fix: 多次更新agv状态、阻塞测试

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

@@ -75,6 +75,7 @@ public class QueryAGVStatus {
                 String carNo = json.getString("vehicle");
                 String instructionCode = json.getString("id");
                 if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) {
+                    if (!"1".equals(instruction.getInstruction_status())) {
                         instruction.setInstruction_status("1");
                         instruction.setCarno(carNo);
                         TaskDto task = new TaskDto();
@@ -83,7 +84,7 @@ public class QueryAGVStatus {
                         task.setTask_id(instruction.getTask_id());
                         instructionService.update(instruction);
                         taskService.update(task);
-                    if (StrUtil.isNotEmpty(instructionCode)){
+                        if (StrUtil.isNotEmpty(instructionCode)) {
                             Device carCode = deviceAppService.findDeviceByCode(instructionCode);
                             XgAgvCarDeviceDriver xgAgvCarDeviceDriver;
                             if (null != carCode) {
@@ -93,8 +94,10 @@ public class QueryAGVStatus {
                                 }
                             }
                         }
+                    }
 
                 } else if ("FINISHED".equals(state)) {
+                    if (!"2".equals(instruction.getInstruction_status())) {
                         instruction.setInstruction_status("2");
                         try {
                             instructionService.finish(instruction);
@@ -102,11 +105,14 @@ public class QueryAGVStatus {
                             log.error("执行完成，但无法更新状态，可能由于参数错误导致的异常");
                             e.printStackTrace();
                         }
+                    }
                 } else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) {
+                    if (!"1".equals(instruction.getInstruction_status())) {
                         instruction.setInstruction_status("1");
                         instructionService.update(instruction);
                     }
                 }
             }
         }
+    }
 }

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

@@ -743,7 +743,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
         if (ObjectUtil.isEmpty(instructionDto)) {
             LuceneLogDto logDto = LuceneLogDto.builder()
-                    .content("请求失败，未找到指令！" )
+                    .content("请求失败，未找到指令！" +  inst_code)
                     .build();
             logDto.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java

@@ -192,18 +192,12 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             }
 
             if (move != 0 && task > 0) {
-                if (null!=inst) {
+                if (null != inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
                 update_instruction_status();
             }
-        } catch (Exception var17) {
+            if (move != last_move && move == 0 && last_move == 1) {
-            var17.printStackTrace();
-            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
-        }
-
-
-        if (move != last_move && move==0 && last_move==1) {
                 requireSucess = false;
                 clearWrite();
             }
@@ -219,6 +213,8 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 if (error != 0) {
                     this.setIserror(true);
                     message = "有警报";
+                }else {
+                    this.setIserror(false);
                 }
 
                 Instruction instruction = null;
@@ -231,9 +227,9 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                     case 2:
                         break;
                     case 25:
-                    if ( StrUtil.isEmpty(material_barcode)) {
+                        if (StrUtil.isEmpty(material_barcode)) {
                             message = "子卷码为空";
-                    }else {
+                        } else {
                             //二楼到一楼输送线申请行架任务
                             if (move == 1 && !requireSucess) {
                                 applyManipulatorTask();
@@ -242,6 +238,18 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                         break;
                 }
             }
+        } catch (Exception var17) {
+            this.iserror = true;
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content(this.device_code+ "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol))
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            var17.printStackTrace();
+        }
+
+
         last_mode = mode;
         last_move = move;
         last_error = error;
@@ -259,21 +267,21 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
     private void clearWrite() {
         List list = new ArrayList<>();
         Map map = new HashMap<>();
-        map.put("code","to_target");
+        map.put("code", "to_target");
-        map.put("value","0");
+        map.put("value", "0");
         list.add(map);
         Map map2 = new HashMap<>();
-        map2.put("code","to_task");
+        map2.put("code", "to_task");
-        map2.put("value","0");
+        map2.put("value", "0");
         list.add(map2);
         Map map4 = new HashMap<>();
-        map4.put("code","to_container_type");
+        map4.put("code", "to_container_type");
-        map4.put("value","0");
+        map4.put("value", "0");
         list.add(map4);
 
         this.writing(list);
-        message=null;
+        message = null;
-        vehicle_code=null;
+        vehicle_code = null;
         inst_message = null;
     }
 
