修改

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/CargoLiftConveyorDefination.java

@@ -11,7 +11,7 @@ import java.util.LinkedList;
 import java.util.List;
 
 /**
- * 海亮迅捷plc测试
+ * 货梯对接线
  */
 @Service
 public class CargoLiftConveyorDefination implements OpcDeviceDriverDefination {

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/CargoLiftConveyorDeviceDriver.java

@@ -1,9 +1,17 @@
 package org.nl.acs.device_driver.basedriver.cargo_lift_conveyor;
 
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.ObjectUtils;
 import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.config.AcsConfig;
 import org.nl.acs.config.server.AcsConfigService;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
@@ -19,18 +27,17 @@ import org.nl.acs.log.service.LogServer;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.utils.SpringContextHolder;
 import org.openscada.opc.lib.da.Server;
 import org.springframework.beans.factory.annotation.Autowired;
 
-import java.util.Date;
+import java.util.*;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
 
 /**
- * 海亮清洗机储料仓
+ * 货梯对接线
  */
 @Slf4j
 @Data
@@ -91,7 +98,7 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
     Boolean requireSucess = false;
 
     @Override
-    public void execute() {
+    public void execute() throws Exception {
         String message = null;
 
         device_code = this.getDeviceCode();
@@ -136,6 +143,16 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
             message = "";
             Instruction instruction = null;
             List toInstructions;
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    break;
+                case 2:
+                    //申请任务
+                    if (move > 0 && !requireSucess) {
+                        instruction_require();
+                    }
+            }
             switch (flag) {
                 //取货完成
                 case 1:
@@ -167,6 +184,97 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
         }
     }
 
+    public synchronized boolean instruction_require() throws Exception {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return false;
+        } else {
+            this.instruction_require_time = date;
+            //container_code
+            TaskDto task = taskserver.queryTaskByDeviceCode(device_code).get(0);
+            if (!ObjectUtil.isEmpty(task)) {
+                if (!ObjectUtils.isEmpty(instructionService.findByDeviceCodeFromCache(device_code))) {
+                    return false;
+                }
+                String taskid = task.getTask_id();
+                String taskcode = task.getTask_code();
+                String vehiclecode = task.getVehicle_code();
+                String priority = task.getPriority();
+                String start_point_code = task.getStart_point_code();
+                String start_device_code = task.getStart_device_code();
+                String route_plan_code = task.getRoute_plan_code();
+                String next_device_code = "";
+
+                /**
+                 * 开始平均分配
+                 */
+                String this_coevice_code = taskserver.queryAssignedByDevice(device_code, task.getNext_device_code());
+                if (StrUtil.isEmpty(this_coevice_code)) {
+                    List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, task.getNext_device_code(), route_plan_code);
+                    RouteLineDto routeLineDto = shortPathsList.get(0);
+
+                    String path = routeLineDto.getPath();
+                    String type = routeLineDto.getType();
+                    String[] str = path.split("->");
+                    if (!StrUtil.equals(type, "0")) {
+                        return false;
+                    }
+                    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);
+                } else {
+                    next_device_code = this_coevice_code;
+                }
+                //校验路由关系
+                List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+                if (ObjectUtils.isEmpty(shortPathsList)) {
+                    throw new RuntimeException("路由不通!");
+                }
+
+                Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
+                Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
+                String next_point_code;
+                if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
+                    next_point_code = task.getTo_x() + "-" + task.getTo_y() + "-" + task.getTo_z();
+                } else {
+                    next_point_code = next_device_code;
+                }
+                Instruction instdto = new Instruction();
+                instdto.setInstruction_id(IdUtil.simpleUUID());
+                instdto.setRoute_plan_code(route_plan_code);
+                instdto.setRemark(task.getRemark());
+                instdto.setMaterial(task.getMaterial());
+                instdto.setQuantity(task.getQuantity());
+                instdto.setTask_id(taskid);
+                instdto.setTask_code(taskcode);
+                instdto.setVehicle_code(vehiclecode);
+                String now = DateUtil.now();
+                instdto.setCreate_time(now);
+                instdto.setCreate_by("auto");
+                instdto.setStart_device_code(start_device_code);
+                instdto.setNext_device_code(next_device_code);
+                instdto.setStart_point_code(start_point_code);
+                instdto.setNext_point_code(next_point_code);
+                instdto.setPriority(priority);
+                instdto.setInstruction_status("0");
+                instdto.setExecute_device_code(start_point_code);
+                instructionService.create(instdto);
+                //创建指令后修改任务状态
+                task.setTask_status("1");
+                taskserver.update(task);
+                requireSucess = true;
+            }
+            return true;
+        }
+    }
+
     protected void thingToNothing() {
 
