rev:更新

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;
+    }
 }
 

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() {
+    public Integer getWeight() {
-        return this.getOpcFloatValue(item_weight);
+        return this.getOpcIntegerValue(item_weight);
     }
 
     Boolean isonline;

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 String reqCtuTakeInstCode = null;
-    private volatile Boolean reqTakeRequireSuccess = false;
+    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)) {
+        if (this.reqCtuTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqCtuTakeInstCode)) {
-            Instruction instruction = instructionService.findByCodeFromCache(this.reqTakeInstCode);
+            Instruction instruction = instructionService.findByCodeFromCache(this.reqCtuTakeInstCode);
-            //取货申请
+            //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 (StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_TWO3_TASK.getCode()) ||
-                if (putFlag) {
+                        StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) {
-                    this.applyPass(instruction);
+                    if (this.weight < 1.0f && !this.reqCtuTakeRequireSuccess && this.reqCtuTakeInstCode == null) {
-                } 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());
                     }
                 }
             }
@@ -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.reqCtuTakeRequireSuccess = false;
-                    this.reqTakeInstCode = null;
+                    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<String> unifiedResponse = acsToHkService.boxApplyPass(bapReq, String.class);
         if (unifiedResponse.isSuccess()) {
-            this.reqTakeRequireSuccess = false;
+            this.reqCtuTakeRequireSuccess = false;
-            this.reqTakeInstCode = null;
+            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.reqAgvTakeRequireSuccess = false;
-            this.reqTakeInstCode = null;
+            this.reqAgvTakeInstCode = null;
         }
     }
 

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);
+                if (TaskTypeEnum.CTU_TASK.getCode().equals(taskDto.getTask_type())) {
-                standardWeightSiteDeviceDriver.setReqTakeInstCode(taskCode);
+                    standardWeightSiteDeviceDriver.setReqCtuTakeRequireSuccess(true);
+                    standardWeightSiteDeviceDriver.setReqCtuTakeInstCode(taskCode);
+                } else {
+                    standardWeightSiteDeviceDriver.setReqAgvTakeRequireSuccess(true);
+                    standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode);
+                }
             }
         }
         //method 回调5、inApplyOk
-        else if (StrUtil.equals(method, "inApplyOk")) {
+        else if (StrUtil.equals(method, "inApplyOK")) {
-            //TODO 调用WMS取货完成通知接口
+            //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);
+                if (TaskTypeEnum.CTU_TASK.getCode().equals(taskDto.getTask_type())) {
-                standardWeightSiteDeviceDriver.setReqTakeInstCode(taskCode);
+                    standardWeightSiteDeviceDriver.setReqCtuTakeRequireSuccess(true);
+                    standardWeightSiteDeviceDriver.setReqCtuTakeInstCode(taskCode);
+                } else {
+                    standardWeightSiteDeviceDriver.setReqAgvTakeRequireSuccess(true);
+                    standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode);
+                }
             }
         }
         resp.put("code", "0");

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

@@ -43,4 +43,13 @@ public interface AcsToWmsService {
      * @return
      */
     <T> UnifiedResponse<T> applyPass(JSONObject request, Class<T> type);
+
+    /**
+     * 取货完成
+     *
+     * @param request
+     * @param <T>
+     * @return
+     */
+    <T> UnifiedResponse<T> takeFinish(JSONObject request);
 }

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 <T> UnifiedResponse<T> takeFinish(JSONObject request) {
+        AddressDto addressDto = addressService.findByCode("takeFinish");
+        return lmsHttpUtil.sendPostRequest(addressDto.getMethods_url(), request);
+    }
 }

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

@@ -274,4 +274,12 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      * @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<String> instTypes);
 }

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

@@ -352,9 +352,9 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                             .taskCode(dto.getInstruction_code())
                             .build();
                 } else if (StrUtil.equals(task.getTask_type(), TaskTypeEnum.AGV_TASK.getCode())) {
-                if (StrUtil.equals(dto.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) {
+                    if (StrUtil.equals(dto.getInstruction_type(), InstTypeEnum.AGV_THREE_TASK.getCode())) {
                         positionCodePath = Arrays.asList(MapOf.of("positionCode", dto.getStart_parent_code(), "type", "00"), MapOf.of("positionCode", dto.getNext_parent_code(), "type", "00"), MapOf.of("positionCode", dto.getStart_parent_code(), "type", "00"));
-                    }  else {
+                    } else {
                         positionCodePath = Arrays.asList(MapOf.of("positionCode", dto.getStart_parent_code(), "type", "00"), MapOf.of("positionCode", dto.getNext_parent_code(), "type", "00"));
                     }
                     gasReq = GenAgvSchedulingTaskReq
@@ -1093,4 +1093,14 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 .orElse(null);
     }
 
+    @Override
+    public int findInstCountByInstType(List<String> instTypes) {
+        return Optional.ofNullable(this.instructions)
+                .orElse(new ArrayList<>())
+                .stream()
+                .filter(instruction -> instTypes.contains(instruction.getInstruction_type()))
+                .collect(Collectors.toList())
+                .size();
+    }
+
 }

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<RouteLineDto> 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<String> 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<String, List<TaskDto>> 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<RouteLineDto> 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<String> 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());

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: