add:扫码驱动增加换标入库,以及异常取消任务等

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/lk_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -18,6 +18,8 @@ import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.device_driver.lk_conveyor.enums.*;
+import org.nl.acs.device_driver.lk_manipulator.box_manipulator.BoxManipulatorDeviceDriver;
+import org.nl.acs.device_driver.lk_manipulator.box_manipulator.InteractionJsonDTO;
 import org.nl.acs.enums.StorageTypeEnum;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.domain.Instruction;
@@ -39,6 +41,7 @@ import org.nl.config.language.LangProcess;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.system.service.param.ISysParamService;
+import org.nl.system.service.param.dao.Param;
 
 import java.util.*;
 import java.util.concurrent.TimeUnit;
@@ -64,6 +67,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     private final AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
     private final LuceneExecuteLogService logService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
     private final ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
+    private static final List<Integer> CANCEL_TASK_ERROR_CODES = Arrays.asList(52, 53, 54, 55, 56);
+    private static final String CANCEL_TASK_DEVICES_PARAM = "belt_conveyor_error";
 
     /**
      * 心跳
@@ -150,6 +155,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
      */
     private int to_height_level = 0;
     private int lastTo_height_level = 0;
+    private int backup1 = 0;
+    private int lastBackup1 = 0;
+    private String lastCancelTaskInstructionCode = null;
     /**
      * 手补托盘条码
      */
@@ -199,6 +207,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     private String led_message;
 
     private static final Lock LOCK = new ReentrantLock();
+    private static final float PLC_WEIGHT_UNIT_TO_KG = 100.0f;
 
     public void setLog(String key, Object newValue, Object oldValue) {
         if (!No_SET_LOG_KEYS.contains(key)) {
@@ -211,9 +220,58 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
         return this.device;
     }
 
+    private float getWeightKg() {
+        if (this.weight <= 0 || Float.isNaN(this.weight) || Float.isInfinite(this.weight)) {
+            return 0.0f;
+        }
+        return this.weight / PLC_WEIGHT_UNIT_TO_KG;
+    }
+
+    private boolean cancelTaskAndInstructionWhenError() {
+        if (null == this.barcode || "".equals(this.barcode)){
+            return  true;
+        }
+        if (!CANCEL_TASK_ERROR_CODES.contains(this.backup1)) {
+            this.lastCancelTaskInstructionCode = null;
+            return false;
+        }
+        if (this.task <= 0) {
+            return false;
+        }
+
+        String instructionCode = String.valueOf(this.task);
+        if (StrUtil.equals(this.lastCancelTaskInstructionCode, instructionCode)) {
+            return true;
+        }
+
+        try {
+            Instruction inst = instructionService.findByCodeFromCache(instructionCode);
+            if (ObjectUtil.isEmpty(inst) || StrUtil.isBlank(inst.getTask_id())) {
+                return true;
+            }
+            taskService.cancelAndInst(inst.getTask_id(), String.valueOf(this.backup1));
+            this.lastCancelTaskInstructionCode = instructionCode;
+            logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "backup1=" + this.backup1 + ",取消任务和指令,指令号:" + instructionCode + ",任务ID:" + inst.getTask_id()));
+        } catch (Exception e) {
+            log.error("{} backup1={} cancel task and instruction failed, instructionCode={}", this.currentDeviceCode, this.backup1, instructionCode, e);
+        }
+        return true;
+    }
+
+    private boolean isCancelTaskDevice() {
+        Param param = paramService.findByCode(CANCEL_TASK_DEVICES_PARAM);
+        if (ObjectUtil.isEmpty(param) || StrUtil.isBlank(param.getValue())) {
+            return false;
+        }
+        return StrUtil.split(param.getValue(), ',').stream()
+                .map(StrUtil::trim)
+                .anyMatch(deviceCode -> StrUtil.equals(deviceCode, this.currentDeviceCode));
+    }
+
     @Override
     public void execute() {
         try {
+
             this.currentDeviceCode = this.getDevice().getDevice_code();
             this.heartbeat = ItemProtocol.HEARTBEAT.getIntegerValue(this);
             this.mode = ItemProtocol.MODE.getIntegerValue(this);
@@ -232,6 +290,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             this.to_task = ItemProtocol.TO_TASK.getIntegerValue(this);
             this.to_container_type = ItemProtocol.TO_CONTAINER_TYPE.getIntegerValue(this);
             this.to_height_level = ItemProtocol.TO_HEIGHT_LEVEL.getIntegerValue(this);
+            this.backup1 = ItemProtocol.TO_BACK_UP_2.getIntegerValue(this);
             if (this.heartbeat != this.lastHeartbeat) {
                 this.setLog(ItemProtocol.HEARTBEAT.getKey(), this.heartbeat, this.lastHeartbeat);
             }
@@ -287,12 +346,16 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             if (this.to_height_level != this.lastTo_height_level) {
                 this.setLog(ItemProtocol.TO_HEIGHT_LEVEL.getKey(), this.to_height_level, this.lastTo_height_level);
             }
+            if (this.backup1 != this.lastBackup1) {
+                this.setLog(ItemProtocol.TO_BACK_UP_2.getKey(), this.backup1, this.lastBackup1);
+            }
 
