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fix

master
张江玮 1 year ago
parent
3d7c5a7c0f
commit
3101c2c8f9
8 changed files with 445 additions and 380 deletions
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  1. 32
      hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java
  2. 53
      hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
  3. 6
      hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
  4. 2
      hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java
  5. 71
      hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
  6. 2
      hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
  7. 619
      hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
  8. 40
      hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java

32
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java
View File

@ -6,18 +6,15 @@ import lombok.extern.slf4j.Slf4j;
import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsZDServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.log.service.LogServer;
import org.nl.acs.opc.DeviceAppService;
import org.nl.exception.BadRequestException;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
/**
* @author: geng by
* @createDate: 2022/12/5
* @author zhangjiangwei
*/
@Service
@RequiredArgsConstructor
@ -27,6 +24,9 @@ public class AgvWaitUtil {
@Autowired
LogServer logServer;
@Autowired
InstructionService instructionService;
//取货前等待
public JSONObject waitInGet(String startDeviceCode, Instruction inst) {
log.info("仙工AGV请求取货，设备号 - {}", startDeviceCode);
@ -55,24 +55,14 @@ public class AgvWaitUtil {
public JSONObject waitOutGet(String startDeviceCode, Instruction inst) {
log.info("仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
JSONObject responseBody = acsToWmsService.gccQueryStationState(inst);
inst.setExecute_status("2");
instructionService.update(inst);
if (ObjectUtil.isNotEmpty(responseBody) && 200 == responseBody.optInt("status")) {
JSONArray data = responseBody.optJSONArray("data");
for (int i = 0; i < data.size(); i++) {
JSONObject datum = data.getJSONObject(i);
if (startDeviceCode.equals(datum.optString("Station_Code"))
&& !datum.optBoolean("IsHasGoods", true)) {
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许离开！");
log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
return map;
}
}
}
throw new BadRequestException("请求失败!");
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许离开！");
log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
return map;
}
//放货前等待

53
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@ -663,6 +663,21 @@ public class AgvServiceImpl implements AgvService {
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
agvurl = agvurl + ":" + agvport + "/orders?page=1&size=9999";
List<Instruction> insts = instructionService.findAllInstFromCache();
if (!insts.isEmpty()) {
JSONObject where = new JSONObject();
where.put("relation", "OR");
JSONArray predicates = new JSONArray();
where.put("predicates", predicates);
for (Instruction instruction : insts) {
JSONArray row = new JSONArray();
row.add("id");
row.add("EQ");
row.add(instruction.getInstruction_code());
predicates.add(row);
}
agvurl = agvurl+ "&where=" + where;
}
HttpResponse result = HttpRequest.get(agvurl)
.timeout(20000)//超时，毫秒
@ -2132,26 +2147,24 @@ public class AgvServiceImpl implements AgvService {
jo1.put("operation", "JackLoad");
ja.add(jo1);
// if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
// //取货完成等待
// com.alibaba.fastjson.JSONObject jo2 = new com.alibaba.fastjson.JSONObject();
// jo2.put("blockId", IdUtil.simpleUUID());
// jo2.put("location", inst.getStart_point_code() + "OUTGET");
// jo2.put("operation", "script");
// jo2.put("id", inst.getStart_point_code() + "OUTGET");
// jo2.put("script_name", "userpy/interact.py");
// com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
// script_args2.put("addr", addr);
// com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
// com.alibaba.fastjson.JSONObject reach2 = new com.alibaba.fastjson.JSONObject();
// reach2.put("task_code", inst.getInstruction_code());
// reach2.put("address", inst.getStart_point_code() + "OUTGET");
// data2.put("reach", reach2);
// script_args2.put("data", data2);
// script_args2.put("protocol", "HTTP");
// jo2.put("script_args", script_args2);
// ja.add(jo2);
// }
//取货完成等待
com.alibaba.fastjson.JSONObject jo2 = new com.alibaba.fastjson.JSONObject();
jo2.put("blockId", IdUtil.simpleUUID());
jo2.put("location", inst.getStart_point_code() + "OUTGET");
jo2.put("operation", "script");
jo2.put("id", inst.getStart_point_code() + "OUTGET");
jo2.put("script_name", "userpy/interact.py");
com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
script_args2.put("addr", addr);
com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
com.alibaba.fastjson.JSONObject reach2 = new com.alibaba.fastjson.JSONObject();
reach2.put("task_code", inst.getInstruction_code());
reach2.put("address", inst.getStart_point_code() + "OUTGET");
data2.put("reach", reach2);
script_args2.put("data", data2);
script_args2.put("protocol", "HTTP");
jo2.put("script_args", script_args2);
ja.add(jo2);
Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {

6
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
View File

@ -70,4 +70,10 @@ public class WmsToAcsController {
return new ResponseEntity<>(wmstoacsService.queryDevice(whereJson), HttpStatus.OK);
}
@PostMapping("/gccCancelTask")
@Log("广钞厂取消任务")
@ApiOperation("广钞厂取消任务")
public ResponseEntity<Object> gccCancelTask(@RequestBody String whereJson) {
return new ResponseEntity<>(wmstoacsService.gccCancelTask(whereJson), HttpStatus.OK);
}
}

2
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java
View File

@ -52,4 +52,6 @@ public interface WmsToAcsService {
* @return Map<String, Object>
*/
Map<String, Object> queryDevice(String jsonObject) throws Exception;
Map<String, Object> gccCancelTask(String whereJson);
}

71
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@ -1,5 +1,6 @@
package org.nl.acs.ext.wms.service.impl;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.RequiredArgsConstructor;
@ -41,6 +42,8 @@ import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.dto.RouteLineDto;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.exception.BadRequestException;
import org.nl.utils.SecurityUtils;
import org.nl.utils.SpringContextHolder;
import org.nl.wql.core.bean.WQLObject;
import org.springframework.beans.factory.annotation.Autowired;
@ -69,7 +72,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
JSONObject resultJson = new JSONObject();
log.info("createFromWms--------------:输入参数：" + tasks.toString());
logServer.log("", "createFromWms", "info", tasks.toString(), "", "", "", "");
try{
try {
JSONArray errArr = new JSONArray();
for (int i = 0; i < tasks.size(); i++) {
JSONObject task = tasks.getJSONObject(i);
@ -153,7 +156,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
continue;
}
if(TaskService.checkSameTaskByCode(task_code)){
if (TaskService.checkSameTaskByCode(task_code)) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("message", "不能存在相同的任务号!");
@ -227,7 +230,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
resultJson.put("message", "操作成功");
resultJson.put("data", new JSONObject());
log.info("createFromWms--------------:输出参数：" + resultJson.toString());
logServer.log("", "createFromWms", "info",tasks.toString(), resultJson.toString(), "200", "", "");
logServer.log("", "createFromWms", "info", tasks.toString(), resultJson.toString(), "200", "", "");
} catch (Exception e) {
@ -236,7 +239,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
resultJson.put("message", e.getMessage());
resultJson.put("data", new JSONObject());
log.info("createFromWms--------------:输出参数：" + resultJson.toString());
logServer.log("", "createFromWms", "error",tasks.toString(), resultJson.toString(), "400", "", "");
logServer.log("", "createFromWms", "error", tasks.toString(), resultJson.toString(), "400", "", "");
}
@ -330,9 +333,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
electricFenceDeviceDriver = (ElectricFenceDeviceDriver) device.getDeviceDriver();
if (electricFenceDeviceDriver.getSuspended()) {
throw new RuntimeException("交通管制无法进入");
} else if (StrUtil.equals(type,"1")) {
} else if (StrUtil.equals(type, "1")) {
electricFenceDeviceDriver.setSuspended(true);
} else if (StrUtil.equals(type,"2")) {
} else if (StrUtil.equals(type, "2")) {
electricFenceDeviceDriver.setSuspended(false);
}
}
@ -938,4 +941,60 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
return resultJson;
}
@Override
public Map<String, Object> gccCancelTask(String whereJson) {
try {
log.info("gccCancelTask 请求参数：{}", whereJson);
JSONObject param = JSONObject.fromObject(whereJson);
String taskCode = param.optString("task_code");
if (StrUtil.isBlank(taskCode)) {
throw new BadRequestException("任务号不能为空，操作失败！");
}
TaskDto task = TaskService.findByCode(taskCode);
if (task == null) {
throw new BadRequestException(taskCode + "不存在，操作失败！");
}
if ("2".equals(task.getTask_status())) {
throw new BadRequestException(taskCode + "已完成，操作失败！");
}
Instruction inst = InstructionService.findByTaskcode(taskCode);
if (ObjectUtil.isNotEmpty(inst)) {
if (Integer.parseInt(inst.getExecute_status()) >= 2) {
throw new BadRequestException("AGV已取货完成，无法取消！");
}
InstructionService.cancel(inst.getInstruction_id());
}
String currentUsername = SecurityUtils.getCurrentUsername();
String now = DateUtil.now();
task.setUpdate_time(now);
task.setUpdate_by(currentUsername);
task.setTask_status("3");
WQLObject wo = WQLObject.getWQLObject("acs_task");
JSONObject json = JSONObject.fromObject(task);
wo.update(json);
//清理缓存
for (int i = 0; i < TaskService.findAllTaskFromCache().size(); i++) {
TaskDto taskDto = TaskService.findAllTaskFromCache().get(i);
if (taskDto.getTask_code().equals(taskCode)) {
TaskService.findAllTaskFromCache().remove(i);
}
}
} catch (Exception e) {
JSONObject resultJson = new JSONObject();
resultJson.put("status", HttpStatus.BAD_REQUEST.value());
resultJson.put("message", e.getMessage());
log.info("gccCancelTask 响应参数：{}", resultJson);
return resultJson;
}
JSONObject resultJson = new JSONObject();
resultJson.put("status", HttpStatus.OK.value());
resultJson.put("message", "操作成功！");
log.info("gccCancelTask 响应参数：{}", resultJson);
return resultJson;
}
}

