add: 添加取放货逻辑

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -236,9 +236,9 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         //上报异常信息
                         //（不需要WCS反馈）
                         if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74) {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(agvaddr));
+                            device = deviceAppService.findDeviceByCode("agv"+ Integer.toString(agvaddr));
                         } else {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
+                            device = deviceAppService.findDeviceByCode("agv"+ Integer.toString(arr[20]));
                         }
                         if (ObjectUtil.isNotEmpty(device)) {
                             if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -154,7 +154,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
             device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-            if (agvaddr != 0) {
+            /*if (agvaddr != 0) {
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
                 if (StrUtil.contains(old_device_code, "-")) {
                     String[] point = old_device_code.split("-");
@@ -166,6 +166,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 } else {
                     device_code = old_device_code;
                 }
+            }*/
+
+            if (agvaddr != 0) {
+                old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
+                device_code = old_device_code;
             }
 
             device = deviceAppService.findDeviceByCode(device_code);
@@ -188,13 +193,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                         if ("1".equals(plc_to_agv)) {
                             plcToAgvDeviceDriver.writing("AGVSetOutReqUpper", "1");
                             if (plcToAgvDeviceDriver.getAGVSetOutUpperAllowed() == 1) {
-                                data = feedBackStatus(data, index, 1, inst, task);
+                                data = feedBackStatus(data, index, 1, inst, task,2,false);
                                 plcToAgvDeviceDriver.writing("AGVInOP", "1");
                             }
                         } else if ("2".equals(plc_to_agv)) {
                             plcToAgvDeviceDriver.writing("AGVSetOutReqLower", "1");
                             if (plcToAgvDeviceDriver.getAGVSetOutLowerAllowed() == 1) {
-                                data = feedBackStatus(data, index, 1, inst, task);
+                                data = feedBackStatus(data, index, 1, inst, task,2,false);
                                 plcToAgvDeviceDriver.writing("AGVInOP", "1");
                             }
                         }
@@ -206,7 +211,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 }
             } else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 try {
-                    data = feedBackStatus(data, index, 1, inst, task);
+                    data = feedBackStatus(data, index, 1, inst, task,1,false);
                 } catch (Exception e) {
                     log.info("到达取货点反馈AGV状态失败:{}", e.getMessage());
                 }
@@ -229,17 +234,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             }
             if (agvaddr != 0) {
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-                if (StrUtil.contains(old_device_code, "-")) {
-                    String[] point = old_device_code.split("-");
-                    device_code = point[0];
-                } else if (StrUtil.contains(old_device_code, ".")) {
-                    String[] point = old_device_code.split("\\.");
-                    device_code = point[0];
-                    emptyNum = point[1];
-                } else {
                 device_code = old_device_code;
             }
-            }
             device = deviceAppService.findDeviceByCode(device_code);
 
             if (ObjectUtil.isEmpty(device_code)) {
@@ -260,10 +256,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     log.info("下发AGVInOP信号:{}失败", "0");
                 }
-                data = feedBackStatus(data, index, 2, inst, task);
+                data = feedBackStatus(data, index, 2, inst, task,2,false);
             } else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 try {
-                    data = feedBackStatus(data, index, 2, inst, task);
+                    data = feedBackStatus(data, index, 2, inst, task,1,false);
                 } catch (Exception e) {
                     log.info("取货完成反馈AGV状态失败:{}", e.getMessage());
                 }
@@ -284,18 +280,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
                 return;
             }
-            if (agvaddr != 0) {
+            /*if (agvaddr != 0) {
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
                 if (StrUtil.contains(old_device_code, "-")) {
                     String[] point = old_device_code.split("-");
+                    emptyNum = point[1];
                     device_code = point[0];
                 } else if (StrUtil.contains(old_device_code, ".")) {
                     String[] point = old_device_code.split("\\.");
                     device_code = point[0];
-                    emptyNum = point[1];
                 } else {
                     device_code = old_device_code;
                 }
+            }*/
+            if (agvaddr != 0) {
+                old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
+                device_code = old_device_code;
             }
             device = deviceAppService.findDeviceByCode(device_code);
             if (ObjectUtil.isEmpty(device_code)) {
@@ -315,13 +315,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                         if ("1".equals(plc_to_agv)) {
                             plcToAgvDeviceDriver.writing("AGVSetInReqUpper", "1");
                             if (plcToAgvDeviceDriver.getAGVSetInUpperAllowed() == 1) {
-                                data = feedBackStatus(data, index, 3, inst, task);
+                                data = feedBackStatus(data, index, 3, inst, task,2,false);
                                 plcToAgvDeviceDriver.writing("AGVInOP", "1");
                             }
                         } else if ("2".equals(plc_to_agv)) {
                             plcToAgvDeviceDriver.writing("AGVSetInReqLower", "1");
                             if (plcToAgvDeviceDriver.getAGVSetInLowerAllowed() == 1) {
-                                data = feedBackStatus(data, index, 3, inst, task);
+                                data = feedBackStatus(data, index, 3, inst, task,2,false);
                                 plcToAgvDeviceDriver.writing("AGVInOP", "1");
                             }
                         }
@@ -333,7 +333,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 }
             } else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 try {
-                    data = feedBackStatus(data, index, 3, inst, task);
+                    data = feedBackStatus(data, index, 2, inst, task,1,false);
                 } catch (Exception e) {
                     log.info("到达放货点反馈AGV状态失败:{}", e.getMessage());
                 }
@@ -351,7 +351,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
                 return;
             }
-            if (agvaddr != 0) {
+            /*if (agvaddr != 0) {
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
                 if (StrUtil.contains(old_device_code, "-")) {
                     String[] point = old_device_code.split("-");
@@ -363,6 +363,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 } else {
                     device_code = old_device_code;
                 }
+            }*/
+
+            if (agvaddr != 0) {
+                old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
+                device_code = old_device_code;
             }
 
