rev:三楼CTU

nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java

@@ -6,6 +6,7 @@ import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONObject;
+import com.google.common.util.concurrent.Uninterruptibles;
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
@@ -32,6 +33,8 @@ import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
+import org.nl.acs.task.enums.AgvSystemTypeEnum;
+import org.nl.acs.task.enums.InstTypeEnum;
 import org.nl.acs.task.enums.TaskStatusEnum;
 import org.nl.acs.task.enums.TaskTypeEnum;
 import org.nl.acs.task.service.TaskService;
@@ -46,6 +49,7 @@ import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 import java.util.*;
 import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
 
@@ -241,8 +245,14 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
 
     @Override
     public void execute() {
+        try {
             this.currentDeviceCode = this.getDevice().getDevice_code();
             this.loadAssignData(currentDeviceCode, ItemProtocol.class);
+        } catch (Exception e) {
+            logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "当前设备执行逻辑报错,错误信息: " + e.getMessage()));
+            logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "当前设备执行逻辑报错,错误堆栈信息: " + Arrays.toString(e.getStackTrace())));
+            Uninterruptibles.sleepUninterruptibly(5, TimeUnit.SECONDS);
+        }
     }
 
     private void executeLogicBefore() {
@@ -944,6 +954,7 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
                         this.writing(Arrays.asList(ItemProtocol.TO_TASK.getKey(), ItemProtocol.TO_TARGET.getKey()), Arrays.asList(inst.getInstruction_code(), address));
                         //this.writing(Arrays.asList(ItemProtocol.TO_TARGET.getKey()), Arrays.asList(address));
 //                        }
+                        this.requireSuccess = true;
                     }
                 }
             }
@@ -1054,6 +1065,7 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
         instdto.setTask_id(taskDto.getTask_id());
         instdto.setTask_code(taskDto.getTask_code());
         instdto.setVehicle_code(taskDto.getVehicle_code());
+        instdto.setVehicle_type(taskDto.getVehicle_type());
         String now = DateUtil.now();
         instdto.setCreate_time(now);
         instdto.setCreate_by(SecurityUtils.getCurrentNickName());
@@ -1065,6 +1077,10 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
         instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
         instdto.setExecute_device_code(start_device_code);
         instdto.setInstruction_type(taskDto.getTask_type());
+        if (StrUtil.equals(next_device_code, "3101")) {
+            instdto.setInstruction_type(InstTypeEnum.CTU_OUT_TASK.getCode());
+            instdto.setAgv_system_type(AgvSystemTypeEnum.HK_SYSTEM_TYPE.getCode());
+        }
     }
 
     private void setInstruction(Instruction instdto, TaskDto taskDto, String start_device_code, String start_point_code, String next_device_code, String next_point_code) {
@@ -1077,6 +1093,7 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
         instdto.setTask_id(taskDto.getTask_id());
         instdto.setTask_code(taskDto.getTask_code());
         instdto.setVehicle_code(taskDto.getVehicle_code());
+        instdto.setVehicle_type(taskDto.getVehicle_type());
         String now = DateUtil.now();
         instdto.setCreate_time(now);
         instdto.setCreate_by(SecurityUtils.getCurrentNickName());
@@ -1088,6 +1105,10 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
         instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
         instdto.setExecute_device_code(start_device_code);
         instdto.setInstruction_type(taskDto.getTask_type());
+        if (StrUtil.equals(next_device_code, "3101")) {
+            instdto.setInstruction_type(InstTypeEnum.CTU_OUT_TASK.getCode());
+            instdto.setAgv_system_type(AgvSystemTypeEnum.HK_SYSTEM_TYPE.getCode());
+        }
     }
 
 }

nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java

@@ -7,6 +7,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
+import com.google.common.util.concurrent.Uninterruptibles;
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
@@ -37,6 +38,7 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
 import java.util.*;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
 import java.util.regex.Matcher;
@@ -398,8 +400,14 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
 
     @Override
     public void execute() {
+        try {
             this.currentDeviceCode = this.getDevice().getDevice_code();
             this.loadAssignData(currentDeviceCode, ItemProtocol.class);
+        } catch (Exception e) {
+            logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "当前设备执行逻辑报错,错误信息: " + e.getMessage()));
+            logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "当前设备执行逻辑报错,错误堆栈信息: " + Arrays.toString(e.getStackTrace())));
+            Uninterruptibles.sleepUninterruptibly(10, TimeUnit.SECONDS);
+        }
     }
 
     private boolean isTimeValid(long currentTimeMillis) {
@@ -486,7 +494,6 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
     }
 
 
-    @SneakyThrows
     @Override
     public void executeLogic() {
         if (this.front_task != 0 && this.back_task != 0) {
@@ -599,7 +606,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 if (ObjectUtil.isEmpty(frontInst) && ObjectUtil.isEmpty(backInst)) {
                     if (this.to_command != 0) {
                         this.writing(ItemProtocol.TO_COMMAND.getKey(), 0);
-                        Thread.sleep(1000);
+                        Uninterruptibles.sleepUninterruptibly(1, TimeUnit.SECONDS);
                     }
                     if (this.stopReceiveTask) {
                         this.unExecutedMessage = "堆垛机设置为停止接收任务";
@@ -884,7 +891,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                             // List<String> getBackDeviceCodeList = this.getExtraDeviceCodes("backDeviceCodeList");
                             List<String> specialGetDevice = this.getExtraDeviceCodes("specialGetDevice");
                             List<String> specialPutDevice = this.getExtraDeviceCodes("specialPutDevice");
-                            backInst = instructionService.findReadyInstBySpecialDeviceAndStartDeviceCode(getBackDeviceCodeList, specialGetDevice, specialPutDevice, front_start_device_code);
+                            String getLinkDeviceCode = Optional.ofNullable(front_start_device.getExtraValue().get("getLinkDeviceCode")).map(Object::toString).orElse(null);
+                            if (StrUtil.isNotEmpty(getLinkDeviceCode)){
+                                backInst = instructionService.findReadyInstBySpecialDeviceAndStartDeviceCode(getBackDeviceCodeList, specialGetDevice, specialPutDevice, front_start_device_code, getLinkDeviceCode);
                                 if (ObjectUtil.isNotEmpty(backInst)) {
                                     String back_start_device_code = backInst.getStart_device_code();
                                     Device back_start_device = deviceAppService.findDeviceByCode(back_start_device_code);
@@ -892,6 +901,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                                 } else {
                                     this.sendPutInfoToPlc(frontInst, backInst);
                                 }
+                            } else {
+                                this.sendPutInfoToPlc(frontInst, backInst);
+                            }
                         }
                     } else {
                         //下发前叉放货信息
@@ -976,11 +988,13 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                             this.sendPutInfoToPlc(frontInst, backInst);
                         }
                     } else if (instanceAppearance(back_start_device) && instanceAppearance(back_next_device)) {
-                        if (ObjectUtil.isEmpty(backInst)) {
+                        if (ObjectUtil.isEmpty(frontInst)) {
                             //List<String> getFrontDeviceCodeList = this.getExtraDeviceCodes("frontDeviceCodeList");
                             List<String> specialGetDevice = this.getExtraDeviceCodes("specialGetDevice");
                             List<String> specialPutDevice = this.getExtraDeviceCodes("specialPutDevice");
-                            frontInst = instructionService.findReadyInstBySpecialDeviceAndStartDeviceCode(getFrontDeviceCodeList, specialGetDevice, specialPutDevice, back_start_device_code);
+                            String getLinkDeviceCode = Optional.ofNullable(back_start_device.getExtraValue().get("getLinkDeviceCode")).map(Object::toString).orElse(null);
+                            if (StrUtil.isNotEmpty(getLinkDeviceCode)){
+                                frontInst = instructionService.findReadyInstBySpecialDeviceAndStartDeviceCode(getFrontDeviceCodeList, specialGetDevice, specialPutDevice, back_start_device_code, getLinkDeviceCode);
                                 if (ObjectUtil.isNotEmpty(frontInst)) {
                                     String front_start_device_code = frontInst.getStart_device_code();
                                     Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code);
@@ -988,6 +1002,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                                 } else {
                                     this.sendPutInfoToPlc(frontInst, backInst);
                                 }
+                            } else {
+                                this.sendPutInfoToPlc(frontInst, backInst);
+                            }
                         }
                     } else {
                         this.sendPutInfoToPlc(frontInst, backInst);
@@ -1250,7 +1267,10 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 if (front_start_device == null) {
                     return false;
                 }
-                backInst = instructionService.findReadyInstBySpecialDeviceAndStartDeviceCode(getBackDeviceCodeList, specialGetDevice, specialPutDevice, start_device_code);
+                String getLinkDeviceCode = Optional.ofNullable(front_start_device.getExtraValue().get("getLinkDeviceCode")).map(Object::toString).orElse(null);
+                if (StrUtil.isNotEmpty(getLinkDeviceCode)){
+                    backInst = instructionService.findReadyInstBySpecialDeviceAndStartDeviceCode(getBackDeviceCodeList, specialGetDevice, specialPutDevice, start_device_code,getLinkDeviceCode);
+                }
             }
         } else {
             List<Instruction> backInsts = instructionService.findReadyInstBySpecialDevice(getBackDeviceCodeList, specialGetDevice, specialPutDevice);

nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/hk/service/impl/HkToAcsServiceImpl.java

@@ -52,6 +52,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
         String reqCode = requestParam.getString("reqCode");
 //        String reqTime = requestParam.getString("reqTime");
         String currentPositionCode = requestParam.getString("currentPositionCode");
+        String stgBinCode = requestParam.getString("stgBinCode");
         String robotCode = requestParam.getString("robotCode");
         String taskCode = requestParam.getString("taskCode");
         String method = requestParam.getString("method");
@@ -68,7 +69,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
             //修改指令状态执行中并修改CTU车号
             instruction.setCarno(robotCode);
             instruction.setInstruction_status(InstructionStatusEnum.BUSY.getIndex());
-            instruction.setExecute_device_code(currentPositionCode);
+            instruction.setExecute_device_code(stgBinCode);
             instruction.setUpdate_time(now);
             instructionService.update(instruction);
         }
@@ -76,13 +77,13 @@ public class HkToAcsServiceImpl implements HkToAcsService {
         else if (StrUtil.equals(method, "end")) {
             Device device = deviceAppService.findDeviceByCode(instruction.getNext_device_code());
             AppearanceInspectionScannerConveyorDeviceDriver appearanceInspectionScannerConveyorDeviceDriver;
-            if (StrUtil.equals(instruction.getNext_device_code(), currentPositionCode) && device != null && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
+            if (StrUtil.equals(instruction.getNext_device_code(), stgBinCode) && device != null && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
                 appearanceInspectionScannerConveyorDeviceDriver = (AppearanceInspectionScannerConveyorDeviceDriver) device.getDeviceDriver();
                 appearanceInspectionScannerConveyorDeviceDriver.writing(ItemProtocol.TO_COMMAND.getKey(), CommandEnum.COMMAND_5.getValue());
             }
             //修改指令状态完成
             instruction.setInstruction_status(InstructionStatusEnum.FINISHED.getIndex());
-            instruction.setExecute_device_code(currentPositionCode);
+            instruction.setExecute_device_code(stgBinCode);
             instruction.setUpdate_time(now);
             instructionService.finish(instruction);
         }
@@ -95,7 +96,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
         }
         //method 回调4、CTU取料箱申请inApply
         else if (StrUtil.equals(method, "inApply")) {
-            Device device = deviceAppService.findDeviceByCode(currentPositionCode);
+            Device device = deviceAppService.findDeviceByCode(stgBinCode);
             if (ObjectUtil.isEmpty(device)) {
                 resp.put("code", "1");
                 resp.put("message", "请求失败，请求位置编号不存在！");
@@ -105,7 +106,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
             AppearanceInspectionScannerConveyorDeviceDriver appearanceInspectionScannerConveyorDeviceDriver;
             //CTU取放货申请
             //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 (StrUtil.equals(instruction.getStart_device_code(), currentPositionCode) && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
+            if (StrUtil.equals(instruction.getStart_device_code(), stgBinCode) && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
                 String ctuWaitTime = Optional.ofNullable(sysParamService.findByCode("ctuWaitTime").getValue()).map(Object::toString).orElse("60");
                 GenPreScheduleTaskReq gpsReq = GenPreScheduleTaskReq.builder()
                         .positionCode(instruction.getStart_device_code())
@@ -120,7 +121,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
         }
         //method 回调5、CTU放料箱申请outApply
         else if (StrUtil.equals(method, "outApply")) {
-            Device device = deviceAppService.findDeviceByCode(currentPositionCode);
+            Device device = deviceAppService.findDeviceByCode(stgBinCode);
             if (ObjectUtil.isEmpty(device)) {
                 resp.put("code", "1");
                 resp.put("message", "请求失败，请求位置编号不存在！");
@@ -129,7 +130,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
             }
             AppearanceInspectionScannerConveyorDeviceDriver appearanceInspectionScannerConveyorDeviceDriver;
             //如果请求位置编号与指令终点一致并且是输送线则是放货申请
-            if (StrUtil.equals(instruction.getNext_device_code(), currentPositionCode) && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
+            if (StrUtil.equals(instruction.getNext_device_code(), stgBinCode) && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
                 appearanceInspectionScannerConveyorDeviceDriver = (AppearanceInspectionScannerConveyorDeviceDriver) device.getDeviceDriver();
                 if (!appearanceInspectionScannerConveyorDeviceDriver.getReqPutRequireSuccess() && appearanceInspectionScannerConveyorDeviceDriver.getReqPutInstCode() == null) {
                     appearanceInspectionScannerConveyorDeviceDriver.setReqPutRequireSuccess(true);
@@ -139,7 +140,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
         }
         //method 回调6、CTU取货完成通知
         else if (StrUtil.equals(method, "inApplyOK")) {
-            Device device = deviceAppService.findDeviceByCode(currentPositionCode);
+            Device device = deviceAppService.findDeviceByCode(stgBinCode);
             if (ObjectUtil.isEmpty(device)) {
                 resp.put("code", "1");
                 resp.put("message", "请求失败，请求位置编号不存在！");
@@ -147,7 +148,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
                 return resp;
             }
             AppearanceInspectionScannerConveyorDeviceDriver appearanceInspectionScannerConveyorDeviceDriver;
-            if (StrUtil.equals(instruction.getStart_device_code(), currentPositionCode) && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
+            if (StrUtil.equals(instruction.getStart_device_code(), stgBinCode) && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
                 appearanceInspectionScannerConveyorDeviceDriver = (AppearanceInspectionScannerConveyorDeviceDriver) device.getDeviceDriver();
                 appearanceInspectionScannerConveyorDeviceDriver.writing(ItemProtocol.TO_COMMAND.getKey(), CommandEnum.COMMAND_3.getValue());
             }

