opt:2楼AGV看板，代码没测试过，因此是开发分支,请不要合并，后续评审过后再合并

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/contorller/TwoFloorAgvController.java

@@ -0,0 +1,38 @@
+package org.nl.acs.agv.contorller;
+
+import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * 二楼AGV状态控制器
+ * 提供HTTP接口获取AGV状态信息
+ */
+@RestController
+@RequestMapping("/api/agv/two-floor")
+public class TwoFloorAgvController {
+
+    @Autowired
+    private TwoFloorAgvStatusService agvStatusService;
+
+    /**
+     * 获取所有二楼AGV状态
+     * @return 所有AGV状态列表
+     */
+    @GetMapping("/status")
+    public Object getAllAgvStatus() {
+        return agvStatusService.getAllAgvStatus();
+    }
+
+    /**
+     * 获取单个AGV状态
+     * @param vehicleCode AGV车辆代码
+     * @return AGV状态信息
+     */
+    @GetMapping("/status/{vehicleCode}")
+    public Object getAgvStatus(String vehicleCode) {
+        return agvStatusService.getAgvStatus(vehicleCode);
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/domain/TwoFloorAgvStatus.java

@@ -0,0 +1,180 @@
+package org.nl.acs.agv.domain;
+
+import lombok.Data;
+
+/**
+ * 二楼AGV状态数据模型
+ * 用于存储和传输AGV的实时状态信息
+ */
+@Data
+public class TwoFloorAgvStatus {
+
+    /**
+     * AGV车辆代码
+     */
+    private String vehicle_code;
+
+    /**
+     * AGV状态
+     */
+    private String status;
+
+    /**
+     * AGV状态文本描述
+     */
+    private String status_text;
+
+    /**
+     * 当前任务代码
+     */
+    private String task_code;
+
+    /**
+     * 当前指令代码
+     */
+    private String inst_code;
+
+    /**
+     * 当前阶段值
+     */
+    private Integer phase;
+
+    /**
+     * 当前阶段名称
+     */
+    private String phase_name;
+
+    /**
+     * 当前位置
+     */
+    private String address;
+
+    /**
+     * 物料类型
+     */
+    private String material_type;
+
+    /**
+     * 物料数量
+     */
+    private Integer quantity;
+
+    /**
+     * 开始设备代码
+     */
+    private String start_device_code;
+
+    /**
+     * 下一个设备代码
+     */
+    private String next_device_code;
+
+    /**
+     * 是否有错误
+     */
+    private Boolean is_error;
+
+    /**
+     * 错误代码
+     */
+    private String error_code;
+
+    /**
+     * 错误信息
+     */
+    private String error_message;
+
+    /**
+     * 卡住的Action
+     */
+    private String error_action;
+
+    /**
+     * 卡住的Mode
+     */
+    private String error_mode;
+    /**
+     * 卡住的move
+     */
+    private String error_move;
+    /**
+     * 卡住的error
+     */
+    private String error_error;
+    /**
+     * 设备号
+     */
+    private String device_code;
+    /**
+     * 期望的Action
+     */
+    private String exp_action;
+
+    /**
+     * 卡住的Mode
+     */
+    private String exp_mode;
+    /**
+     * 卡住的move
+     */
+    private String exp_move;
+    /**
+     * 卡住的error
+     */
+    private String exp_error;
+
+    /**
+     * 实际Action
+     */
+    private String action;
+
+    /**
+     * 实际Mode
+     */
+    private String mode;
+    /**
+     * 实际move
+     */
+    private String move;
+    /**
+     * 实际error
+     */
+    private String error;
+
+    /**
+     * 电量
+     */
+    private Integer electric_qty;
+
+    private String driver;
+
+    /**
+     * X坐标
+     */
+    private Integer x;
+
+    /**
+     * Y坐标
+     */
+    private Integer y;
+
+    /**
+     * 角度
+     */
+    private Integer angle;
+
+    /**
+     * 区域
+     */
+    private Integer region;
+
+    /**
+     * 是否在线
+     */
+    private Boolean is_online;
+
+    /**
+     * 三色灯状态
+     */
+    private Integer status_light;
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/service/impl/TwoFloorAgvStatusService.java

@@ -0,0 +1,178 @@
+package org.nl.acs.agv.service.impl;
+
+import org.nl.acs.agv.domain.TwoFloorAgvStatus;
+import org.nl.acs.device_driver.agv.utils.TwoAgvPhase;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 二楼AGV状态管理服务
+ * 负责管理和更新AGV状态，通过HTTP接口提供状态查询
+ */
+@Service
+public class TwoFloorAgvStatusService {
+    
+    @Autowired
+    private TwoAgvPhase twoAgvPhase;
+    
+    /**
+     * 存储AGV状态信息，key为AGV车辆代码
+     */
+    private Map<String, TwoFloorAgvStatus> agvStatusMap = new HashMap<>();
+    
+    /**
+     * 初始化AGV状态
+     */
+    public TwoFloorAgvStatusService() {
+        // 初始化二楼的4台AGV
+        for (int i = 1; i <= 4; i++) {
+            TwoFloorAgvStatus agvStatus = new TwoFloorAgvStatus();
+            String vehicleCode = String.format("AGV%02d", i);
+            agvStatus.setVehicle_code(vehicleCode);
+            agvStatus.setStatus("idle");
+            agvStatus.setStatus_text("空闲");
+            agvStatus.setIs_error(false);
+            agvStatus.setIs_online(true);
+            agvStatusMap.put(vehicleCode, agvStatus);
+        }
+    }
+    
+    /**
+     * 更新AGV状态
+     * @param agvStatus AGV状态信息
+     */
+    public void updateAgvStatus(TwoFloorAgvStatus agvStatus) {
+        if (agvStatus == null || agvStatus.getVehicle_code() == null) {
+            return;
+        }
+        
+        // 处理阶段名称
+        if (agvStatus.getPhase() != null) {
+            String phaseName = twoAgvPhase.getPhaseName(agvStatus.getPhase());
+            agvStatus.setPhase_name(phaseName);
+        }
+        
+        // 处理状态文本
+        this.handleStatusText(agvStatus);
+        
+        // 更新状态
+        agvStatusMap.put(agvStatus.getVehicle_code(), agvStatus);
+        
+        // 推送状态更新
+        this.pushAgvStatusUpdate();
+    }
+    
+    /**
+     * 处理AGV状态文本
+     */
+    private void handleStatusText(TwoFloorAgvStatus agvStatus) {
+        switch (agvStatus.getStatus()) {
+            case "running":
+                agvStatus.setStatus_text("运行中");
+                break;
+            case "idle":
+                agvStatus.setStatus_text("空闲");
