From 5869be9ee46bb52ba0253ad7f55f6fc51f267d22 Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Mon, 8 Dec 2025 13:45:35 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/java/org/nl/AppRun.java | 16 ++ .../standard_weight/ItemProtocol.java | 4 +- .../StandardWeightSiteDeviceDriver.java | 74 +++--- .../hk/service/impl/HkToAcsServiceImpl.java | 46 +++- .../acs/ext/wms/service/AcsToWmsService.java | 9 + .../wms/service/impl/AcsToWmsServiceImpl.java | 6 + .../service/InstructionService.java | 8 + .../service/impl/InstructionServiceImpl.java | 14 +- .../service/quartz/task/AutoCreateInst.java | 232 +++++++++++------- .../src/main/resources/config/application.yml | 2 +- 10 files changed, 283 insertions(+), 128 deletions(-) diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/AppRun.java b/nladmin-system/nlsso-server/src/main/java/org/nl/AppRun.java index 12b3b20..3227d88 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/AppRun.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/AppRun.java @@ -6,6 +6,9 @@ import com.alicp.jetcache.anno.config.EnableMethodCache; import lombok.extern.slf4j.Slf4j; import org.dromara.dynamictp.core.spring.EnableDynamicTp; import org.mybatis.spring.annotation.MapperScan; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device_driver.conveyor.standard_weight.StandardWeightSiteDeviceDriver; +import org.nl.acs.opc.DeviceAppService; import org.nl.config.SpringContextHolder; import org.springframework.boot.SpringApplication; import org.springframework.boot.autoconfigure.SpringBootApplication; @@ -15,6 +18,7 @@ import org.springframework.context.annotation.Bean; import org.springframework.scheduling.annotation.EnableAsync; import org.springframework.transaction.annotation.EnableTransactionManagement; import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PathVariable; import org.springframework.web.bind.annotation.RestController; /** @@ -59,5 +63,17 @@ public class AppRun { public String index() { return "Backend service started successfully"; } + + @GetMapping("/setWeight/{weight}") + @SaIgnore + public String withStationRequireSuccess(@PathVariable Float weight) { + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); + Device device = deviceAppService.findDeviceByCode("CZW01"); + if (device != null && device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) { + StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver(); + standardWeightSiteDeviceDriver.setTemp_weight(weight); + } + return "称重位重量设置为:" + weight; + } } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/ItemProtocol.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/ItemProtocol.java index 33e4ce2..da41a5f 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/ItemProtocol.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/ItemProtocol.java @@ -19,8 +19,8 @@ public class ItemProtocol { this.driver = driver; } - public Float getWeight() { - return this.getOpcFloatValue(item_weight); + public Integer getWeight() { + return this.getOpcIntegerValue(item_weight); } Boolean isonline; diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java index 64e524b..3fc0f7b 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java @@ -51,10 +51,16 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl String deviceCode; /** - * CTU请求取货标记和任务号 + * CTU请求取放货标记和指令号 */ - private volatile String reqTakeInstCode = null; - private volatile Boolean reqTakeRequireSuccess = false; + private volatile String reqCtuTakeInstCode = null; + private volatile Boolean reqCtuTakeRequireSuccess = false; + + /** + * AGV请求取放货标记和指令号 + */ + private volatile String reqAgvTakeInstCode = null; + private volatile Boolean reqAgvTakeRequireSuccess = false; /** * 请求时间 @@ -81,44 +87,56 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl return currentTimeMillis - this.requireTime >= this.requireTimeOut; } + private Float temp_weight = 0.0f; + @Override public void execute() { this.deviceCode = this.getDevice().getDevice_code(); - this.weight = this.itemProtocol.getWeight(); + this.weight = (float) this.itemProtocol.getWeight() / 10; if (!this.weight.equals(this.last_weight)) { luceneExecuteLogService.deviceExecuteLog(new LuceneLogDto(this.deviceCode, "自动线程读取信号: weight,由" + this.last_weight + "->" + this.weight)); } - if (this.reqTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqTakeInstCode)) { - Instruction instruction = instructionService.findByCodeFromCache(this.reqTakeInstCode); - //取货申请 + if (this.reqCtuTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqCtuTakeInstCode)) { + Instruction instruction = instructionService.findByCodeFromCache(this.reqCtuTakeInstCode); + //判断是否是取货还是放货 + //如果是取货看是否需要反馈重量并拍照，如果不需要直接放行 if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getStart_device_code(), this.deviceCode)) { if (StrUtil.equals(InstTypeEnum.CTU_IN_TASK.getCode(), instruction.getInstruction_type())) { boolean feedFlag = Optional.ofNullable(this.getDevice().getExtraValue().get("isFeedWeight")).map(Object::toString).map(Boolean::parseBoolean).orElse(false); - if (feedFlag) { + if (feedFlag && !instruction.getTask_code().startsWith("-")) { this.feedWeight(instruction); } else { this.boxApplyPass(ApplyPassEnum.GET_PASS.getCode()); } - } else if (StrUtil.equals(InstTypeEnum.AGV_THREE_TASK.getCode(), instruction.getInstruction_type()) || + } + } + //如果是放货，还需要判断this.weight是否小于1.0f 如果小于直接允许放货 + else if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getNext_device_code(), this.deviceCode)) { + if (StrUtil.equals(InstTypeEnum.CTU_OUT_TASK.getCode(), instruction.getInstruction_type())) { + if (this.weight < 1.0f) { + this.boxApplyPass(ApplyPassEnum.PUT_PASS.getCode()); + } + } + } + } else if (this.reqAgvTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqAgvTakeInstCode)) { + Instruction instruction = instructionService.findByCodeFromCache(this.reqAgvTakeInstCode); + //判断是否是取货还是放货 + //如果是取货直接允许 + if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getStart_device_code(), this.deviceCode)) { + if (StrUtil.equals(InstTypeEnum.AGV_THREE_TASK.getCode(), instruction.getInstruction_type()) || StrUtil.equals(InstTypeEnum.AGV_TWO_TASK.getCode(), instruction.getInstruction_type())) { - //this.boxApplyPass(ApplyPassEnum.GET_PASS.getCode()); this.continueTask(); } } - //放货申请 + //如果是放货，则判断是否有CTU请求放货，如果有则先不允许，等待CTU放货 + //还需要判断this.weight是否小于1.0f else if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getNext_device_code(), this.deviceCode)) { - 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()); - if (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_TWO3_TASK.getCode()) || - StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) { + if (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_TWO3_TASK.getCode()) || + StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) { + if (this.weight < 1.0f && !this.reqCtuTakeRequireSuccess && this.reqCtuTakeInstCode == null) { this.continueTask(); - } else if (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.CTU_OUT_TASK.getCode())) { - this.boxApplyPass(ApplyPassEnum.PUT_PASS.getCode()); } } } @@ -148,8 +166,8 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl } catch (Exception e) { luceneExecuteLogService.deviceExecuteLog(new LuceneLogDto(this.deviceCode, "反馈重量后，取消指令出现异常, 异常原因:" + e.getMessage())); } - this.reqTakeRequireSuccess = false; - this.reqTakeInstCode = null; + this.reqCtuTakeRequireSuccess = false; + this.reqCtuTakeInstCode = null; } } } @@ -181,24 +199,24 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl private void boxApplyPass(String type) { BoxApplyPassReq bapReq = BoxApplyPassReq.builder() - .taskCode(this.reqTakeInstCode) + .taskCode(this.reqCtuTakeInstCode) .type(type) .build(); UnifiedResponse unifiedResponse = acsToHkService.boxApplyPass(bapReq, String.class); if (unifiedResponse.isSuccess()) { - this.reqTakeRequireSuccess = false; - this.reqTakeInstCode = null; + this.reqCtuTakeRequireSuccess = false; + this.reqCtuTakeInstCode = null; } } private void continueTask() { ContinueTaskReq req = ContinueTaskReq.builder() - .taskCode(this.reqTakeInstCode) + .taskCode(this.reqAgvTakeInstCode) .build(); UnifiedResponse unifiedResponse = acsToHkService.continueTask(req); if (unifiedResponse.isSuccess()) { - this.reqTakeRequireSuccess = false; - this.reqTakeInstCode = null; + this.reqAgvTakeRequireSuccess = false; + this.reqAgvTakeInstCode = null; } } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/hk/service/impl/HkToAcsServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/hk/service/impl/HkToAcsServiceImpl.java index 986f814..ab2c5d0 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/hk/service/impl/HkToAcsServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/hk/service/impl/HkToAcsServiceImpl.java @@ -18,6 +18,9 @@ import org.nl.acs.instruction.enums.InstTypeEnum; import org.nl.acs.instruction.enums.InstructionStatusEnum; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.task.enums.TaskTypeEnum; +import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; import org.nl.system.service.param.ISysParamService; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; @@ -46,6 +49,8 @@ public class HkToAcsServiceImpl implements HkToAcsService { private ISysParamService sysParamService; @Autowired private AcsToWmsService acsToWmsService; + @Autowired + private TaskService taskService; @Override public JSONObject agvCallback(JSONObject requestParam) { @@ -56,6 +61,13 @@ public class HkToAcsServiceImpl implements HkToAcsService { String method = requestParam.getString("method"); Instruction instruction = instructionService.findByCodeFromCache(taskCode); if (ObjectUtil.isEmpty(instruction)) { + resp.put("code", "1"); + resp.put("message", "请求失败，指令信息不存在,指令号:" + taskCode); + resp.put("reqCode", reqCode); + return resp; + } + TaskDto taskDto = taskService.findByCodeFromCache(instruction.getTask_code()); + if (ObjectUtil.isEmpty(taskDto)) { resp.put("code", "1"); resp.put("message", "请求失败，任务信息不存在,指令号:" + taskCode); resp.put("reqCode", reqCode); @@ -74,12 +86,12 @@ public class HkToAcsServiceImpl implements HkToAcsService { JSONObject reqParam = new JSONObject(); reqParam.put("task_id", instruction.getTask_id()); reqParam.put("task_code", instruction.getTask_code()); - reqParam.put("car_no", reqCode); + reqParam.put("car_no", robotCode); acsToWmsService.feedCarNo(reqParam); } //method 回调2、任务完成/结束end else if (StrUtil.equals(method, "end")) { - if (instruction.getInstruction_type().equals(InstTypeEnum.AGV_THREE_TASK.getCode())){ + if (instruction.getInstruction_type().equals(InstTypeEnum.AGV_THREE_TASK.getCode())) { instruction.setExecute_device_code(instruction.getStart_point_code()); } //修改指令状态完成 @@ -117,18 +129,29 @@ public class HkToAcsServiceImpl implements HkToAcsService { //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) { standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver(); - standardWeightSiteDeviceDriver.setReqTakeRequireSuccess(true); - standardWeightSiteDeviceDriver.setReqTakeInstCode(taskCode); + if (TaskTypeEnum.CTU_TASK.getCode().equals(taskDto.getTask_type())) { + standardWeightSiteDeviceDriver.setReqCtuTakeRequireSuccess(true); + standardWeightSiteDeviceDriver.setReqCtuTakeInstCode(taskCode); + } else { + standardWeightSiteDeviceDriver.setReqAgvTakeRequireSuccess(true); + standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode); + } } } //method 回调5、inApplyOk - else if (StrUtil.equals(method, "inApplyOk")) { - //TODO 调用WMS取货完成通知接口 + else if (StrUtil.equals(method, "inApplyOK")) { + //如果是WMS下发的任务，就反馈WMS取货完成 + if (!instruction.getTask_code().startsWith("-")) { + JSONObject reqParam = new JSONObject(); + reqParam.put("task_code", instruction.getTask_code()); + reqParam.put("point_code", instruction.getStart_point_code()); + acsToWmsService.takeFinish(reqParam); + } } //method 回调6、放料箱申请outApply else if (StrUtil.equals(method, "outApply")) { Device device = deviceAppService.findDeviceByCode(instruction.getNext_device_code()); - if (instruction.getInstruction_type().equals(InstTypeEnum.AGV_THREE_TASK.getCode())){ + if (instruction.getInstruction_type().equals(InstTypeEnum.AGV_THREE_TASK.getCode())) { device = deviceAppService.findDeviceByCode(instruction.getStart_device_code()); } if (ObjectUtil.isEmpty(device)) { @@ -142,8 +165,13 @@ public class HkToAcsServiceImpl implements HkToAcsService { //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) { standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver(); - standardWeightSiteDeviceDriver.setReqTakeRequireSuccess(true); - standardWeightSiteDeviceDriver.setReqTakeInstCode(taskCode); + if (TaskTypeEnum.CTU_TASK.getCode().equals(taskDto.getTask_type())) { + standardWeightSiteDeviceDriver.setReqCtuTakeRequireSuccess(true); + standardWeightSiteDeviceDriver.setReqCtuTakeInstCode(taskCode); + } else { + standardWeightSiteDeviceDriver.setReqAgvTakeRequireSuccess(true); + standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode); + } } } resp.put("code", "0"); diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java index 1d31df3..06c2736 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java @@ -43,4 +43,13 @@ public interface AcsToWmsService { * @return */ UnifiedResponse applyPass(JSONObject request, Class type); + + /** + * 取货完成 + * + * @param request + * @param + * @return + */ + UnifiedResponse takeFinish(JSONObject request); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java index f0068ae..fa085a0 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java @@ -44,4 +44,10 @@ public class AcsToWmsServiceImpl implements AcsToWmsService { AddressDto addressDto = addressService.findByCode("applyPass"); return lmsHttpUtil.sendPostRequest(addressDto.getMethods_url(), request, type); } + + @Override + public UnifiedResponse takeFinish(JSONObject request) { + AddressDto addressDto = addressService.findByCode("takeFinish"); + return lmsHttpUtil.sendPostRequest(addressDto.getMethods_url(), request); + } } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java index 0ced9d5..75cce4b 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java @@ -274,4 +274,12 @@ public interface InstructionService extends CommonService { * @return */ InstructionDto findByInstTypeAndIsWait(String inst_type, String is_wait); + + /** + * 根据指令类型查询指令数量 + * + * @param instTypes + * @return + */ + int findInstCountByInstType(List instTypes); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 1ed300c..6b0c536 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -352,9 +352,9 @@ public class InstructionServiceImpl extends CommonServiceImpl instTypes) { + return Optional.ofNullable(this.instructions) + .orElse(new ArrayList<>()) + .stream() + .filter(instruction -> instTypes.contains(instruction.getInstruction_type())) + .collect(Collectors.toList()) + .size(); + } + } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java index ffee17b..67e2dc7 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java @@ -39,6 +39,11 @@ import java.util.stream.Collectors; @Component public class AutoCreateInst { + /** + * 定义一个小于料框空箱的重量，当称重数量小于该数量时，则认为没有货 + */ + private static final Float DEFAULT_WEIGHT = 1.0f; + @Autowired private TaskService taskService; @Autowired @@ -82,7 +87,102 @@ public class AutoCreateInst { return InstTypeEnum.OTHER_TASK.getCode(); })); groupByInstTypeTasks.forEach((instType, acsTaskList) -> { - if (InstTypeEnum.CTU_OUT_TASK.getCode().equals(instType)) { + if (!InstTypeEnum.CTU_OUT_TASK.getCode().equals(instType)) { + acsTaskList.forEach(acsTask -> { + String taskId = acsTask.getTask_id(); + String taskCode = acsTask.getTask_code(); + String vehicle_code = acsTask.getVehicle_code(); + String priority = acsTask.getPriority(); + String start_device_code = acsTask.getStart_device_code(); + String start_point_code = acsTask.getStart_point_code(); + String start_parent_code = acsTask.getStart_parent_code(); + String next_device_code = acsTask.getNext_device_code(); + String next_point_code = acsTask.getNext_point_code(); + String next_parent_code = acsTask.getNext_parent_code(); + String vehicle_type = acsTask.getVehicle_type(); + String agv_system_type = acsTask.getAgv_system_type(); + String is_get_pause = acsTask.getIs_get_pause(); + String is_put_pause = acsTask.getIs_put_pause(); + String is_wait = acsTask.getIs_wait(); + + //校验路由关系 + List shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, "normal"); + if (ObjectUtils.isEmpty(shortPathsList)) { + acsTask.setRemark("路由不通无法生成指令"); + taskService.updateByCodeFromCache(acsTask); + return; + } + RouteLineDto routeLineDto = shortPathsList.get(0); + String path = routeLineDto.getPath(); + String[] str = path.split("->"); + List 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(deviceAppService.