             if (this.move != this.lastMove && this.move == 0 && this.lastMove == 1 && this.mode > 0) {
                 this.requireSuccess = false;
                 clearWrite();
             }
 
+            Boolean isApplyTask = Optional.ofNullable(this.getExtraValue().get("apply_task")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
             if (this.move != 0 && this.task > 0) {
                 update_instruction_status();
             }
@@ -309,8 +372,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 this.isError = false;
                 this.message = null;
 
-                Boolean isApplyTask = Optional.ofNullable(this.getExtraValue().get("apply_task")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
-
                 //申请木箱装箱任务
                 if (this.mode == 6 && this.move > 0 && !this.requireSuccess) {
                     if (!isApplyTask) {
@@ -327,14 +388,16 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 }
 
                 //子卷入库申请入库任务
-                if (this.mode == 7 && this.move > 0 && !this.requireSuccess) {
+                if (this.mode == 7 && this.move > 0 && !this.requireSuccess)
+                {
                     if (!isApplyTask) {
                         this.writing(ItemProtocol.TO_COMMAND.getKey(), this.mode);
                         return;
                     }
                     if (StrUtil.isNotBlank(hand_barcode) && StrUtil.isNotBlank(hand_material_barcode)) {
                         applyInByHand(StorageTypeEnum.STORAGE.getType(), this.mode);
-                    } else if (StrUtil.isNotBlank(this.barcode) && StrUtil.isNotBlank(this.material_barcode)) {
+                    } else if (StrUtil.isNotBlank(this.barcode) && StrUtil.isNotBlank(this.material_barcode))
+                    {
                         applyIn(StorageTypeEnum.STORAGE.getType(), this.mode);
                     } else {
                         this.message = LangProcess.msg("310012");
@@ -369,6 +432,26 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     }
                 }
 
