fix: 日志bug修改

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

@@ -18,6 +18,8 @@ import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.task.enums.AgvSystemTypeEnum;
 import org.nl.common.exception.BadRequestException;
+import org.nl.config.lucene.service.LuceneExecuteLogService;
+import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
@@ -41,6 +43,9 @@ public class AgvWaitUtil {
     @Autowired
     private DeviceAppService deviceAppService;
 
+    @Autowired
+    private LuceneExecuteLogService luceneExecuteLogService;
+
     //取货前等待
     public JSONObject waitInGet(String startDeviceCode, Instruction inst) {
         log.info("仙工AGV请求取货，设备号 - {}", startDeviceCode);
@@ -52,7 +57,13 @@ public class AgvWaitUtil {
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
             manipulatorAgvStationDeviceDriver.writing(2);
             if(manipulatorAgvStationDeviceDriver.getAction() != 1){
-                throw new BadRequestException("上位系统不允许取货");
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("agv诺宝对接位行架不允许取货:" + inst.getCarno()+ "点位号"+ manipulatorAgvStationDeviceDriver.getDevice_code())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                throw new BadRequestException("行架不允许取货");
             }
 
         }
@@ -60,6 +71,12 @@ public class AgvWaitUtil {
         if(startDevice.getDeviceDriver() instanceof BoxSubvolumesConveyorDeviceDriver){
             boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) startDevice.getDeviceDriver();
             if(boxSubvolumesConveyorDeviceDriver.getMode() != 2){
+                LuceneLogDto logDto1 = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("agv叉车对接位输送线不允许取货:" + inst.getCarno()+ "点位号"+ boxSubvolumesConveyorDeviceDriver.getDevice_code())
+                        .build();
+                logDto1.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto1);
                 throw new BadRequestException("上位系统不允许取货");
             }
         }
@@ -98,6 +115,12 @@ public class AgvWaitUtil {
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) endDevice.getDeviceDriver();
             manipulatorAgvStationDeviceDriver.writing(2);
             if(manipulatorAgvStationDeviceDriver.getAction() != 1){
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("agv诺宝对接位行架不允许放货:" + inst.getCarno()+ "点位号"+ manipulatorAgvStationDeviceDriver.getDevice_code())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
                 log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", endDevice);
                 throw new BadRequestException("上位系统不允许取货");
             }

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

@@ -13,7 +13,10 @@ import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.task.domain.Task;
 import org.nl.acs.task.enums.AgvSystemTypeEnum;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.config.SpringContextHolder;
 import org.nl.system.service.param.ISysParamService;
 import org.springframework.stereotype.Component;
@@ -30,6 +33,7 @@ public class QueryAGVStatus {
 
     public void run() {
         InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+        TaskService taskService = SpringContextHolder.getBean(TaskService.class);
         ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
         List<Instruction> allInstFromCache = instructionService.findAllInstFromCache();
         List<Instruction> agvInstruction = allInstFromCache.stream().filter(item -> AgvSystemTypeEnum.One_NDC_System_Type.getIndex().equals(item.getAgv_system_type()) || AgvSystemTypeEnum.XG_System_Type.getIndex().equals(item.getAgv_system_type())).collect(Collectors.toList());
@@ -59,9 +63,16 @@ public class QueryAGVStatus {
                 // 等待=WAITING
                 //执行中
                 String state = json.getString("state");
+                String carNo = json.getString("vehicle");
                 if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) {
                     instruction.setInstruction_status("1");
+                    instruction.setCarno(carNo);
+                    TaskDto task = new TaskDto();
                     instructionService.update(instruction);
+                    task.setCarno(carNo);
+                    task.setTask_id(instruction.getTask_id());
+                    instructionService.update(instruction);
+                    taskService.update(task);
                 } else if ("FINISHED".equals(state)) {
                     instruction.setInstruction_status("2");
                     try {

