diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java index 1069c95..7018af3 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java @@ -30,4 +30,12 @@ public interface ZheDaAgvService { public HttpResponse markComplete(String code); + /** + * 删除先知任务 + * + * @param instCode + * @return + */ + public HttpResponse deleteZDAgvInst(String instCode); + } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java index 1097416..aaa57cd 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java @@ -35,6 +35,8 @@ import org.springframework.stereotype.Service; @RequiredArgsConstructor public class ZheDaAgvServiceImpl implements ZheDaAgvService { private final ParamService paramService; + private final TaskService taskService; + private final InstructionService instructionService; @LokiLog(type = LokiLogType.AGV) @Override public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception { @@ -262,7 +264,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { //2楼AGV起点追加任务 String start_device_code = respjson.getString("device_code"); String next_device_code = inst.getNext_device_code(); - destinations.add(destination(start_device_code, "load", "1", "1")); + destinations.add(destination(start_device_code, "Load", "1", "1")); destinations.add(destination(next_device_code, "Unload", "1", "1")); } else if(StrUtil.equals(inst.getInstruction_type(),"4")){ @@ -273,11 +275,11 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { jo.put("destinations", destinations); - String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); - String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + String agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue(); - String url = agvurl + ":" + agvport + "/rmds/addDestinations"; - log.info("下发agv任务请求:{}", url); + String url = agvurl + ":" + agvport + "/rmds/v1/addDestinations"; + log.info("下发追加agv任务请求:{}", jo); HttpResponse result = HttpRequest.post(url) .body(String.valueOf(jo))//表单内容 @@ -289,14 +291,14 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { JSONObject complete = new JSONObject(); complete.put("task_code", inst.getInstruction_code()); - String url2 = agvurl + ":" + agvport + "markComplete"; + String url2 = agvurl + ":" + agvport + "/rmds/v1/markComplete"; log.info("下发agv任务请求:{}", url2); HttpResponse result2 = HttpRequest.post(url2) .body(String.valueOf(complete))//表单内容 .timeout(20000)//超时，毫秒 .execute(); - log.info("下发agv任务请求反馈:{}", result2); + log.info("下发agv任务封口请求反馈:{}", result2); } } //放货的进入前等待和离开等待 @@ -402,13 +404,13 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { log.info("反馈AGV请求数据:{}", requestjo); System.out.println("back agv:" + requestjo); - String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); - String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + String agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue(); - if (inst.getInstruction_type().equals("4")) { - agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue(); + if (inst.getInstruction_type().equals("1")) { + agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); } - agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact"; + agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + jobno + "/interact"; HttpResponse result = HttpRequest.post(agvurl) .body(String.valueOf(requestjo)) @@ -555,5 +557,27 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { return destinationOrder; } + @LokiLog(type = LokiLogType.AGV) + @Override + public HttpResponse deleteZDAgvInst(String instCode) { + if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) { + String agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue(); + Instruction instruction = instructionService.findByCode(instCode); + if (instruction.getInstruction_type().equals("1")){ + agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); + } + agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + instCode + "/withdrawal"; + log.info("删除agv指令请求agvurl:{}", agvurl); + HttpResponse result = HttpRequest.post(agvurl) + .body("{}") + .timeout(20000)//超时，毫秒 + .execute(); + log.info("删除agv指令请求反馈:{}", result); + return result; + } else { + return null; + } + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 02f680c..6b565ad 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -383,12 +383,16 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu if (startdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) startdevice.getDeviceDriver(); //已经生成指令得取空托盘数量 - Integer emptyNum = taskService.queryStartNum(dto.getStart_device_code()); + Integer emptyNum = taskService.queryStartNum(dto.getStart_device_code(), dto.getNext_device_code()); //当前任务取得空托盘数量 Integer now_need_emptypallet_num = Integer.parseInt(taskService.findByCode(dto.getTask_code()).getEmptypallet_num()); //当前叠盘架有空托盘数量 int now_number = emptyVehicleStackingPositionDeviceDriver.getNumber(); + //判断从第几层取 int i = now_number - now_need_emptypallet_num - emptyNum + 1; + if (i <= 0) { + throw new BadRequestException("当前叠盘架：" + dto.getStart_device_code() + "叠盘数为0！"); + } dto.setStart_device_code(start_device_code + "." + i); dto.setStart_parent_code(start_device_code + "." + i); dto.setStart_point_code(start_device_code + "." + i); @@ -396,12 +400,16 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu if (nextdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) startdevice.getDeviceDriver(); //已经生成指令得放空托盘数量 - Integer emptyNum = taskService.queryEndNum(dto.getStart_device_code()); + Integer emptyNum = taskService.queryEndNum(dto.getStart_device_code(), dto.getNext_device_code()); //当前任务放空托盘数量 Integer now_need_emptypallet_num = Integer.parseInt(taskService.findByCode(dto.getTask_code()).getEmptypallet_num()); //当前叠盘架有空托盘数量 int now_number = emptyVehicleStackingPositionDeviceDriver.getNumber(); int i = now_number + emptyNum + 1; + //判断当前放叠盘架位置叠盘数量+已经生成指令的需要搬运的叠盘数量是否大于最大叠盘数量 + if (i - 1 + now_need_emptypallet_num > 12) { + throw new BadRequestException("当前叠盘架：" + dto.getStart_device_code() + "超出最大叠盘数量！"); + } dto.setNext_device_code(next_device_code + "." + i); dto.setNext_parent_code(next_device_code + "." + i); dto.setNext_point_code(next_device_code + "." + i); @@ -992,6 +1000,11 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu XianGongAgvService xianGongAgvService = SpringContextHolder.getBean(XianGongAgvService.class); xianGongAgvService.deleteXZAgvInst(entity.getInstruction_code()); flag = true; + } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "4") + && !StrUtil.equals(entity.getSend_status(), "2")) { + ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class); + zheDaAgvService.deleteZDAgvInst(entity.getInstruction_code()); + flag = true; } else { flag = true; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java index 552e4a6..21a2873 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java @@ -266,7 +266,7 @@ public interface TaskService { * @param code * @return */ - Integer queryStartNum(String code); + Integer queryStartNum(String start_code,String next_code); /** * 查询叠盘位起点未执行完任务得数量叠盘数量 @@ -274,7 +274,7 @@ public interface TaskService { * @param code * @return */ - Integer queryEndNum(String code); + Integer queryEndNum(String start_code,String next_code); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index 2b63324..2976399 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -1215,12 +1215,12 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { } @Override - public Integer queryStartNum(String code) { + public Integer queryStartNum(String start_code,String next_code) { int num = 0; Iterator iterator = tasks.iterator(); while (iterator.hasNext()) { TaskDto task = iterator.next(); - if (task.getStart_device_code().equals(code) && task.getTask_status().equals("1")) { + if (task.getStart_device_code().equals(start_code) && !task.getNext_device_code().equals(next_code) && task.getTask_status().equals("1")) { num = num + Integer.parseInt(task.getEmptypallet_num()); } } @@ -1228,12 +1228,12 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { } @Override - public Integer queryEndNum(String code) { + public Integer queryEndNum(String next_code,String start_code) { int num = 0; Iterator iterator = tasks.iterator(); while (iterator.hasNext()) { TaskDto task = iterator.next(); - if (task.getNext_device_code().equals(code) && task.getTask_status().equals("1")) { + if (task.getNext_device_code().equals(next_code) && !task.getStart_device_code().equals(start_code) && task.getTask_status().equals("1")) { num = num + Integer.parseInt(task.getEmptypallet_num()); } } diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryOneZDAgvTaskStatus.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryOneZDAgvTaskStatus.java index 13e762b..fe57dcb 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryOneZDAgvTaskStatus.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryOneZDAgvTaskStatus.java @@ -31,26 +31,27 @@ public class QueryOneZDAgvTaskStatus { public void run() throws Exception { - HttpResponse response = agvService.queryAgvInstStatus("1"); - //查询AGV指令列表 - JSONArray inst_rows = JSONArray.parseArray(response.body()); - for (int i = 0; i < inst_rows.size(); i++) { - JSONObject inst_jo = inst_rows.getJSONObject(i); - String inst_code = inst_jo.getString("task_code"); - Instruction inst = instructionService.findByCodeFromCache(inst_code); - if (ObjectUtil.isEmpty(inst)){ - continue; - } - //反馈结果状态 - log.info("instcode：" + inst_code + "," + inst_jo.toString()); + try { + HttpResponse response = agvService.queryAgvInstStatus("1"); + //查询AGV指令列表 + JSONArray inst_rows = JSONArray.parseArray(response.body()); + for (int i = 0; i < inst_rows.size(); i++) { + JSONObject inst_jo = inst_rows.getJSONObject(i); + String inst_code = inst_jo.getString("task_code"); + Instruction inst = instructionService.findByCodeFromCache(inst_code); + if (ObjectUtil.isEmpty(inst)){ + continue; + } + //反馈结果状态 + log.info("instcode：" + inst_code + "," + inst_jo.toString()); - String state = inst_jo.getString("state"); - String vehicle = ""; - //正在执行指令agv车号 - if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) { - vehicle = inst_jo.getString("vehicle"); - inst.setCarno(vehicle); - } + String state = inst_jo.getString("state"); + String vehicle = ""; + //正在执行指令agv车号 + if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) { + vehicle = inst_jo.getString("vehicle"); + inst.setCarno(vehicle); + } // RAW：初始状态 // ACTIVE：业务订单已激活 // DISPATCHABLE：业务订单已通过系统验证，等待被调度执行 @@ -60,40 +61,44 @@ public class QueryOneZDAgvTaskStatus { // FAILED：业务订单已失败 // UNROUTABLE：无法规划该业务订单的执行路线 - //执行中 - if ("BEING_PROCESSED".equals(state)) { - if (inst != null) { - inst.setInstruction_status("1"); - instructionService.update(inst); + //执行中 + if ("BEING_PROCESSED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("1"); + instructionService.update(inst); + } + } else if ("FINISHED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("2"); + instructionService.finish(inst); + } + } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("3"); + instructionService.update(inst); + instructionService.removeByCodeFromCache(inst_jo.getString("task_code")); + } } - } else if ("FINISHED".equals(state)) { - if (inst != null) { - inst.setInstruction_status("2"); - instructionService.finish(inst); - } - } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) { - if (inst != null) { - inst.setInstruction_status("3"); - instructionService.update(inst); - instructionService.removeByCodeFromCache(inst_jo.getString("task_code")); - } - } - JSONArray ja = inst_jo.getJSONArray("destinations"); - for (int j = 0; j < ja.size(); j++) { - JSONObject jo = ja.getJSONObject(j); - JSONArray pro_rows = jo.getJSONArray("properties"); - //Load 取货动作 Unload放货动作 Wait等待 - String operation = jo.getString("operation"); - String device = jo.getString("locationName"); - for (int k = 0; k < pro_rows.size(); k++) { - JSONObject item = pro_rows.getJSONObject(k); - if ("True".equals(item.get("value"))) { - String param = item.get("key").toString(); - //EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待 - agvService.process(inst_code, param, device, operation, vehicle); + JSONArray ja = inst_jo.getJSONArray("destinations"); + for (int j = 0; j < ja.size(); j++) { + JSONObject jo = ja.getJSONObject(j); + JSONArray pro_rows = jo.getJSONArray("properties"); + //Load 取货动作 Unload放货动作 Wait等待 + String operation = jo.getString("operation"); + String device = jo.getString("locationName"); + for (int k = 0; k < pro_rows.size(); k++) { + JSONObject item = pro_rows.getJSONObject(k); + if ("True".equals(item.get("value"))) { + String param = item.get("key").toString(); + //EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待 + agvService.process(inst_code, param, device, operation, vehicle); + } } } } + }catch (Exception e){ + } + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryTwoZDAgvTaskStatus.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryTwoZDAgvTaskStatus.java index cffc142..1992886 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryTwoZDAgvTaskStatus.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryTwoZDAgvTaskStatus.java @@ -27,26 +27,27 @@ public class QueryTwoZDAgvTaskStatus { public void run() throws Exception { - HttpResponse response2 = agvService.queryAgvInstStatus("2"); - //查询AGV指令列表 - JSONArray inst_rows2 = JSONArray.parseArray(response2.body()); - for (int i = 0; i < inst_rows2.size(); i++) { - JSONObject inst_jo = inst_rows2.getJSONObject(i); - String inst_code = inst_jo.getString("task_code"); - Instruction inst = instructionService.findByCodeFromCache(inst_code); - if (ObjectUtil.isEmpty(inst)){ - continue; - } - //反馈结果状态 - log.info("instcode：" + inst_code + "," + inst_jo.toString()); + try { + HttpResponse response2 = agvService.queryAgvInstStatus("2"); + //查询AGV指令列表 + JSONArray inst_rows2 = JSONArray.parseArray(response2.body()); + for (int i = 0; i < inst_rows2.size(); i++) { + JSONObject inst_jo = inst_rows2.getJSONObject(i); + String inst_code = inst_jo.getString("task_code"); + Instruction inst = instructionService.findByCodeFromCache(inst_code); + if (ObjectUtil.isEmpty(inst)){ + continue; + } + //反馈结果状态 + log.info("instcode：" + inst_code + "," + inst_jo.toString()); - String status = inst_jo.getString("status"); - String vehicle = ""; - //正在执行指令agv车号 - if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) { - vehicle = inst_jo.getString("vehicle"); - inst.setCarno(vehicle); - } + String status = inst_jo.getString("status"); + String vehicle = ""; + //正在执行指令agv车号 + if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) { + vehicle = inst_jo.getString("vehicle"); + inst.setCarno(vehicle); + } // RAW：初始状态 // ACTIVE：业务订单已激活 // DISPATCHABLE：业务订单已通过系统验证，等待被调度执行 @@ -56,40 +57,44 @@ public class QueryTwoZDAgvTaskStatus { // FAILED：业务订单已失败 // UNROUTABLE：无法规划该业务订单的执行路线 - //执行中 - if ("BEING_PROCESSED".equals(status) || "ACTIVE".equals(status)) { - if (inst != null) { - inst.setInstruction_status("1"); - instructionService.update(inst); + //执行中 + if ("BEING_PROCESSED".equals(status) || "ACTIVE".equals(status)) { + if (inst != null) { + inst.setInstruction_status("1"); + instructionService.update(inst); + } + } else if ("FINISHED".equals(status)) { + if (inst != null) { + inst.setInstruction_status("2"); + instructionService.finish(inst); + } + } else if ("WITHDRAWN".equals(status) || "FAILED".equals(status)) { + if (inst != null) { + inst.setInstruction_status("3"); + instructionService.update(inst); + instructionService.removeByCodeFromCache(inst_jo.getString("task_code")); + } } - } else if ("FINISHED".equals(status)) { - if (inst != null) { - inst.setInstruction_status("2"); - instructionService.finish(inst); - } - } else if ("WITHDRAWN".equals(status) || "FAILED".equals(status)) { - if (inst != null) { - inst.setInstruction_status("3"); - instructionService.update(inst); - instructionService.removeByCodeFromCache(inst_jo.getString("task_code")); - } - } - JSONArray ja = inst_jo.getJSONArray("destinations"); - for (int j = 0; j < ja.size(); j++) { - JSONObject jo = ja.getJSONObject(j); - JSONArray pro_rows = jo.getJSONArray("properties"); - //Load 取货动作 Unload放货动作 Wait等待 - String operation = jo.getString("operation"); - String device = jo.getString("locationName"); - for (int k = 0; k < pro_rows.size(); k++) { - JSONObject item = pro_rows.getJSONObject(k); - if ("True".equals(item.get("value"))) { - String param = item.get("key").toString(); - //EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待 - agvService.process(inst_code, param, device, operation, vehicle); + JSONArray ja = inst_jo.getJSONArray("destinations"); + for (int j = 0; j < ja.size(); j++) { + JSONObject jo = ja.getJSONObject(j); + JSONArray pro_rows = jo.getJSONArray("properties"); + //Load 取货动作 Unload放货动作 Wait等待 + String operation = jo.getString("operation"); + String device = jo.getString("locationName"); + for (int k = 0; k < pro_rows.size(); k++) { + JSONObject item = pro_rows.getJSONObject(k); + if ("true".equals(item.get("value"))) { + String param = item.get("key").toString(); + //EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待 + agvService.process(inst_code, param, device, operation, vehicle); + } } } } + } catch (Exception e){ + } + } } diff --git a/acs/nladmin-ui/src/views/acs/task/index.vue b/acs/nladmin-ui/src/views/acs/task/index.vue index d95937c..949d1a7 100644 --- a/acs/nladmin-ui/src/views/acs/task/index.vue +++ b/acs/nladmin-ui/src/views/acs/task/index.vue @@ -231,6 +231,9 @@ /> + + + @@ -410,7 +413,8 @@ export default { from_z: null, to_x: null, to_y: null, - to_z: null + to_z: null, + emptypallet_num: '1' }, rules: { start_point_code: [