             device = deviceAppService.findDeviceByCode(device_code);
@@ -387,10 +392,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     log.info("下发AGVInOP信号:{}失败", "0");
                 }
-                data = feedBackStatus(data, index, 4, inst, task);
+                data = feedBackStatus(data, index, 4, inst, task,2,false);
             } else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 try {
-                    data = feedBackStatus(data, index, 4, inst, task);
+                    StandardOrdinarySiteDeviceDriver standar = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                    boolean is_empty = (boolean)standar.getDevice().getExtraValue().get("is_empty");
+                    data = feedBackStatus(data, index, 2, inst, task,1,false);
                 } catch (Exception e) {
                     log.info("放货完成反馈AGV状态失败:{},", e.getMessage());
                 }
@@ -458,16 +465,19 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         return data;
     }
 
-    private byte[] feedBackStatus(byte[] data, int index, int agvStatus, Instruction inst, TaskDto task) {
+    private byte[] feedBackStatus(byte[] data, int index, int agvStatus, Instruction inst, TaskDto task,int connector_and_sorting,boolean is_empty) {
         String hasWms = paramService.findByCode("hasWms").getValue();
         if (StrUtil.isNotEmpty(hasWms) && "1".equals(hasWms)) {
             log.info("存在LMS系统,需要反馈,指令号:{}",inst.getInstruction_code());
             JSONArray ja = new JSONArray();
             JSONObject jo = new JSONObject();
+            jo.put("is_connector", connector_and_sorting == 1? 1:2);
+            jo.put("task_type",task.getTask_type());
             jo.put("vehicle_code", inst.getVehicle_code());
             jo.put("status", agvStatus);
             jo.put("device_code", this.device_code);
             jo.put("task_code", inst.getTask_code());
+            jo.put("is_empty", is_empty);
             ja.add(jo);
             HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(ja);
             log.info("指令号:{},phase:{},acs反馈wms结果:{}", inst.getInstruction_code(), phase, httpResponse);

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

@@ -150,6 +150,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
         JSONObject jo = new JSONObject();
         jo.put("task_id", task_id);
+        jo.put("vehicle_code", vehicle_code);
+        jo.put("device_code",address);
         String result2 = null;
 
         AddressDto addressDto = addressService.findByCode("requestTaskAgain");

acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml

@@ -18,13 +18,12 @@ https://juejin.cn/post/6844903775631572999
     <!--定义日志文件的存储地址 勿在 LogBack 的配置中使用相对路径-->
     <property name="LOG_HOME" value="${logPath}"/>
     <!--引入默认的一些设置-->
-<!--    <include resource="log/AutoCreateInst.xml"/>-->
+    <include resource="log/AutoCreateInst.xml"/>
-<!--    <include resource="log/AcsToWms.xml"/>-->
+    <include resource="log/AcsToWms.xml"/>
-<!--    <include resource="log/WmsToAcs.xml"/>-->
+    <include resource="log/WmsToAcs.xml"/>
-<!--    <include resource="log/NDCSocketConnectionAutoRun.xml"/>-->
+    <include resource="log/OneNDCSocketConnectionAutoRun.xml"/>
-<!--    <include resource="log/AgvNdcOneDeviceDriver.xml"/>-->
+    <include resource="log/AgvNdcOneDeviceDriver.xml"/>
-<!--    <include resource="log/NDCAgvServiceImpl.xml"/>-->
+    <include resource="log/NDCAgvServiceImpl.xml"/>
-<!--    <include resource="log/LnshRGVDeviceDriver.xml"/>-->
 
