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 ea8c2e3..e49ab2a 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 @@ -8,10 +8,7 @@ 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; -import lombok.SneakyThrows; +import lombok.*; import lombok.extern.slf4j.Slf4j; import org.nl.acs.device.device.domain.Device; import org.nl.acs.device.device.service.DeviceAppService; @@ -646,9 +643,22 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (ObjectUtil.isEmpty(frontInst)) { frontInst = instructionService.findReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList); if (ObjectUtil.isNotEmpty(frontInst)) { - String front_start_device_code = frontInst.getStart_device_code(); - Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code); - this.frontWrite(front_start_device, frontInst); + int numericPart = Integer.parseInt(getNumericPart(frontInst.getNext_device_code())); + if (numericPart % 4 == 2 || numericPart % 4 == 3) { + TaskDto taskDto = taskService.findByNextPointCode(getDeepPoint(frontInst.getNext_point_code())); + //Instruction instruction = instructionService.findByNextPointCode(getDeepPoint(frontInst.getNext_point_code())); + if (ObjectUtil.isNotEmpty(taskDto)) { + this.sendPutInfoToPlc(null, backInst); + } else { + String front_start_device_code = frontInst.getStart_device_code(); + Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code); + this.frontWrite(front_start_device, frontInst); + } + } else { + String front_start_device_code = frontInst.getStart_device_code(); + Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code); + this.frontWrite(front_start_device, frontInst); + } } else { this.sendPutInfoToPlc(frontInst, backInst); } @@ -720,9 +730,22 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (ObjectUtil.isEmpty(backInst)) { backInst = instructionService.findReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, backNoY, getBackDeviceCodeList); if (ObjectUtil.isNotEmpty(backInst)) { - String back_start_device_code = backInst.getStart_device_code(); - Device back_start_device = deviceAppService.findDeviceByCode(back_start_device_code); - this.backWrite(back_start_device, backInst); + int numericPart = Integer.parseInt(getNumericPart(backInst.getNext_device_code())); + if (numericPart % 4 == 2 || numericPart % 4 == 3) { + TaskDto taskDto = taskService.findByNextPointCode(getDeepPoint(backInst.getNext_point_code())); + //Instruction instruction = instructionService.findByNextPointCode(getDeepPoint(backInst.getNext_point_code())); + if (ObjectUtil.isNotEmpty(taskDto)) { + this.sendPutInfoToPlc(frontInst, null); + } else { + String back_start_device_code = backInst.getStart_device_code(); + Device back_start_device = deviceAppService.findDeviceByCode(back_start_device_code); + this.backWrite(back_start_device, backInst); + } + } else { + String back_start_device_code = backInst.getStart_device_code(); + Device back_start_device = deviceAppService.findDeviceByCode(back_start_device_code); + this.backWrite(back_start_device, backInst); + } } else { this.sendPutInfoToPlc(frontInst, backInst); } @@ -813,15 +836,19 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (ObjectUtil.isNotEmpty(backInst)) { int numericPart = Integer.parseInt(getNumericPart(backInst.getNext_device_code())); if (numericPart % 4 == 2 || numericPart % 4 == 3) { - String qPoint = getZdPoint(backInst.getNext_point_code()); - TaskDto taskDto = taskService.findByNextPointCode(qPoint); + TaskDto taskDto = taskService.findByNextPointCode(getDeepPoint(backInst.getNext_point_code())); + //Instruction instruction = instructionService.findByNextPointCode(getDeepPoint(backInst.getNext_point_code())); if (ObjectUtil.isNotEmpty(taskDto)) { - this.sendPutInfoToPlc(frontInst, backInst); + this.sendPutInfoToPlc(frontInst, null); } else { String back_start_device_code = backInst.getStart_device_code(); Device back_start_device = deviceAppService.findDeviceByCode(back_start_device_code); this.backWrite(back_start_device, backInst); } + } else { + String back_start_device_code = backInst.getStart_device_code(); + Device back_start_device = deviceAppService.findDeviceByCode(back_start_device_code); + this.backWrite(back_start_device, backInst); } } else { this.sendPutInfoToPlc(frontInst, backInst); @@ -892,7 +919,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme List specialGetDevice = this.getExtraDeviceCodes("specialGetDevice"); List specialPutDevice = this.getExtraDeviceCodes("specialPutDevice"); String getLinkDeviceCode = Optional.ofNullable(front_start_device.getExtraValue().get("getLinkDeviceCode")).map(Object::toString).orElse(null); - if (StrUtil.isNotEmpty(getLinkDeviceCode)){ + 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(); @@ -921,9 +948,22 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (ObjectUtil.isEmpty(frontInst)) { frontInst = instructionService.findReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList); if (ObjectUtil.isNotEmpty(frontInst)) { - String front_start_device_code = frontInst.getStart_device_code(); - Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code); - this.frontWrite(front_start_device, frontInst); + int numericPart = Integer.parseInt(getNumericPart(frontInst.getNext_device_code())); + if (numericPart % 4 == 2 || numericPart % 4 == 3) { + TaskDto taskDto = taskService.findByNextPointCode(getDeepPoint(frontInst.getNext_point_code())); + //Instruction instruction = instructionService.findByNextPointCode(getDeepPoint(frontInst.getNext_point_code())); + if (ObjectUtil.isNotEmpty(taskDto)) { + this.sendPutInfoToPlc(null, backInst); + } else { + String front_start_device_code = frontInst.getStart_device_code(); + Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code); + this.frontWrite(front_start_device, frontInst); + } + } else { + String front_start_device_code = frontInst.getStart_device_code(); + Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code); + this.frontWrite(front_start_device, frontInst); + } } else { this.sendPutInfoToPlc(frontInst, backInst); } @@ -993,7 +1033,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme List specialGetDevice = this.getExtraDeviceCodes("specialGetDevice"); List specialPutDevice = this.getExtraDeviceCodes("specialPutDevice"); String getLinkDeviceCode = Optional.ofNullable(back_start_device.getExtraValue().get("getLinkDeviceCode")).map(Object::toString).orElse(null); - if (StrUtil.isNotEmpty(getLinkDeviceCode)){ + 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(); @@ -1268,8 +1308,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme return false; } 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); + if (StrUtil.isNotEmpty(getLinkDeviceCode)) { + backInst = instructionService.findReadyInstBySpecialDeviceAndStartDeviceCode(getBackDeviceCodeList, specialGetDevice, specialPutDevice, start_device_code, getLinkDeviceCode); } } } else { @@ -1624,6 +1664,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY"); List getBackDeviceCodeList = this.getExtraDeviceCodes("backDeviceCodeList"); String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY"); + //先查询入库位是深库位的入库指令信息 List frontInsts = instructionService.findDeepReadyInstByStartDeviceCode(getFrontDeviceCodeList, frontNoY); if (CollectionUtil.isNotEmpty(frontInsts)) { frontInst = frontInsts.get(0); @@ -1634,11 +1675,24 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (front_start_device != null) { String getLinkDeviceCode = this.handExtraStringValue(front_start_device, "getLinkDeviceCode"); if (StrUtil.isNotEmpty(getLinkDeviceCode)) { + //根据前叉指令信息，查询是否存在对应的后叉的深库位的入库指令信息 backInst = instructionService.findDeepReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, backNoY, getBackDeviceCodeList); if (ObjectUtil.isEmpty(backInst)) { - Instruction inst = instructionService.findBusyInstByNextDeviceCode(getLinkDeviceCode); - if (ObjectUtil.isNotEmpty(inst)) { - return; + //如果不存在深库位的后叉信息，查询是否存在浅库位的后叉信息 + backInst = instructionService.findShallowReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, backNoY, getBackDeviceCodeList); + //如果存在，就查询是否有终点是浅库位对应的深库位的指令信息 + if (ObjectUtil.isNotEmpty(backInst)) { + Instruction instruction = instructionService.findByNextPointCode(getDeepPoint(backInst.getNext_point_code())); + if (ObjectUtil.isNotEmpty(instruction)) { + backInst = null; + } else { + //如果有就单取深库位的 + //如果没有就双取 + Instruction inst = instructionService.findBusyInstByNextDeviceCode(getLinkDeviceCode); + if (ObjectUtil.isNotEmpty(inst)) { + return; + } + } } } } @@ -1657,11 +1711,24 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme String getLinkDeviceCode = this.handExtraStringValue(back_start_device, "getLinkDeviceCode"); front_start_device = deviceAppService.findDeviceByCode(getLinkDeviceCode); if (front_start_device != null) { + //根据后叉指令信息，查询是否存在对应的前叉的深库位的入库指令信息 frontInst = instructionService.findDeepReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList); if (ObjectUtil.isEmpty(frontInst)) { - Instruction inst = instructionService.findBusyInstByNextDeviceCode(getLinkDeviceCode); - if (ObjectUtil.isNotEmpty(inst)) { - return; + //如果不存在深库位的前叉信息，查询是否存在浅库位的前叉信息 + frontInst = instructionService.findShallowReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList); + //如果存在，就查询是否有终点是浅库位对应的深库位的指令信息 + if (ObjectUtil.isNotEmpty(frontInst)) { + Instruction instruction = instructionService.findByNextPointCode(getDeepPoint(frontInst.getNext_point_code())); + if (ObjectUtil.isNotEmpty(instruction)) { + frontInst = null; + } else { + //如果有就单取深库位的 + //如果没有就双取 + Instruction inst = instructionService.findBusyInstByNextDeviceCode(getLinkDeviceCode); + if (ObjectUtil.isNotEmpty(inst)) { + return; + } + } } } else { logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "第二次查询到前叉指令号:" + frontInst.getInstruction_code())); @@ -2079,7 +2146,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme String start_device_code = backInst.getStart_device_code(); Device start_device = deviceAppService.findDeviceByCode(start_device_code); if (start_device != null && start_device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - this.writing(this.getBackKeys(), Arrays.asList(Integer.parseInt(StringUtil.handleString(frontInst.getFrom_x())), Integer.parseInt(frontInst.getFrom_y()), Integer.parseInt(frontInst.getFrom_z()), backInst.getInstruction_code(), SendSignalEnum.CHOOSE_FORK_TWO.getSignalNum(), SendSignalEnum.COMMAND_ONE.getSignalNum())); + this.writing(this.getBackKeys(), Arrays.asList(Integer.parseInt(StringUtil.handleString(backInst.getFrom_x())), Integer.parseInt(backInst.getFrom_y()), Integer.parseInt(backInst.getFrom_z()), backInst.getInstruction_code(), SendSignalEnum.CHOOSE_FORK_TWO.getSignalNum(), SendSignalEnum.COMMAND_ONE.getSignalNum())); } else if (start_device != null && start_device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) { Integer x = this.handExtraIntValue(start_device, "currentX"); Integer y = this.handExtraIntValue(start_device, "currentY"); @@ -2470,6 +2537,24 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme return String.format("%s%02d%s", type, row, rest); } + private String getDeepPoint(String point_code) { + if (point_code == null || point_code.chars().filter(ch -> ch == '-').count() != 2) { + return null; + } + String type = point_code.substring(0, 1); + int row = Integer.parseInt(point_code.substring(1, 3)); + String rest = point_code.substring(3); + + if (row == 2) { + row -= 1; + } else if (row == 3) { + row += 1; + } else { + return null; + } + return String.format("%s%02d%s", type, row, rest); + } + /** * 封装指令 * diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java index fc7d266..353fcc7 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java @@ -587,4 +587,6 @@ public interface InstructionService extends CommonService { void cancelInstAndTaskNoSendWms(String instruction_id); List findReadyInstByXDeviceCode(List xDeviceCodeList, String noY); + + Instruction