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

@@ -745,7 +745,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             JSONObject param = new JSONObject();
             param.put("task_code", task_code);
             LuceneLogDto logDto = LuceneLogDto.builder()
-                    .device_code("追加动叉车作块：")
+                    .device_code(instructionDto.getCarno())
                     .content("追加动叉车作块,参数:" + task_code )
                     .build();
             logDto.setLog_level(4);
@@ -754,7 +754,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             JSONObject jo = JSON.parseObject(response);
             if (jo.getInteger("status") == 200) {
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code("追加动叉车作块：")
+                        .device_code(instructionDto.getCarno())
                         .content("追加动叉车作块,参数,接口返回:" + jo)
                         .build();
                 logDto2.setLog_level(4);
@@ -765,7 +765,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
             } else {
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code("追加动叉车作块：")
+                        .device_code(instructionDto.getCarno())
                         .content("追加动叉车作块失败,返回参数:" + jo.getString("body"))
                         .build();
                 logDto2.setLog_level(4);
@@ -859,7 +859,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             param.put("taskCode", task_code);
             param.put("actionType", actionType.toString());
             LuceneLogDto logDto = LuceneLogDto.builder()
-                    .device_code("追加动诺宝作块：")
+                    .device_code(instructionDto.getCarno())
                     .content("追加动诺宝作块,参数:" + task_code + "--" + actionType)
                     .build();
             logDto.setLog_level(4);
@@ -868,7 +868,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             JSONObject jo = JSON.parseObject(response);
             if (jo.getInteger("status") == 200) {
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code("追加动诺宝作块：")
+                        .device_code(instructionDto.getCarno())
                         .content("追加动诺宝作块,参数,接口返回:" + jo)
                         .build();
                 logDto2.setLog_level(4);
@@ -881,7 +881,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
             } else {
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code("追加动诺宝作块：")
+                        .device_code(instructionDto.getCarno())
                         .content("追加动诺宝作块失败,返回参数:" + jo.getString("body"))
                         .build();
                 logDto2.setLog_level(4);
@@ -1343,16 +1343,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
             JSONObject jo9 = new JSONObject();
             jo9.put("blockId", IdUtil.simpleUUID());
-            jo9.put("location", inst.getNext_device_code() + "INPUT");
+            jo9.put("location", inst.getNext_device_code());
             jo9.put("operation", "script");
-            jo9.put("id", inst.getNext_device_code() + "INPUT");
+            jo9.put("id", inst.getNext_device_code());
             jo9.put("script_name", "userpy/interact.py");
             JSONObject script_args5 = new JSONObject();
             script_args5.put("addr", addr);
             JSONObject data3 = new JSONObject();
             JSONObject reach3 = new JSONObject();
             reach3.put("task_code", inst.getInstruction_code());
-            reach3.put("address", inst.getNext_device_code() + "INPUT");
+            reach3.put("address", inst.getNext_device_code());
             data3.put("reach", reach3);
             script_args5.put("data", data3);
             script_args5.put("protocol", "HTTP");

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/box_manipulator_site/BoxManipulatorSiteDeviceDriver.java

@@ -240,7 +240,7 @@ public class BoxManipulatorSiteDeviceDriver extends AbstractOpcDeviceDriver impl
 
         } catch (Exception var17) {
             var17.printStackTrace();
-            feedMessage = var17.getMessage();
+            //            feedMessage = var17.getMessage();
             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));
 
         }

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

@@ -209,6 +209,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     JSONObject led_message = null;
 
 
+
     @Override
     public Device getDevice() {
         return this.device;
@@ -237,12 +238,13 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
             to_container_no = this.itemProtocol.getContainer_direction();
 
 
-            if (move != last_move && move == 0 && last_move == 1) {
+            if (move != last_move) {
                 requireSucess = false;
                 clearWrite();
             }
 
             if (move != 0 && task > 0) {
+                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
                 CompletableFuture.runAsync(() -> {
                     // 异步更新指令状态
                     try {
@@ -826,6 +828,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         jo.put("requireSucess", requireSucess);
         jo.put("hand_barcode", hand_barcode);
         jo.put("materiel", material_barcode);
+        jo.put("inst_message", this.inst_message);
         jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
         return jo;
     }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/BlankManipulatorDeviceDriver.java

@@ -229,7 +229,7 @@
 //
 //        } catch (Exception var17) {
 //            var17.printStackTrace();
-//            feedMessage = var17.getMessage();
+//            //            feedMessage = var17.getMessage();
 //            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.standardItemProtocol));
 //
 //        }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/DryManipulatorDeviceDriver.java