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(instType); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRemark(acsTask.getRemark()); + instdto.setTask_id(taskId); + instdto.setTask_code(taskCode); + instdto.setVehicle_code(vehicle_code); + instdto.setVehicle_type(vehicle_type); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by(SecurityUtils.getCurrentNickName()); + + instdto.setStart_device_code(start_device_code); + instdto.setStart_point_code(start_point_code); + instdto.setStart_parent_code(start_parent_code); + instdto.setNext_device_code(next_device_code); + instdto.setNext_point_code(next_point_code); + instdto.setNext_parent_code(next_parent_code); + instdto.setIs_get_pause(is_get_pause); + instdto.setIs_put_pause(is_put_pause); + instdto.setIs_wait(is_wait); + + instdto.setPriority(priority); + instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex()); + instdto.setExecute_device_code(start_point_code); + instdto.setAgv_system_type(agv_system_type); + + try { + instructionService.create(instdto); + } catch (Exception e) { + acsTask.setRemark("指令创建失败:" + e.getMessage()); + taskService.updateByCodeFromCache(acsTask); + return; + } + //创建成功后 + acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex()); + taskService.update(acsTask); + }); + } else { + //查询到称重点的AGV指令数量，如果说指令数量大于1则return + int count = instructionService.findInstCountByInstType(Arrays.asList(InstTypeEnum.AGV_TWO3_TASK.getCode(), InstTypeEnum.AGV_THREE_TASK.getCode())); + if (count > 1) { + return; + } + // 获取称重位的重量，看是有货，有货则return + Device device = deviceAppService.findDeviceByCode("CZW01"); + if (device != null && device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) { + StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver(); + if (standardWeightSiteDeviceDriver.getWeight() > DEFAULT_WEIGHT) { + return; + } + } InstructionDto waitInst = instructionService.findByInstTypeAndIsWait(InstTypeEnum.CTU_OUT_TASK.getCode(), "1"); if (ObjectUtil.isEmpty(waitInst)) { Map> groupedByWaitStatus = acsTaskList.stream() @@ -255,88 +355,6 @@ public class AutoCreateInst { } }); } - } else { - acsTaskList.forEach(acsTask -> { - String taskId = acsTask.getTask_id(); - String taskCode = acsTask.getTask_code(); - String vehicle_code = acsTask.getVehicle_code(); - String priority = acsTask.getPriority(); - String start_device_code = acsTask.getStart_device_code(); - String start_point_code = acsTask.getStart_point_code(); - String start_parent_code = acsTask.getStart_parent_code(); - String next_device_code = acsTask.getNext_device_code(); - String next_point_code = acsTask.getNext_point_code(); - String next_parent_code = acsTask.getNext_parent_code(); - String vehicle_type = acsTask.getVehicle_type(); - String agv_system_type = acsTask.getAgv_system_type(); - String is_get_pause = acsTask.getIs_get_pause(); - String is_put_pause = acsTask.getIs_put_pause(); - String is_wait = acsTask.getIs_wait(); - - //校验路由关系 - List shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, "normal"); - if (ObjectUtils.isEmpty(shortPathsList)) { - acsTask.setRemark("路由不通无法生成指令"); - taskService.updateByCodeFromCache(acsTask); - return; - } - RouteLineDto routeLineDto = shortPathsList.get(0); - String path = routeLineDto.getPath(); - String[] str = path.split("->"); - List 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(deviceAppService.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(instType); - instdto.setInstruction_id(IdUtil.simpleUUID()); - instdto.setRemark(acsTask.getRemark()); - instdto.setTask_id(taskId); - instdto.setTask_code(taskCode); - instdto.setVehicle_code(vehicle_code); - instdto.setVehicle_type(vehicle_type); - String now = DateUtil.now(); - instdto.setCreate_time(now); - instdto.setCreate_by(SecurityUtils.getCurrentNickName()); - - instdto.setStart_device_code(start_device_code); - instdto.setStart_point_code(start_point_code); - instdto.setStart_parent_code(start_parent_code); - instdto.setNext_device_code(next_device_code); - instdto.setNext_point_code(next_point_code); - instdto.setNext_parent_code(next_parent_code); - instdto.setIs_get_pause(is_get_pause); - instdto.setIs_put_pause(is_put_pause); - instdto.setIs_wait(is_wait); - - instdto.setPriority(priority); - instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex()); - instdto.setExecute_device_code(start_point_code); - instdto.setAgv_system_type(agv_system_type); - - try { - instructionService.create(instdto); - } catch (Exception e) { - acsTask.setRemark("指令创建失败:" + e.getMessage()); - taskService.updateByCodeFromCache(acsTask); - return; - } - //创建成功后 - acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex()); - taskService.update(acsTask); - }); } }); } else if (TaskTypeEnum.AGV_TASK.getCode().equals(taskType)) { @@ -390,19 +408,61 @@ public class AutoCreateInst { if ("1".equals(is_wait)) { inst_type = InstTypeEnum.AGV_THREE_TASK.getCode(); } else if (start_device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver - && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){ + && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { inst_type = InstTypeEnum.AGV_TWO_TASK.getCode(); } else if (start_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver - && next_device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver){ + && next_device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) { inst_type = InstTypeEnum.AGV_TWO3_TASK.getCode(); } else if (start_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver - && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver){ + && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { inst_type = InstTypeEnum.AGV_TWO2_TASK.getCode(); } } else { return; } + //如果是到称重位的AGV任务 + if (inst_type.equals(InstTypeEnum.AGV_TWO3_TASK.getCode()) || inst_type.equals(InstTypeEnum.AGV_THREE_TASK.getCode())) { + //查询是否存在CTU出库的指令，如果存在则return + int ctuCount = instructionService.findInstCountByInstType(Arrays.asList(InstTypeEnum.CTU_OUT_TASK.getCode())); + //如果存在CTU出库指令 + if (ctuCount > 0) { + //查询AGV到称重位的指令是否存在，如果存在则return + int agvCount = instructionService.findInstCountByInstType(Arrays.asList(InstTypeEnum.AGV_TWO3_TASK.getCode(), InstTypeEnum.AGV_THREE_TASK.getCode())); + if (agvCount > 0) { + return; + } + Device device = deviceAppService.findDeviceByCode("CZW01"); + if (device != null && device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) { + StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver(); + if (standardWeightSiteDeviceDriver.getWeight() > DEFAULT_WEIGHT) { + return; + } + } + } + //如果不存在CTU出库任务 + else { + Device device = deviceAppService.findDeviceByCode("CZW01"); + if (device != null && device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) { + StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver(); + //如果称重位有货物，就查询到称重位到AGV指令数量是否存在，如果存在则return + if (standardWeightSiteDeviceDriver.getWeight() > DEFAULT_WEIGHT) { + int agvCount = instructionService.findInstCountByInstType(Arrays.asList(InstTypeEnum.AGV_TWO3_TASK.getCode(), InstTypeEnum.AGV_THREE_TASK.getCode())); + if (agvCount > 0) { + return; + } + } + //如果称重位没有货物，就查询到称重位到AGV指令数量是否大于1，如果大于1则return + else { + int agvCount = instructionService.findInstCountByInstType(Arrays.asList(InstTypeEnum.AGV_TWO3_TASK.getCode(), InstTypeEnum.AGV_THREE_TASK.getCode())); + if (agvCount > 1) { + return; + } + } + } + } + } + Instruction instdto = new Instruction(); instdto.setInstruction_type(inst_type); instdto.setInstruction_id(IdUtil.simpleUUID()); diff --git a/nladmin-system/nlsso-server/src/main/resources/config/application.yml b/nladmin-system/nlsso-server/src/main/resources/config/application.yml index 719d5c2..a5c40da 100644 --- a/nladmin-system/nlsso-server/src/main/resources/config/application.yml +++ b/nladmin-system/nlsso-server/src/main/resources/config/application.yml @@ -6,7 +6,7 @@ spring: freemarker: check-template-location: false profiles: - active: dev + active: prod jackson: time-zone: GMT+8 data: