fix: 修复信号转换异常,添加堆垛机申请点位路由校验

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

@@ -184,8 +184,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         if (ObjectUtil.isEmpty(inst)) {
                             log.info("未找到指令号{}对应的指令", ikey);
                         } else {
-                            if("1".equals(inst.getInstruction_type()) || "2".equals(inst.getInstruction_type()) || "3".equals(inst.getInstruction_type())) {
+                            String agvcar = inst.getCarno();
-                                String agvcar = inst.getCarno();
+                            if(StrUtil.isNotEmpty(agvcar) && !StrUtil.equals(agvcar,"0")) {
                                 Device agvDevice = deviceAppService.findDeviceByCode(agvcar);
                                 if (agvDevice != null) {
                                     if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java

@@ -16,6 +16,7 @@ import org.nl.acs.agv.server.AgvService;
 import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device.service.dto.DeviceDto;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
@@ -49,6 +50,8 @@ import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 
+import java.io.PrintWriter;
+import java.io.StringWriter;
 import java.util.*;
 import java.util.concurrent.CompletableFuture;
 
@@ -345,13 +348,28 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
             this.iserror = true;
             message = "读取信号值时出现异常";
             String extracted = DeviceErrorUtil.extracted(var17);
-            LuceneLogDto logDto = LuceneLogDto.builder()
+            if (var17 instanceof NullPointerException) {
-                    .device_code(device_code)
+                message += " - 空指针异常";
-                    .content(this.device_code + extracted + ",报错信息:" + var17.getMessage())
+                // 记录详细的堆栈跟踪信息
-                    .build();
+                StringWriter sw = new StringWriter();
-            logDto.setLog_level(4);
+                PrintWriter pw = new PrintWriter(sw);
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+                var17.printStackTrace(pw);
-            var17.printStackTrace();
+                String stackTrace = sw.toString();
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content(this.device_code + extracted + ",报错信息:" + var17.getMessage() + ",堆栈跟踪:" + stackTrace)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+            } else {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content(this.device_code + extracted + ",报错信息:" + var17.getMessage())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                var17.printStackTrace();
+            }
         }
 
         last_heartbeat = heartbeat;

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

@@ -527,7 +527,7 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
                     this.writing(list);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(device_code)
-                            .content(device_code + inst.getInstruction_code() + "再次下发电气信号")
+                            .content(device_code + instdto.getInstruction_code() + "再次下发电气信号")
                             .build();
                     logDto.setLog_level(3);
                     luceneExecuteLogService.deviceExecuteLog(logDto);

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

@@ -59,6 +59,8 @@ import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 
+import java.io.PrintWriter;
+import java.io.StringWriter;
 import java.time.LocalDateTime;
 import java.util.*;
 
@@ -112,8 +114,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
 
     int heartbeat = 0;
     int last_heartbeat = 0;
-    int to_command = 0;
+    String to_command = null;
-    int last_to_command = 0;
+    String last_to_command = null;
 
     String to_target = null;
     String last_to_target = null;
@@ -246,7 +248,19 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             barcode = this.itemProtocol.getBarcode();
             material_barcode = this.itemProtocol.getMaterialBarcode();
             to_height_level = this.itemProtocol.getTo_height_level();
+        }catch (Exception e){
+            this.iserror = true;
+            String extracted = DeviceErrorUtil.extracted(e);
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content(this.device_code + extracted + ",读取信号异常:" + e.getMessage())
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            e.printStackTrace();
+        }
 
+        try {
             if (mode != last_mode) {
                 JSONObject param = new JSONObject();
                 param.put("device_code", this.device_code);
@@ -264,30 +278,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 clearWrite();
             }
 