@@ -652,7 +660,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
         map.put("error", ErrorUtil.getDictDetail("ssx_error_type", String.valueOf(this.getError())));
         map.put("requireSucess", requireSucess);
         map.put("driver_type", "siemens_conveyor");
-        map.put("message",message);
+        map.put("message", message);
         map.put("inst_message", this.inst_message);
         map.put("last_inst_message", this.last_inst_message);
         map.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/ItemProtocol.java

@@ -139,7 +139,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return 0;
+        return value;
 
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -243,6 +243,15 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记:" + requireSucess);
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
             }
+            if (mode == -99){
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("PLC断连需重启程序")
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                throw  new BadRequestException("PLC断连需重启程序");
+            }
 
 
             if (move != last_move && move == 0 && last_move == 1) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ItemProtocol.java

@@ -178,7 +178,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return 0;
+        return -99;
     }
 
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java

@@ -285,6 +285,12 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                     }
 
                 }else {
+                    LuceneLogDto logDto2 = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("木箱开盖报错,接口返回:" + response)
+                            .build();
+                    logDto2.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto2);
                     message = "木箱开盖报错,返回参数:" + jo;
                     this.iserror = true;
                 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java

@@ -182,16 +182,14 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
 
         if (mode == 0) {
             this.setIsonline(false);
-            message = "未联机";
             //有报警
         } else if (error != 0) {
             this.setIserror(true);
-            message = "有报警";
+            message = "universal_message3";
             //无报警
         } else {
             this.setIsonline(true);
             this.setIserror(false);
-            message = "";
             Instruction instruction = null;
             List toInstructions;
 

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

@@ -1688,7 +1688,14 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             JSONArray ja = new JSONArray();
             ja.add(feed_jo);
             //TODO 有需要根据上位系统反馈的信息再做进一步处理
+            CompletableFuture.runAsync(() -> {
                 acstowmsService.feedTaskStatus(ja);
+                // 异步更新任务状态
+                try {
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+            });
         }
     }
 

acs2/nladmin-ui/src/views/acs/device/customPolicy/task/index.vue

@@ -23,7 +23,24 @@
       </div>
       <div class="app-container">
         <el-table :data="modeform.plans" border fit highlight-current-row style="width: 100%;" class="tb-edit">
-          <el-table-column label="起始设备" prop="from" width="180">
+          <el-table-column label="任务类型" prop="type" width="180">
+            <template scope="scope">
+              <el-select
+                v-model="scope.row.type"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in requestMethodList"
+                  :key="item.code"
+                  :label="item.name"
+                  :value="item.code"
+                />
+              </el-select>
+            </template>
+          </el-table-column>
+          <el-table-column label="指令起点" prop="from" width="180">
             <template scope="scope">
               <el-select
                 v-model="scope.row.from"
@@ -40,7 +57,7 @@
               </el-select>
             </template>
           </el-table-column>
-          <el-table-column label="目标设备" prop="to" width="180">
+          <el-table-column label="指令终点" prop="to" width="180">
             <template scope="scope">
               <el-select
                 v-model="scope.row.to"
@@ -63,23 +80,7 @@
               <span v-show="scope.row.edit">{{ scope.row.quantity }}</span>
             </template>
           </el-table-column>
-          <el-table-column label="任务类型" prop="type" width="180">
+
-            <template scope="scope">
-              <el-select
-                v-model="scope.row.type"
-                filterable
-                clearable
-                placeholder="请选择"
-              >
-                <el-option
-                  v-for="item in requestMethodList"
-                  :key="item.code"
-                  :label="item.name"
-                  :value="item.code"
-                />
-              </el-select>
-            </template>
-          </el-table-column>
           <el-table-column align="center" label="操作" width="170">
             <template scope="scope">
               <el-button