+                break;
+            case "error":
+                agvStatus.setStatus_text("异常");
+                agvStatus.setIs_error(true);
+                break;
+            case "charging":
+                agvStatus.setStatus_text("充电中");
+                break;
+            default:
+                agvStatus.setStatus_text("未知");
+                break;
+        }
+    }
+    
+    /**
+     * 获取单个AGV状态
+     * @param vehicleCode AGV车辆代码
+     * @return AGV状态信息
+     */
+    public TwoFloorAgvStatus getAgvStatus(String vehicleCode) {
+        return agvStatusMap.get(vehicleCode);
+    }
+    
+    /**
+     * 获取所有AGV状态
+     * @return 所有AGV状态列表
+     */
+    public List<TwoFloorAgvStatus> getAllAgvStatus() {
+        return new ArrayList<>(agvStatusMap.values());
+    }
+    
+    /**
+     * 更新AGV状态后不需要推送，由前端通过HTTP接口主动查询
+     */
+    public void pushAgvStatusUpdate() {
+        // 改为HTTP接口后，不再需要主动推送
+        // 前端会通过定时请求获取最新状态
+    }
+    
+    /**
+     * 更新AGV任务信息
+     */
+    public void updateAgvTaskInfo(String vehicleCode, String taskCode, String instCode) {
+        TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
+        if (agvStatus != null) {
+            agvStatus.setTask_code(taskCode);
+            agvStatus.setInst_code(instCode);
+            this.pushAgvStatusUpdate();
+        }
+    }
+    
+    /**
+     * 更新AGV阶段信息
+     */
+    public void updateAgvPhase(String vehicleCode, Integer phase) {
+        TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
+        if (agvStatus != null) {
+            agvStatus.setPhase(phase);
+            agvStatus.setPhase_name(twoAgvPhase.getPhaseName(phase));
+            this.pushAgvStatusUpdate();
+        }
+    }
+    
+    /**
+     * 更新AGV错误信息
+     */
+    public void updateAgvError(String vehicleCode, String errorCode, String errorMessage, String errorAction, String errorMode) {
+        TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
+        if (agvStatus != null) {
+            agvStatus.setIs_error(true);
+            agvStatus.setError_code(errorCode);
+            agvStatus.setError_message(errorMessage);
+            agvStatus.setError_action(errorAction);
+            agvStatus.setError_mode(errorMode);
+            agvStatus.setStatus("error");
+            agvStatus.setStatus_text("异常");
+            this.pushAgvStatusUpdate();
+        }
+    }
+    
+    /**
+     * 清除AGV错误信息
+     */
+    public void clearAgvError(String vehicleCode) {
+        TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
+        if (agvStatus != null) {
+            agvStatus.setIs_error(false);
+            agvStatus.setError_code(null);
+            agvStatus.setError_message(null);
+            agvStatus.setError_action(null);
+            agvStatus.setError_mode(null);
+            if ("error".equals(agvStatus.getStatus())) {
+                agvStatus.setStatus("idle");
+                agvStatus.setStatus_text("空闲");
+            }
+            this.pushAgvStatusUpdate();
+        }
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -4,6 +4,7 @@ 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.domain.TwoFloorAgvStatus;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
@@ -17,6 +18,7 @@ import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
@@ -33,10 +35,7 @@ import java.io.DataOutputStream;
 import java.io.IOException;
 import java.net.InetSocketAddress;
 import java.net.Socket;
-import java.util.Arrays;
+import java.util.*;
-import java.util.Date;
-import java.util.LinkedHashMap;
-import java.util.Map;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ExecutorService;
@@ -80,6 +79,10 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
     AutoRunService autoRunService;
     @Autowired
     LuceneExecuteLogService luceneExecuteLogService;
+    /**
+     * 二楼AGV状态管理服务
+     */
+    private TwoFloorAgvStatusService agvStatusService;
     @Autowired
     ISysDictService dictService;
 
@@ -106,7 +109,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
         DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
         DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
         DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
-
+        // 初始化AGV状态管理服务
+        agvStatusService = SpringContextHolder.getBean(TwoFloorAgvStatusService.class);
         try {
             log.info("2楼1区域AGV系统链接开始");
             ip = paramService.findByCode(AcsConfig.AGVURL).getValue();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -7,6 +7,7 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
@@ -27,6 +28,8 @@ import org.nl.acs.device_driver.two_conveyor.ranging_stations.RangingStationsDev
 import org.nl.acs.device_driver.two_conveyor.waste_foil_weighing_station.WasteFoilWeighingStationDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.agv.domain.TwoFloorAgvStatus;
+import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
 import org.nl.acs.history.ErrorUtil;
 import org.nl.acs.history.service.DeviceErrorLogService;
 import org.nl.acs.history.service.dto.DeviceErrorLogDto;
@@ -76,6 +79,11 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     TwoAgvPhase twoAgvPhase = new TwoAgvPhase();
     ISysDictService dictService = SpringContextHolder.getBean(ISysDictService.class);
 
+    /**
+     * 二楼AGV状态管理服务
+     */
+    private TwoFloorAgvStatusService agvStatusService = SpringContextHolder.getBean(TwoFloorAgvStatusService.class);
+
     String error_code = "0";
     int agvaddr = 0;
     int agvaddr_copy = 0;
@@ -100,6 +108,148 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     Boolean iserror = false;
     boolean isCharge = false;
 