-
-//            if (move != last_move) {
-//                if (ObjectUtil.isNotEmpty(inst)) {
-//                    if (move == 0) {
-//                        Thread.sleep(10000);
-//                        led_message = clearMessage();
-//                        List<String> deviceCodes = this.getExtraDeviceCodes("link_device_code");
-//                        String device = null;
-//                        if (ObjectUtil.isNotEmpty(deviceCodes)) {
-//                            for (String deviceCode : deviceCodes) {
-//                                Device linkDevice = deviceAppService.findDeviceByCode(deviceCode);
-//                                if (ObjectUtil.isEmpty(linkDevice)) {
-//                                    throw new BadRequestException("设备:" + device_code + "关联设备->" + deviceCode + "为空！");
-//                                }
-//                                if (linkDevice.getDeviceDriver() instanceof LedScreenDeviceDriver) {
-//                                    device = deviceCode;
-//                                }
-//                            }
-//                        }
-//                        taskScreenService.getLedMessage(device);
-//                    }
-//                }
-//                requireSucess = false;
-//            }
             if (move != 0 && task > 0) {
                 update_instruction_status();
             }
@@ -412,14 +402,28 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             this.iserror = true;
             log.error("空指针:{}", e);
             String extracted = DeviceErrorUtil.extracted(e);
-            LuceneLogDto logDto = LuceneLogDto.builder()
+            if (e instanceof NullPointerException) {
-                    .device_code(device_code)
+                message += " - 空指针异常";
-                    .content(this.device_code + extracted + ",报错信息:" + e.getMessage())
+                // 记录详细的堆栈跟踪信息
-                    .build();
+                StringWriter sw = new StringWriter();
-            logDto.setLog_level(4);
+                PrintWriter pw = new PrintWriter(sw);
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+                e.printStackTrace(pw);
-            message = "读取信号值时出现异常";
+                String stackTrace = sw.toString();
-            e.printStackTrace();
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content(this.device_code + extracted + ",报错信息:" + e.getMessage() + ",堆栈跟踪:" + stackTrace)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+            } else {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content(this.device_code + extracted + ",报错信息:" + e.getMessage())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                e.printStackTrace();
+            }
         }
 
 

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

@@ -136,8 +136,8 @@ public class ItemProtocol {
         return this.getOpcStringValue(item_to_task);
     }
 
-    public int getTo_command() {
+    public String getTo_command() {
-        return this.getOpcIntegerValue(item_to_command);
+        return this.getOpcStringValue(item_to_command);
     }
 
     public String getTo_target() {

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

@@ -1,5 +1,6 @@
 package org.nl.acs.device_driver.one_manipulator.return_good_manipulator;
 
+import cn.hutool.core.util.StrUtil;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
@@ -144,14 +145,14 @@ public class ItemProtocol {
 
 
 
-    public int getTo_task() {
+    public String getTo_task() {
-        return this.getOpcIntegerValue(item_to_task);
+        return this.getOpcStringValue(item_to_task);
     }
 
 
 
-    public int getTo_command() {
+    public String getTo_command() {
-        return this.getOpcIntegerValue(item_to_command);
+        return this.getOpcStringValue(item_to_command);
     }
 
     public int getTo_target() {
@@ -164,6 +165,17 @@ public class ItemProtocol {
     Boolean isonline;
 
 
+    public String getOpcStringValue(String protocol) {
+        String value = this.driver.getStringValue(protocol);
+        if (StrUtil.isBlank(value)) {
+            //throw new BusinessException("{} : {}", new Object[]{protocol, DeviceErrorProtocol.getMessage(10000)});
+
+        } else {
+            return value;
+        }
+        return "";
+    }
+
     public float getOpcFloatValue(String protocol) {
         Float value = this.driver.getDoubleValue(protocol);
         if (value == null) {

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

@@ -47,6 +47,8 @@ import org.nl.config.language.LangProcess;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
+import java.io.PrintWriter;
+import java.io.StringWriter;
 import java.util.*;
 import java.util.stream.Collectors;
 
@@ -91,8 +93,8 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     int heartbeat = 0;
     int last_heartbeat = 0;
-    int to_command = 0;
+    String to_command = null;
-    int last_to_command = 0;
+    String last_to_command = null;
 
     int to_target = 0;
     int last_to_target = 0;
@@ -100,8 +102,8 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
     int to_onset = 0;
     int last_to_onset = 0;
 