+                //申请换标入库
+                if (this.mode == 28 && this.move > 0
+                        && "CK1123".equals(this.currentDeviceCode)
+                        && ObjectUtil.isNotEmpty(this.height)
+                        && !this.requireSuccess) {
+                    if (!isApplyTask) {
+                        this.writing(ItemProtocol.TO_COMMAND.getKey(), this.mode);
+                        return;
+                    }
+                    if (StrUtil.isNotBlank(this.hand_barcode) && StrUtil.isNotBlank(this.hand_material_barcode)) {
+                        applyBoxReturnTask(StorageTypeEnum.CHANGE_LABEL_IN.getType(), this.mode);
+                    }
+                    else if (StrUtil.isNotBlank(this.barcode) && StrUtil.isNotBlank(this.material_barcode))
+                    {
+                        applyBoxReturnTask(StorageTypeEnum.CHANGE_LABEL_IN.getType(), this.mode);
+                    } else {
+                        this.message = LangProcess.msg("310012");
+                    }
+                }
+
                 //申请高度
                 if (this.mode == 23 && this.move > 0 && !this.requireSuccess) {
                     if (StrUtil.isNotBlank(this.hand_barcode) && StrUtil.isNotBlank(this.hand_material_barcode)) {
@@ -379,6 +462,32 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                         this.message = LangProcess.msg("310012");
                     }
                 }
+                //退货异常申请桁架任务
+                if (this.mode == 24 && this.move > 0 && !this.requireSuccess) {
+                    if (this.container_type == 0) {
+                        this.message = LangProcess.msg("310001");
+                    } else
+                    {
+                        if (isApplyTask) {
+                            if(cancelTaskAndInstructionWhenError())
+                            {
+                                Device mxrkhj = deviceAppService.findDeviceByCode("MXRKHJ");
+                                BoxManipulatorDeviceDriver deviceDriver = (BoxManipulatorDeviceDriver)mxrkhj.getDeviceDriver();
+                                if (ObjectUtil.isNotEmpty(deviceDriver.getPosition_move1())  && 0 == deviceDriver.getPosition_move1())
+                                {
+                                    applyEmptyTask(StorageTypeEnum.BOX_RETURN_HJ.getType(), this.mode);
+                                }
+                                if (1 == deviceDriver.getPosition_move1())
+                                {
+                                    this.message = "异常位置有货";
+                                }
+                            }
+
+                        } else {
+                            this.writing(ItemProtocol.TO_COMMAND.getKey(), this.mode);
+                        }
+                    }
+                }
 
                 //申请入库指令、异常位指令，指令下发
                 if (this.mode == 2 && this.move > 0 && !this.requireSuccess) {
@@ -401,6 +510,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             this.lastTo_target = this.to_target;
             this.lastTo_task = this.to_task;
             this.lastTo_container_type = this.to_container_type;
+            this.lastBackup1 = this.backup1;
         } catch (Exception e) {
             this.unExecutedMessage = LangProcess.msg("1005");
             logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "当前设备执行逻辑报错, 错误详情: " + e.getMessage() + ", 错误堆栈信息: " + Arrays.toString(e.getStackTrace())));
@@ -409,6 +519,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
 
