From 43d8d78a36d60c355ddaaae85752027a09e884e3 Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Thu, 29 May 2025 10:59:02 +0800 Subject: [PATCH] =?UTF-8?q?add:=E6=8A=A5=E8=AD=A6=E4=BF=A1=E6=81=AF?= =?UTF-8?q?=E5=92=8C=E4=BB=BB=E5=8A=A1=E7=94=B3=E8=AF=B7=E5=BC=82=E5=B8=B8?= =?UTF-8?q?=E9=80=9A=E7=9F=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../server/impl/XianGongAgvServiceImpl.java | 1 + ...InspectionScannerConveyorDeviceDriver.java | 65 +++++++ .../StandardStackerDeviceDriver.java | 19 ++ .../with_station/WithStationDeviceDriver.java | 69 +++++++- .../xg/service/impl/XgToAcsServiceImpl.java | 17 +- .../service/impl/InstructionServiceImpl.java | 28 +-- .../org/nl/acs/task/enums/TaskTypeEnum.java | 3 +- .../service/quartz/task/AutoCreateYkInst.java | 163 ++++++++++++++++++ 8 files changed, 347 insertions(+), 18 deletions(-) create mode 100644 nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index 1edb4ec..2671f1a 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -116,6 +116,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { String path = "/terminate"; JSONObject reqParam = new JSONObject(); reqParam.put("id", instCode); + reqParam.put("disableVehicle",false); return xgHttpUtil.sendPostRequest(path, reqParam); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java index c762182..e8928dc 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java @@ -44,6 +44,7 @@ import org.nl.common.utils.SecurityUtils; import org.nl.config.SpringContextHolder; import org.nl.config.lucene.service.LuceneExecuteLogService; import org.nl.config.lucene.service.dto.LuceneLogDto; +import org.nl.system.service.param.ISysParamService; import java.time.LocalDateTime; import java.time.format.DateTimeFormatter; @@ -73,6 +74,7 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc private final DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); private final DeviceAssignedService deviceAssignedService = SpringContextHolder.getBean(DeviceAssignedService.class); private final AcsToHkService acsToHkService = SpringContextHolder.getBean(AcsToHkService.class); + private final ISysParamService sysParamService = SpringContextHolder.getBean(ISysParamService.class); private static final Lock LOCK = new ReentrantLock(); @@ -182,6 +184,16 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc */ private long requireTimeOut = 3000L; + /** + * 任务申请失败通知时间 + */ + private long errorRequireTime = System.currentTimeMillis(); + + /** + * 任务申请失败请求间隔时间 + */ + private long errorRequireTimeOut = 60000L; + /** * 设备异常标记 */ @@ -260,6 +272,21 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc this.requireSuccess = false; this.withStationRequireSuccess = false; } + if (this.error != this.lastError && this.error != 0) { + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")){ + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: " + ErrorEnum.getLabel(this.error)); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("2") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } if (this.mode != this.lastMode) { this.requireSuccess = false; } @@ -432,6 +459,10 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc } } + private boolean isErrorTimeValid(long errorCurrentTimeMillis) { + return errorCurrentTimeMillis - this.errorRequireTime >= this.errorRequireTimeOut; + } + /** * 申请托盘入库任务 */ @@ -461,6 +492,23 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc if (response.isSuccess()) { this.writing(ItemProtocol.TO_COMMAND.getKey(), CommandEnum.COMMAND_6.getValue()); this.requireSuccess = true; + } else { + if (isErrorTimeValid(currentTimeMillis)) { + this.errorRequireTime = currentTimeMillis; + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")){ + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "申请任务失败! 请求参数: " + request + "响应信息: " + response.getMessage()); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("1") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } } } } @@ -486,6 +534,23 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc if (response.isSuccess()) { this.writing(ItemProtocol.TO_COMMAND.getKey(), CommandEnum.COMMAND_7.getValue()); this.requireSuccess = true; + } else { + if (isErrorTimeValid(currentTimeMillis)) { + this.errorRequireTime = currentTimeMillis; + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")){ + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "申请任务失败! 请求参数: " + request + "响应信息: " + response.getMessage()); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("1") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } } } } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java index e49ab2a..5513362 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java @@ -33,6 +33,7 @@ import org.nl.common.utils.SecurityUtils; import org.nl.config.SpringContextHolder; import org.nl.config.lucene.service.LuceneExecuteLogService; import org.nl.config.lucene.service.dto.LuceneLogDto; +import org.nl.system.service.param.ISysParamService; import java.util.