2
hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
View File

@ -37,7 +37,7 @@ public class InstructionDto implements Serializable {
* 执行状态
*/
//暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
private String execute_status;
private String execute_status = "0";
/**
* 执行状态描述

619
hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
View File

@ -42,6 +42,8 @@ public class AutoCreateInst {
protected BusinessLogger execute_log;
protected NoRepeatBusinessLogger device_log;
private volatile boolean lock = false;
public AutoCreateInst() {
this.execute_log = new BusinessLoggerImpl(BusinessDomain.device_execute.name());
this.device_log = BusinessLoggerFactory.getNoRepeatBusinessLogger(BusinessDomain.device_execute.name());
@ -53,48 +55,51 @@ public class AutoCreateInst {
* 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 {
TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigService.class);
List<TaskDto> list = taskserver.queryByStauts("0");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
for (int i = 0; i < list.size(); i++) {
if (!lock) {
lock = true;
try {
TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigService.class);
List<TaskDto> list = taskserver.queryByStauts("0");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
for (int i = 0; i < list.size(); i++) {
TaskDto acsTask = list.get(i);
String taskid = acsTask.getTask_id();
String taskcode = acsTask.getTask_code();
String vehiclecode = acsTask.getVehicle_code();
String priority = acsTask.getPriority();
String start_point_code = acsTask.getStart_point_code();
String start_device_code = acsTask.getStart_device_code();
String route_plan_code = acsTask.getRoute_plan_code();
String vehicleType = acsTask.getVehicle_type();
TaskDto acsTask = list.get(i);
String taskid = acsTask.getTask_id();
String taskcode = acsTask.getTask_code();
String vehiclecode = acsTask.getVehicle_code();
String priority = acsTask.getPriority();
String start_point_code = acsTask.getStart_point_code();
String start_device_code = acsTask.getStart_device_code();
String route_plan_code = acsTask.getRoute_plan_code();
String vehicleType = acsTask.getVehicle_type();
//是否复合任务 =0非复合任务
String compound_task = acsTask.getCompound_task();
String next_point_code = acsTask.getNext_point_code();
String next_device_code = acsTask.getNext_device_code();
if (StrUtil.isEmpty(start_device_code)) {
acsTask.setRemark("起始设备不能为空");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
if (StrUtil.isEmpty(next_device_code)) {
acsTask.setRemark("目标设备不能为空");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
String maxInstnumber = acsConfigService.findConfigFromCache().get(AcsConfig.MAXINSTNUMBER);
if (ObjectUtils.isNotEmpty(maxInstnumber)) {
if (i >= Integer.parseInt(maxInstnumber)) {
acsTask.setRemark("系统参数配置最大指令数为:" + maxInstnumber + "无法生成指令");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
}
//是否复合任务 =0非复合任务
String compound_task = acsTask.getCompound_task();
String next_point_code = acsTask.getNext_point_code();
String next_device_code = acsTask.getNext_device_code();
if (StrUtil.isEmpty(start_device_code)) {
acsTask.setRemark("起始设备不能为空");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
if (StrUtil.isEmpty(next_device_code)) {
acsTask.setRemark("目标设备不能为空");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
String maxInstnumber = acsConfigService.findConfigFromCache().get(AcsConfig.MAXINSTNUMBER);
if (ObjectUtils.isNotEmpty(maxInstnumber)) {
if (i >= Integer.parseInt(maxInstnumber)) {
acsTask.setRemark("系统参数配置最大指令数为:" + maxInstnumber + "无法生成指令");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
}
//特殊任务 起点终点处理
//特殊任务 起点终点处理
// if (StrUtil.equals("2", acsTask.getTask_type())) {
// next_device_code = acsTask.getNext_device_code();
// if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
@ -110,299 +115,305 @@ public class AutoCreateInst {
// }
// }
/**
* 开始平均分解校验
*/
String this_device_code = taskserver.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
if (StrUtil.isEmpty(this_device_code)) {
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, acsTask.getNext_device_code(), route_plan_code);
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
/**
* 开始平均分解校验
*/
String this_device_code = taskserver.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
if (StrUtil.isEmpty(this_device_code)) {