     }

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/ItemProtocol.java

@@ -23,6 +23,8 @@ public class ItemProtocol {
     public static String item_to_command = "to_command";
     public static String item_to_target = "to_target";
     public static String item_to_task = "to_task";
+    public static String item_to_door = "to_door";
+    public static String item_to_floor = "to_floor";
 
 
     private CargoLiftConveyorDeviceDriver driver;
@@ -86,6 +88,8 @@ public class ItemProtocol {
         list.add(new ItemDto(item_to_command, "下发命令", "VW102"));
         list.add(new ItemDto(item_to_target, "下发目标站", "VW104"));
         list.add(new ItemDto(item_to_task, "任务号", "VD108"));
+        list.add(new ItemDto(item_to_door, "门", "VD112"));
+        list.add(new ItemDto(item_to_floor, "楼层", "VD114"));
         return list;
     }
 

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/empty_vehicle_stacking_position/EmptyVehicleStackingPositionDefination.java

@@ -11,7 +11,7 @@ import java.util.LinkedList;
 import java.util.List;
 
 /**
- * 海亮迅捷plc测试
+ * 空托盘叠盘位
  */
 @Service
 public class EmptyVehicleStackingPositionDefination implements OpcDeviceDriverDefination {

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/empty_vehicle_stacking_position/EmptyVehicleStackingPositionDeviceDriver.java

@@ -30,7 +30,7 @@ import java.util.List;
 import java.util.Map;
 
 /**
- * 海亮清洗机储料仓
+ * 空托盘叠盘位
  */
 @Slf4j
 @Data

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_smart_plc_test/HailiangSmartplcTestDefination.java

@@ -11,7 +11,7 @@ import java.util.LinkedList;
 import java.util.List;
 
 /**
- * 海亮迅捷plc测试
+ * 三工位
  */
 @Service
 public class HailiangSmartplcTestDefination implements OpcDeviceDriverDefination {

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_smart_plc_test/HailiangSmartplcTestDeviceDriver.java

@@ -32,7 +32,7 @@ import java.util.List;
 import java.util.Map;
 
 /**
- * 海亮清洗机储料仓
+ * 三工位
  */
 @Slf4j
 @Data

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/haokai_auto_conveyor/HaoKaiAutoConveyorDefination.java

@@ -11,7 +11,7 @@ import java.util.LinkedList;
 import java.util.List;
 
 /**
- * 海亮迅捷plc测试
+ * 豪凯自动对接线
  */
 @Service
 public class HaoKaiAutoConveyorDefination implements OpcDeviceDriverDefination {

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/haokai_auto_conveyor/HaoKaiAutoConveyorDeviceDriver.java

@@ -34,7 +34,7 @@ import java.util.List;
 import java.util.Map;
 
 /**
- * 海亮清洗机储料仓
+ * 豪凯自动对接线
  */
 @Slf4j
 @Data

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paint_conveyor/PaintConveyorDefination.java

@@ -11,7 +11,7 @@ import java.util.LinkedList;
 import java.util.List;
 
 /**
- * 海亮迅捷plc测试
+ * 油漆线
  */
 @Service
 public class PaintConveyorDefination implements OpcDeviceDriverDefination {

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paint_conveyor/PaintConveyorDeviceDriver.java

@@ -30,7 +30,7 @@ import java.util.HashMap;
 import java.util.Map;
 
 /**
- * 海亮清洗机储料仓
+ * 油漆线
  */
 @Slf4j
 @Data

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/ItemProtocol.java

@@ -21,6 +21,8 @@ public class ItemProtocol {
     public static String item_to_command = "to_command";
     public static String item_to_target = "to_target";
     public static String item_to_task = "to_task";
+    public static String item_to_door = "to_door";
+    public static String item_to_floor = "to_floor";
 
 
     private StandardCoveyorControlWithScannerDeviceDriver driver;
@@ -84,6 +86,8 @@ public class ItemProtocol {
         list.add(new ItemDto(item_to_command, "下发命令", "VW102"));
         list.add(new ItemDto(item_to_target, "下发目标站", "VW104"));
         list.add(new ItemDto(item_to_task, "任务号", "VD108"));
+        list.add(new ItemDto(item_to_door, "门", "VD112"));
+        list.add(new ItemDto(item_to_floor, "楼层", "VD114"));
         return list;
     }
 

wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java

@@ -259,7 +259,6 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
     }
 
 
-
     public void set_last_container_type_desc(String type) {
     }
 
@@ -306,6 +305,10 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
                 + "." + ItemProtocol.item_to_target;
         String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
                 + "." + ItemProtocol.item_to_task;
+        String to_door = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_door;
+        String to_floor = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_floor;
         String opcservcerid = this.getDevice().getOpc_server_id();
         Server server = ReadUtil.getServer(opcservcerid);
         Map<String, Object> itemMap = new HashMap<String, Object>();
@@ -316,6 +319,10 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
 
         } else if (type == 3) {
             itemMap.put(to_task, command);
+        } else if (type == 4) {
+            itemMap.put(to_door, command);
+        } else if (type == 5) {
+            itemMap.put(to_floor, command);
         }
 
         ReadUtil.write(itemMap, server);
@@ -436,7 +443,7 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
             //container_code
             TaskDto task = taskserver.findByContainer(container_code);
             if (!ObjectUtil.isEmpty(task)) {
-                if(!ObjectUtils.isEmpty(instructionService.findByBarcodeFromCache(container_code))){
+                if (!ObjectUtils.isEmpty(instructionService.findByBarcodeFromCache(container_code))) {
                     return false;
                 }
                 String taskid = task.getTask_id();
@@ -517,9 +524,9 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
                 if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.HASWMS).toString(), "1")) {
                     message = "申请任务中...";
                     JSONObject apply = new JSONObject();
-                    apply.put("type","6");
+                    apply.put("type", "6");
-                    apply.put("vehicle_code",container_code);
+                    apply.put("vehicle_code", container_code);
-                    apply.put("point_code",device_code);
+                    apply.put("point_code", device_code);
                     String str = acsToWmsService.applyTaskToWms(apply);
                     JSONObject jo = JSON.parseObject(str);
                     if (ObjectUtil.isEmpty(jo)) {

wcs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -315,23 +315,83 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         if (startdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) {
             cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) startdevice.getDeviceDriver();
             cargoLiftConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
+            if (nextdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver){
+                standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) nextdevice.getDeviceDriver();
+                standardCoveyorControlWithScannerDeviceDriver.writing(1,1);
+                String address = standardCoveyorControlWithScannerDeviceDriver.getExtraValue().get("address").toString();
+                if (StrUtil.isEmpty(address)){
+                    throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置电气调度号！");
+                }
+                String door = standardCoveyorControlWithScannerDeviceDriver.getExtraValue().get("door").toString();
+                if (StrUtil.isEmpty(door)){
+                    throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置门！");
+                }
+                String floor = standardCoveyorControlWithScannerDeviceDriver.getExtraValue().get("floor").toString();
+                if (StrUtil.isEmpty(floor)){
+                    throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置楼层！");
+                }
+                standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address));
+                standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.parseInt(task_code));
+                standardCoveyorControlWithScannerDeviceDriver.writing(4, Integer.parseInt(door));
+                standardCoveyorControlWithScannerDeviceDriver.writing(5, Integer.parseInt(floor));
+            }
         }
         if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
             standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) startdevice.getDeviceDriver();
             standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
+            if (nextdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver){
+                cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) nextdevice.getDeviceDriver();
+                cargoLiftConveyorDeviceDriver.writing(1,1);
+                String address = cargoLiftConveyorDeviceDriver.getExtraValue().get("address").toString();
+                if (StrUtil.isEmpty(address)){
+                    throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置电气调度号！");
+                }
+                String door = cargoLiftConveyorDeviceDriver.getExtraValue().get("door").toString();
+                if (StrUtil.isEmpty(door)){
+                    throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置门！");
+                }
+                String floor = cargoLiftConveyorDeviceDriver.getExtraValue().get("floor").toString();
+                if (StrUtil.isEmpty(floor)){
+                    throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置楼层！");
+                }
+                cargoLiftConveyorDeviceDriver.writing(2, Integer.parseInt(address));
+                cargoLiftConveyorDeviceDriver.writing(3, Integer.parseInt(task_code));
+                cargoLiftConveyorDeviceDriver.writing(4, Integer.parseInt(door));
+                cargoLiftConveyorDeviceDriver.writing(5, Integer.parseInt(floor));
+            }
         }
-        if (nextdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) {
+        if (startdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) {
             haoKaiAutoConveyorDeviceDriver = (HaoKaiAutoConveyorDeviceDriver) startdevice.getDeviceDriver();
             haoKaiAutoConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
         }
 
         try {
-            HttpResponse result = agvService.sendAgvInstToZDAgv(dto);
+            String start_device_code = task.getStart_device_code();
-            if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
+            String next_device_code = task.getNext_device_code();
-                dto.setSend_status("2");
+            String route_plan_code = task.getRoute_plan_code();
-            } else {
+            List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
-                dto.setSend_status("1");
+            RouteLineDto route = null;
+            for (int i = 0; i < shortPathsList.size(); i++) {
+                RouteLineDto routeLineDto = shortPathsList.get(i);
+                String route_device = routeLineDto.getDevice_code();
+                String route_next_device = routeLineDto.getNext_device_code();
+                if (route_device.equals(dto.getStart_device_code()) && route_next_device.equals(dto.getNext_device_code())){
+                    route = routeLineDto;
+                    break;
+                }
             }
+            if (ObjectUtil.isEmpty(route)){
+                throw new BadRequestException("未查询到相关路由！");
+            }
+            if (StrUtil.equals(route.getType(), "1")) {
+                HttpResponse result = agvService.sendAgvInstToZDAgv(dto);
+                if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
+                    dto.setSend_status("2");
+                } else {
+                    dto.setSend_status("1");
+                }
+            }
+
         } catch (Exception e) {
             dto.setSend_status("2");
             e.printStackTrace();
@@ -1115,7 +1175,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
 
         for (int i = 0; i < this.instructions.size(); i++) {
             Instruction inst = instructions.get(i);
-            if (StrUtil.equals(devicecode, inst.getExecute_code())) {
+            if (StrUtil.equals(devicecode, inst.getStart_device_code()) && inst.getInstruction_status().equals("0")) {
                 return inst;
             }
         }