@@ -228,7 +228,7 @@
 //
 //        } catch (Exception var17) {
 //            var17.printStackTrace();
-//            feedMessage = var17.getMessage();
+//            //            feedMessage = var17.getMessage();
 //            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.standardItemProtocol));
 //
 //        }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/OvenGantryManipulatorDeviceDriver.java

@@ -234,7 +234,7 @@
 //
 //        } catch (Exception var17) {
 //            var17.printStackTrace();
-//            feedMessage = var17.getMessage();
+//            //            feedMessage = var17.getMessage();
 //            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.standardItemProtocol));
 //
 //        }

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

@@ -167,6 +167,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
     String vehicle_code;
     String last_vehicle_code;
 
+
     @Override
     public Device getDevice() {
         return this.device;
@@ -199,6 +200,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             }
 
             if (move != 0 && task > 0) {
+                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
                 update_instruction_status();
             }
         } catch (Exception var17) {

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

@@ -196,7 +196,7 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
             }
             if (move != 0 && task > 0) {
-
+                inst_message = "当前指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + "  载具号：" + inst.getVehicle_code();
                 update_instruction_status();
             }
         } catch (Exception var17) {
@@ -737,7 +737,6 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             this.instruction_update_time = date;
             inst = checkInst();
             if (inst != null) {
-                inst_message = "当前指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + "  载具号：" + inst.getVehicle_code();
                 vehicle_code = inst.getVehicle_code();
                 task_code = inst.getTask_code();
                 if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {

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

@@ -199,7 +199,6 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr
 
 
             if (move != 0 && task > 0) {
-
                 update_instruction_status();
             }
 

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

@@ -680,6 +680,7 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
         jo.put("notCreateTaskMessage", notCreateTaskMessage);
         jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
         jo.put("feedMessage", LangProcess.msg(feedMessage));
+        jo.put("inst_message", this.inst_message);
         jo.put("driver_type", "siemens_conveyor");
         jo.put("is_click", true);
         return jo;

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

@@ -1026,6 +1026,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
         jo.put("feedMessage", LangProcess.msg(feedMessage));
         jo.put("driver_type", "conveyor_with_scanner_weight");
         jo.put("is_click", true);
+        jo.put("inst_message", this.inst_message);
         return jo;
     }
 

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

@@ -43,6 +43,7 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
 import java.util.*;
+import java.util.stream.Collectors;
 
 /**
  * 装箱智能行架
@@ -86,6 +87,7 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
     // y坐标
     float y = 0.0f;
     float last_y = 0.0f;
+    String inst_message;
 
     int heartbeat = 0;
     int last_heartbeat = 0;
@@ -188,6 +190,7 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
                 updateInstrction();
             }
 
@@ -336,8 +339,9 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 String startDeviceCode = getDeviceCodeList.get(i);
                 //先查指令
                 List<TaskDto> taskDtoInstruction = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode);
-                if (CollUtil.isNotEmpty(taskDtoInstruction)){
+                List<TaskDto> taskDtoStream = taskDtoInstruction.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
-                    TaskDto taskDtoIns = taskDtoInstruction.get(0);
+                if (CollUtil.isNotEmpty(taskDtoStream)) {
+                    TaskDto taskDtoIns = taskDtoStream.get(0);
                     if (TaskTypeEnum.Truss_Task.getIndex().equals(taskDtoIns.getTask_type())) {
                         Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDtoIns.getTask_code());
                         String interactionJson = taskDtoIns.getInteraction_json();
@@ -644,6 +648,7 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
         jo.put("is_click", true);
         jo.put("x", x);
         jo.put("y", y);
+        jo.put("inst_message", this.inst_message);
         return jo;
     }
 

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

@@ -46,6 +46,7 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
 import java.util.*;
+import java.util.stream.Collectors;
 
 /**
  * 木箱入库行架
@@ -106,6 +107,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     int branchProtocol = 0;
     private String error_type = "hxhj_error_type";
+    String inst_message;
 
     //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
     int flag;
@@ -158,6 +160,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             }
             // 更新指令状态
             if (mode == 3 && task > 0 && !requireActionSucess) {
+                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
                 updateInstructionStatus();
             }
 
@@ -302,8 +305,9 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 String startDeviceCode = getDeviceCodeList.get(i);
                 //先查指令
                 List<TaskDto> taskDtoInstruction = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode);
-                if (CollUtil.isNotEmpty(taskDtoInstruction)) {
+                List<TaskDto> taskDtoStream = taskDtoInstruction.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
-                    TaskDto taskDtoIns = taskDtoInstruction.get(0);
+                if (CollUtil.isNotEmpty(taskDtoStream)) {
+                    TaskDto taskDtoIns = taskDtoStream.get(0);
                     if (TaskTypeEnum.Truss_Task.getIndex().equals(taskDtoIns.getTask_type())) {
                         Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDtoIns.getTask_code());
                         String interactionJson = taskDtoIns.getInteraction_json();
@@ -596,6 +600,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
         jo.put("feedMessage", LangProcess.msg(feedMessage));
         jo.put("driver_type", "box_storage_manipulator");
         jo.put("is_click", true);
+        jo.put("inst_message", this.inst_message);
         return jo;
     }
 

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

@@ -47,6 +47,7 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
 import java.util.*;
+import java.util.stream.Collectors;
 
 /**
  * 退货入库行架
@@ -141,6 +142,7 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
     List<String> getDeviceCodeList = null;
 
     List<String> putDeviceCodeList = null;
+    String inst_message;
 
 
     @Override
@@ -171,6 +173,8 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
+
                 updateInstructionStatus();
             }
 
@@ -319,8 +323,9 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 String startDeviceCode = getDeviceCodeList.get(i);
                 //先查指令
                 List<TaskDto> taskDtoInstruction = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode);
-                if (CollUtil.isNotEmpty(taskDtoInstruction)) {
+                List<TaskDto> taskDtoStream = taskDtoInstruction.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
-                    TaskDto taskDtoIns = taskDtoInstruction.get(0);
+                if (CollUtil.isNotEmpty(taskDtoStream)) {
+                    TaskDto taskDtoIns = taskDtoStream.get(0);
                     if (TaskTypeEnum.Truss_Task.getIndex().equals(taskDtoIns.getTask_type())) {
                         Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDtoIns.getTask_code());
                         String interactionJson = taskDtoIns.getInteraction_json();
@@ -610,6 +615,7 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
         jo.put("feedMessage", LangProcess.msg(feedMessage));
         jo.put("driver_type", "siemens_conveyor");
         jo.put("is_click", true);
+        jo.put("inst_message", this.inst_message);
         return jo;
     }
 

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

@@ -42,6 +42,8 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
 import java.util.*;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
 /**
  * 捆扎智能行架
@@ -130,6 +132,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
     String notCreateTaskMessage = "";
     String notCreateInstMessage = "";
     String feedMessage = "";
+    String inst_message;
 
 
     List<String> getDeviceCodeList = null;
@@ -165,12 +168,14 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
+
                 updateInstructionStatus();
             }
 
         } catch (Exception var17) {
             var17.printStackTrace();
-            feedMessage = var17.getMessage();
+            //            feedMessage = var17.getMessage();
             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));
 
         }
@@ -311,8 +316,9 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                 String startDeviceCode = getDeviceCodeList.get(i);
                 //先查指令
                 List<TaskDto> taskDtoInstruction = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode);
-                if (CollUtil.isNotEmpty(taskDtoInstruction)) {
+                List<TaskDto> taskDtoStream = taskDtoInstruction.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
-                    TaskDto taskDtoIns = taskDtoInstruction.get(0);
+                if (CollUtil.isNotEmpty(taskDtoStream)) {
+                    TaskDto taskDtoIns = taskDtoStream.get(0);
                     if (TaskTypeEnum.Truss_Task.getIndex().equals(taskDtoIns.getTask_type())) {
                         Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDtoIns.getTask_code());
                         String interactionJson = taskDtoIns.getInteraction_json();
@@ -353,8 +359,19 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                         return true;
                     }
                 } else {
-                    TaskDto taskDto = taskserver.findByStartCodeAndReady(startDeviceCode);
+                    List<TaskDto> taskDtos =  taskserver.findByTrappedManipulatorReady();
-                    if (ObjectUtil.isNotEmpty(taskDto) && TaskTypeEnum.Truss_Task.getIndex().equals(taskDto.getTask_type())) {
+                    List<TaskDto> taskDtosReady = new ArrayList<>();
+                    TaskDto taskDto = new TaskDto();
+                    for (TaskDto taskDto1 : taskDtos) {
+                        if (getDeviceCodeList.contains(taskDto1.getStart_device_code())){
+                            taskDtosReady.add(taskDto1);
+                        }
+                    }
+                    if (CollUtil.isNotEmpty(taskDtosReady)) {
+                        List<TaskDto> taskDtoList = taskDtosReady.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
+                        taskDto = taskDtoList.get(0);
+                    }
+                    if (ObjectUtil.isNotEmpty(taskDto)) {
                         String interactionJson = taskDto.getInteraction_json();
                         InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
                         String start_device_code = taskDto.getStart_device_code();
@@ -624,6 +641,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
         jo.put("feedMessage", LangProcess.msg(feedMessage));
         jo.put("driver_type", "siemens_conveyor");
         jo.put("is_click", true);
+        jo.put("inst_message", this.inst_message);
         return jo;
     }
 