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, acsTask.getNext_device_code(), route_plan_code);
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
}
}
next_device_code = pathlist.get(index);
} else {
next_device_code = this_device_code;
}
}
next_device_code = pathlist.get(index);
} else {
next_device_code = this_device_code;
}
//校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) {
acsTask.setRemark("路由不通无法生成指令");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
continue;
}
Device startdevice = appService.findDeviceByCode(start_device_code);
Device nextdevice = appService.findDeviceByCode(next_device_code);
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
} else {
next_point_code = next_device_code;
}
if (ObjectUtils.isEmpty(appService)) {
log.info("地址对应设备未找到");
continue;
}
if (ObjectUtils.isEmpty(startdevice)) {
log.info("地址对应设备未找到");
continue;
}
//普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
StandardEmptyPalletSiteDeviceDriver standardEmptsyPalletSiteDeviceDriver;
StandardManipulatorInspectSiteDeviceDriver standardManipulatorInspectSiteDeviceDriver;
LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
String createTaskCheck = acsConfigService.findConfigFromCache().get(AcsConfig.CREATETASKCHECK);
if (StrUtil.equals(createTaskCheck, "1")) {
if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMode() != 2) {
log.info("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
//校验路由关系
List<RouteLineDto> 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");
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (standardInspectSiteDeviceDriver.getMove() == 0) {
log.info("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
continue;
}
}
if (startdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardManipulatorInspectSiteDeviceDriver.getMode() != 2) {
log.info("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
Device startdevice = appService.findDeviceByCode(start_device_code);
Device nextdevice = appService.findDeviceByCode(next_device_code);
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
} else {
next_point_code = next_device_code;
}
if (standardManipulatorInspectSiteDeviceDriver.getMove() == 0) {
log.info("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
if (ObjectUtils.isEmpty(appService)) {
log.info("地址对应设备未找到");
continue;
}
}
if (startdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptsyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardEmptsyPalletSiteDeviceDriver.getMode() != 2) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
if (ObjectUtils.isEmpty(startdevice)) {
log.info("地址对应设备未找到");
continue;
}
//普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
StandardEmptyPalletSiteDeviceDriver standardEmptsyPalletSiteDeviceDriver;
StandardManipulatorInspectSiteDeviceDriver standardManipulatorInspectSiteDeviceDriver;
LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.APPLY_EMPTY.getCode())) {
int nowNumber = standardEmptsyPalletSiteDeviceDriver.getNumber();
start_point_code = start_point_code + "." + nowNumber;
}
}
String createTaskCheck = acsConfigService.findConfigFromCache().get(AcsConfig.CREATETASKCHECK);
//目的点校验
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMode() != 2) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
if (StrUtil.equals(createTaskCheck, "1")) {
if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMode() != 2) {
log.info("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (standardInspectSiteDeviceDriver.getMove() == 0) {
log.info("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
continue;
}
}
if (startdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardManipulatorInspectSiteDeviceDriver.getMode() != 2) {
log.info("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("起点设备:" + startdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (standardManipulatorInspectSiteDeviceDriver.getMove() == 0) {
log.info("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(startdevice.getDevice_code(), startdevice.getDevice_code());
this.execute_log.log("目标设备:" + startdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
continue;
}
}
if (startdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptsyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) startdevice.getDeviceDriver();