+    /**
+     * 更新AGV状态信息到TwoFloorAgvStatusService
+     * @param arr socket数据数组
+     * @param carno 车号
+     * @param phase 当前阶段
+     * @param ikey 任务号
+     * @param agvaddr 站点号
+     * @param inst 指令信息
+     * @param task 任务信息
+     */
+    public TwoFloorAgvStatus updateAgvStatusToService(int[] arr, int carno, int phase, int ikey, int agvaddr, Instruction inst, TaskDto task) {
+        if (carno == 0) {
+            return null;
+        }
+
+        try {
+            // 创建AGV状态对象
+            TwoFloorAgvStatus agvStatus = new TwoFloorAgvStatus();
+
+            // 设置AGV车辆代码
+            String vehicleCode = String.format("AGV%02d", carno);
+            agvStatus.setVehicle_code(vehicleCode);
+
+            // 设置状态
+            String status = "running";
+            if (iserror) {
+                status = "error";
+            } else if (phase == 0x67 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
+                status = "idle";
+            }
+            agvStatus.setStatus(status);
+
+            // 设置任务信息
+            if (inst != null) {
+                agvStatus.setTask_code(inst.getTask_code());
+                agvStatus.setInst_code(String.valueOf(ikey));
+            }
+
+            // 设置阶段信息
+            agvStatus.setPhase(phase);
+            agvStatus.setPhase_name(twoAgvPhase.getPhaseName(phase));
+
+            // 设置位置信息
+            String address = deviceService.queryDeviceCodeByAddress(agvaddr);
+            agvStatus.setAddress(address);
+
+            // 设置错误信息
+            agvStatus.setIs_error(iserror);
+            agvStatus.setError_code(error_code);
+            agvStatus.setError_message(error_message);
+
+            // 设置电量
+            agvStatus.setElectric_qty(electric_qty);
+
+            // 设置坐标和角度
+            agvStatus.setX(x);
+            agvStatus.setY(y);
+            agvStatus.setAngle(angle);
+
+            // 设置区域
+            agvStatus.setRegion(region);
+
+            // 设置在线状态
+            agvStatus.setIs_online(isonline);
+
+            // 更新到服务
+            agvStatusService.updateAgvStatus(agvStatus);
+            return agvStatus;
+        } catch (Exception e) {
+            log.error("更新AGV状态到服务失败: {}", e.getMessage());
+        }
+        return null;
+    }
+
+
+    /**
+     *
+     * @param carno
+     * @param agvStatus
+     * @param device_code
+     * @param driver
+     * @param message
+     * @param expectValue
+     * @param actualVaue
+     */
+    public void recordTaskStuckReason(int carno,TwoFloorAgvStatus agvStatus, String device_code, String driver, String message,Map<String,Integer> expectValue,Map<String,Integer> actualVaue) {
+        try {
+            // 解析错误信息，提取action和mode不满足的原因
+            String act_action = String.valueOf(actualVaue.get("act_action"));
+            String act_mode = String.valueOf(actualVaue.get("act_mode"));
+            String act_error = String.valueOf(actualVaue.get("act_error"));
+            String act_move = String.valueOf(actualVaue.get("act_move"));
+            String exp_action = String.valueOf(expectValue.get("ept_action"));
+            String exp_mode = String.valueOf(expectValue.get("ept_mode"));
+            String exp_error = String.valueOf(expectValue.get("ept_error"));
+            String exp_move = String.valueOf(expectValue.get("ept_move"));
+
+            // 设置AGV车辆代码
+            String vehicleCode = String.format("AGV%02d", carno);
+            agvStatus.setVehicle_code(vehicleCode);
+
+            // 设置错误信息
+            agvStatus.setDriver(driver);
+            agvStatus.setIs_error(true);
+            agvStatus.setStatus("error");
+            agvStatus.setError_message(message);
+            agvStatus.setDevice_code(device_code);
+            agvStatus.setError_action(act_action);
+            agvStatus.setError_mode(act_mode);
+            agvStatus.setError_move(act_move);
+            agvStatus.setError_error(act_error);
+            agvStatus.setExp_action(exp_action);
+            agvStatus.setExp_mode(exp_mode);
+            agvStatus.setExp_move(exp_move);
+            agvStatus.setExp_error(exp_error);
+
+          StringBuffer messageSb = new StringBuffer();
+            messageSb.append("任务异常,phase"+agvStatus.getPhase());
+          if(expectValue.get("ept_action")!=null){
+              messageSb.append(",   期望action："+exp_action+" 实际action："+act_action);
+          }
+            if(expectValue.get("ept_mode")!=null){
+                messageSb.append(",   期望mode："+exp_mode+" 实际mode："+act_mode);
+            }
+            if(expectValue.get("ept_error")!=null){
+                messageSb.append(",   期望error："+exp_move+" 实际error："+act_move);
+            }
+            if(expectValue.get("ept_move")!=null){
+                messageSb.append(",   期望move："+exp_error+" 实际move："+act_error);
+            }
+
+
+            agvStatus.setError_message(messageSb.toString());
+
+            // 更新到服务
+            agvStatusService.updateAgvStatus(agvStatus);
+        } catch (Exception e) {
+            log.error("记录任务卡住原因失败: {}", e.getMessage());
+        }
+    }
+
+
     private synchronized void setErrorInfo(int error, String error_code, String error_message) {
         this.error = error;
         this.error_code = error_code;
@@ -186,6 +336,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
         //废箔称重位
         WasteFoilWeighingStationDriver wasteFoilWeighingStationDriver;
 
+        // 更新AGV状态信息到TwoFloorAgvStatusService
+        TwoFloorAgvStatus agvStatus = updateAgvStatusToService(arr, carno, phase, ikey, agvaddr, inst, task);
+
         if (phase == 0x02) {
             if (ObjectUtil.isEmpty(inst)) {
                 log.info("未找到指令号{}对应的指令", ikey);
@@ -300,7 +453,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
                 } else {
-                    message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                    message = "设备号:" + device_code + "光电信号move:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号action:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",null);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",standardInspectSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",standardInspectSiteDeviceDriver.getMode());
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
                             .content(message)
@@ -331,6 +496,18 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",null);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                  //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                  //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
@@ -355,6 +532,18 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                  // eptMap.put("ept_action",1);
+                  // eptMap.put("ept_mode",null);
+                  // eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                 //   actMap.put("act_action",hongXiangStationDeviceDriver.getAction());
+                 //   actMap.put("act_mode",hongXiangStationDeviceDriver.getMode());
+                 //   actMap.put("act_error",hongXiangStationDeviceDriver.getError());
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "hongXiangStationDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
@@ -380,6 +569,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_move",paperTubePickSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
                 }
             }/* else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
                 rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
@@ -464,6 +666,20 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",wasteFoilWeighingStationDriver.getAction());
+                    actMap.put("act_mode",wasteFoilWeighingStationDriver.getMode());
+                    actMap.put("act_error",wasteFoilWeighingStationDriver.getError());
+                    actMap.put("act_move",wasteFoilWeighingStationDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "wasteFoilWeighingStationDriver", message,eptMap,actMap);
+
                 }
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -591,6 +807,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                         acsToWmsService.actionFinishRequest2(jsonObject);
                     }
                 } else {
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",0);
+                    eptMap.put("ept_mode",2);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
                             .content("未给agv离开信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为0,当前的指令号为：" + inst.getInstruction_code())
@@ -621,6 +845,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "hongXiangStationDeviceDriver", message,eptMap,actMap);
+
                 }
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
@@ -645,6 +877,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",0);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_move",paperTubePickSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
+
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -670,6 +915,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",-1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
                 wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
@@ -697,6 +950,18 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",0);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",wasteFoilWeighingStationDriver.getAction());
+                    actMap.put("act_mode",wasteFoilWeighingStationDriver.getMode());
+                    actMap.put("act_error",wasteFoilWeighingStationDriver.getError());
+                    actMap.put("act_move",wasteFoilWeighingStationDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "wasteFoilWeighingStationDriver", message,eptMap,actMap);
                 }
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -820,6 +1085,15 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_action",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
@@ -845,6 +1119,17 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_action",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
@@ -869,6 +1154,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getError());
+
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -894,6 +1187,20 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",null);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",standardInspectSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",standardInspectSiteDeviceDriver.getMode());
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
+
                 }
             }/* else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
                     rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
@@ -1024,7 +1331,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }
+
+                        // 记录任务卡住原因
+                        Map<String,Integer> eptMap = new HashMap<>();
+                        eptMap.put("ept_action",1);
+                        eptMap.put("ept_mode",2);
+                        eptMap.put("ept_error",null);
+                        eptMap.put("ept_move",null);
+                        Map<String, Integer> actMap = new HashMap<>();