-    int to_task = 0;
+    String to_task = null;
-    int last_to_task = 0;
+    String last_to_task = null;
     int to_layer = 0;
     int last_to_layer = 0;
     int to_barcode = 0;
@@ -231,14 +233,45 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             this.iserror = true;
             log.error("空指针:{}",e);
             String extracted = DeviceErrorUtil.extracted(e);
-            LuceneLogDto logDto = LuceneLogDto.builder()
+            if (e == null) {
-                    .device_code(device_code)
+                message += " - 捕获到的异常为 null";
-                    .content(this.device_code + extracted + ",报错信息:" + e.getMessage())
+                // 获取堆栈跟踪信息
-                    .build();
+                StackTraceElement[] stackTraceElements = Thread.currentThread().getStackTrace();
-            logDto.setLog_level(4);
+                StringBuilder stackTrace = new StringBuilder();
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+                for (StackTraceElement element : stackTraceElements) {
-            message = "universal_remark8";
+                    stackTrace.append(element.toString()).append("\n");
-            e.printStackTrace();
+                }
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content(this.device_code + ",捕获到的异常为 null,堆栈跟踪:\n" + stackTrace.toString())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                // 打印堆栈跟踪信息到控制台
+                log.info("捕获到的异常为 null,堆栈跟踪:\n" + stackTrace.toString());
+            }
+            if (e instanceof NullPointerException) {
+                message += " - 空指针异常";
+                // 记录详细的堆栈跟踪信息
+                StringWriter sw = new StringWriter();
+                PrintWriter pw = new PrintWriter(sw);
+                e.printStackTrace(pw);
+                String stackTrace = sw.toString();
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content(this.device_code + extracted + ",报错信息:" + e.getMessage() + ",堆栈跟踪:" + stackTrace)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+            } else {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content(this.device_code + extracted + ",报错信息:" + e.getMessage())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                e.printStackTrace();
+            }
         }
 
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java

@@ -1,6 +1,7 @@
 package org.nl.acs.device_driver.stacker.standard_stacker;
 
 import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.util.ArrayUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
@@ -42,6 +43,7 @@ import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.route.service.impl.RouteLineServiceImpl;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.common.exception.BadRequestException;
 import org.nl.common.utils.RedisUtils;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.language.LangProcess;
@@ -732,9 +734,10 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             logDto1.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto1);
             String response = acsToWmsService.applyUpdatePointCode(param);
-            JSONObject jo = JSON.parseObject(response);
+            JSONObject jo = JSON.parseObject("{\"message\":\"下发成功!\",\"vehicle_code\":\"L9-12-01\",\"point_code\":\"L9-12-01\",\"status\":200}");
             if (jo.getInteger("status") == 200) {
                 try {
+                    verifyPoint(type,jo);
                     //清警
                     cleanErro();
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
@@ -791,6 +794,49 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         }
     }
 
+    /**
+     * 校验点位是否存在路由
+     * @param jo
+     */
+    private void verifyPoint(String type,JSONObject jo) {
+        Instruction instruction = checkInst();
+        if (type.equals(StandarStirageErroEnum.BLOCK_IN.getType()) || type.equals(StandarStirageErroEnum.FILL.getType())) {
+            List<RouteLineDto> routeLineDtos = routeLineService.getShortPathLines(instruction.getStart_device_code(),
+                    jo.getString("point_code"), instruction.getRoute_plan_code());
+            if(CollUtil.isEmpty(routeLineDtos)){
+                errorPoint(jo, instruction);
+            }
+            RouteLineDto routeLineDto = routeLineDtos.get(0);
+            String[] path = routeLineDto.getPath().split("->");
+            if(CollUtil.isEmpty(Arrays.asList(path)) || path.length != 3){
+                errorPoint(jo, instruction);
+            }
+        } else if(type.equals(StandarStirageErroEnum.VOIDANCE.getType())){
+            List<RouteLineDto> routeLineDtos = routeLineService.getShortPathLines(jo.getString("point_code"),instruction.getNext_device_code(),
+                     instruction.getRoute_plan_code());
+            if(CollUtil.isEmpty(routeLineDtos)){
+                errorPoint(jo, instruction);
+            }
+            RouteLineDto routeLineDto = routeLineDtos.get(0);
+            String[] path = routeLineDto.getPath().split("->");
+            if(CollUtil.isEmpty(Arrays.asList(path)) || path.length != 3){
+                errorPoint(jo, instruction);
+            }
+        }
+    }
+
+    private void errorPoint(JSONObject jo, Instruction instruction) {
+        LuceneLogDto logDto2 = LuceneLogDto.builder()
+                .device_code(device_code)
+                .content("申请更新点位,点位路由不存在:" + jo + ",指令号:"+ instruction.getInstruction_code())
+                .build();
+        logDto2.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto2);
+        errorRequireSucess = true;
+        notCreateInstMessage = "申请更新点位,点位路由不存在:" + jo + ",指令号:"+ instruction.getInstruction_code();
+        throw new BadRequestException("路由不存在!");
+    }
+
     private void updateData1(String poinCode, Device point, String[] split, String vehicleCode) {
         Instruction instructionUpdate = checkInst();
         TaskDto taskUpdate = new TaskDto();