if (standardEmptsyPalletSiteDeviceDriver.getMode() != 2) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.APPLY_EMPTY.getCode())) {
int nowNumber = standardEmptsyPalletSiteDeviceDriver.getNumber();
start_point_code = start_point_code + "." + nowNumber;
}
}
//目的点校验
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMode() != 2) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (standardInspectSiteDeviceDriver.getMove() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
continue;
}
if (startdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptsyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) startdevice.getDeviceDriver();
if (next_device_code.equals("Q1") || next_device_code.equals("P1")) {
int number = standardEmptsyPalletSiteDeviceDriver.getNumber();
start_device_code = start_device_code + "." + number;
start_point_code = start_point_code + "." + number;
}
}
}
if (nextdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardManipulatorInspectSiteDeviceDriver.getMode() != 2) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (standardManipulatorInspectSiteDeviceDriver.getMove() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
continue;
}
}
if (nextdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardOrdinarySiteDeviceDriver.getHasGoods() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
continue;
}
}
//校验 是否同任务是否存在相同终点、未完成的指令
int sameqty = instructionService.querySameDestinationInst(next_point_code);
if (sameqty > 0) {
log.info("存在相同终点的指令,任务号：" + taskcode);
acsTask.setRemark("存在相同终点的指令,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
continue;
}
}
if (standardInspectSiteDeviceDriver.getMove() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
continue;
//空盘位生成指令需要另外逻辑
if (nextdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptsyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardEmptsyPalletSiteDeviceDriver.getMode() != 2) {
log.info(("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode));
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机");
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
int max_emptypalletnum = Integer.parseInt(nextdevice.getExtraValue().get("max_emptypalletnum").toString());
int nowNumber = standardEmptsyPalletSiteDeviceDriver.getNumber();
if (nowNumber == max_emptypalletnum) {
log.info("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
continue;
}
// 查看是否有相同终点的指令
int sameqty = instructionService.querySameDestinationInst(next_point_code);
if (sameqty > 0) {
log.info("存在相同终点的指令,任务号：" + taskcode);
acsTask.setRemark("存在相同终点的指令,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
continue;
}
next_point_code = next_point_code + "." + (nowNumber + sameqty + 1);
}
if (startdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver){
if (startdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptsyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) startdevice.getDeviceDriver();
if (next_device_code.equals("Q1") || next_device_code.equals("P1")){
int number = standardEmptsyPalletSiteDeviceDriver.getNumber();
start_device_code = start_device_code + "." + number;
start_point_code = start_point_code + "." + number;
int sameqty = instructionService.querySameOriginInst(start_point_code);
if (sameqty > 0) {
log.info("存在相同终点的指令,任务号：" + taskcode);
acsTask.setRemark("存在相同终点的指令,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
continue;
}
}
}
if (nextdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardManipulatorInspectSiteDeviceDriver.getMode() != 2) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (standardManipulatorInspectSiteDeviceDriver.getMove() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
continue;
if (!StrUtil.equals(acsTask.getEmptypallet_num(), "0")) {
Integer.parseInt(acsTask.getEmptypallet_num());
int num = standardEmptsyPalletSiteDeviceDriver.getNumber() - Integer.parseInt(acsTask.getEmptypallet_num()) + 1 - sameqty;
if (num <= 0) {
acsTask.setRemark("叠盘位可用空盘数量不足无法生成");
taskserver.updateByCodeFromCache(acsTask);
continue;
} else {
start_point_code = start_point_code + "." + num;
}
} else {
//目的点校验
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (next_device_code.equals("Q1") || next_device_code.equals("P1")) {
int number = standardEmptsyPalletSiteDeviceDriver.getNumber();
start_device_code = start_device_code + "." + number;
start_point_code = start_point_code + "." + number;