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

@@ -582,7 +582,7 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
 
     List<Instruction> findReadyInstBySpecialDevice(List<String> getDeviceCodeList, List<String> specialGetDevice, List<String> specialPutDevice);
 
-    Instruction findReadyInstBySpecialDeviceAndStartDeviceCode(List<String> getDeviceCodeList, List<String> specialGetDevice, List<String> specialPutDevice, String front_start_device_code);
+    Instruction findReadyInstBySpecialDeviceAndStartDeviceCode(List<String> getDeviceCodeList, List<String> specialGetDevice, List<String> specialPutDevice, String front_start_device_code, String getLinkDeviceCode);
 
     void cancelInstAndTaskNoSendWms(String instruction_id);
 

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

@@ -1020,6 +1020,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instdto.setTask_id(acsTask.getTask_id());
         instdto.setTask_code(acsTask.getTask_code());
         instdto.setVehicle_code(acsTask.getVehicle_code());
+        instdto.setVehicle_type(acsTask.getVehicle_type());
         String now = DateUtil.now();
         instdto.setCreate_time(now);
         instdto.setCreate_by(SecurityUtils.getCurrentNickName());
@@ -1030,6 +1031,10 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instdto.setPriority(acsTask.getPriority());
         instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
         instdto.setExecute_device_code(dto.getNext_device_code());
+        if (StrUtil.equals(instdto.getStart_device_code(),"3204")){
+            instdto.setInstruction_type(InstTypeEnum.CTU_IN_TASK.getCode());
+            instdto.setAgv_system_type(AgvSystemTypeEnum.HK_SYSTEM_TYPE.getCode());
+        }
         try {
             this.create(instdto);
         } catch (Exception e) {
@@ -1584,14 +1589,69 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void init(String id) {
-        InstructionDto inst = this.findById(id);
+        Instruction inst = Optional.ofNullable(this.instructions).orElse(new CopyOnWriteArrayList<>())
+                .stream()
+                .filter(instruction -> instruction.getInstruction_id().equals(id))
+                .findFirst()
+                .orElse(null);
         if (inst == null) {
-            throw new BadRequestException("指令不存在或已删除");
+            throw new BadRequestException("指令不存在");
+        }
+        if (!StrUtil.equals(inst.getSend_status(),"2")){
+            throw new BadRequestException("该指令已成功执行，重新下发失败!");
+        }
+        if (StrUtil.equals(inst.getAgv_system_type(),AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode())){
+            UnifiedResponse<JSONObject> resp = xiangGongAgvService.sendOrderSequencesToXZ(inst);
+            if (!resp.isSuccess()) {
+                inst.setRemark(resp.getMessage());
+                inst.setSend_status("2");
+            } else {
+                inst.setSend_status("1");
+            }
+        } else if (StrUtil.equals(inst.getAgv_system_type(),AgvSystemTypeEnum.HK_SYSTEM_TYPE.getCode())){
+            List<Map<String, String>> positionCodePath = new ArrayList<>();
+            if (StrUtil.equals(InstTypeEnum.CTU_IN_TASK.getCode(), inst.getInstruction_type())) {