findByNextPointCode(String nextPointCode); } 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 fe8a8c4..dbe100e 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 @@ -2396,4 +2396,14 @@ public class InstructionServiceImpl extends CommonServiceImpl()) + .stream() + .filter(inst -> inst.getNext_point_code().equals(nextPointCode)) + .findFirst() + .orElse(null); + } + } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index e4a0e4b..09be9ae 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -1437,13 +1437,13 @@ public class TaskServiceImpl extends CommonServiceImpl impleme .stream() .filter(taskDto -> taskDto.getTask_status().equals(TaskStatusEnum.READY.getIndex())) .filter(taskDto -> !taskDto.getTask_code().equals(front_task_code)) - .filter(taskDto -> taskDto.getFrom_x().equals(front_from_x) && taskDto.getFrom_z().equals(front_from_z)) - .filter(taskDto -> taskDto.getTo_x().equals(front_to_x) && taskDto.getTo_z().equals(front_to_z)) + .filter(taskDto -> front_from_x.equals(taskDto.getFrom_x()) && front_from_z.equals(taskDto.getFrom_z())) + .filter(taskDto -> front_to_x.equals(taskDto.getTo_x()) && front_to_z.equals(taskDto.getTo_z())) .filter(taskDto -> StrUtil.isNotBlank(taskDto.getFrom_y()) && StrUtil.isNotBlank(taskDto.getTo_y()) && !currentBackNoY.contains(String.valueOf(Integer.parseInt(taskDto.getFrom_y()))) && !currentBackNoY.contains(String.valueOf(Integer.parseInt(taskDto.getTo_y())))) // .filter(taskDto -> ((Integer.parseInt(front_to_y) - 1) / 4 == (Integer.parseInt(taskDto.getTo_y()) - 1) / 4) && (((Integer.parseInt(front_to_y) % 4) + (Integer.parseInt(taskDto.getTo_y()) % 4) == 2) || (Integer.parseInt(front_to_y) % 4) + (Integer.parseInt(taskDto.getTo_y()) % 4) == 4)) //.filter(taskDto -> ((Integer.parseInt(front_from_y) - 1) / 4 == (Integer.parseInt(taskDto.getFrom_y()) - 1) / 4) && (((Integer.parseInt(front_from_y) % 4) + (Integer.parseInt(taskDto.getFrom_y()) % 4) == 2) || (Integer.parseInt(front_from_y) % 4) + (Integer.parseInt(taskDto.getFrom_y()) % 4) == 4)) - .filter(taskDto -> Integer.parseInt(taskDto.getFrom_y()) < Integer.parseInt(front_from_y)) - .filter(taskDto -> Integer.parseInt(taskDto.getTo_y()) < Integer.parseInt(front_to_y)) + .filter(taskDto -> StrUtil.isNotEmpty(taskDto.getFrom_y()) && Integer.parseInt(taskDto.getFrom_y()) < Integer.parseInt(front_from_y)) + .filter(taskDto -> StrUtil.isNotEmpty(taskDto.getTo_y()) && Integer.parseInt(taskDto.getTo_y()) < Integer.parseInt(front_to_y)) .filter(taskDto -> { int frontToY = Integer.parseInt(front_to_y); int taskDtoToY = Integer.parseInt(taskDto.getTo_y()); @@ -1489,10 +1489,10 @@ public class TaskServiceImpl extends CommonServiceImpl impleme .stream() .filter(taskDto -> taskDto.getTask_status().equals(TaskStatusEnum.READY.getIndex())) .filter(taskDto -> !taskDto.getTask_code().equals(front_task_code)) - .filter(taskDto -> taskDto.getFrom_x().equals(front_from_x) && taskDto.getFrom_z().equals(front_from_z)) + .filter(taskDto -> front_from_x.equals(taskDto.getFrom_x()) && front_from_z.equals(taskDto.getFrom_z())) .filter(taskDto -> StrUtil.isNotBlank(taskDto.getFrom_y()) && StrUtil.isNotBlank(taskDto.getTo_y()) && !currentBackNoY.contains(String.valueOf(Integer.parseInt(taskDto.getFrom_y()))) && !currentBackNoY.contains(String.valueOf(Integer.parseInt(taskDto.getTo_y())))) //.filter(taskDto -> ((Integer.parseInt(front_from_y) - 1) / 4 == (Integer.parseInt(taskDto.getFrom_y()) - 1) / 4) && (((Integer.parseInt(front_from_y) % 4) + (Integer.parseInt(taskDto.getFrom_y()) % 4) == 2) || (Integer.parseInt(front_from_y) % 4) + (Integer.parseInt(taskDto.getFrom_y()) % 4) == 4)) - .filter(taskDto -> Integer.parseInt(taskDto.getFrom_y()) < Integer.parseInt(front_from_y)) + .filter(taskDto -> StrUtil.isNotEmpty(taskDto.getFrom_y()) && Integer.parseInt(taskDto.getFrom_y()) < Integer.parseInt(front_from_y)) .filter(taskDto -> { int frontFromY = Integer.parseInt(front_from_y); int taskDtoFromY = Integer.parseInt(taskDto.getFrom_y());