     <appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
         <!--        控制台高亮-->

acs/nladmin-ui/src/views/acs/device/driver/standard_ordinary_site.vue

@@ -74,8 +74,8 @@
             </el-form-item>
           </el-col>
           <el-col :span="8">
-            <el-form-item label="是否开启等待" label-width="150px">
+            <el-form-item label="空放货完成反馈" label-width="150px">
-              <el-switch v-model="form.wait" />
+              <el-switch v-model="form.is_empty" />
             </el-form-item>
           </el-col>
           <el-col :span="8">
@@ -179,7 +179,8 @@ export default {
         station_manager: true,
         auto_clean_task: true,
         input_material: true,
-        reqWms: true
+        reqWms: true,
+        is_empty: true
       },
       rules: {}
     }

lms/nladmin-system/nlsso-server/src/main/java/org/nl/common/enums/GoodsEnum.java

@@ -13,10 +13,10 @@ public enum GoodsEnum {
 
     OUT_OF_STOCK("无货","0"),
 
-    IN_STOCK("有货","1"),
-
     EMPTY_PALLETS("空料容","1"),
 
+    IN_STOCK("有货","2"),
+
     PICK_UP("取货","1"),
 
     DELIVER_GOODS("送货","2");

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/acs/controller/AcsToWmsController.java

@@ -91,11 +91,20 @@ public class AcsToWmsController {
 
 
     @PostMapping("/feedAgvTaskStatus")
-    @Log("acs通知wms")
+    @Log("agv取放货反馈")
-    @ApiOperation("acs通知wms")
+    @ApiOperation("agv取放货反馈")
     @SaIgnore
     @Deprecated
     public ResponseEntity<Object> feedAgvTaskStatus(@RequestBody JSONObject param) {
         return new ResponseEntity<>(acsToWmsService.feedAgvTaskStatus(param), HttpStatus.OK);
     }
+
+    @PostMapping("/feedAgvAgain")
+    @Log("acs申请二次放货点")
+    @ApiOperation("acs申请二次放货点")
+    @SaIgnore
+    @Deprecated
+    public ResponseEntity<Object> feedAgvAgain(@RequestBody JSONObject param) {
+        return new ResponseEntity<>(acsToWmsService.feedAgvAgain(param), HttpStatus.OK);
+    }
 }

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/acs/service/AcsToWmsService.java

@@ -35,4 +35,11 @@ public interface AcsToWmsService {
      * @return
      */
     Object feedAgvTaskStatus(JSONObject param);
+
+    /**
+     * 申请二次分配点位
+     * @param param
+     * @return
+     */
+    Object feedAgvAgain(JSONObject param);
 }

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java

@@ -1,6 +1,7 @@
 package org.nl.wms.ext.acs.service.impl;
 
 import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
@@ -8,12 +9,15 @@ import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpStatus;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.common.enums.GoodsEnum;
 import org.nl.common.exception.BadRequestException;
 import org.nl.system.service.notice.ISysNoticeService;
 import org.nl.wms.cockpit.service.dao.DasDeviceFault;
 import org.nl.wms.cockpit.service.mapper.CockpitMapper;
+import org.nl.wms.database.vehicle.service.IMdBaseVehicleService;
+import org.nl.wms.database.vehicle.service.dao.MdBaseVehicle;
 import org.nl.wms.ext.acs.service.AcsToWmsService;
 import org.nl.wms.ext.acs.service.dto.to.BaseResponse;
 import org.nl.wms.ext.acs.service.dto.to.acs.AgainApplyResponse;
@@ -23,6 +27,7 @@ import org.nl.wms.ext.connector.service.WmsToConnectorService;
 import org.nl.wms.ext.connector.service.dto.ConnectorDto;
 import org.nl.wms.ext.record.service.ISysInteractRecordService;
 import org.nl.wms.sch.group.service.ISchBaseVehiclematerialgroupService;
+import org.nl.wms.sch.group.service.dao.SchBaseVehiclematerialgroup;
 import org.nl.wms.sch.point.service.ISchBasePointService;
 import org.nl.wms.sch.point.service.dao.SchBasePoint;
 import org.nl.wms.sch.task.service.ISchBaseTaskService;
@@ -34,6 +39,7 @@ import org.nl.wms.sch.task_manage.GeneralDefinition;
 import org.nl.wms.sch.task_manage.enums.NoticeTypeEnum;
 import org.nl.wms.sch.task_manage.task.TaskFactory;
 import org.nl.wms.sch.task_manage.task.core.TaskStatus;
+import org.nl.wms.sch.task_manage.task.core.TaskType;
 import org.nl.wms.sch.task_manage.task.tasks.mapper.PointMapper;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -67,7 +73,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     @Autowired
     private ISchBasePointService pointService;
     @Autowired
-    private ISchBaseVehiclematerialgroupService vehiclematerialgroupService;
+    private ISchBaseVehiclematerialgroupService iSchBaseVehiclematerialgroupService;
     @Autowired
     private TaskFactory taskFactory;
     @Autowired
@@ -82,6 +88,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     private WmsToConnectorService connectorService;
     @Autowired
     private ISchBaseTaskconfigService taskConfigService;
+    @Autowired
+    private IMdBaseVehicleService iMdBaseVehicleService;
 