+                StorageCell storageCell = storageCellService.getOne(new LambdaQueryWrapper<StorageCell>().eq(StorageCell::getStorage_code, inst.getNext_point_code()));
+                if (ObjectUtil.isEmpty(storageCell)) {
+                    throw new BadRequestException("货位表不存在该点位信息:" + inst.getNext_point_code());
+                }
+                positionCodePath = Arrays.asList(MapOf.of("positionCode", inst.getStart_point_code(), "type", "05"), MapOf.of("positionCode", storageCell.getParent_storage_code(), "type", "05"));
+            } else if (StrUtil.equals(InstTypeEnum.CTU_OUT_TASK.getCode(), inst.getInstruction_type())) {
+                StorageCell storageCell = storageCellService.getOne(new LambdaQueryWrapper<StorageCell>().eq(StorageCell::getStorage_code, inst.getStart_point_code()));
+                if (ObjectUtil.isEmpty(storageCell)) {
+                    throw new BadRequestException("货位表不存在该点位信息:" + inst.getStart_point_code());
+                }
+                positionCodePath = Arrays.asList(MapOf.of("positionCode", storageCell.getParent_storage_code(), "type", "05"), MapOf.of("positionCode", inst.getNext_point_code(), "type", "05"));
+            } else if (StrUtil.equals(InstTypeEnum.CTU_MOVE_TASK.getCode(), inst.getInstruction_type())) {
+                StorageCell startStorageCell = storageCellService.getOne(new LambdaQueryWrapper<StorageCell>().eq(StorageCell::getStorage_code, inst.getStart_point_code()));
+                if (ObjectUtil.isEmpty(startStorageCell)) {
+                    throw new BadRequestException("货位表不存在该点位信息:" + inst.getStart_point_code());
+                }
+                StorageCell nextStorageCell = storageCellService.getOne(new LambdaQueryWrapper<StorageCell>().eq(StorageCell::getStorage_code, inst.getNext_point_code()));
+                if (ObjectUtil.isEmpty(nextStorageCell)) {
+                    throw new BadRequestException("货位表不存在该点位信息:" + inst.getNext_point_code());
+                }
+                positionCodePath = Arrays.asList(MapOf.of("positionCode", startStorageCell.getParent_storage_code(), "type", "05"), MapOf.of("positionCode", nextStorageCell.getParent_storage_code(), "type", "05"));
+            }
+            GenAgvSchedulingTaskReq gasReq = GenAgvSchedulingTaskReq
+                    .builder()
+                    .taskTyp(inst.getInstruction_type())
+                    .ctnrTyp(inst.getVehicle_type())
+                    .positionCodePath(positionCodePath)
+                    .priority(inst.getPriority())
+                    .taskCode(inst.getInstruction_code())
+                    .build();
+            UnifiedResponse<String> resp = acsToHkService.genAgvSchedulingTask(gasReq, String.class);
+            if (!resp.isSuccess()) {
+                inst.setRemark(resp.getMessage());
+                inst.setSend_status("2");
+            } else {
+                inst.setSend_status("1");
             }
-        if (InstructionStatusEnum.FINISHED.getIndex().equals(inst.getInstruction_status())) {
-            throw new BadRequestException("指令已经完成");
         }
+        this.update(inst);
     }
 