     }
 
+
     private void applyErrorHeight() {
         long currentTimeMillis = System.currentTimeMillis();
         if (!isTimeValid(currentTimeMillis)) {
@@ -458,7 +569,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             if (StrUtil.isNotEmpty(this.hand_barcode)) {
                 param.put("vehicle_code", this.hand_barcode);
             } else {
-                if (StrUtil.isNotEmpty(this.barcode) && (this.barcode.startsWith("A") || this.barcode.startsWith("B"))) {
+                if (StrUtil.isNotEmpty(this.barcode) && (this.barcode.startsWith("Y") || this.barcode.startsWith("A") || this.barcode.startsWith("B"))) {
                     param.put("vehicle_code", this.barcode);
                 }
             }
@@ -470,6 +581,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 }
             }
             param.put("type", type);
+            if (mode == 28){
+                param.put("height_level",this.height);
+            }
             TaskDto dto = taskService.findByBarcodeFromCache(barcode);
             if (ObjectUtil.isNotEmpty(dto)) {
                 this.writing(ItemProtocol.TO_COMMAND.getKey(), 1);
@@ -479,7 +593,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 if (httpResponse != null) {
                     JSONObject resp = JSONObject.parseObject(httpResponse.body());
                     if (resp != null && resp.getIntValue("status") == 200) {
-                        this.writing(ItemProtocol.TO_COMMAND.getKey(), mode);
+                            this.writing(ItemProtocol.TO_COMMAND.getKey(), mode);
                         this.requireSuccess = true;
                     } else {
                         this.message = LangProcess.msg("310002");
@@ -509,7 +623,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             if (StrUtil.isNotEmpty(this.hand_barcode)) {
                 param.put("vehicle_code", this.hand_barcode);
             } else {
-                if (StrUtil.isNotEmpty(this.barcode) && (this.barcode.startsWith("A") || this.barcode.startsWith("B"))) {
+                if (StrUtil.isNotEmpty(this.barcode) && this.barcode.startsWith("Y"))
+                {
                     param.put("vehicle_code", this.barcode);
                 }
             }
@@ -539,12 +654,12 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             this.requireTime = currentTimeMillis;
             JSONObject param = new JSONObject();
             param.put("device_code", this.currentDeviceCode);
-            if (this.barcode.startsWith("A") || this.barcode.startsWith("B")) {
+            if (this.barcode.startsWith("Y")) {
                 param.put("vehicle_code", this.barcode);
             }
             param.put("material_barcode", this.material_barcode);
-            if (mode == 7 && this.weight != 0) {
+            if (mode == 7) {
-                param.put("weight", this.weight);
+                param.put("weight", this.getWeightKg());
             }
             param.put("type", type);
             HttpResponse httpResponse = acsToWmsService.applyTwo(param);
@@ -572,8 +687,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             param.put("device_code", this.currentDeviceCode);
             param.put("vehicle_code", this.hand_barcode);
             param.put("material_barcode", this.hand_material_barcode);
-            if (mode == 7 && this.weight != 0) {
+            if (mode == 7) {
-                param.put("weight", this.weight);
+                param.put("weight", this.getWeightKg());
             }
             param.put("type", type);
             HttpResponse httpResponse = acsToWmsService.applyTwo(param);
@@ -646,7 +761,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
         }
         return pathlist.get(index);
     }
-
     /**
      * 请求指令
      */
@@ -690,10 +804,13 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 return;
             }
             TaskDto taskDto = taskService.findByVehicleCodeCodeAndReady(queryBarcode);
-            if (ObjectUtil.isNotEmpty(taskDto)) {
+            if (ObjectUtil.isNotEmpty(taskDto))
+            {
                 String next_device_code = null;
-                String assignedDeviceCode = taskService.queryAssignedByDevice(this.currentDeviceCode, taskDto.getNext_device_code());
+                String assignedDeviceCode = null;
-                if (StrUtil.isEmpty(assignedDeviceCode)) {
+                //String assignedDeviceCode = taskService.queryAssignedByDevice(this.currentDeviceCode, taskDto.getNext_device_code());
+                if (StrUtil.isEmpty(assignedDeviceCode))
+                {
                     next_device_code = this.getNextDeviceCode(taskDto);
                     if (next_device_code == null) {
                         this.unExecutedMessage = taskDto.getStart_device_code() + "->" + next_device_code + LangProcess.msg("1009");
@@ -708,7 +825,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     return;
                 }
                 List<String> targetDeviceCode = this.getExtraDeviceCodes("targetDeviceCode");
-                if (!targetDeviceCode.contains(inst.getNext_device_code())) {
+                if (!targetDeviceCode.contains(next_device_code)) {
                     this.unExecutedMessage = LangProcess.msg("310006");
                     return;
                 }
@@ -718,19 +835,42 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     return;
                 }
                 Instruction instDto = new Instruction();
-                try {
+                try
+                {
                     packageInst(instDto, taskDto, next_device_code);
                     instructionService.create(instDto);
                 } catch (Exception e) {
                     this.unExecutedMessage = LangProcess.msg("1006");
                     return;
                 }
-                taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
+                InteractionJsonDTO interactionJsonDTO = JSON.parseObject(taskDto.getInteraction_json(), InteractionJsonDTO.class);
-                taskService.update(taskDto);
+                List<String> keys = new ArrayList<>(Arrays.asList(ItemProtocol.TO_TARGET.getKey(), ItemProtocol.TO_TASK.getKey(), ItemProtocol.TO_COMMAND.getKey()));
-                List<String> keys = Arrays.asList(ItemProtocol.TO_TARGET.getKey(), ItemProtocol.TO_TASK.getKey(), ItemProtocol.TO_COMMAND.getKey());
+                List<Object> values = new ArrayList<>(Arrays.asList(this.getTargetAddress(next_device), Integer.parseInt(instDto.getInstruction_code()), 1));
-                List<Object> values = Arrays.asList(this.getTargetAddress(next_device), Integer.parseInt(inst.getInstruction_code()), 1);
+                if (ObjectUtil.isNotEmpty(interactionJsonDTO))
+                {
+                    String containerType = interactionJsonDTO.getContainerType();
+                    if (StrUtil.isNotBlank(containerType)) {
+                        keys.add(ItemProtocol.TO_CONTAINER_TYPE.getKey());
+                        values.add(Integer.parseInt(containerType));
+                    }
+                    String heightLevel = interactionJsonDTO.getHeightLevel();
+                    if (StrUtil.isNotBlank(heightLevel)) {
+                        keys.add(ItemProtocol.TO_HEIGHT_LEVEL.getKey());
+                        values.add(Integer.parseInt(heightLevel));
+                    }
+                    if ("3".equals(interactionJsonDTO.getType()))
+                    {
+                        String type = interactionJsonDTO.getType();
+                        if (StrUtil.isNotBlank(type)) {
+                            keys.add(ItemProtocol.TO_BACK_UP_1.getKey());
+                            values.add(Integer.parseInt(type));
+                        }
+                    }
+                }
                 this.writing(keys, values);
                 this.requireSuccess = true;
+                taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
+                taskService.update(taskDto);
             }
         }
     }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/lk_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java