+                        actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                        actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                        //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                        //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                        recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);                    }
                 }
             } else if (ObjectUtil.isNotEmpty(start_device_code) && StrUtil.equals(device_code, next_device_code)) {
                 if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
@@ -1051,7 +1370,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }
+
+                        // 记录任务卡住原因
+                        Map<String,Integer> eptMap = new HashMap<>();
+                        eptMap.put("ept_action",1);
+                        eptMap.put("ept_mode",2);
+                        eptMap.put("ept_error",null);
+                        eptMap.put("ept_move",null);
+                        Map<String, Integer> actMap = new HashMap<>();
+                        actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                        actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                        //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                        //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                        recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);                   }
                 }
             } else if (ObjectUtil.isNotEmpty(start_device_code) && StrUtil.equals(device_code, start_device_code2)) {
                 if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
@@ -1078,7 +1409,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }
+
+                        // 记录任务卡住原因
+                        Map<String,Integer> eptMap = new HashMap<>();
+                        eptMap.put("ept_action",1);
+                        eptMap.put("ept_mode",2);
+                        eptMap.put("ept_error",null);
+                        eptMap.put("ept_move",null);
+                        Map<String, Integer> actMap = new HashMap<>();
+                        actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                        actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                        //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                        //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                        recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);                 }
                 }
             } else if (ObjectUtil.isNotEmpty(start_device_code) && StrUtil.equals(device_code, next_device_code2)) {
                 if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
@@ -1105,7 +1448,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }
+
+                        // 记录任务卡住原因
+                        Map<String,Integer> eptMap = new HashMap<>();
+                        eptMap.put("ept_action",1);
+                        eptMap.put("ept_mode",2);
+                        eptMap.put("ept_error",null);
+                        eptMap.put("ept_move",null);
+                        Map<String, Integer> actMap = new HashMap<>();
+                        actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                        actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                        //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                        //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                        recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);                 }
                 }
             }
 //                else {
@@ -1220,6 +1575,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",0);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "hongXiangStationDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                 manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -1256,7 +1618,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",0);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",null);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                    //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                    //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);         }
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                 try {
@@ -1281,6 +1655,20 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_move",paperTubePickSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
+
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -1306,6 +1694,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",null);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",standardInspectSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",standardInspectSiteDeviceDriver.getMode());
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -1431,6 +1832,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_move",paperTubePickSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                 manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -1457,7 +1871,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",null);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                    //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                    //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);     }
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -1483,6 +1909,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",0);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "hongXiangStationDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -1509,6 +1942,20 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",null);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",0);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",standardInspectSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",standardInspectSiteDeviceDriver.getMode());
