fix 请求取放货

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

@@ -23,9 +23,6 @@ import org.springframework.stereotype.Service;
 @RequiredArgsConstructor
 @Slf4j
 public class AgvWaitUtil {
-    private final DeviceAppService deviceAppService;
-    private final AcsToWmsZDServiceImpl acsToWmsZDService;
-    private final InstructionService instructionService;
     private final AcsToWmsService acsToWmsService;
     @Autowired
     LogServer logServer;
@@ -107,14 +104,6 @@ public class AgvWaitUtil {
     public JSONObject waitOutPut(String endDeviceCode, Instruction inst) {
         log.info("仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
 
-        JSONObject responseBody = acsToWmsService.gccQueryStationState(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 (endDeviceCode.equals(datum.optString("Station_Code"))
-                        && datum.optBoolean("IsHasGoods")) {
         JSONObject map = new JSONObject();
         map.put("status", 200);
         map.put("message", "允许离开！");
@@ -122,8 +111,3 @@ public class AgvWaitUtil {
         return map;
     }
 }
-        }
-
-        throw new BadRequestException("请求失败!");
-    }
-}

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

@@ -2181,26 +2181,26 @@ public class AgvServiceImpl implements AgvService {
         jo4.put("operation", "JackUnload");
         ja.add(jo4);
 
-//        if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
+        if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
-//            //放货完成等待
+            //放货完成等待
-//            com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
-//            jo5.put("blockId", IdUtil.simpleUUID());
+            jo5.put("blockId", IdUtil.simpleUUID());
-//            jo5.put("location", inst.getNext_point_code() + "OUTPUT");
+            jo5.put("location", inst.getNext_point_code() + "OUTPUT");
-//            jo5.put("operation", "script");
+            jo5.put("operation", "script");
-//            jo5.put("id", inst.getNext_point_code() + "OUTPUT");
+            jo5.put("id", inst.getNext_point_code() + "OUTPUT");
-//            jo5.put("script_name", "userpy/interact.py");
+            jo5.put("script_name", "userpy/interact.py");
-//            com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
-//            script_args5.put("addr", addr);
+            script_args5.put("addr", addr);
-//            com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
-//            com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
-//            reach5.put("task_code", inst.getInstruction_code());
+            reach5.put("task_code", inst.getInstruction_code());
-//            reach5.put("address", inst.getNext_point_code() + "OUTPUT");
+            reach5.put("address", inst.getNext_point_code() + "OUTPUT");
-//            data5.put("reach", reach5);
+            data5.put("reach", reach5);
-//            script_args5.put("data", data5);
+            script_args5.put("data", data5);
-//            script_args5.put("protocol", "HTTP");
+            script_args5.put("protocol", "HTTP");
-//            jo5.put("script_args", script_args5);
+            jo5.put("script_args", script_args5);
-//            ja.add(jo5);
+            ja.add(jo5);
-//        }
+        }
 
         return ja;
     }

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

@@ -53,6 +53,7 @@ import javax.servlet.http.HttpServletResponse;
 import java.io.IOException;
 import java.util.*;
 import java.util.regex.Pattern;
+import java.util.stream.Collectors;
 
 /**
  * @author ldjun
@@ -64,7 +65,7 @@ import java.util.regex.Pattern;
 @Slf4j
 public class InstructionServiceImpl implements InstructionService, ApplicationAutoInitial {
 
-    List<Instruction> instructions = new ArrayList();
+    List<Instruction> instructions = new ArrayList<>();
 
     @Autowired
     DeviceAppService deviceAppService;
@@ -1212,12 +1213,15 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
 
     @Override
     public Instruction findByInstCodeFromCache(String inst_code) {
-        for (int i = 0; i < this.instructions.size(); i++) {
+        if (StrUtil.isBlank(inst_code)) {
-            Instruction inst = instructions.get(i);
+            return null;
-            if (StrUtil.equals(inst_code, inst.getInstruction_code())) {
-                return inst;
-            }
         }
+
+        List<Instruction> list = this.instructions.stream().filter(i -> inst_code.equals(i.getInstruction_code())).collect(Collectors.toList());
+        if (list.isEmpty()) {
             return null;
+        } else {
+            return list.get(0);
+        }
     }
 }

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

@@ -1,6 +1,5 @@
 package org.nl.modules.quartz.task;
 
-import cn.hutool.core.map.MapUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpResponse;
@@ -15,8 +14,6 @@ import org.nl.acs.task.service.TaskService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
-import java.util.List;
-
 /**
  * 查询AGV任务状态
  */
@@ -36,27 +33,33 @@ public class QueryXZAgvTaskStatus {
     @Autowired
     TaskService taskService;
 
+    private boolean lock = false;
+
     public void run() throws Exception {
 
+        if (!this.lock) {
+            try {
+                this.lock = true;
                 HttpResponse response = agvService.queryXZAgvInstStatus();
-        com.alibaba.fastjson.JSONObject jo = JSONArray.parseObject(response.body());
+                JSONObject jo = JSONArray.parseObject(response.body());
 
                 JSONArray ja = JSONArray.parseArray(jo.getString("list"));
                 for (int i = 0; i < ja.size(); i++) {
-            com.alibaba.fastjson.JSONObject one = (com.alibaba.fastjson.JSONObject) ja.get(i);
+                    JSONObject one = ja.getJSONObject(i);
                     String inst_code = one.getString("id");
                     Instruction inst = instructionService.findByInstCodeFromCache(inst_code);
-            if (ObjectUtil.isEmpty(inst))
+                    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");
-
                     }
+//            //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"))) {
@@ -99,6 +102,10 @@ public class QueryXZAgvTaskStatus {
 //                }
 //            }
                 }
+            } finally {
+                this.lock = false;
+            }
+        }
 
     }
 }

hd/nladmin-system/src/main/resources/config/application-prod.yml

@@ -137,4 +137,4 @@ file:
   avatarMaxSize: 5
 
 agvToAcs:
-  addr: http://192.168.2.96:8010
+  addr: http://10.118.33.115:8010