     /**
      * 初始化反射方法
@@ -269,7 +277,10 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         if (ObjectUtil.isNotEmpty(param)) {
             String status = param.getString("status");
             String task_code = param.getString("task_code");
+            // 1.connector;2.sorting
             String is_connector = param.getString("is_connector");
+            String task_type = param.getString("task_type");
+            boolean is_empty = param.getBoolean("is_empty");
             if (StrUtil.isEmpty(status) || StrUtil.isEmpty(task_code)) {
                 throw new BadRequestException("状态或任务号为空!");
             }
@@ -280,15 +291,15 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             switch (status) {
                 case "1":
                     //申请取货
-                    requestPickup(schBaseTask, status);
+                    requestPickup(schBaseTask, status, is_connector);
                     break;
                 case "2":
                     //取货完成
-                    pickupComplete(schBaseTask, status, is_connector);
+                    pickupComplete(schBaseTask, status, is_connector, task_type);
                     break;
                 case "4":
                     //放货完成
-                    releaseComplete(schBaseTask, status);
+                    releaseComplete(schBaseTask, status, is_connector, task_type, is_empty);
                     break;
                 default:
                     break;
@@ -297,15 +308,56 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         return null;
     }
 
+    @Override
+    public Object feedAgvAgain(JSONObject param) {
+        if(ObjectUtil.isNotEmpty(param)){
+            String task_id = param.getString("task_id");
+            String device_code = param.getString("device_code");
+            if(StrUtil.isEmpty(task_id) || StrUtil.isEmpty(device_code)){
+                throw new BadRequestException("task_id或device_code为空!");
+            }
+            SchBaseTask schBaseTask = taskService.getById(task_id);
+            if(ObjectUtil.isEmpty(schBaseTask)){
+                throw new BadRequestException("任务不存在!task_id：" + task_id);
+            }
+            if(device_code.equals(schBaseTask.getPoint_code2())) throw new BadRequestException("设备号与任务设备不匹配!");
+            //查询点位是否存在
+            SchBasePoint schBasePoint = pointService.selectByPointCode(device_code);
+            if(ObjectUtil.isEmpty(schBasePoint)) throw new BadRequestException("点位不存在!device_code：" + device_code);
+            SchBasePoint schBasePoint1 = pointService.selectByNextWaitPoint(device_code);
+            //
+        }
+        return null;
+    }
+
     /**
      * 放货完成
      *
      * @param schBaseTask
      * @param status
      */
-    private void releaseComplete(SchBaseTask schBaseTask, String status) {
+    private void releaseComplete(SchBaseTask schBaseTask, String status, String is_connector, String taskType, boolean is_empty) {
-        //TODO:放货完成反馈给Connector
+        //TODO:空料容放货完成反馈给Connector
+        if ("1".equals(is_connector)) {
+            if (!is_empty) {
+                finishTask(schBaseTask.getTask_code(), schBaseTask.getPoint_code2());
+            } else {
+                JSONObject json = new JSONObject();
+                json.put("vehicle_code", schBaseTask.getVehicle_code());
+                json.put("status", status);
+                json.put("device_code", schBaseTask.getPoint_code2());
+                json.put("task_code", schBaseTask.getTask_code());
+                AcsResponse acsResponse = connectorService.feedAgvTaskStatus(json);
+                finishTask(schBaseTask.getTask_code(), schBaseTask.getPoint_code1());
+            }
+        }
+    }
 
+    private void finishTask(String task_code, String point_code) {
+        pointService.update(Wrappers.lambdaUpdate(SchBasePoint.class).eq(SchBasePoint::getPoint_code, point_code)
+                .set(SchBasePoint::getIs_lock, false));
+        taskService.update(Wrappers.lambdaUpdate(SchBaseTask.class).eq(SchBaseTask::getTask_code, task_code)
+                .set(SchBaseTask::getTask_status, TaskStatus.FINISHED.getCode()));
     }
 
     /**
@@ -314,20 +366,31 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
      * @param schBaseTask
      * @param status
      */
-    private void pickupComplete(SchBaseTask schBaseTask, String status, String is_connector) {
+    private void pickupComplete(SchBaseTask schBaseTask, String status, String is_connector, String taskType) {
         //TODO:取货完成创建第二条任务:补空托盘
-        if("1".equals(is_connector)){
+        if ("1".equals(is_connector)) {
+            List<SchBaseTask> list = taskService.list(Wrappers.lambdaQuery(SchBaseTask.class).eq(SchBaseTask::getPoint_code2, schBaseTask.getPoint_code1())
+                    .in(SchBaseTask::getTask_status, TaskStatus.APPLY.getCode(), TaskStatus.CREATED.getCode(), TaskStatus.ISSUED.getCode(), TaskStatus.EXECUTING.getCode()));
+            if (CollUtil.isNotEmpty(list) || list.size() > 0) {
+                throw new BadRequestException("该点位已有任务，请等待任务完成");
+            }
+            MdBaseVehicle mdBaseVehicle = iMdBaseVehicleService.getById(schBaseTask.getVehicle_code());
             AbstractTask connectorTask = taskFactory.getTask("FTGTask");
             // 准备参数：设备编码
             JSONObject param = new JSONObject();
-            param.put("device_code", schBaseTask.getPoint_code2());
+            param.put("device_code", schBaseTask.getPoint_code1());
             param.put("config_code", "FTGTask");
             param.put("create_mode", GeneralDefinition.AUTO_CREATION);
-            /*param.put("vehicle_code", vehicle_code);
+            param.put("vehicle_type", StrUtil.isNotEmpty(mdBaseVehicle.getVehicle_type()) ? mdBaseVehicle.getVehicle_type() : "");
-            param.put("task_type", task_type);
-            param.put("task_code", task_code);
-            param.put("remark",remark);*/
             connectorTask.apply(param);
+            pointService.update(Wrappers.lambdaUpdate(SchBasePoint.class)
+                    .eq(SchBasePoint::getPoint_code, schBaseTask.getPoint_code1()).set(SchBasePoint::getIs_lock, true));
+            JSONObject json = new JSONObject();
+            json.put("vehicle_code", schBaseTask.getVehicle_code());
+            json.put("status", status);
+            json.put("device_code", schBaseTask.getPoint_code1());
+            json.put("task_code", schBaseTask.getTask_code());
+            AcsResponse acsResponse = connectorService.feedAgvTaskStatus(json);
         }
     }
 