@@ -76,7 +76,7 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver
     /**
      * 物料编码
      */
-    private String material_barcode = null;
+    private String to_material_barcode = null;
     private String lastMaterial_barcode = null;
     /**
      * 载具类型
@@ -204,7 +204,7 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver
             this.container_type = ItemProtocol.CONTAINER_TYPE.getIntegerValue(this);
             this.carrier_direction = ItemProtocol.CARRIER_DIRECTION.getIntegerValue(this);
             this.task = ItemProtocol.TASK.getIntegerValue(this);
-            this.material_barcode = ItemProtocol.MATERIAL_CODE.getStringValue(this);
+            this.to_material_barcode = ItemProtocol.TO_MATERIAL_CODE.getStringValue(this);
             this.to_command = ItemProtocol.TO_COMMAND.getIntegerValue(this);
             this.to_target = ItemProtocol.TO_TARGET.getIntegerValue(this);
             this.to_task = ItemProtocol.TO_TASK.getIntegerValue(this);
@@ -235,8 +235,8 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver
             if (this.carrier_direction != this.lastCarrier_direction) {
                 this.setLog(ItemProtocol.CARRIER_DIRECTION.getKey(), this.carrier_direction, this.lastCarrier_direction);
             }
-            if (!StrUtil.equals(this.material_barcode, this.lastMaterial_barcode)) {
+            if (!StrUtil.equals(this.to_material_barcode, this.lastMaterial_barcode)) {
-                this.setLog(ItemProtocol.MATERIAL_CODE.getKey(), this.material_barcode, this.lastMaterial_barcode);
+                this.setLog(ItemProtocol.TO_MATERIAL_CODE.getKey(), this.to_material_barcode, this.lastMaterial_barcode);
             }
             if (this.task != this.lastTask) {
                 this.setLog(ItemProtocol.TASK.getKey(), this.task, this.lastTask);
@@ -295,7 +295,7 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver
             this.lastContainer_type = this.container_type;
             this.lastCarrier_direction = this.carrier_direction;
             this.lastTask = this.task;
-            this.lastMaterial_barcode = this.material_barcode;
+            this.lastMaterial_barcode = this.to_material_barcode;
             this.lastTo_command = this.to_command;
             this.lastTo_target = this.to_target;
             this.lastTo_task = this.to_task;
@@ -324,13 +324,21 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver
             String response = acsToWmsService.getIsUncap(param);
             JSONObject jo = JSON.parseObject(response);
             if (jo.getIntValue("status") == 200) {
+                String material_code = jo.getString("material_barcode");
                 Integer length = jo.getInteger("boxLength");
                 Integer weight = jo.getInteger("boxWidth");
                 Integer height = jo.getInteger("boxHigh");
                 Integer desiccant = jo.getInteger("desiccantTemplate");
                 Integer type = jo.getInteger("type");
-                List<String> keys = Arrays.asList(ItemProtocol.TO_LENGTH.getKey(), ItemProtocol.TO_WIDTH.getKey(), ItemProtocol.TO_HEIGHT.getKey(), ItemProtocol.TO_DESICCANT.getKey(), ItemProtocol.TO_TYPE.getKey());
+                List<String> keys = new ArrayList<>(Arrays.asList(
-                List<Object> values = Arrays.asList(length, weight, height, desiccant, type);
+                        ItemProtocol.TO_LENGTH.getKey(),
+                        ItemProtocol.TO_WIDTH.getKey(),
+                        ItemProtocol.TO_HEIGHT.getKey(),
+                        ItemProtocol.TO_DESICCANT.getKey(),
+                        ItemProtocol.TO_TYPE.getKey(),
+                        ItemProtocol.TO_MATERIAL_CODE.getKey())
+                );
+                List<Object> values = new ArrayList<>(Arrays.asList(length, weight, height, desiccant, type,material_code));
                 this.writing(keys, values);
                 String isUncap = jo.getString("isUncap");
                 if ("1".equals(isUncap)) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/lk_manipulator/trapped_manipulator/TrappedManipulatorDefination.java