}
} else {
start_point_code = start_point_code + "." + 1;
}
}
}
}
Instruction instdto = new Instruction();
instdto.setInstruction_type(acsTask.getTask_type());
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);
instdto.setRoute_plan_code(route_plan_code);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by("auto");
instdto.setStart_device_code(start_device_code);
instdto.setNext_device_code(next_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setNext_point_code(next_point_code);
instdto.setPriority(priority);
instdto.setInstruction_status("0");
instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType);
instdto.setMaterial(acsTask.getMaterial());
if (nextdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardOrdinarySiteDeviceDriver.getHasGoods() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
try {
instructionService.create(instdto);
} catch (Exception e) {
acsTask.setRemark(e.getMessage());
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
continue;
}
}
//校验 是否同任务是否存在相同终点、未完成的指令
int sameqty = instructionService.querySameDestinationInst(next_point_code);
if (sameqty > 0) {
log.info("存在相同终点的指令,任务号：" + taskcode);
acsTask.setRemark("存在相同终点的指令,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
continue;
}
}
//创建指令后修改任务状态
acsTask.setTask_status("1");
taskserver.update(acsTask);
//空盘位生成指令需要另外逻辑
if (nextdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptsyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardEmptsyPalletSiteDeviceDriver.getMode() != 2) {
log.info(("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode));
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机");
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
int max_emptypalletnum = Integer.parseInt(nextdevice.getExtraValue().get("max_emptypalletnum").toString());
int nowNumber = standardEmptsyPalletSiteDeviceDriver.getNumber();
if (nowNumber == max_emptypalletnum) {
log.info("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
continue;
}
// 查看是否有相同终点的指令
int sameqty = instructionService.querySameDestinationInst(next_point_code);
if (sameqty > 0) {
log.info("存在相同终点的指令,任务号：" + taskcode);
acsTask.setRemark("存在相同终点的指令,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
continue;
} finally {
if (lock) {
lock = false;
}
next_point_code = next_point_code + "." + (nowNumber + sameqty + 1);
}
if (startdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptsyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) startdevice.getDeviceDriver();
int sameqty = instructionService.querySameOriginInst(start_point_code);
if (sameqty > 0) {
log.info("存在相同终点的指令,任务号：" + taskcode);
acsTask.setRemark("存在相同终点的指令,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
continue;
}
if (!StrUtil.equals(acsTask.getEmptypallet_num(), "0")) {
Integer.parseInt(acsTask.getEmptypallet_num());
int num = standardEmptsyPalletSiteDeviceDriver.getNumber() - Integer.parseInt(acsTask.getEmptypallet_num()) + 1 - sameqty;
if (num <= 0) {
acsTask.setRemark("叠盘位可用空盘数量不足无法生成");
taskserver.updateByCodeFromCache(acsTask);
continue;
} else {
start_point_code = start_point_code + "." + num;
}
} else {
//目的点校验
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (next_device_code.equals("Q1") || next_device_code.equals("P1")){
int number = standardEmptsyPalletSiteDeviceDriver.getNumber();
start_device_code = start_device_code + "." + number;
start_point_code = start_point_code + "." + number;
}
} else {
start_point_code = start_point_code + "." + 1;
}
}
}
Instruction instdto = new Instruction();
instdto.setInstruction_type(acsTask.getTask_type());
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);
instdto.setRoute_plan_code(route_plan_code);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by("auto");
instdto.setStart_device_code(start_device_code);
instdto.setNext_device_code(next_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setNext_point_code(next_point_code);
instdto.setPriority(priority);
instdto.setInstruction_status("0");
instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType);
instdto.setMaterial(acsTask.getMaterial());
try {
instructionService.create(instdto);
} catch (Exception e) {
acsTask.setRemark(e.getMessage());
taskserver.updateByCodeFromCache(acsTask);
continue;
}
//创建指令后修改任务状态
acsTask.setTask_status("1");
taskserver.update(acsTask);
}
}
}