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
+
                 }
             }/* else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
                 rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
@@ -1589,6 +2036,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",0);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",wasteFoilWeighingStationDriver.getAction());
+                    actMap.put("act_mode",wasteFoilWeighingStationDriver.getMode());
+                    actMap.put("act_error",wasteFoilWeighingStationDriver.getError());
+                    actMap.put("act_move",wasteFoilWeighingStationDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "wasteFoilWeighingStationDriver", message,eptMap,actMap);
                 }
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -1686,7 +2146,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",0);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",null);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                    //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                    //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);           }
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -1712,6 +2184,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "hongXiangStationDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
@@ -1773,6 +2252,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",0);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_move",paperTubePickSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -1797,6 +2289,17 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",standardInspectSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",standardInspectSiteDeviceDriver.getMode());
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
+
                 }
             } else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
                 wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
@@ -1826,6 +2329,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",wasteFoilWeighingStationDriver.getAction());
+                    actMap.put("act_mode",wasteFoilWeighingStationDriver.getMode());
+                    actMap.put("act_error",wasteFoilWeighingStationDriver.getError());
+                    actMap.put("act_move",wasteFoilWeighingStationDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "wasteFoilWeighingStationDriver", message,eptMap,actMap);
                 }
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -1927,7 +2443,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",null);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                    //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                    //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);              }
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -1953,6 +2481,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",0);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "hongXiangStationDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
@@ -1980,6 +2515,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_move",paperTubePickSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -2006,6 +2554,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",null);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",0);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",standardInspectSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",standardInspectSiteDeviceDriver.getMode());
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
                 }
             }/* else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
                     rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
@@ -2161,7 +2722,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",0);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",null);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",manipulatorAgvStationDeviceDriver.getAction());
+                    actMap.put("act_mode",manipulatorAgvStationDeviceDriver.getMode());
+                    //  actMap.put("act_error",manipulatorAgvStationDeviceDriver.getError());
+                    //  actMap.put("act_move",manipulatorAgvStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "manipulatorAgvStationDeviceDriver", message,eptMap,actMap);            }
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                 try {
@@ -2188,6 +2761,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",2);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",null);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",paperTubePickSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",paperTubePickSiteDeviceDriver.getMode());
+                    actMap.put("act_error",paperTubePickSiteDeviceDriver.getError());
+                    actMap.put("act_move",paperTubePickSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "paperTubePickSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
@@ -2214,6 +2800,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_move",hongXiangStationDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "hongXiangStationDeviceDriver", message,eptMap,actMap);
+
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -2238,6 +2832,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                    // 记录任务卡住原因
+                    Map<String,Integer> eptMap = new HashMap<>();
