diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java index 566b9d9..4cdec86 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java @@ -1,36 +1,26 @@ package org.nl.acs.agv.server.impl; -import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; -import com.alibaba.fastjson.JSONArray; -import com.alibaba.fastjson.JSONObject; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun; -import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun; -import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device.service.impl.DeviceServiceImpl; import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.log.LokiLog; import org.nl.acs.log.LokiLogType; import org.nl.acs.log.service.DeviceExecuteLogService; -import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; -import org.nl.acs.opc.DeviceType; -import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.system.service.ParamService; import org.nl.modules.wql.util.SpringContextHolder; import org.springframework.stereotype.Service; import java.util.HashMap; -import java.util.List; import java.util.Map; @Slf4j @@ -185,9 +175,9 @@ public class NDCAgvServiceImpl implements NDCAgvService { } log.info("下发AGV作业指令--{}", str1); if (StrUtil.equals(agv_system_type,"2")){ - TwoNDCSocketConnectionAutoRun.write(b); + //TwoNDCSocketConnectionAutoRun.write(b); } else if (StrUtil.equals(agv_system_type,"3")){ - TwoNDC2SocketConnectionAutoRun.write(b); + //TwoNDC2SocketConnectionAutoRun.write(b); } System.out.println("下发agv指令数据:" + Bytes2HexString(b)); } else { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java index 6e176c0..3751cc0 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java @@ -11,6 +11,7 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.instruction.service.impl.InstructionServiceImpl; +import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; import org.nl.modules.system.service.ParamService; @@ -63,17 +64,18 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } public String getName() { - return "1楼NDC在线连接"; + return "NDC在线连接"; } public void autoRun() throws IOException { - System.out.println("1楼NDCAgv链接开始"); + System.out.println("NDCAgv链接开始"); ParamService ParamService = SpringContextHolder.getBean(ParamServiceImpl.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class); DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); ip = paramService.findByCode(AcsConfig.AGVURL).getValue(); port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue()); @@ -83,7 +85,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { s = new Socket(ip, port); dos = new DataOutputStream(s.getOutputStream()); dis = new DataInputStream(s.getInputStream()); - System.out.println("1楼NDCAgv链接成功"); + System.out.println("NDCAgv链接成功"); + log.info("NDCAgv链接成功"); while (bConnected) { int count = dis.read(b); @@ -119,6 +122,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { //车号 int carno = arr[20]; Instruction link_inst = null; + Instruction inst = null; List insts = null; boolean link_flag = false; Device agv_device = null; @@ -126,7 +130,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); } if (ikey != 0) { - insts = instructionService.findByLinkNum(String.valueOf(ikey)); + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (ObjectUtil.isEmpty(inst)){ + inst = instructionService.findByCode(String.valueOf(ikey)); + } } if (!ObjectUtil.isEmpty(link_inst)) { link_flag = true; @@ -142,7 +149,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { //开始任务/上报订单号 if (phase == 0x01) { - for (Instruction inst : insts) { + if (!ObjectUtil.isEmpty(inst)) { inst.setInstruction_status("1"); inst.setAgv_jobno(String.valueOf(index)); inst.setSend_status("1"); @@ -154,7 +161,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { //（无车id及状态） else if (phase == 0x0A) { - for (Instruction inst : insts) { + if (!ObjectUtil.isEmpty(inst)) { if (!ObjectUtil.isEmpty(inst)) { instructionService.finish(inst.getInstruction_id()); } @@ -172,7 +179,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { //(需要WCS反馈) else if(phase == 0xFF) { - for (Instruction inst : insts) { + if (!ObjectUtil.isEmpty(inst)) { if (!ObjectUtil.isEmpty(inst)) { instructionService.cancelNOSendAgv(inst.getInstruction_id()); } @@ -187,10 +194,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); } - if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { - agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); - agvNdcOneDeviceDriver.processSocket(arr); + if(ObjectUtil.isNotEmpty(device)){ + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + agvNdcOneDeviceDriver.processSocket(arr); + } } + } if (!ObjectUtil.isEmpty(data)) { write(data); @@ -203,6 +213,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } catch (Exception e) { System.out.println("OneAgv链接异常"); + log.info("OneAgv链接异常"); + log.error("agv连接出现异常:{}", e); + logServer.deviceExecuteLog("1","","","agv异常"+e.getMessage()); + logServer.deviceExecuteLog("1","","","agv异常" + e); if(ObjectUtil.isNotEmpty(s)){ s.close(); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDC2SocketConnectionAutoRun.java b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDC2SocketConnectionAutoRun.java deleted file mode 100644 index c79eaa7..0000000 --- a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDC2SocketConnectionAutoRun.java +++ /dev/null @@ -1,243 +0,0 @@ -package org.nl.acs.auto.run; - -import cn.hutool.core.util.ObjectUtil; -import cn.hutool.core.util.StrUtil; -import lombok.extern.slf4j.Slf4j; -import org.nl.acs.AcsConfig; -import org.nl.acs.agv.server.NDCAgvService; -import org.nl.acs.device.service.DeviceService; -import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; -import org.nl.acs.instruction.service.InstructionService; -import org.nl.acs.instruction.service.dto.Instruction; -import org.nl.acs.instruction.service.impl.InstructionServiceImpl; -import org.nl.acs.opc.Device; -import org.nl.acs.opc.DeviceAppService; -import org.nl.modules.system.service.ParamService; -import org.nl.modules.system.service.impl.ParamServiceImpl; -import org.nl.modules.wql.util.SpringContextHolder; -import org.springframework.beans.factory.annotation.Autowired; -import org.springframework.stereotype.Component; - -import java.io.DataInputStream; -import java.io.DataOutputStream; -import java.io.IOException; -import java.net.Socket; -import java.util.Date; - -import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; - - -@Slf4j -@Component -public class TwoNDC2SocketConnectionAutoRun extends AbstractAutoRunnable { - - Socket s; - String ip = "192.168.46.225"; - int port = 1234; - static DataOutputStream dos; - static DataInputStream dis; - private int recordTimeOut = 10000; - private Date recordTime; - String[] ERROR = new String[]{ - "货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位", - "停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位", - "抬叉停止"}; - boolean bConnected = true; - - boolean isReConnect = false; - - @Autowired - ParamService paramService; - @Autowired - AutoRunService autoRunService; - - - public TwoNDC2SocketConnectionAutoRun() { - this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); - } - - public String getCode() { - return TwoNDC2SocketConnectionAutoRun.class.getSimpleName(); - } - - public String getName() { - return "2楼2区域AGV系统"; - } - - public void autoRun() { - - try { - System.out.println("2楼2区域AGV系统链接开始"); - ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); - InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); - AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); - NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); - DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); - DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); - ip = paramService.findByCode(AcsConfig.AGVURL22).getValue(); - port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT22).getValue()); - byte[] b = new byte[1028]; - s = new Socket(ip, port); - System.out.println("2楼2区域AGV链接成功"); - dos = new DataOutputStream(s.getOutputStream()); - dis = new DataInputStream(s.getInputStream()); - - while (bConnected) { - int count = dis.read(b); - - if (count == -1) { - break; - } - - int[] arr = new int[count]; - StringBuffer bs = new StringBuffer(); - - for (int i = 0; i < count; i++) { - int temp = b[i]; - if (temp < 0) - temp += 256; - arr[i] = temp; - StringBuffer bs1 = new StringBuffer("0"); - bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); - } - - System.out.println("收到请求参数：" + bs); - boolean flag = false; - if (arr[8] * 256 + arr[9] == 0x73) { - byte[] data = null; - System.out.println("接收agv上报信息：" + bs); - //执行阶段 - int phase = arr[16] * 256 + arr[17]; - // agv任务号 - int index = arr[12] * 256 + arr[13]; - //任务号 - int ikey = arr[26] * 256 + arr[27]; - //站点号 - int agvaddr = arr[18] * 256 + arr[19]; - //车号 - int carno = arr[20]; - Instruction inst = null; - if (ikey != 0) { - inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); - } - log.info("接收agv上报信息：" + bs); - log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); - Device device = null; - String device_code = null; - String old_device_code = null; - String emptyNum = null; - 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); - } - - AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver; - //开始任务 - if (phase == 0x01) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } - flag = true; - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x14) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - inst.setInstruction_status("2"); - instructionService.finish(inst); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } - //请求删除任务 - //(需要WCS反馈) - else if (phase == 0x30) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0); - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } else { - //上报异常信息 - //（不需要WCS反馈） - if(phase == 0x67){ - device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); - } else { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); - } - if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { - agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver(); - agvNdcTwoDeviceDriver.processSocket(arr); - } - } - if (!ObjectUtil.isEmpty(data)) { - write(data); - } - - } else { - System.out.println("agv上报不是0073类型动作，不处理"); - } - } - - } catch (Exception e) { - - - } finally { - - - } - - } - - - @Override - public void stop() { - super.after(); - try { - s.close(); - } catch (Exception e) { - e.printStackTrace(); - } - } - - - public static void write(byte[] b) { - try { - log.info("下发agv数据:" + Bytes2HexString(b)); - System.out.println("下发agv数据:" + Bytes2HexString(b)); - dos.write(b); - dos.flush(); - } catch (IOException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - - } -} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java deleted file mode 100644 index d0f072a..0000000 --- a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java +++ /dev/null @@ -1,245 +0,0 @@ -package org.nl.acs.auto.run; - -import cn.hutool.core.util.ObjectUtil; -import cn.hutool.core.util.StrUtil; -import lombok.extern.slf4j.Slf4j; -import org.nl.acs.AcsConfig; -import org.nl.acs.agv.server.NDCAgvService; -import org.nl.acs.device.service.DeviceService; -import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; -import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; -import org.nl.acs.instruction.service.InstructionService; -import org.nl.acs.instruction.service.dto.Instruction; -import org.nl.acs.instruction.service.impl.InstructionServiceImpl; -import org.nl.acs.opc.Device; -import org.nl.acs.opc.DeviceAppService; -import org.nl.modules.system.service.ParamService; -import org.nl.modules.system.service.impl.ParamServiceImpl; -import org.nl.modules.wql.util.SpringContextHolder; -import org.springframework.beans.factory.annotation.Autowired; -import org.springframework.stereotype.Component; - -import java.io.DataInputStream; -import java.io.DataOutputStream; -import java.io.IOException; -import java.net.Socket; -import java.util.Date; -import java.util.List; - -import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; - - -@Slf4j -@Component -public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { - - Socket s; - String ip = "192.168.46.225"; - int port = 1234; - static DataOutputStream dos; - static DataInputStream dis; - private int recordTimeOut = 10000; - private Date recordTime; - String[] ERROR = new String[]{ - "货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位", - "停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位", - "抬叉停止"}; - boolean bConnected = true; - - boolean isReConnect = false; - - @Autowired - ParamService paramService; - @Autowired - AutoRunService autoRunService; - - - public TwoNDCSocketConnectionAutoRun() { - this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); - } - - public String getCode() { - return TwoNDCSocketConnectionAutoRun.class.getSimpleName(); - } - - public String getName() { - return "2楼1区域AGV系统"; - } - - public void autoRun() { - - try { - System.out.println("2楼1区域AGV系统链接开始"); - ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); - InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); - AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); - NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); - DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); - DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); - ip = paramService.findByCode(AcsConfig.AGVURL).getValue(); - port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue()); - byte[] b = new byte[1028]; - s = new Socket(ip, port); - System.out.println("2楼1区域Agv链接成功"); - dos = new DataOutputStream(s.getOutputStream()); - dis = new DataInputStream(s.getInputStream()); - - while (bConnected) { - int count = dis.read(b); - - if (count == -1) { - break; - } - - int[] arr = new int[count]; - StringBuffer bs = new StringBuffer(); - - for (int i = 0; i < count; i++) { - int temp = b[i]; - if (temp < 0) - temp += 256; - arr[i] = temp; - StringBuffer bs1 = new StringBuffer("0"); - bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); - } - - System.out.println("收到请求参数：" + bs); - boolean flag = false; - if (arr[8] * 256 + arr[9] == 0x73) { - byte[] data = null; - System.out.println("接收agv上报信息：" + bs); - //执行阶段 - int phase = arr[16] * 256 + arr[17]; - // agv任务号 - int index = arr[12] * 256 + arr[13]; - //任务号 - int ikey = arr[26] * 256 + arr[27]; - //站点号 - int agvaddr = arr[18] * 256 + arr[19]; - //车号 - int carno = arr[20]; - Instruction inst = null; - if (ikey != 0) { - inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); - } - log.info("接收agv上报信息：" + bs); - log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); - Device device = null; - String device_code = null; - String old_device_code = null; - String emptyNum = null; - 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); - } - - AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver; - //开始任务 - if (phase == 0x01) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } - flag = true; - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x14) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - inst.setInstruction_status("2"); - instructionService.finish(inst); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } - //请求删除任务 - //(需要WCS反馈) - else if (phase == 0x30) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0); - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } else { - //上报异常信息 - //（不需要WCS反馈） - if(phase == 0x67){ - device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); - } else { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); - } - if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { - agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver(); - agvNdcTwoDeviceDriver.processSocket(arr); - } - } - if (!ObjectUtil.isEmpty(data)) { - write(data); - } - - } else { - System.out.println("agv上报不是0073类型动作，不处理"); - } - } - - } catch (Exception e) { - - - } finally { - - - } - - } - - - @Override - public void stop() { - super.after(); - try { - s.close(); - } catch (Exception e) { - e.printStackTrace(); - } - } - - - public static void write(byte[] b) { - try { - log.info("下发agv数据:" + Bytes2HexString(b)); - System.out.println("下发agv数据:" + Bytes2HexString(b)); - dos.write(b); - dos.flush(); - } catch (IOException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - - } -} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 28a3549..520e072 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -7,8 +7,11 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun; +import org.nl.acs.common.StandardInspectSiteDevice; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver; +import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.driver.AbstractDeviceDriver; @@ -26,7 +29,10 @@ import org.nl.modules.system.service.ParamService; import org.nl.modules.system.service.impl.ParamServiceImpl; import org.nl.modules.wql.util.SpringContextHolder; +import java.util.ArrayList; +import java.util.HashMap; import java.util.List; +import java.util.Map; /** * NDC单工位AGV @@ -78,13 +84,17 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int carno = arr[20]; Instruction link_inst = null; List insts = null; + Instruction inst = null; boolean link_flag = false; Device agv_device = null; if (carno != 0) { agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); } if (ikey != 0) { - insts = instructionService.findByLinkNum(String.valueOf(ikey)); + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (ObjectUtil.isEmpty(inst)) { + inst = instructionService.findByCode(String.valueOf(ikey)); + } } if (!ObjectUtil.isEmpty(link_inst)) { link_flag = true; @@ -106,15 +116,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //普通站点 StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; //货架 - StandardStorageDeviceDriver standardStorageDeviceDriver; + StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; + // //分配 车id //(不需要WCS反馈) if (phase == 0x02) { - for (Instruction inst : insts) { - inst.setCarno(String.valueOf(carno)); - instructionService.update(inst); - } + inst.setCarno(String.valueOf(carno)); + instructionService.update(inst); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data); //到达取货点 @@ -148,26 +157,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); return; } - for (Instruction inst : insts) { - //校验agv上报站点编号与指令起始点相同 - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到关联编号{}对应的指令", ikey); - logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); - break; - } - - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.setAgvphase(phase); - standardOrdinarySiteDeviceDriver.setIndex(index); - standardOrdinarySiteDeviceDriver.setInst(inst); - } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到编号{}对应的指令", ikey); + logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); + return; + } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); + standardOrdinarySiteDeviceDriver.setAgvphase(phase); + standardOrdinarySiteDeviceDriver.setIndex(index); + standardOrdinarySiteDeviceDriver.setInst(inst); + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + //取货完毕 //(需要WCS反馈) } else if (phase == 0x05) { @@ -198,27 +203,21 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code); return; } - for (Instruction inst : insts) { - //校验agv上报站点编号与指令起始点相同 - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到关联编号{}对应的指令", ikey); - logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); - break; - } - - if (StrUtil.equals(inst.getStart_device_code(), device_code)) { + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到关联编号{}对应的指令", ikey); + logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); + return; + } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.setAgvphase(phase); - standardOrdinarySiteDeviceDriver.setIndex(index); - standardOrdinarySiteDeviceDriver.setInst(inst); - } + if (StrUtil.equals(inst.getStart_device_code(), device_code)) { - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); + standardOrdinarySiteDeviceDriver.setAgvphase(phase); + standardOrdinarySiteDeviceDriver.setIndex(index); + standardOrdinarySiteDeviceDriver.setInst(inst); + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } } logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); @@ -251,23 +250,19 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info(agvaddr + "对应设备号为空!"); return; } - for (Instruction inst : insts) { - //校验agv上报站点编号与指令起始点相同 - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到关联编号{}对应的指令", ikey); - break; - } - if (StrUtil.equals(inst.getNext_device_code(), device_code)) { - - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.setAgvphase(phase); - standardOrdinarySiteDeviceDriver.setIndex(index); - standardOrdinarySiteDeviceDriver.setInst(inst); - } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到关联编号{}对应的指令", ikey); + return; + } + if (StrUtil.equals(inst.getNext_device_code(), device_code)) { - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); + if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); +// standardOrdinarySiteDeviceDriver.setAgvphase(phase); +// standardOrdinarySiteDeviceDriver.setIndex(index); +// standardOrdinarySiteDeviceDriver.setInst(inst); + if (standardInspectSiteDeviceDriver.getMove() == 0) { data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } } @@ -303,25 +298,24 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info(agvaddr + "对应设备号为空!"); return; } - for (Instruction inst : insts) { - //校验agv上报站点编号与指令起始点相同 - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到关联编号{}对应的指令", ikey); - break; - } - if (StrUtil.equals(inst.getNext_device_code(), device_code)) { + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到编号{}对应的指令", ikey); + return; + } + if (StrUtil.equals(inst.getNext_device_code(), device_code)) { - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.setAgvphase(phase); - standardOrdinarySiteDeviceDriver.setIndex(index); - standardOrdinarySiteDeviceDriver.setInst(inst); - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); + + if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); +// standardOrdinarySiteDeviceDriver.setAgvphase(phase); +// standardOrdinarySiteDeviceDriver.setIndex(index); +// standardOrdinarySiteDeviceDriver.setInst(inst); + if (standardInspectSiteDeviceDriver.getMove() > 0) { data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } } + } logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); @@ -334,10 +328,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic agvaddr_copy = agvaddr; data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - }else if(phase == 0x50){//进入交通灯区域 + } else if (phase == 0x50) {//进入交通灯区域 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - }else if(phase == 0x51){//离开交通灯区域 + } else if (phase == 0x51) {//离开交通灯区域 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java index 1965d29..506e523 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java @@ -6,8 +6,6 @@ import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.agv.server.NDCAgvService; -import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun; -import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; @@ -469,9 +467,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic if (!ObjectUtil.isEmpty(data)) { logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); if (StrUtil.equals(inst.getAgv_system_type(), "2")) { - TwoNDCSocketConnectionAutoRun.write(data); + //TwoNDCSocketConnectionAutoRun.write(data); } else if (StrUtil.equals(inst.getAgv_system_type(), "3")) { - TwoNDC2SocketConnectionAutoRun.write(data); + //TwoNDC2SocketConnectionAutoRun.write(data); } } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java index e6bb87d..3e2f1fe 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java @@ -90,26 +90,42 @@ public class AMHandServiceImpl implements AMHandService { String device_id = device.getString("device_id"); String device_code = device.getString("device_code"); String device_name = device.getString("device_name"); - JSONObject deviceRunPoint = wo_runPoint.query("device_id = '" + device_id + "'").uniqueResult(0); - Integer hasgoods = deviceRunPoint.getInteger("hasgoods"); - String material_type = deviceRunPoint.getString("material_type"); + StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; + StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; + Device device_driver = deviceAppService.findDeviceByCode(device_code); //点位状态status对应status_name 0空 1有货 2有任务 String status = "0"; String status_name = "无货"; String input_material = "0"; String allow_update = "0"; - TaskDto taskDto = taskService.findByStartAndNextCode(device_code); - if (ObjectUtil.isNotEmpty(taskDto) && hasgoods == 1) { - status = "2"; - status_name = "有任务"; - } else if (hasgoods == 1) { - status = "1"; - status_name = "有货"; - } - Device device_driver = deviceAppService.findDeviceByCode(device_code); + String material_type = "0"; if (device_driver.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + JSONObject deviceRunPoint = wo_runPoint.query("device_id = '" + device_id + "'").uniqueResult(0); + Integer hasgoods = deviceRunPoint.getInteger("hasgoods"); + material_type = deviceRunPoint.getString("material_type"); + TaskDto taskDto = taskService.findByStartAndNextCode(device_code); + if (ObjectUtil.isNotEmpty(taskDto) && hasgoods == 1) { + status = "2"; + status_name = "有任务"; + } else if (hasgoods == 1) { + status = "1"; + status_name = "有货"; + } input_material = "1"; allow_update = "1"; + } else if (device_driver.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device_driver.getDeviceDriver(); + int move = standardInspectSiteDeviceDriver.getMove(); + TaskDto taskDto = taskService.findByStartAndNextCode(device_code); + if (move != 0 && ObjectUtil.isNotEmpty(taskDto)) { + status = "2"; + status_name = "有任务"; + material_type = "1"; + } else if (move != 0) { + status = "1"; + status_name = "有货"; + material_type = "1"; + } } JSONObject map = new JSONObject(); map.put("device_id", device_id); @@ -671,12 +687,12 @@ public class AMHandServiceImpl implements AMHandService { status = "1"; } JSONObject map = new JSONObject(); - if (StrUtil.equals(type, "0")) { - map.put("material_type", ""); - map.put("hasgoods", "0"); - } else { + if (StrUtil.equals(type, "1")) { map.put("material_type", material_type); map.put("hasgoods", status); + } else { + map.put("material_type", ""); + map.put("hasgoods", "0"); } wo_runPoint.update(map, "device_code = '" + device_code + "'"); jo.put("code", "1"); @@ -753,6 +769,21 @@ public class AMHandServiceImpl implements AMHandService { jo.put("desc", "呼叫失败,起点或终点不能为空!"); return jo; } + for (int i = 0; i < start_device_codes.size(); i++) { + String device_code = start_device_codes.getString(i); + Device device = deviceAppService.findDeviceByCode(device_code); + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + JSONObject jsonObject = wo_runPoint.query("device_code = '" + device_code + "'").uniqueResult(0); + if (ObjectUtil.isNotEmpty(jsonObject)){ + String hasgoods = jsonObject.getString("hasgoods"); + if (StrUtil.equals(hasgoods,"0")){ + throw new BadRequestException("设备:" + device_code + "库存为无货状态，请手动绑定货物!"); + } + } + } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + + } + } //将数组转换为集合判断是否为同一排的库位,并按照库位顺序号排序 List start_device_code_list = JSONArray.parseArray(start_device_codes.toJSONString(), String.class); Collections.sort(start_device_code_list, new Comparator() { @@ -808,13 +839,14 @@ public class AMHandServiceImpl implements AMHandService { taskDto.setCreate_by(SecurityUtils.getCurrentUsername()); taskDto.setUpdate_by(SecurityUtils.getCurrentUsername()); taskDto.setRoute_plan_code("normal"); - taskDto.setTask_type("3"); + //任务类型 + taskDto.setTask_type("4"); taskDto.setTask_status("0"); taskDto.setPriority("1"); taskDto.setCreate_time(DateUtil.now()); taskDto.setUpdate_time(DateUtil.now()); taskDto.setRemark("手持创建任务!"); - taskDto.setAgv_system_type("2"); + taskDto.setAgv_system_type("1"); taskDto.setMaterial(jsonObject.getString("material")); TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); try { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/wql/QJN_QUERY001.wql b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/wql/QJN_QUERY001.wql index 4b7c997..74c024f 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/wql/QJN_QUERY001.wql +++ b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/wql/QJN_QUERY001.wql @@ -54,6 +54,8 @@ LEFT JOIN sys_dict_detail dtl ON dtl.dict_id = sys.dict_id WHERE sys.NAME = "region_type" + order by + dict_sort ENDSELECT ENDQUERY ENDIF diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 37b47a7..94ad652 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -217,6 +217,9 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu public Instruction findByCode(String code) { WQLObject wo = WQLObject.getWQLObject("acs_instruction"); JSONObject json = wo.query("instruction_code ='" + code + "'").uniqueResult(0); + if (ObjectUtil.isEmpty(json)){ + return null; + } final Instruction obj = json.toJavaObject(Instruction.class); return obj; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index c0c0ce4..c66b73b 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -1170,7 +1170,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { return task; } } - return new TaskDto(); + return null; } @Override diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/utils/ExecutionJob.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/utils/ExecutionJob.java index ee4f685..2843083 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/utils/ExecutionJob.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/utils/ExecutionJob.java @@ -25,6 +25,7 @@ import org.nl.modules.quartz.domain.QuartzLog; import org.nl.modules.quartz.repository.QuartzLogRepository; import org.nl.modules.quartz.service.QuartzJobService; import org.nl.modules.wql.util.SpringContextHolder; +import org.quartz.DisallowConcurrentExecution; import org.quartz.JobExecutionContext; import org.springframework.scheduling.annotation.Async; import org.springframework.scheduling.quartz.QuartzJobBean; @@ -41,6 +42,7 @@ import java.util.concurrent.ThreadPoolExecutor; @Async @SuppressWarnings({"unchecked", "all"}) @Slf4j +@DisallowConcurrentExecution public class ExecutionJob extends QuartzJobBean { /** diff --git a/acs/nladmin-ui/src/views/acs/task/index.vue b/acs/nladmin-ui/src/views/acs/task/index.vue index bcb4e73..6702316 100644 --- a/acs/nladmin-ui/src/views/acs/task/index.vue +++ b/acs/nladmin-ui/src/views/acs/task/index.vue @@ -460,7 +460,7 @@ export default { task_id: null, vehicle_code: null, vehicle_type: null, - task_type: '3', + task_type: '4', storage_task_type: '', task_status: null, priority: 1, @@ -479,7 +479,7 @@ export default { to_x: null, to_y: null, to_z: null, - agv_system_type: '2' + agv_system_type: '1' }, rules: { start_point_code: [