@@ -336,30 +399,42 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
      *
      * @param schBaseTask
      */
-    private void requestPickup(SchBaseTask schBaseTask, String status) {
+    private void requestPickup(SchBaseTask schBaseTask, String status, String is_connector) {
+        if ("1".equals(is_connector)) {
             //反馈connector申请取货
-        SchBaseTaskconfig schBaseTaskconfig = taskConfigService.selectByConfigCode(schBaseTask.getConfig_code());
+            /*SchBaseTaskconfig schBaseTaskconfig = taskConfigService.selectByConfigCode(schBaseTask.getConfig_code());*/
             JSONObject json = new JSONObject();
-        if (GoodsEnum.PICK_UP.getValue().equals(schBaseTaskconfig.getTask_qf_type())) {
+            // if (GoodsEnum.PICK_UP.getValue().equals(schBaseTaskconfig.getTask_qf_type())) {
-            json.put("vehicle_code", schBaseTask.getVehicle_code());
+            // json.put("vehicle_code", schBaseTask.getVehicle_code());
-            json.put("status", status);
+            // json.put("status", status);
-            json.put("device_code", schBaseTask.getPoint_code2());
+            // json.put("device_code", schBaseTask.getPoint_code2());
-            json.put("task_code", schBaseTask.getTask_code());
+            // json.put("task_code", schBaseTask.getTask_code());
-        } else if (GoodsEnum.DELIVER_GOODS.getValue().equals(schBaseTaskconfig.getTask_qf_type())) {
+            // } else if (GoodsEnum.DELIVER_GOODS.getValue().equals(schBaseTaskconfig.getTask_qf_type())) {
             json.put("vehicle_code", schBaseTask.getVehicle_code());
             json.put("status", status);
             json.put("device_code", schBaseTask.getPoint_code1());
             json.put("task_code", schBaseTask.getTask_code());
-        }
             boolean flag = true;
             while (flag) {
                 AcsResponse acsResponse = connectorService.feedAgvTaskStatus(json);
                 if (acsResponse.getStatus() == 200 && StrUtil.isNotEmpty(acsResponse.getData())) {
-                vehiclematerialgroupService.updateByVehicleCode(schBaseTask.getVehicle_code(), acsResponse.getData());
+                    JSONArray objects = JSONObject.parseArray(acsResponse.getData());
+                    List<ConnectorDto> connectorDtos = BeanUtil.copyToList(objects, ConnectorDto.class);
+                    for (ConnectorDto connectorDto : connectorDtos) {
+                        SchBaseVehiclematerialgroup schBaseVehiclematerialgroup = new SchBaseVehiclematerialgroup();
+                        schBaseVehiclematerialgroup.setVehicle_code(connectorDto.getVehicle_code());
+                        schBaseVehiclematerialgroup.setJob_name(connectorDto.getJobname());
+                        schBaseVehiclematerialgroup.setMaterial_id(connectorDto.getProductID());
+                        schBaseVehiclematerialgroup.setMaterial_qty(connectorDto.getCurrentqty());
+                        schBaseVehiclematerialgroup.setRegion_code(connectorDto.getProductionOrder());
+                        iSchBaseVehiclematerialgroupService.create(schBaseVehiclematerialgroup);
+                    }
+                    // vehiclematerialgroupService.updateByVehicleCode(schBaseTask.getVehicle_code(), acsResponse.getData());
                     flag = false;
                 }
             }
         }
+    }
 
     /**
      * 任务阶段反馈最新点位

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/connector/service/dto/ConnectorDto.java

@@ -31,7 +31,7 @@ public class ConnectorDto {
     /**
      * 装载数量
      */
-    private String Currentqty;
+    private Integer Currentqty;
     /**
      * X尺寸
      */

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/connector/service/impl/ConnectorToWmsServiceImpl.java