@@ -24,7 +24,7 @@ public class TrappedManipulatorDefination implements OpcDeviceDriverDefination {
 
     @Override
     public String getDriverDescription() {
-        return "一楼出库区堆叠桁";
+        return "一楼出库区堆叠桁架";
     }
 
     @Override

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java

@@ -350,7 +350,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 Date date = new Date();
                 if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
                     log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
-                } else {
+                } else
+                {
                     this.instruction_update_time = date;
                     //更改指令状态
                     if (task > 0 && !Objects.equals(command, last_command)) {
@@ -422,18 +423,10 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                             map.put("code", "to_y");
                             map.put("value", inst.getTo_z());
                             list.add(map);
-                            if (inst.getTo_x().length() > 1 && !compile.matcher(inst.getTo_x()).matches()) {
+                            Map<String, Object> map2 = new HashMap<>();
-                                String substring = inst.getTo_x().substring(1);
+                            map2.put("code", "to_z");
-                                Map<String, Object> map1 = new HashMap<>();
+                            map2.put("value", inst.getTo_x());
-                                map1.put("code", "to_z");
+                            list.add(map2);
-                                map1.put("value", substring);
-                                list.add(map1);
-                            } else {
-                                Map<String, Object> map2 = new HashMap<>();
-                                map2.put("code", "to_z");
-                                map2.put("value", inst.getTo_x());
-                                list.add(map2);
-                            }
                             Map<String, Object> map3 = new HashMap<>();
                             map3.put("code", "to_x");
                             map3.put("value", inst.getTo_y());
@@ -641,7 +634,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             }
 
         }
-
+        //空出
         if (error == 6) {
             try {
                 updateEXcuteMessage(error.toString());
@@ -1089,7 +1082,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             Instruction instruction1 = new Instruction();
             instruction1.setInstruction_status("0");
             List<Instruction> instructions = instructionService.findByDeviceCodes(instruction1, false);
-            if (CollUtil.isEmpty(instructions) || instructions.size() < 1) {
+            if (CollUtil.isEmpty(instructions) || instructions.isEmpty()) {
                 this.notCreateInstMessage = "未找到任务";
                 return false;
             }
@@ -1105,7 +1098,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 for (RouteLineDto routeLineDto : routeLineDtos) {
                     if (this.getDeviceCode().equals(routeLineDto.getNext_device_code())) {
                         List<RouteLineDto> routeLineDtoList = routeLineService.selectDeviceCodeList(this.getDeviceCode());
-                        if (CollUtil.isEmpty(routeLineDtos) || routeLineDtos.size() < 1) {
+                        if (CollUtil.isEmpty(routeLineDtoList) || routeLineDtoList.size() < 1) {
                             message = "one_message6";
                             logServer.deviceExecuteLog(this.currentDeviceCode, "", "", "没有" + instruction.getStart_device_code() + "->"
                                     + this.currentDeviceCode + "的路由");
@@ -1286,18 +1279,12 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         map4.put("code", "to_y");
         map4.put("value", inst.getFrom_z());
         list.add(map4);
-        if (inst.getFrom_x().length() > 1) {
+
-            String substring = inst.getFrom_x().substring(1);
+        HashMap map6 = new HashMap();
-            HashMap map5 = new HashMap();
+        map6.put("code", "to_z");
-            map5.put("code", "to_z");
+        map6.put("value", inst.getFrom_x());
-            map5.put("value", substring);
+        list.add(map6);
-            list.add(map5);
+
-        } else {
-            HashMap map6 = new HashMap();
-            map6.put("code", "to_z");
-            map6.put("value", inst.getFrom_x());
-            list.add(map6);
-        }
         HashMap map7 = new HashMap();
         map7.put("code", "to_x");
         map7.put("value", inst.getFrom_y());

