申请
@@ -110,10 +113,16 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl
                 if (putFlag) {
                     this.applyPass(instruction);
                 } else {
+                    // this.boxApplyPass(ApplyPassEnum.PUT_PASS.getCode());
+                    if (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_TWO3_TASK.getCode()) ||
+                            StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) {
+                        this.continueTask();
+                    } else if (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.CTU_OUT_TASK.getCode())) {
                         this.boxApplyPass(ApplyPassEnum.PUT_PASS.getCode());
                     }
                 }
             }
+        }
         this.last_weight = this.weight;
     }
 
@@ -159,9 +168,12 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl
             if (wmsUnifiedResponse.isSuccess() && wmsUnifiedResponse.getData() != null) {
                 JSONObject data = wmsUnifiedResponse.getData();
                 if (data != null && "1".equals(data.getString("is_confirm"))) {
+                    if (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_TWO3_TASK.getCode()) ||
+                            StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) {
+                        this.continueTask();
+                    } else if (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.CTU_OUT_TASK.getCode())) {
                         this.boxApplyPass(ApplyPassEnum.PUT_PASS.getCode());
-                    this.reqTakeRequireSuccess = true;
+                    }
-                    this.reqTakeInstCode = null;
                 }
             }
         }
@@ -179,6 +191,17 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl
         }
     }
 
+    private void continueTask() {
+        ContinueTaskReq req = ContinueTaskReq.builder()
+                .taskCode(this.reqTakeInstCode)
+                .build();
+        UnifiedResponse unifiedResponse = acsToHkService.continueTask(req);
+        if (unifiedResponse.isSuccess()) {
+            this.reqTakeRequireSuccess = false;
+            this.reqTakeInstCode = null;
+        }
+    }
+
 
     @Override
     public JSONObject getDeviceStatusName() {

nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/hk/service/impl/HkToAcsServiceImpl.java

@@ -8,6 +8,7 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device.domain.Device;
+import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.conveyor.standard_weight.StandardWeightSiteDeviceDriver;
 import org.nl.acs.ext.hk.service.AcsToHkService;
 import org.nl.acs.ext.hk.service.HkToAcsService;
@@ -55,7 +56,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
     public JSONObject agvCallback(JSONObject requestParam) {
         JSONObject resp = new JSONObject();
         String reqCode = requestParam.getString("reqCode");
-        String stgBinCode = requestParam.getString("stgBinCode");
+        String currentPositionCode = requestParam.getString("currentPositionCode");
         String robotCode = requestParam.getString("robotCode");
         String taskCode = requestParam.getString("taskCode");
         String method = requestParam.getString("method");
@@ -66,10 +67,10 @@ public class HkToAcsServiceImpl implements HkToAcsService {
             resp.put("reqCode", reqCode);
             return resp;
         }
-        StorageCellDto storageCellDto = storageCellService.getByParentCode(stgBinCode);
+        StorageCellDto storageCellDto = storageCellService.getByParentCode(currentPositionCode);
         if (ObjectUtil.isEmpty(storageCellDto)) {
             resp.put("code", "1");
-            resp.put("message", "请求失败，外部系统编码不存在,外部系编码:" + stgBinCode);
+            resp.put("message", "请求失败，外部系统编码不存在,外部系编码:" + currentPositionCode);
             resp.put("reqCode", reqCode);
             return resp;
         }
@@ -113,7 +114,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
             instruction.setUpdate_time(now);
             instructionService.update(instruction);
         }
-        //method 回调4、取料箱申请inApply
+        //method 回调4、取放料箱申请apply
         else if (StrUtil.equals(method, "inApply")) {
             Device device = deviceAppService.findDeviceByCode(storageCellDto.getStorage_code());
             if (ObjectUtil.isEmpty(device)) {
@@ -123,6 +124,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
                 return resp;
             }
             StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver;
+            StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
             //CTU取货申请
             //如果请求位置编号与指令起点一致并且是输送线则是取货申请
             if (device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) {
@@ -130,9 +132,14 @@ public class HkToAcsServiceImpl implements HkToAcsService {
                 standardWeightSiteDeviceDriver.setReqTakeRequireSuccess(true);
                 standardWeightSiteDeviceDriver.setReqTakeInstCode(taskCode);
             }
+//            else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+//                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+//                standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskCode);
+//                standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
+//            }
         }
-        //method 回调5、取料箱申请inApply
+        //method 回调5、inApplyOk
-        else if (StrUtil.equals(method, "inApplyOk")) {
+//        else if (StrUtil.equals(method, "inApplyOk")) {
 //            Device device = deviceAppService.findDeviceByCode(storageCellDto.getStorage_code());
 //            if (ObjectUtil.isEmpty(device)) {
 //                resp.put("code", "1");
@@ -140,7 +147,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
 //                resp.put("reqCode", reqCode);
 //                return resp;
 //            }
-        }
+//        }
         //method 回调6、放料箱申请outApply
         else if (StrUtil.equals(method, "outApply")) {
             Device device = deviceAppService.findDeviceByCode(storageCellDto.getStorage_code());
@@ -151,6 +158,8 @@ public class HkToAcsServiceImpl implements HkToAcsService {
                 return resp;
             }
             StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver;
+            StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+
             //CTU取货申请
             //如果请求位置编号与指令起点一致并且是输送线则是取货申请
             if (device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) {
@@ -158,6 +167,11 @@ public class HkToAcsServiceImpl implements HkToAcsService {
                 standardWeightSiteDeviceDriver.setReqTakeRequireSuccess(true);
                 standardWeightSiteDeviceDriver.setReqTakeInstCode(taskCode);
             }
+//            else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+//                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+//                standardOrdinarySiteDeviceDriver.setReqTakeInstCode(taskCode);
+//                standardOrdinarySiteDeviceDriver.setReqTakeRequireSuccess(true);
+//            }
         }
         resp.put("code", "0");
         resp.put("message", "成功");

nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java

@@ -254,12 +254,12 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
         if (ConfirmEnum.GET_CONFIRM.getCode().equals(type)) {
             Map<String, Object> nextPositionCode = null;
             if (StrUtil.equals(inst.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) {
-                MapOf.of("positionCode", inst.getStart_parent_code(), "type", "00");
+                nextPositionCode = MapOf.of("positionCode", inst.getStart_parent_code(), "type", "00");
             }
             //调用AGV继续执行任务接口,如果是两点任务不需要下一站点信息,如果是三点任务，需要下一站点信息
             ContinueTaskReq req = ContinueTaskReq.builder()
-                    .taskCode(task_code)
+                    .taskCode(inst.getInstruction_code())
-                    .nextPositionCode(nextPositionCode)
+                    //.nextPositionCode(nextPositionCode)
                     .build();
             UnifiedResponse unifiedResponse = acsToHkService.continueTask(req);
             if (!unifiedResponse.isSuccess()) {
@@ -270,8 +270,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
         else if (ConfirmEnum.PUT_CONFIRM.getCode().equals(type)) {
             //调用AGV继续执行任务接口,需要下一站点信息
             ContinueTaskReq req = ContinueTaskReq.builder()
-                    .taskCode(task_code)
+                    .taskCode(inst.getInstruction_code())
-                    .nextPositionCode(MapOf.of("positionCode", inst.getNext_parent_code(), "type", "00"))
+                   // .nextPositionCode(MapOf.of("positionCode", inst.getNext_parent_code(), "type", "00"))
                     .build();
             UnifiedResponse unifiedResponse = acsToHkService.continueTask(req);
             if (!unifiedResponse.isSuccess()) {

nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/enums/InstTypeEnum.java

@@ -15,9 +15,11 @@ public enum InstTypeEnum {
     CTU_IN_TASK("1", "1", "CTU入库任务"),
     CTU_OUT_TASK("2", "2", "CTU出库任务"),
     CTU_MOVE_TASK("3", "3", "CTU移库任务"),
-    AGV_TWO_TASK("4", "4", "AGV两点任务"),
+    AGV_TWO_TASK("A012", "A012", "AGV两点任务(称重位到库外站点)"),
-    AGV_THREE_TASK("5", "5", "AGV三点任务"),
+    AGV_TWO2_TASK("A021", "A021", "AGV两点任务(库外站点到库外站点)"),
-    OTHER_TASK("6", "6", "其他任务类型");
+    AGV_TWO3_TASK("A013", "A013", "AGV两点任务(库外站点到称重位)"),
+    AGV_THREE_TASK("A011", "A011", "AGV三点任务(称重位到库外站点到称重位)"),
+    OTHER_TASK("8", "9", "其他任务类型");
 