@@ -59,17 +59,22 @@ public class ConnectorToWmsServiceImpl implements ConnectorToWmsService {
                 if (StrUtil.isEmpty(task_code) || StrUtil.isEmpty(start_device_code) || StrUtil.isEmpty(vehicle_code)) {
                     map1.put("task_code", task_code);
                     map1.put("status", HttpStatus.HTTP_INTERNAL_ERROR);
-                    map1.put("message",StrUtil.isEmpty(task_code) ? "任务号不能为空!"
+                    map1.put("message", StrUtil.isEmpty(task_code) ? "任务号不能为空!"
                             : StrUtil.isEmpty(start_device_code) ? "起点参数不能为空!" : StrUtil.isEmpty(vehicle_code) ? "载具号不能为空!" : "未知");
                     objects.add(map1);
                     continue;
                 }
                 SchBasePoint schBasePoint = schBasePointService.selectByPointCode(start_device_code);
-                if(ObjectUtil.isEmpty(schBasePoint) || StrUtil.isNotEmpty(schBasePoint.getIng_task_code())){
+                if (ObjectUtil.isEmpty(schBasePoint)) {
                     map1.put("task_code", task_code);
                     map1.put("status", HttpStatus.HTTP_INTERNAL_ERROR);
-                    map1.put("message",ObjectUtil.isEmpty(schBasePoint)
+                    map1.put("message", start_device_code + "起点设备不存在!");
-                            ? start_device_code + "起点设备不存在!" : start_device_code + "该设备正在执行任务!");
+                    objects.add(map1);
+                    continue;
+                } else if (schBasePoint.getIs_lock()) {
+                    map1.put("task_code", task_code);
+                    map1.put("status", HttpStatus.HTTP_INTERNAL_ERROR);
+                    map1.put("message", start_device_code + "该设备正在执行任务!");
                     objects.add(map1);
                     continue;
                 }
@@ -88,9 +93,10 @@ public class ConnectorToWmsServiceImpl implements ConnectorToWmsService {
                 param.put("vehicle_code", vehicle_code);
                 param.put("task_type", task_type);
                 param.put("task_code", task_code);
-                param.put("remark",remark);
+                param.put("remark", remark);
+                param.put("ext_data", data);
                 connectorTask.apply(param);
-                /*schBasePoint.setIng_task_code(task_code);
+                /*schBasePoint.setIs_lock(true);
                 schBasePointService.updateById(schBasePoint);*/
                 map1.put("task_code", task_code);
                 map1.put("status", HttpStatus.HTTP_OK);

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/group/service/dao/SchBaseVehiclematerialgroup.java

@@ -65,6 +65,9 @@ public class SchBaseVehiclematerialgroup implements Serializable {
     @ApiModelProperty(value = "物料数量")
     private Integer material_qty;
 
+    @ApiModelProperty(value = "connector任务号")
+    private String job_name;
+
     @ApiModelProperty(value = "物料重量")
     private BigDecimal material_weight;
 

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/point/service/ISchBasePointService.java

@@ -101,4 +101,12 @@ public interface ISchBasePointService extends IService<SchBasePoint> {
      * @return
      */
     SchBasePoint selectByReassign(String region_code ,String vehicleCode);
+
+    /**
+     * 根据终点等待设备查询
+     * @param device_code
+     * @return
+     */
+    SchBasePoint selectByNextWaitPoint(String device_code);
+
 }

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/point/service/impl/SchBasePointServiceImpl.java

@@ -237,8 +237,8 @@ public class SchBasePointServiceImpl extends ServiceImpl<SchBasePointMapper, Sch
         if(ObjectUtil.isEmpty(mdBaseVehicle)) throw new BadRequestException("载具类型不存在!");
         //查询满足条件的站点
         List<SchBasePoint> schBasePoints = pointMapper.selectList(Wrappers.lambdaQuery(SchBasePoint.class).eq(SchBasePoint::getIs_lock, false).
-                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getRegion_code, region_code)
+                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getRegion_code, region_code).eq(SchBasePoint::getPoint_status, GoodsEnum.OUT_OF_STOCK.getValue())
-                .eq(SchBasePoint::getVehicle_type, mdBaseVehicle.getVehicle_type()).eq(SchBasePoint::getIs_used, true));
+                .eq(SchBasePoint::getCan_vehicle_type, mdBaseVehicle.getVehicle_type()).eq(SchBasePoint::getIs_used, true));
         if(CollUtil.isNotEmpty(schBasePoints) && schBasePoints.size() > 0){
             SchBasePoint schBasePoint = schBasePoints.get(0);
             schBasePoint.setVehicle_code(vehicleCode);
@@ -254,8 +254,8 @@ public class SchBasePointServiceImpl extends ServiceImpl<SchBasePointMapper, Sch
         }
         //分配载具类型相同的站点
         List<SchBasePoint> schBasePoints1 = pointMapper.selectList(Wrappers.lambdaQuery(SchBasePoint.class).eq(SchBasePoint::getIs_lock, false).
-                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getVehicle_type, mdBaseVehicle.getVehicle_type())
+                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getCan_vehicle_type, mdBaseVehicle.getVehicle_type())
-                .eq(SchBasePoint::getIs_used, true));
+                .eq(SchBasePoint::getIs_used, true).eq(SchBasePoint::getPoint_status, GoodsEnum.OUT_OF_STOCK.getValue()));
         if(CollUtil.isNotEmpty(schBasePoints1) && schBasePoints1.size() > 0){
             SchBasePoint schBasePoint = schBasePoints.get(0);
             schBasePoint.setVehicle_code(vehicleCode);
@@ -274,7 +274,8 @@ public class SchBasePointServiceImpl extends ServiceImpl<SchBasePointMapper, Sch
 
     @Override
     public SchBasePoint selectByPointCode(String start_device_code) {
-        return getById(start_device_code);
+        return pointMapper.selectOne(Wrappers.lambdaQuery(SchBasePoint.class).eq(SchBasePoint::getPoint_code, start_device_code)
+                .eq(SchBasePoint::getIs_used, true));
     }
 
     @Override
@@ -284,8 +285,8 @@ public class SchBasePointServiceImpl extends ServiceImpl<SchBasePointMapper, Sch
         if(ObjectUtil.isEmpty(mdBaseVehicle)) throw new BadRequestException("载具类型不存在!");
         //查询满足条件的站点
         List<SchBasePoint> schBasePoints = pointMapper.selectList(Wrappers.lambdaQuery(SchBasePoint.class).eq(SchBasePoint::getIs_lock, false).
-                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getRegion_code, region_code)
+                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getRegion_code, region_code).eq(SchBasePoint::getPoint_status, GoodsEnum.OUT_OF_STOCK.getValue())
-                .eq(SchBasePoint::getVehicle_type, mdBaseVehicle.getVehicle_type()).eq(SchBasePoint::getIs_used, true));
+                .eq(SchBasePoint::getCan_vehicle_type, mdBaseVehicle.getVehicle_type()).eq(SchBasePoint::getIs_used, true));
         if(CollUtil.isNotEmpty(schBasePoints) && schBasePoints.size() > 0){
             SchBasePoint schBasePoint = pointMapper.selectById(schBasePoints.get(0).getNext_wait_point());
             if(ObjectUtil.isEmpty(schBasePoint)) throw new BadRequestException("没有找到等待点!");
@@ -302,8 +303,8 @@ public class SchBasePointServiceImpl extends ServiceImpl<SchBasePointMapper, Sch
         }
         //分配载具类型相同的站点
         List<SchBasePoint> schBasePoints1 = pointMapper.selectList(Wrappers.lambdaQuery(SchBasePoint.class).eq(SchBasePoint::getIs_lock, false).
-                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getVehicle_type, mdBaseVehicle.getVehicle_type())
+                isNull(SchBasePoint::getVehicle_code).eq(SchBasePoint::getCan_vehicle_type, mdBaseVehicle.getVehicle_type())
-                .eq(SchBasePoint::getIs_used, true));
+                .eq(SchBasePoint::getIs_used, true).eq(SchBasePoint::getPoint_status, GoodsEnum.OUT_OF_STOCK.getValue()));
         if(CollUtil.isNotEmpty(schBasePoints1) && schBasePoints1.size() > 0){
             SchBasePoint schBasePoint = pointMapper.selectById(schBasePoints.get(0).getNext_wait_point());
             if(ObjectUtil.isEmpty(schBasePoint)) throw new BadRequestException("没有找到等待点!");
@@ -321,6 +322,17 @@ public class SchBasePointServiceImpl extends ServiceImpl<SchBasePointMapper, Sch
         return null;
     }
 
+    @Override
+    public SchBasePoint selectByNextWaitPoint(String device_code) {
+        List<SchBasePoint> schBasePoints = pointMapper.selectList(Wrappers.lambdaQuery(SchBasePoint.class).eq(SchBasePoint::getNext_wait_point, device_code).eq(SchBasePoint::getIs_used, true)
+                .eq(SchBasePoint::getIs_lock, false).isNull(SchBasePoint::getVehicle_code)
+                .eq(SchBasePoint::getPoint_status, GoodsEnum.OUT_OF_STOCK.getValue()));
+        if(CollUtil.isNotEmpty(schBasePoints) && schBasePoints.size() > 0){
+            return schBasePoints.get(0);
+        }
+        return null;
+    }
+
     @Override
     @Transactional(propagation= Propagation.REQUIRES_NEW)
     public SchBasePoint selectEmpVehicleByRegionCode(String region_code, String...vehicleType) {