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

@@ -46,6 +46,7 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
 import java.util.*;
+import java.util.stream.Collectors;
 
 /**
  * 捆扎智能行架
@@ -151,6 +152,7 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
     List<String> getDeviceCodeList = null;
 
     List<String> putDeviceCodeList = null;
+    String inst_message;
 
 
     @Override
@@ -185,6 +187,8 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
+
                 updateInstructionStatus();
             }
 
@@ -335,8 +339,9 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
                 String startDeviceCode = getDeviceCodeList.get(i);
                 //先查指令
                 List<TaskDto> taskDtoInstruction = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode);
-                if (CollUtil.isNotEmpty(taskDtoInstruction)) {
+                List<TaskDto> taskDtoStream = taskDtoInstruction.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
-                    TaskDto taskDtoIns = taskDtoInstruction.get(0);
+                if (CollUtil.isNotEmpty(taskDtoStream)) {
+                    TaskDto taskDtoIns = taskDtoStream.get(0);
                     if (TaskTypeEnum.Truss_Task.getIndex().equals(taskDtoIns.getTask_type())) {
                         Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDtoIns.getTask_code());
                         String start_device_code = taskDtoIns.getStart_device_code();
@@ -641,6 +646,7 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
         jo.put("feedMessage", LangProcess.msg(feedMessage));
         jo.put("driver_type", "siemens_conveyor");
         jo.put("is_click", true);
+        jo.put("inst_message", this.inst_message);
         return jo;
     }
 

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

@@ -343,7 +343,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 } else {
                     this.instruction_update_time = date;
                     //更改指令状态
-                    if (task > 0) {
+                    if (task > 0 && !Objects.equals(command, last_command)) {
                         Instruction inst = checkInst();
                         if (inst != null) {
                             if (StrUtil.equals(inst.getInstruction_status(), "0")) {
@@ -363,29 +363,28 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
 
         //不同任务限制清零
         if (!Objects.equals(task, last_task)) {
+            this.isonline=true;
             count = 0;
         }
 
         if (mode == 0) {
             this.setIsonline(false);
             message = "universal_off";
-        } else if (error != 0) {
+        }else {
+            this.setIsonline(true);
+        }
+        if (error != 0) {
             this.setIserror(true);
             message = "universal_message3";
+        } else {
+            this.setIserror(false);
         }
         if (mode != 3 || requireSucess) {
             message = "one_message7";
         } else {
             if (error != 0) {
-
-                Date date = new Date();
-                if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
-                    log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
-                } else {
-                    //满入空出或者浅货位阻挡
                 erroBlock();
             }
-            }
             List list = new ArrayList();
             switch (command) {
                 case 0:
@@ -402,6 +401,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
                     message = "universal_delivery";
+
                     if (updateCommand("1")) break;
                     break;
                 case 2:
@@ -592,6 +592,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         }
         instruction0.setExecute_message(string);
         instructionService.update(instruction0);
+
     }
 
     private static void packageDevicePoint(Device nextDevice, List list) {
@@ -690,7 +691,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
             return;
         } else {
-            Instruction instruction = instructionService.findByCode(String.valueOf(task));
+            Instruction instruction = instructionService.findByDeviceCodeRunFromCache(String.valueOf(task));
             if (ObjectUtil.isEmpty(instruction)) {
                 message = "one_message9";
                 return;
@@ -699,6 +700,12 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             param.put("task_code", instruction.getTask_code());
             param.put("task_id", instruction.getTask_id());
             param.put("type", type);
+            LuceneLogDto logDto1 = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content("申请更新点位,参数:" + param)
+                    .build();
+            logDto1.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto1);
             String response = acsToWmsService.applyUpdatePointCode(param);
             JSONObject jo = JSON.parseObject(response);
             if (StrUtil.isNotEmpty(jo.getString("body")) || jo.getInteger("status") == 200) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java

@@ -198,7 +198,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
         } catch (Exception var17) {
             var17.printStackTrace();
-            feedMessage = var17.getMessage();
+            //            feedMessage = var17.getMessage();
             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));
         }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/pull_head_manipulator/PullHeadManipulatorDeviceDriver.java

@@ -249,7 +249,7 @@ public class PullHeadManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
 
         } catch (Exception var17) {
             var17.printStackTrace();
-            feedMessage = var17.getMessage();
+            //            feedMessage = var17.getMessage();
             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));
 
         }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/pull_tail_manipulator/PullTailManipulatorDeviceDriver.java

@@ -274,7 +274,7 @@ public class PullTailManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
 
         } catch (Exception var17) {
             var17.printStackTrace();
-            feedMessage = var17.getMessage();
+            //            feedMessage = var17.getMessage();
             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));
 
         }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java

@@ -601,7 +601,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     public String getBoxInfo(JSONObject param) {
         try {
             MDC.put(log_file_type, log_type);
-            log.info("applyTaskToWms-----输入参数{}", param);
+            log.info("getBoxInfo-----输入参数{}", param);
             String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
             AddressDto addressDto = addressService.findByCode("getBoxInfo");
             String url = wmsurl + addressDto.getMethods_url();
@@ -766,7 +766,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     public String applyUpdatePointCode(JSONObject param) {
         try {
             MDC.put(log_file_type, log_type);
-            log.info("deviceApplyExceptional-----输入参数{}", param);
+            log.info("applyUpdatePointCode-----输入参数{}", param);
             String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
             AddressDto addressDto = addressService.findByCode("deviceApplyExceptional");
             String url = wmsurl + addressDto.getMethods_url();
@@ -778,11 +778,11 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
                         .execute();
             } catch (Exception e) {
                 String msg = e.getMessage();
-                log.info("deviceApplyExceptional-----输出参数{}", msg);
+                log.info("applyUpdatePointCode-----输出参数{}", msg);
                 //网络不通
             }
             if (ObjectUtil.isEmpty(result2)) {
-                log.info("deviceApplyExceptional-----输出参数{}", "返回结果为空");
+                log.info("applyUpdatePointCode-----输出参数{}", "返回结果为空");
                 return null;
             }
             String type = "";
@@ -791,8 +791,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             } else {
                 type = "error";
             }
-            log.info("deviceApplyExceptional-----输出参数{}", result2.body());
+            log.info("applyUpdatePointCode-----输出参数{}", result2.body());
-            LuceneLogDto luceneLogDto = new LuceneLogDto(4,"deviceApplyExceptional", String.valueOf(result2.getStatus()),
+            LuceneLogDto luceneLogDto = new LuceneLogDto(4,"applyUpdatePointCode", String.valueOf(result2.getStatus()),
                     JSON.toJSONString(param), String.valueOf(result2.body()), "申请更新点位");
             luceneLogService.interfaceExecuteLog(luceneLogDto);
             return result2.body();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java

@@ -342,6 +342,14 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     Instruction findByStartCodeAndReady(String device_code);
 
+    /**
+     * 根据起点设备编号查询当前是否有运行的指令
+     *
+     * @param device_code
+     * @return
+     */
+    Instruction findByDeviceCodeRunFromCache(String device_code);
+
     /**
      * 根据终点设备编号查询当前是否有就绪指令
      *

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

@@ -1536,6 +1536,30 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     }
 
 
+    @Override
+    public Instruction findByDeviceCodeRunFromCache(String devicecode) {
+        List<Instruction> instructionList = instructions;
+        ListUtil.sort(
+                instructionList,
+                new Comparator<Instruction>() {
+                    @Override
+                    public int compare(Instruction o1, Instruction o2) {
+                        return o1.getCreate_time().compareTo(o2.getCreate_time());
+                    }
+                });
+        Iterator<Instruction> it = instructions.iterator();
+        while (it.hasNext()) {
+            Instruction inst = it.next();
+            if (StrUtil.equals(devicecode, inst.getStart_device_code())
+                    && inst.getInstruction_status().equals(InstructionStatusEnum.BUSY.getIndex())) {
+                return inst;
+            }
+        }
+
+        return null;
+    }
+
+
     @Override
     public Instruction findByNextDeviceCodeFromCache(String devicecode) {
         List<Instruction> instructionList = instructions;