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/route/service/impl/RouteLineServiceImpl.java

@@ -72,6 +72,7 @@ public class RouteLineServiceImpl extends CommonServiceImpl<RouteLineMapper, Rou
     Map<String, RoutePlanDto> routePlans = new HashMap<>();
     Map<Integer, String> routeIndex = new HashMap<>();
     Map<String, List> routeLines = new HashMap();
+    private volatile Map<String, List<RouteLineDto>> routeLineDeviceCodeCache = new HashMap<>();
     /**
      * 用来确定设备在 路由二维数组中的坐标
      */
@@ -347,7 +348,7 @@ public class RouteLineServiceImpl extends CommonServiceImpl<RouteLineMapper, Rou
                 }
             }
         }
-//        reload();
+        reload();
     }
 
     @Override
@@ -539,6 +540,7 @@ public class RouteLineServiceImpl extends CommonServiceImpl<RouteLineMapper, Rou
         Object[] param = new Object[0];
         Map map = new HashMap();
         List<RoutePlanDto> routePlans = this.routePlanService.queryAll(map);
+        refreshRouteLineDeviceCodeCache();
         Iterator<RoutePlanDto> var2 = routePlans.iterator();
         while (var2.hasNext()) {
             RoutePlanDto routePlan = var2.next();
@@ -592,6 +594,17 @@ public class RouteLineServiceImpl extends CommonServiceImpl<RouteLineMapper, Rou
 
     }
 
+    private void refreshRouteLineDeviceCodeCache() {
+        List<RouteLineDto> routeLineDtos = ConvertUtil.convertList(routeLineMapper.selectList(Wrappers.lambdaQuery(RouteLine.class)), RouteLineDto.class);
+        Map<String, List<RouteLineDto>> cache = new HashMap<>();
+        if (ObjectUtil.isNotEmpty(routeLineDtos)) {
+            cache = routeLineDtos.stream()
+                    .filter(routeLineDto -> StrUtil.isNotEmpty(routeLineDto.getDevice_code()))
+                    .collect(Collectors.groupingBy(RouteLineDto::getDevice_code));
+        }
+        this.routeLineDeviceCodeCache = cache;
+    }
+
     @Override
     public boolean checkRouteLine(String startDevice, String nextDevice, String plan_code) throws Exception {
         //判断起点终点设备类型
@@ -734,15 +747,8 @@ public class RouteLineServiceImpl extends CommonServiceImpl<RouteLineMapper, Rou
     @Override
     public List<RouteLineDto> selectDeviceCodeList(String device_code) {
         if (StrUtil.isEmpty(device_code)) {
-            return null;
+            return Collections.emptyList();
         }
-        List<RouteLine> routeLines = routeLineMapper.selectList(Wrappers.lambdaQuery(RouteLine.class).
+        return Optional.ofNullable(routeLineDeviceCodeCache.get(device_code)).orElse(Collections.emptyList());
-                eq(RouteLine::getDevice_code, device_code));
-        List<RouteLineDto> routeLineDtos = new ArrayList<>();
-        for (RouteLine routeLine : routeLines) {
-            RouteLineDto convert = ConvertUtil.convert(routeLine, RouteLineDto.class);
-            routeLineDtos.add(convert);
-        }
-        return routeLineDtos;
     }
 }