     @Override
@@ -2278,7 +2338,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     }
 
     @Override
-    public Instruction findReadyInstBySpecialDeviceAndStartDeviceCode(List<String> getDeviceCodeList, List<String> specialGetDevice, List<String> specialPutDevice, String start_device_code) {
+    public Instruction findReadyInstBySpecialDeviceAndStartDeviceCode(List<String> getDeviceCodeList, List<String> specialGetDevice, List<String> specialPutDevice, String start_device_code, String getLinkDeviceCode) {
         if (getDeviceCodeList != null && specialGetDevice != null && specialPutDevice != null) {
             return Optional.ofNullable(this.instructions)
                     .orElse(new CopyOnWriteArrayList<>())
@@ -2287,6 +2347,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                     .filter(inst -> !inst.getStart_device_code().equals(start_device_code))
                     .filter(inst -> getDeviceCodeList.contains(inst.getStart_device_code()) && specialGetDevice.contains(inst.getStart_device_code()))
                     .filter(inst -> getDeviceCodeList.contains(inst.getNext_device_code()) && specialPutDevice.contains(inst.getNext_device_code()))
+                    .filter(inst -> inst.getStart_device_code().equals(getLinkDeviceCode))
                     .sorted(Comparator.comparing(Instruction::getPriority)
                             .thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
                     .findFirst().orElse(null);

nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -41,6 +41,7 @@ import org.nl.acs.route.domain.RoutePlan;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.route.service.mapper.RoutePlanMapper;
+import org.nl.acs.task.enums.AgvSystemTypeEnum;
 import org.nl.acs.task.enums.InstTypeEnum;
 import org.nl.acs.task.enums.TaskStatusEnum;
 import org.nl.acs.task.enums.TaskTypeEnum;
@@ -739,9 +740,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         instdto.setStart_device_code2(start_point_code2);
         instdto.setNext_device_code2(next_point_code2);
         instdto.setNext_point_code2(next_point_code2);
-        instdto.setAgv_system_type(agv_system_type);
         instdto.setAgv_inst_type(CommonFinalParam.ONE);
-
+        instdto.setAgv_system_type(agv_system_type);
+        if (StrUtil.equals(instdto.getNext_device_code(),"3101")){
+            instdto.setAgv_system_type(AgvSystemTypeEnum.HK_SYSTEM_TYPE.getCode());
+            instdto.setInstruction_type(InstTypeEnum.CTU_OUT_TASK.getCode());
+        }
         instructionservice.create(instdto);
 
         acsTask.setTask_status(CommonFinalParam.ONE);
@@ -1336,7 +1340,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             String type = shortPathsList.get(0).getType();
             // != 0 为agv任务
             if (!StrUtil.equals(type, "0")) {
-                if (StrUtil.equals(paramService.findByCode(AcsConfig.AGV_TYPE).getValue(), "3")) {
+                if (StrUtil.equals(paramService.findByCode(AcsConfig.AGV_TYPE).getValue(), "3") && StrUtil.equals(taskDto.getAgv_system_type(),AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode())) {
                     try {
                         JSONObject reqParam = new JSONObject();
                         reqParam.put("id", taskDto.getTask_code());

nladmin-ui/.env.production

@@ -2,6 +2,6 @@ ENV = 'production'
 