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/AbstractTask.java

@@ -266,13 +266,14 @@ public abstract class AbstractTask {
                 ? param.getString("create_mode") : GeneralDefinition.ACS_CREATION);
         task.setVehicle_code(param.getString("vehicle_code"));
         task.setVehicle_qty(param.getInteger("vehicle_qty"));
+        task.setVehicle_type(param.getString("vehicle_type"));
         task.setTask_status(TaskStatus.APPLY.getCode());
         task.setTask_type(StrUtil.isNotEmpty(param.getString("task_type")) ? param.getString("task_type") : taskConfig.getTask_type());
         task.setWorkshop_code(taskConfig.getWorkshop_code());
         task.setRemark(param.getString("remark"));
         // 设置起/终点
         this.setTaskPoint(taskConfig, task, apply_point_code);
-        task.setRequest_param(JSONObject.toJSONString(param));
+        task.setRequest_param(JSONObject.toJSONString(param.get("ext_data")));
         // 设置创建人信息
         TaskUtils.setCreateByAcsOrPda(task, param);
         AbstractTask bean = SpringContextHolder.getBean(this.getClass());

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/cnt/CNTTask.java

@@ -3,7 +3,9 @@ package org.nl.wms.sch.task_manage.task.tasks.cnt;
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.common.enums.GoodsEnum;
 import org.nl.common.enums.region.RegionEnum;
 import org.nl.common.exception.BadRequestException;
 import org.nl.system.service.notice.ISysNoticeService;
@@ -87,7 +89,7 @@ public class CNTTask extends AbstractTask {
             task.setTask_status(TaskStatus.CREATED.getCode());
             taskService.updateById(task);
 
-            schBasePoint.setIng_task_code(task.getTask_code());
+            schBasePoint.setPoint_status(GoodsEnum.IN_STOCK.getValue());
             PointUtils.setUpdateByAcs(schBasePoint);
             pointService.updateById(schBasePoint);
         }
@@ -153,13 +155,15 @@ public class CNTTask extends AbstractTask {
         // 起点清空
         if (ObjectUtil.isNotEmpty(schBasePoint)) {
             PointUtils.updateByIngTaskCode(schBasePoint);
-            pointService.updateById(schBasePoint);
+            pointService.update(Wrappers.lambdaUpdate(SchBasePoint.class).eq(SchBasePoint::getPoint_code, startPoint)
+                    .set(SchBasePoint::getIs_lock, false).set(SchBasePoint::getVehicle_code, null));
         }
         String point_code2 = taskObj.getPoint_code2();
         SchBasePoint schBasePoint2 = pointService.selectByPointCode(point_code2);
         if (ObjectUtil.isNotEmpty(schBasePoint2)) {
             PointUtils.updateByIngTaskCode(schBasePoint2);
-            pointService.updateById(schBasePoint2);
+            pointService.update(Wrappers.lambdaUpdate(SchBasePoint.class).eq(SchBasePoint::getPoint_code, point_code2)
+                    .set(SchBasePoint::getIs_lock, false).set(SchBasePoint::getVehicle_code, null));
         }
         taskObj.setTask_status(TaskStatus.CANCELED.getCode());
         taskObj.setRemark(GeneralDefinition.TASK_CANCEL);

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/cnt/FTGTask.java

@@ -4,6 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.common.enums.GoodsEnum;
 import org.nl.common.enums.region.RegionEnum;
 import org.nl.common.exception.BadRequestException;
 import org.nl.system.service.notice.ISysNoticeService;
@@ -56,10 +57,8 @@ public class FTGTask extends AbstractTask {
             // 找起点
             String requestParam = task.getRequest_param();
             JSONObject jsonObject = JSONObject.parseObject(requestParam);
-            // 根据对接位查找对应的载具类型
+            // 查找空载具点位
-            SchBasePoint schBasePoint = schBasePointService.selectByRegionCode(RegionEnum.TRUBEND_SHELVES_3_1_1.getRegion_code(),task.getVehicle_code());
+            SchBasePoint schBasePoint = schBasePointService.selectEmpVehicleByRegionCode(RegionEnum.TRUBEND_SHELVES_3_1_1.getRegion_code(),task.getVehicle_type());
-            if(ObjectUtil.isEmpty(schBasePoint)) continue;
-            jsonObject.put("vehicle_type", schBasePoint.getCan_vehicle_type());
             if (ObjectUtil.isEmpty(schBasePoint)) {
                 task.setRemark("未找到所需点位!");
                 taskService.updateById(task);
@@ -81,7 +80,8 @@ public class FTGTask extends AbstractTask {
             task.setTask_status(TaskStatus.CREATED.getCode());
             taskService.updateById(task);
 
-            schBasePoint.setIng_task_code(task.getTask_code());
+            schBasePoint.setIs_lock(true);
+            schBasePoint.setPoint_status(GoodsEnum.OUT_OF_STOCK.getValue());
             PointUtils.setUpdateByAcs(schBasePoint);
             pointService.updateById(schBasePoint);
         }

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/util/PointUtils.java

@@ -117,7 +117,8 @@ public class PointUtils {
      * @param schBasePoint
      */
     public static void updateByIngTaskCode(SchBasePoint schBasePoint) {
-        schBasePoint.setIng_task_code(null);
+        schBasePoint.setVehicle_code(null);
+        schBasePoint.setIs_lock(false);
     }