+                    eptMap.put("ept_action",1);
+                    eptMap.put("ept_mode",null);
+                    eptMap.put("ept_error",0);
+                    eptMap.put("ept_move",1);
+                    Map<String, Integer> actMap = new HashMap<>();
+                    actMap.put("act_action",standardInspectSiteDeviceDriver.getAction());
+                    actMap.put("act_mode",standardInspectSiteDeviceDriver.getMode());
+                    actMap.put("act_error",standardInspectSiteDeviceDriver.getError());
+                    actMap.put("act_move",standardInspectSiteDeviceDriver.getMove());
+                    recordTaskStuckReason(carno,agvStatus, device_code, "standardInspectSiteDeviceDriver", message,eptMap,actMap);
                 }
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);

acs2/nladmin-ui/src/views/screen/twoFloorAgvScreen.vue

@@ -0,0 +1,395 @@
+<template>
+  <div class="two-floor-agv-screen">
+    <div class="header">
+      <h1>二楼AGV监控看板</h1>
+      <div class="time-info">
+        <span>{{ getTime }}</span>
+        <span>{{ getDate }}</span>
+      </div>
+    </div>
+
+    <div class="agv-list">
+      <div
+        v-for="agv in agvList"
+        :key="agv.vehicle_code"
+        class="agv-item"
+        :class="{ 'agv-error': agv.is_error }"
+        @click="showAgvDetail(agv)"
+      >
+        <div class="agv-header">
+          <div class="agv-basic-info">
+            <h3>{{ agv.vehicle_code }}</h3>
+            <span class="status" :class="agv.status">{{ agv.status_text }}</span>
+          </div>
+          <div class="agv-phase">
+            <span class="label">当前阶段：</span>
+            <span class="phase-value">{{ agv.phase_name || '无' }}</span>
+          </div>
+        </div>
+
+        <div class="agv-task-info">
+          <div class="task-item">
+            <span class="label">任务代码：</span>
+            <span>{{ agv.task_code || '无' }}</span>
+          </div>
+          <div class="task-item">
+            <span class="label">指令代码：</span>
+            <span>{{ agv.inst_code || '无' }}</span>
+          </div>
+          <div class="task-item">
+            <span class="label">当前位置：</span>
+            <span>{{ agv.address || '未知' }}</span>
+          </div>
+        </div>
+
+        <div v-if="agv.is_error" class="agv-error-info">
+          <h4>任务卡住原因：</h4>
+          <div v-if="agv.error_action" class="error-item">
+            <span class="label">Action不满足：</span>
+            <span>{{ agv.error_action }}</span>
+          </div>
+          <div v-if="agv.error_mode" class="error-item">
+            <span class="label">Mode不满足：</span>
+            <span>{{ agv.error_mode }}</span>
+          </div>
+          <div v-if="agv.error_error" class="error-item">
+            <span class="label">Error不满足：</span>
+            <span>{{ agv.error_error }}</span>
+          </div>
+          <div v-if="agv.error_move" class="error-item">
+            <span class="label">Move不满足：</span>
+            <span>{{ agv.error_move }}</span>
+          </div>
+          <div v-if="agv.error_message" class="error-item">
+            <span class="label">错误信息：</span>
+            <span>{{ agv.error_message }}</span>
+          </div>
+        </div>
+
+        <div v-else-if="agv.phase_name" class="agv-normal-info">
+          <h4>当前任务进度：</h4>
+          <div v-for="(step, index) in agv.phase_steps" :key="index" class="progress-item">
+            <span class="step-name">{{ step.name }}</span>
+            <el-progress
+              :percentage="step.completed ? 100 : 0"
+              :color="step.completed ? '#67C23A' : '#E6A23C'"
+              :stroke-width="6"
+            />
+          </div>
+        </div>
+      </div>
+    </div>
+
+    <!-- AGV详情弹窗 -->
+    <el-dialog
+      title="AGV详情"
+      :visible.sync="dialogVisible"
+      width="50%"
+    >
+      <div v-if="currentAgv" class="agv-detail">
+        <el-descriptions :column="1" border>
+          <el-descriptions-item label="AGV编号">{{ currentAgv.vehicle_code }}</el-descriptions-item>
+          <el-descriptions-item label="当前状态">{{ currentAgv.status_text }}</el-descriptions-item>
+          <el-descriptions-item label="当前阶段">{{ currentAgv.phase_name || '无' }}</el-descriptions-item>
+          <el-descriptions-item label="任务代码">{{ currentAgv.task_code || '无' }}</el-descriptions-item>
+          <el-descriptions-item label="指令代码">{{ currentAgv.inst_code || '无' }}</el-descriptions-item>
+          <el-descriptions-item label="当前位置">{{ currentAgv.address || '未知' }}</el-descriptions-item>
+          <el-descriptions-item v-if="currentAgv.is_error" label="错误信息">
+            <div v-if="currentAgv.error_action">Action不满足：{{ currentAgv.error_action }}</div>
+            <div v-if="currentAgv.error_mode">Mode不满足：{{ currentAgv.error_mode }}</div>
+            <div v-if="currentAgv.error_action">Move不满足：{{ currentAgv.error_move }}</div>
+            <div v-if="currentAgv.error_error">Error不满足：{{ currentAgv.error_error }}</div>
+            <div v-if="currentAgv.error_message">{{ currentAgv.error_message }}</div>
+          </el-descriptions-item>
+        </el-descriptions>
+      </div>
+    </el-dialog>
+  </div>
+</template>
+
+<script>
+import Background from '@/assets/images/bigScreen.png'
+
+export default {
+  data() {
+    return {
+      Background: Background,
+      agvList: [
+        { vehicle_code: 'AGV01', status: 'running', status_text: '运行中', is_error: false },
+        { vehicle_code: 'AGV02', status: 'idle', status_text: '空闲', is_error: false },
+        { vehicle_code: 'AGV03', status: 'error', status_text: '异常', is_error: true },