 # 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置
 # 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http
-VUE_APP_BASE_API  = 'http://192.168.1.218:8011'
+VUE_APP_BASE_API  = 'http://192.168.18.218:8011'
 # 如果接口是 http 形式， wss 需要改为 ws
-VUE_APP_WS_API = 'http://192.168.1.218:8011'
+VUE_APP_WS_API = 'http://192.168.18.218:8011'

nladmin-ui/public/config.js

@@ -3,7 +3,7 @@ window.g = {
     VUE_APP_BASE_API: 'http://127.0.0.1:8011'
   },
   prod: {
-    VUE_APP_BASE_API: 'http://192.168.1.218:8011'
+    VUE_APP_BASE_API: 'http://192.168.18.218:8011'
   }
 
 }

nladmin-ui/src/i18n/langs/zh-CN.js

@@ -46,7 +46,7 @@ export default {
       'Confirm': '确认',
       'Cancel': '取消',
       'Forced_cancellation': '强制取消',
-      'Initialize': '初始化',
+      'Initialize': '重新下发',
       'Operate': '操作',
       'Refresh': '刷新',
       'Closes': '关闭',

nladmin-ui/src/views/acs/instruction/index.vue

@@ -71,7 +71,7 @@
               style="width: 200px"
               @change="crud.toQuery"
             >
-              <el-option v-for="item in dict.task_type" :key="item.id" :label="item.label" :value="item.value" />
+              <el-option v-for="item in dict.instruction_type" :key="item.id" :label="item.label" :value="item.value" />
             </el-select>
           </el-form-item>
           <el-form-item :label="$t('task.txt_box.start_or_end')">

nladmin-ui/src/views/acs/task/index.vue

@@ -301,6 +301,9 @@
                   />
                 </el-select>
               </el-form-item>
+              <el-form-item :label="$t('task.select.Description')" prop="description">
+                <el-input v-model="form.remark" style="width: 370px;" type="textarea" @change="isDisabled=false" />
+              </el-form-item>
             </el-col>
             <el-col :span="12">
               <div class="grid-content bg-purple-light" />
@@ -405,14 +408,29 @@
               <el-form-item :label="$t('task.txt_box.Vehicle_number')">
                 <el-input v-model="form.vehicle_code" style="width: 370px;" @change="isDisabled=false" />
               </el-form-item>
+              <el-form-item label="载具类型">
+                <el-select
+                  v-model="form.vehicle_type"
+                  style="width: 370px;"
+                  filterable
+                  clearable
+                  :placeholder="$t('task.select.Placeholder')"
+                  @change="isDisabled=false"
+                >
+                  <el-option
+                    v-for="item in dict.vehicle_type"
+                    :key="item.id"
+                    :label="item.label"
+                    :value="item.value"
+                  />
+                </el-select>
+<!--                <el-input v-model="form.vehicle_type" style="width: 370px;" @change="isDisabled=false" />-->
+              </el-form-item>
               <el-form-item :label="$t('task.txt_box.extension_field')">
                 <div>
                   <el-button @click="openDialog">{{ $t('task.select.Placeholder') }}</el-button>
                 </div>
               </el-form-item>
-              <el-form-item :label="$t('task.select.Description')" prop="description">
-                <el-input v-model="form.remark" style="width: 370px;" type="textarea" @change="isDisabled=false" />
-              </el-form-item>
             </el-col>
           </el-row>
         </el-form>
@@ -585,7 +603,7 @@ import i18n from '@/i18n'
 export default {
   name: 'Task',
   components: { pagination, crudOperation, rrOperation },
-  dicts: ['task_status', 'task_type', 'agv_system_type', 'storage_task_type', 'kezhuan'],
+  dicts: ['task_status', 'task_type', 'agv_system_type', 'storage_task_type', 'kezhuan', 'vehicle_type'],
   mixins: [presenter(), header(), crud()],
   cruds() {
     return CRUD({ title: i18n.t('task.txt_box.Task'), url: 'api/task', idField: 'task_id', sort: 'task_id,desc',