 
     /**

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

@@ -19,6 +19,8 @@ import org.nl.acs.auto.initial.ApplicationAutoInitial;
 import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device_driver.DeviceDriverDefination;
+import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
+import org.nl.acs.device_driver.conveyor.standard_weight.StandardWeightSiteDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.enums.InstTypeEnum;
@@ -472,7 +474,23 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
                 throw new BadRequestException("CTU任务类型与起点终点不匹配");
             }
         } else if (StrUtil.equals(TaskTypeEnum.AGV_TASK.getCode(), task_type)) {
-            instruction_type = "1".equals(acsTask.getIs_wait()) ? InstTypeEnum.AGV_THREE_TASK.getCode() : InstTypeEnum.AGV_TWO_TASK.getCode();
+            Device start_device = deviceAppService.findDeviceByCode(start_device_code);
+            Device next_device = deviceAppService.findDeviceByCode(next_device_code);
+            if (start_device != null && next_device != null) {
+                if ("1".equals(acsTask.getIs_wait())) {
+                    instruction_type = InstTypeEnum.AGV_THREE_TASK.getCode();
+                } else if (start_device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver
+                        && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
+                    instruction_type = InstTypeEnum.AGV_TWO_TASK.getCode();
+                } else if (start_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver
+                        && next_device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver){
+                    instruction_type = InstTypeEnum.AGV_TWO3_TASK.getCode();
+                } else if (start_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver
+                        && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
+                    instruction_type = InstTypeEnum.AGV_TWO2_TASK.getCode();
+                }
+            }
+           // instruction_type = "1".equals(acsTask.getIs_wait()) ? InstTypeEnum.AGV_THREE_TASK.getCode() : InstTypeEnum.AGV_TWO_TASK.getCode();
         }
 
         if (StrUtil.equals(instruction_type, InstTypeEnum.CTU_OUT_TASK.getCode())) {

nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java

@@ -7,6 +7,8 @@ import cn.hutool.core.util.StrUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
 import org.nl.acs.device.domain.Device;
+import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
+import org.nl.acs.device_driver.conveyor.standard_weight.StandardWeightSiteDeviceDriver;
 import org.nl.acs.instruction.enums.InstTypeEnum;
 import org.nl.acs.instruction.enums.InstructionStatusEnum;
 import org.nl.acs.instruction.service.InstructionService;
@@ -381,8 +383,28 @@ public class AutoCreateInst {
                         next_point_code = next_device_code;
                     }
 
+                    Device start_device = deviceAppService.findDeviceByCode(start_device_code);
+                    Device next_device = deviceAppService.findDeviceByCode(next_device_code);
+                    String inst_type = InstTypeEnum.AGV_TWO_TASK.getCode();
+                    if (start_device != null && next_device != null) {
+                        if ("1".equals(is_wait)) {
+                            inst_type = InstTypeEnum.AGV_THREE_TASK.getCode();
+                        } else if (start_device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver
+                                && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
+                            inst_type = InstTypeEnum.AGV_TWO_TASK.getCode();
+                        } else if (start_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver
+                                && next_device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver){
+                            inst_type = InstTypeEnum.AGV_TWO3_TASK.getCode();
+                        } else if (start_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver
+                                && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){
+                            inst_type = InstTypeEnum.AGV_TWO2_TASK.getCode();
+                        }
+                    } else {
+                        return;
+                    }
+
                     Instruction instdto = new Instruction();
-                    instdto.setInstruction_type("1".equals(is_wait) ? InstTypeEnum.AGV_THREE_TASK.getIndex() : InstTypeEnum.AGV_TWO_TASK.getIndex());
+                    instdto.setInstruction_type(inst_type);
                     instdto.setInstruction_id(IdUtil.simpleUUID());
                     instdto.setRemark(acsTask.getRemark());
                     instdto.setTask_id(taskId);