*; import java.util.concurrent.TimeUnit; @@ -67,6 +68,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme private final DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); private final TaskService taskService = SpringContextHolder.getBean(TaskService.class); private final AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class); + private final ISysParamService sysParamService = SpringContextHolder.getBean(ISysParamService.class); private static final Lock LOCK = new ReentrantLock(); @@ -499,6 +501,23 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme return; } } + + if ((this.back_Zerror != this.lastBack_Zerror && this.back_Zerror != 0) || (this.front_Zerror != this.lastFront_Zerror && this.front_Zerror != 0)) { + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")){ + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: 前叉 " + ErrorEnum.getDesc(this.front_Zerror) + ", 后叉 " + ErrorEnum.getDesc(this.back_Zerror)); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("2") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } + this.stackerNum = Optional.ofNullable(this.getExtraValue().get("stackerNum")) .map(Object::toString) .map(Integer::parseInt) diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/station/with_station/WithStationDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/station/with_station/WithStationDeviceDriver.java index 4372c04..fd31109 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/station/with_station/WithStationDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/station/with_station/WithStationDeviceDriver.java @@ -23,6 +23,7 @@ import org.nl.acs.task.service.dto.TaskDto; import org.nl.config.SpringContextHolder; import org.nl.config.lucene.service.LuceneExecuteLogService; import org.nl.config.lucene.service.dto.LuceneLogDto; +import org.nl.system.service.param.ISysParamService; import java.util.LinkedHashMap; import java.util.List; @@ -41,6 +42,7 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements private final TaskService taskServer = SpringContextHolder.getBean(TaskService.class); private final AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); private final LuceneExecuteLogService logServer = SpringContextHolder.getBean(LuceneExecuteLogService.class); + private final ISysParamService sysParamService = SpringContextHolder.getBean(ISysParamService.class); /** * 请求标记 @@ -53,10 +55,20 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements private String device_code = null; /** - * 请求时间 + * 任务请求时间 */ private long requireTime = System.currentTimeMillis(); + /** + * 任务申请失败通知时间 + */ + private long errorRequireTime = System.currentTimeMillis(); + + /** + * 任务申请失败请求间隔时间 + */ + private long errorRequireTimeOut = 60000L; + /** * 请求间隔时间 */ @@ -66,6 +78,10 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements return currentTimeMillis - this.requireTime >= this.requireTimeOut; } + private boolean isErrorTimeValid(long errorCurrentTimeMillis) { + return errorCurrentTimeMillis - this.errorRequireTime >= this.errorRequireTimeOut; + } + @Override public void execute() { this.device_code = this.getDeviceCode(); @@ -122,6 +138,23 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements if (response.isSuccess()) { appearanceInspectionScannerConveyorDeviceDriver.setWithStationRequireSuccess(true); this.requireSuccess = true; + } else { + if (isErrorTimeValid(currentTimeMillis)) { + this.errorRequireTime = currentTimeMillis; + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")){ + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "申请任务失败! 请求参数: " + request + "响应信息: " + response.getMessage()); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("1") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } } break; } else { @@ -146,6 +179,23 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements this.requireSuccess = true; appearanceInspectionScannerConveyorDeviceDriver.setWithStationRequireSuccess(true); appearanceInspectionScannerConveyorDeviceDriver2.setWithStationRequireSuccess(true); + } else { + if (isErrorTimeValid(currentTimeMillis)) { + this.errorRequireTime = currentTimeMillis; + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")){ + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "申请任务失败! 请求参数: " + request + "响应信息: " + response.getMessage()); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("1") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } } break; } @@ -164,6 +214,23 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements if (response.isSuccess()) { appearanceInspectionScannerConveyorDeviceDriver.setWithStationRequireSuccess(true); this.requireSuccess = true; + } else { + if (isErrorTimeValid(currentTimeMillis)) { + this.errorRequireTime = currentTimeMillis; + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")){ + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "申请任务失败! 请求参数: " + request + "响应信息: " + response.getMessage()); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("1") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } } break; } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/service/impl/XgToAcsServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/service/impl/XgToAcsServiceImpl.java index 89559ac..521ed91 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/service/impl/XgToAcsServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/service/impl/XgToAcsServiceImpl.java @@ -35,18 +35,18 @@ import java.util.Map; @Slf4j public class XgToAcsServiceImpl implements XgToAcsService { - private final static Map> BLOCK_POS_XY = new HashMap<>(); + private final static Map> BLOCK_POS_XY = new HashMap<>(); @Autowired private AcsToHkService acsToHkService; //TODO 需要现场确定区域对应坐标 static { - BLOCK_POS_XY.put("Block1", MapOf.of("X1","213000","Y1","205457","X3","215000","Y3","205457")); - BLOCK_POS_XY.put("Block2", MapOf.of("X1","210000","Y1","205457","X3","212000","Y3","205457")); - BLOCK_POS_XY.put("Block3", MapOf.of("X1","207000","Y1","205457","X3","209000","Y3","205457")); - BLOCK_POS_XY.put("Block4", MapOf.of("X1","204000","Y1","205457","X3","206000","Y3","205457")); - BLOCK_POS_XY.put("Block5", MapOf.of("X1","201000","Y1","205457","X3","203000","Y3","205457")); + BLOCK_POS_XY.put("Block1", MapOf.of("X1", "213000", "Y1", "205457", "X3", "215000", "Y3", "205457")); + BLOCK_POS_XY.put("Block2", MapOf.of("X1", "210000", "Y1", "205457", "X3", "212000", "Y3", "205457")); + BLOCK_POS_XY.put("Block3", MapOf.of("X1", "207000", "Y1", "205457", "X3", "209000", "Y3", "205457")); + BLOCK_POS_XY.put("Block4", MapOf.of("X1", "204000", "Y1", "205457", "X3", "206000", "Y3", "205457")); + BLOCK_POS_XY.put("Block5", MapOf.of("X1", "201000", "Y1", "205457", "X3", "203000", "Y3", "205457")); } @Override @@ -101,6 +101,11 @@ public class XgToAcsServiceImpl implements XgToAcsService { resp.put("message", "ok"); return resp; } else { + if (blockUnifiedResponse.getMessage() != null && blockUnifiedResponse.getMessage().contains("重复封锁")) { + resp.put("code", 200); + resp.put("message", "ok"); + return resp; + } resp.put("code", 400); resp.put("message", "CTU活动区域未封禁，不允许进入该区域!"); return resp; diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 54f8c93..03f07ea 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -1380,14 +1380,19 @@ public class InstructionServiceImpl extends CommonServiceImpl it = instructions.iterator(); - while (it.hasNext()) { - Instruction inst = it.next(); - if (StrUtil.equals(code, inst.getInstruction_code())) { - return inst; - } - } - return null; + return Optional.ofNullable(this.instructions).orElse(new CopyOnWriteArrayList<>()) + .stream() + .filter(inst -> inst.getInstruction_code().equals(code)) + .findFirst() + .orElse(null); +// Iterator it = instructions.iterator(); +// while (it.hasNext()) { +// Instruction inst = it.next(); +// if (StrUtil.equals(code, inst.getInstruction_code())) { +// return inst; +// } +// } +// return null; } @Override @@ -2295,8 +2300,11 @@ public class InstructionServiceImpl extends CommonServiceImpl()) .stream() - .filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex())) - .filter(inst -> inst.getVehicle_code().equals(vehicleCode)) + .filter(Objects::nonNull) + .filter(inst -> + Objects.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && + Objects.equals(inst.getVehicle_code(), vehicleCode) + ) .findFirst().orElse(null); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java index 8516893..4cce94b 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java @@ -16,7 +16,8 @@ public enum TaskTypeEnum { */ Stacker_Task("1", "1", "堆垛机任务"), AGV_TASK("2", "2", "AGV任务"), - CTU_TASK("3", "3", "CTU任务"); + CTU_TASK("3", "3", "CTU任务"), + YK_TASK("4", "4", "呆料转移任务"); /** diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java new file mode 100644 index 0000000..3377167 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java @@ -0,0 +1,163 @@ +package org.nl.system.service.quartz.task; + +import cn.hutool.core.date.DateUtil; +import cn.hutool.core.util.IdUtil; +import cn.hutool.core.util.StrUtil; +import lombok.extern.slf4j.Slf4j; +import org.apache.commons.lang3.ObjectUtils; +import org.nl.acs.common.base.CommonFinalParam; +import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.enums.InstructionStatusEnum; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.route.service.RouteLineService; +import