+        { vehicle_code: 'AGV04', status: 'charging', status_text: '充电中', is_error: false }
+      ],
+      getTime: '',
+      getDate: '',
+      dialogVisible: false,
+      currentAgv: null
+    }
+  },
+  mounted() {
+    this.init()
+    // 定时器，每秒更新一次数据
+    const timer = setInterval(() => {
+      this.settime()
+      this.getMessage()
+    }, 1000)
+
+    // 销毁定时器
+    this.$once('hook:beforeDestroy', () => {
+      clearInterval(timer)
+    })
+  },
+  methods: {
+    init() {
+      // 初始化数据
+      this.settime()
+      // 获取AGV状态数据
+      this.getMessage()
+    },
+    settime() {
+      const yy = new Date().getFullYear()
+      const mm = new Date().getMonth() + 1
+      const dd = new Date().getDate()
+      const hh = new Date().getHours()
+      const mf = new Date().getMinutes() < 10 ? '0' + new Date().getMinutes() : new Date().getMinutes()
+      const ss = new Date().getSeconds() < 10 ? '0' + new Date().getSeconds() : new Date().getSeconds()
+      this.getDate = yy + '年' + mm + '月' + dd + '日 ' + '星期' + '日一二三四五六'.charAt(new Date().getDay())
+      this.getTime = hh + ':' + mf + ':' + ss
+    },
+    getMessage() {
+      // 通过HTTP接口获取AGV状态数据
+      this.$axios.get('/api/agv/two-floor/status')
+        .then(response => {
+          if (response) {
+            this.updateAgvData(response)
+          }
+        })
+        .catch(error => {
+          console.error('获取AGV状态数据失败:', error)
+        })
+    },
+    updateAgvData(agvDataList) {
+      // 更新AGV数据
+      agvDataList.forEach(data => {
+        const agvIndex = this.agvList.findIndex(agv => agv.vehicle_code === data.vehicle_code)
+        if (agvIndex !== -1) {
+          // 处理AGV状态
+          const statusMap = {
+            'running': { text: '运行中', class: 'running' },
+            'idle': { text: '空闲', class: 'idle' },
+            'error': { text: '异常', class: 'error' },
+            'charging': { text: '充电中', class: 'charging' }
+          }
+
+          // 根据数据状态判断AGV是否处于错误状态
+          const isError = !!(data.is_error || (data.error_action || data.error_mode || data.error_error || data.error_move || data.error_message))
+
+          // 设置状态信息
+          const statusInfo = statusMap[data.status] || { text: '未知', class: 'unknown' }
+          if (isError) {
+            statusInfo.text = '异常'
+            statusInfo.class = 'error'
+          }
+
+          // 更新AGV数据
+          this.agvList[agvIndex] = {
+            ...this.agvList[agvIndex],
+            ...data,
+            status_text: statusInfo.text,
+            status: statusInfo.class,
+            is_error: isError,
+            phase_name: data.phase_name,
+            error_action: data.error_action,
+            error_mode: data.error_mode,
+            error_move: data.error_move,
+            error_error: data.error_error,
+            error_message: data.error_message
+          }
+        }
+      })
+    },
+    showAgvDetail(agv) {
+      this.currentAgv = agv
+      this.dialogVisible = true
+    }
+  }
+}
+</script>
+
+<style scoped>
+.two-floor-agv-screen {
+  width: 100%;
+  height: 100vh;
+  background-color: #f0f2f5;
+  font-family: Arial, sans-serif;
+  overflow: auto;
+}
+
+.header {
+  background-color: #2c3e50;
+  color: white;
+  padding: 20px;
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.1);
+}
+
+.header h1 {
+  margin: 0;
+  font-size: 28px;
+}
+
+.time-info {
+  text-align: right;
+}
+
+.time-info span {
+  display: block;
+  margin: 5px 0;
+}
+
+.agv-list {
+  padding: 20px;
+  display: grid;
+  grid-template-columns: repeat(auto-fit, minmax(400px, 1fr));
+  gap: 20px;
+}
+
+.agv-item {
+  background-color: white;
+  border-radius: 8px;
+  padding: 20px;
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.1);
+  cursor: pointer;
+  transition: all 0.3s ease;
+  border-left: 5px solid #409eff;
+}
+
+.agv-item:hover {
+  transform: translateY(-5px);
+  box-shadow: 0 5px 20px rgba(0, 0, 0, 0.15);
+}
+
+.agv-item.agv-error {
+  border-left-color: #f56c6c;
+}
+
+.agv-header {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  margin-bottom: 15px;
+  padding-bottom: 10px;
+  border-bottom: 1px solid #eee;
+}
+
+.agv-basic-info h3 {
+  margin: 0;
+  font-size: 20px;
+  color: #333;
+}
+
+.status {
+  display: inline-block;
+  padding: 4px 12px;
+  border-radius: 12px;
+  font-size: 12px;
+  font-weight: bold;
+  margin-left: 10px;
+}
+
+.status.running {
+  background-color: #67c23a;
+  color: white;
+}
+
+.status.idle {
+  background-color: #909399;
+  color: white;
+}
+
+.status.error {
+  background-color: #f56c6c;
+  color: white;
+}
+
+.status.charging {
+  background-color: #e6a23c;
+  color: white;
+}
+
+.status.unknown {
+  background-color: #909399;
+  color: white;
+}
+
+.agv-phase {
+  text-align: right;
+}
+
+.label {
+  font-weight: bold;
+  color: #666;
+  margin-right: 5px;
+}
+
+.phase-value {
+  font-size: 16px;
+  color: #409eff;
+  font-weight: bold;
+}
+
+.agv-task-info {
+  margin-bottom: 15px;
+}
+
+.task-item {
+  margin: 8px 0;
+  font-size: 14px;
+}
+
+.agv-error-info {
+  background-color: #fef0f0;
+  border: 1px solid #fbc4ab;
+  border-radius: 4px;
+  padding: 15px;
+  margin-top: 15px;
+}
+
+.agv-error-info h4 {
+  margin-top: 0;
+  color: #f56c6c;
+  font-size: 16px;
+}
+
+.error-item {
+  margin: 8px 0;
+  font-size: 14px;
+}
+
+.agv-normal-info {
+  margin-top: 15px;
+}
+
+.agv-normal-info h4 {
+  margin-top: 0;
+  color: #67c23a;
+  font-size: 16px;
+}
+
+.progress-item {
+  margin: 10px 0;
+}
+
+.step-name {
+  display: block;
+  margin-bottom: 5px;
+  font-size: 14px;
+  color: #666;
+}
+
+.agv-detail {
+  padding: 10px 0;
+}
+</style>