40
hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java
View File

@ -18,7 +18,7 @@ import org.springframework.stereotype.Component;
* 查询AGV任务状态
*/
@Slf4j
@Component
@Component("queryXZAgvTaskStatus")
public class QueryXZAgvTaskStatus {
@Autowired
@ -33,33 +33,23 @@ public class QueryXZAgvTaskStatus {
@Autowired
TaskService taskService;
private boolean lock = false;
private volatile boolean lock = false;
public void run() throws Exception {
if (!this.lock) {
if (!lock) {
lock = true;
try {
this.lock = true;
HttpResponse response = agvService.queryXZAgvInstStatus();
JSONObject jo = JSONArray.parseObject(response.body());
JSONArray ja = JSONArray.parseArray(jo.getString("list"));
for (int i = 0; i < ja.size(); i++) {
JSONObject one = ja.getJSONObject(i);
JSONObject one = (JSONObject) ja.get(i);
String inst_code = one.getString("id");
Instruction inst = instructionService.findByInstCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst)) {
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst))
continue;
}
// //子任务状态 待以后处理
// JSONArray blocks = JSONArray.parseArray(one.getString("blocks"));
// for(int j=0;j<blocks.size();j++){
// com.alibaba.fastjson.JSONObject blocksjo = (JSONObject) blocks.get(j);
// String blockId = blocksjo.getString("blockId");
// String device_code = blocksjo.getString("location");
// String state = blocksjo.getString("state");
//
// }
String state = one.getString("state");
if (!StrUtil.isEmpty(one.getString("vehicle"))) {
@ -93,19 +83,13 @@ public class QueryXZAgvTaskStatus {
instructionService.update(inst);
}
}
// else if ("STOPPED".equals(state)){
// if (inst != null) {
// instructionService.cancel(inst.getInstruction_id());
//
// TaskDto taskDto = taskService.findByCode(inst.getTask_code());
// taskService.cancel(taskDto.getTask_id());
// }
// }
}
} finally {
this.lock = false;
if (lock) {
lock = false;
}
}
}
}
}
}

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