org.nl.acs.route.service.dto.RouteLineDto; +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; +import org.nl.acs.task.service.dto.TaskDto; +import org.nl.common.utils.SecurityUtils; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +import java.util.Arrays; +import java.util.List; + +/** + * 自动创建AGV指令 + */ +@Slf4j +@Component +public class AutoCreateYkInst { + + @Autowired + private TaskService taskService; + @Autowired + private InstructionService instructionService; + @Autowired + private RouteLineService routeLineService; + @Autowired + private DeviceAppService deviceAppService; + + /** + * 根据任务状态创建指令、生成下一条指令 + * 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货 + */ + public void run() throws Exception { + List list = taskService.findReadyByTaskType(TaskTypeEnum.YK_TASK.getCode()); + for (int i = 0; i < list.size(); i++) { + TaskDto acsTask = list.get(i); + String taskid = acsTask.getTask_id(); + String taskcode = acsTask.getTask_code(); + String task_type = acsTask.getTask_type(); + String vehiclecode = acsTask.getVehicle_code(); + String storage_task_type = acsTask.getStorage_task_type(); + String priority = acsTask.getPriority(); + String is_send = acsTask.getIs_send(); + + String start_device_code = acsTask.getStart_device_code(); + String start_point_code = acsTask.getStart_point_code(); + + String put_device_code = acsTask.getPut_device_code(); + String put_point_code = acsTask.getPut_point_code(); + + String next_device_code = acsTask.getNext_device_code(); + String next_point_code = acsTask.getNext_point_code(); + + String start_point_code2 = acsTask.getStart_point_code2(); + String start_device_code2 = acsTask.getStart_device_code2(); + + String next_point_code2 = acsTask.getNext_point_code2(); + String next_device_code2 = acsTask.getNext_device_code2(); + + String route_plan_code = acsTask.getRoute_plan_code(); + String vehicleType = acsTask.getVehicle_type(); + String agv_system_type = acsTask.getAgv_system_type(); + + String start_height = acsTask.getStart_height(); + String next_height = acsTask.getNext_height(); + + + if (StrUtil.equals(is_send, "0")) { + continue; + } + + //校验路由关系 + List shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); + if (ObjectUtils.isEmpty(shortPathsList)) { + acsTask.setRemark("路由不通无法生成指令"); + taskService.updateByCodeFromCache(acsTask); + continue; + } + + if (!StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && !StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.TWO)) { + continue; + } + + RouteLineDto routeLineDto = shortPathsList.get(0); + String path = routeLineDto.getPath(); + String type = routeLineDto.getType(); + String[] str = path.split("->"); + List pathlist = Arrays.asList(str); + int index = 0; + for (int m = 0; m < pathlist.size(); m++) { + if (pathlist.get(m).equals(start_device_code)) { + index = m + 1; + break; + } + } + next_device_code = pathlist.get(index); + + if (StrUtil.equals(deviceAppService.findDeviceTypeByCode(next_device_code), "storage")) { + next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z(); + } else { + next_point_code = next_device_code; + } + + Instruction instdto = new Instruction(); + instdto.setInstruction_type(InstTypeEnum.STACKER_TASK.getCode()); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRoute_plan_code(route_plan_code); + instdto.setRemark(acsTask.getRemark()); + instdto.setMaterial(acsTask.getMaterial()); + instdto.setQuantity(acsTask.getQuantity()); + instdto.setTask_id(taskid); + instdto.setTask_code(taskcode); + instdto.setVehicle_code(vehiclecode); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by(SecurityUtils.getCurrentNickName()); + + instdto.setStart_device_code(start_device_code); + instdto.setStart_point_code(start_point_code); + instdto.setPut_device_code(put_device_code); + instdto.setPut_point_code(put_point_code); + instdto.setNext_device_code(next_device_code); + instdto.setNext_point_code(next_point_code); + + instdto.setStart_point_code2(start_point_code2); + instdto.setStart_device_code2(start_device_code2); + instdto.setNext_point_code2(next_point_code2); + instdto.setNext_device_code2(next_device_code2); + + instdto.setPriority(priority); + instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex()); + instdto.setExecute_device_code(start_point_code); + instdto.setVehicle_type(vehicleType); + instdto.setAgv_system_type(agv_system_type); + instdto.setStart_height(start_height); + instdto.setNext_height(next_height); + + try { + instructionService.create(instdto); + } catch (Exception e) { + acsTask.setRemark("指令创建失败:" + e.getMessage()); + taskService.updateByCodeFromCache(acsTask); + } + //创建指令后修改任务状态 + acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex()); + taskService.update(acsTask); + } + } +}