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvActionTypeEnum.java

@@ -19,7 +19,7 @@ public enum AgvActionTypeEnum {
     /**
      * 防货二次分配
      */
-    OUT_STOCK(3, "防货二次分配"),
+    OUT_STOCK(3, "放货二次分配"),
     /**
      * 取放货二次分配
      */

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

@@ -390,6 +390,13 @@ public interface TaskService extends CommonService<Task> {
     TaskDto findByStartCodeAndReady(String device_code);
 
 
+    /**
+     * 查找符合条件的堆叠行架任务
+     * @return
+     */
+    List<TaskDto> findByTrappedManipulatorReady();
+
+
     /**
      * 根据起载具号查询就绪任务
      *

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

@@ -1107,6 +1107,15 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         return optionalTask.orElse(null);
     }
 
+    @Override
+    public List<TaskDto> findByTrappedManipulatorReady() {
+        //根据时间升序取第一个
+        List<TaskDto> taskDtoList = tasks.stream()
+                .filter(task -> StrUtil.equals(task.getTask_type(), TaskTypeEnum.Truss_Task.getIndex())
+                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())).collect(Collectors.toList());
+        return taskDtoList;
+    }
+
     @Override
     public TaskDto findByVehicleCodeCodeAndReady(String vehicleCode) {
         Optional<TaskDto> optionalTask = tasks.stream()

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/logicflow/StageController.java

@@ -82,7 +82,6 @@ public class StageController {
     }
 
     @PostMapping("/getNewStageDataByCode")
-    @Log("根据stage_code获取舞台数据")
     public ResponseEntity<Object> getNewStageDataByCode(@RequestBody String code) {
         Stage one = stageService.getOne(new LambdaQueryWrapper<Stage>().eq(Stage::getStage_code, code));
         return new ResponseEntity<>(one, HttpStatus.CREATED);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java

@@ -57,10 +57,10 @@ public class CreateDDJInst {
                 String next_device_code = taskDto.getNext_device_code();
                 Device nextDevice = appService.findDeviceByCode(next_device_code);
                 //判断有无出入库任务是相同路线
-                TaskDto dto = taskserver.findByCodeAndExcute(next_device_code, start_device_code);
+//                TaskDto dto = taskserver.findByCodeAndExcute(next_device_code, start_device_code);
-                if (ObjectUtil.isNotEmpty(dto)) {
+//                if (ObjectUtil.isNotEmpty(dto)) {
-                    continue;
+//                    continue;
-                }
+//                }
                 if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
                         (nextDevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextDevice.getDevice_type().equals(DeviceType.storage.name()))) {
                     taskDtoList.add(taskDto);
@@ -316,6 +316,12 @@ public class CreateDDJInst {
                         String count = deviceByCode.getExtraValue().get("count").toString();
                         if (StrUtil.isNotEmpty(count)) {
                             if (max <= Integer.parseInt(count)) {
+                                //判断有没有DDJ对接位出入库的指令
+                                List<Instruction> byCodeAndExcute = instructionService.findByCodeAndExcute(next_device_code);
+                                if (CollUtil.isNotEmpty(byCodeAndExcute)){
+                                    ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("有DDJ对接位出入库的指令");
+                                    continue;
+                                }
                                 instdto.setInstruction_type(task_type);
                                 instdto.setInstruction_id(IdUtil.simpleUUID());
                                 instdto.setRoute_plan_code(route_plan_code);

acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml

@@ -22,6 +22,7 @@ https://juejin.cn/post/6844903775631572999
     <include resource="log/LMSToACS.xml"/>
     <include resource="log/TwoNDCSocketConnectionAutoRun.xml"/>
     <include resource="log/NDCAgvServiceImpl.xml"/>
+    <include resource="log/XgAgvDeviceDriver.xml"/>
 
     <appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
         <!--withJansi 参数改为true-->