fix:线程阻塞问题处理

acs2/nladmin-system/nlsso-server/pom.xml

@@ -44,6 +44,7 @@
             <type>pom</type>
         </dependency>
 
+
         <dependency>
             <groupId>org.dromara.dynamictp</groupId>
             <artifactId>dynamic-tp-spring-boot-starter-adapter-webserver</artifactId>

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

@@ -1,7 +1,6 @@
 package org.nl.acs.agv;
 
 import cn.hutool.core.collection.CollUtil;
-import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
@@ -42,7 +41,6 @@ public class QueryAGVStatus {
     private DeviceAppService deviceAppService;
 
     public void run() {
-        log.info("定时查询AGV状态"+ DateUtil.now());
         InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
         TaskService taskService = SpringContextHolder.getBean(TaskService.class);
         ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);

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

@@ -301,7 +301,6 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 (byte) nextHighHigh, (byte) nextHighLow
         };
 
-
         log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:" + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF));
 
         System.out.println("反馈agv动作数据:" + Bytes2HexString(b));

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

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

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 value;
+        return 0;
 
     }
 

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

@@ -142,7 +142,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
 
     }
 

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

@@ -194,7 +194,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
 
     }
 

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

@@ -112,7 +112,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
     }
 
     public String getOpcStringValue(String protocol) {

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 value;
+        return 0;
     }
 
 
@@ -191,7 +191,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
 
     }
 

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

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

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

@@ -211,7 +211,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
 
     }
 

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

@@ -199,7 +199,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
 
     }
     public String getOpcStringValue(String protocol) {

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

@@ -184,7 +184,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
     }
 
     public static List<ItemDto> getReadableItemDtos() {

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

@@ -91,7 +91,7 @@ ItemProtocol {
         } else {
             return value;
         }
-        return "0";
+        return "";
     }
 
     public static List<ItemDto> getReadableItemDtos() {

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

@@ -182,7 +182,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
     }
 
     public float getOpcFloatValue(String protocol) {

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

@@ -177,7 +177,7 @@ public class ItemProtocol {
             setIsonline(true);
             return value;
         }
-        return value;
+        return 0;
     }
 
     public float getOpcFloatValue(String protocol) {

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

@@ -36,6 +36,7 @@ import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.enums.TaskTypeEnum;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.common.exception.BadRequestException;
@@ -49,6 +50,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.*;
 import java.util.concurrent.Executor;
+import java.util.stream.Collectors;
 
 /**
  * 烘箱-行架机械手
@@ -331,28 +333,21 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             TaskDto task = null;
             for (int i = 0; i < getDeviceCodeList.size(); i++) {
                 String startDeviceCode = getDeviceCodeList.get(i);
+                //先查指令
                 List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
-                if (ObjectUtil.isNotEmpty(taskDtos)) {
+                List<TaskDto> taskDtoStream = taskDtos.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
-                    //按照优先级排序 优先级相等按照创建时间排序
+                if (ObjectUtil.isNotEmpty(taskDtoStream)) {
-                    taskDtos = this.sortTask(taskDtos);
                     TaskDto taskDto = taskDtos.get(0);
-
+                    if (TaskTypeEnum.Truss_Task.getIndex().equals(taskDto.getTask_type())) {
-                    //存在行架->暂存的AGV任务 需要过滤
+                        Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDto.getTask_code());
-                    // 6 行架任务 8烘箱任务
+                        String start_device_code = instruction.getStart_device_code();
-                    if (!StrUtil.equals(taskDto.getTask_type(), "6") && !StrUtil.equals(taskDto.getTask_type(), "8")) {
+                        String next_device_code = instruction.getNext_device_code();
-                        taskDto = null;
+                        Device nextdevice = deviceAppService.findDeviceByCode(next_device_code);
-                        continue;
+                        Device startdevice = deviceAppService.findDeviceByCode(start_device_code);
-                    }
+                        HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
-
+                        StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
-                    Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDto.getTask_code());
+                        ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
-                    String start_device_code = instruction.getStart_device_code();
+                        OvenInspectSiteDeviceDriver ovenInspectSiteDeviceDriver;
-                    String next_device_code = instruction.getNext_device_code();
-                    Device nextdevice = deviceAppService.findDeviceByCode(next_device_code);
-                    Device startdevice = deviceAppService.findDeviceByCode(start_device_code);
-                    HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
-                    StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
-                    ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
-                    OvenInspectSiteDeviceDriver ovenInspectSiteDeviceDriver;
                     /*if (startdevice.getDeviceDriver() instanceof OvenInspectSiteDeviceDriver && nextdevice.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
                         ovenInspectSiteDeviceDriver = (OvenInspectSiteDeviceDriver) startdevice.getDeviceDriver();
                         standardInspectSiteDeviceDriver = (RangingStationsDeviceDriver) nextdevice.getDeviceDriver();
@@ -383,104 +378,111 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                             return false;
                         }
                     }*/
-                    if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                        if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                        standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
+                            standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
-                        if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
+                            if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
-                            if (standardInspectSiteDeviceDriver.getMove() != 1) {
+                                if (standardInspectSiteDeviceDriver.getMove() != 1) {
-                                notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "无货,无法下发指令!指令号:" + instruction.getInstruction_code();
+                                    notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "无货,无法下发指令!指令号:" + instruction.getInstruction_code();
+                                    return false;
+                                }
+                            }
+                        }
+                        if (startdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
+                            hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startdevice.getDeviceDriver();
+                            if (hongXiangConveyorDeviceDriver.getMode() == 0 || hongXiangConveyorDeviceDriver.getMove() == 0) {
+                                notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位-烘箱:" + hongXiangConveyorDeviceDriver.getDevice_code() + "未联机或无货,无法下发指令!指令号:" + instruction.getInstruction_code();
                                 return false;
                             }
                         }
-                    }
-                    if (startdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
-                        hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startdevice.getDeviceDriver();
-                        if (hongXiangConveyorDeviceDriver.getMode() == 0 || hongXiangConveyorDeviceDriver.getMove() == 0) {
-                            notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位-烘箱:" + hongXiangConveyorDeviceDriver.getDevice_code() + "未联机或无货,无法下发指令!指令号:" + instruction.getInstruction_code();
-                            return false;
-                        }
-                    }
 
-                    if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                        if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                        standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
+                            standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
-                        if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
+                            if (ObjectUtil.equal("true", standardInspectSiteDeviceDriver.getExtraValue().get("input_move"))) {
-                            if (standardInspectSiteDeviceDriver.getMove() != 0) {
+                                if (standardInspectSiteDeviceDriver.getMove() != 0) {
-                                notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "有货,无法下发指令!指令号:" + instruction.getInstruction_code();
+                                    notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-烘箱对接位:" + standardInspectSiteDeviceDriver.getDevicecode() + "有货,无法下发指令!指令号:" + instruction.getInstruction_code();
+                                    return false;
+                                }
+                            }
+                        }
+                        if (nextdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
+                            hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextdevice.getDeviceDriver();
+                            if (hongXiangConveyorDeviceDriver.getMode() == 0 || hongXiangConveyorDeviceDriver.getMove() == 1) {
+                                notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-烘箱:" + hongXiangConveyorDeviceDriver.getDevice_code() + "未联机或者有货,无法下发指令!指令号:" + instruction.getInstruction_code();
                                 return false;
                             }
                         }
-                    }
+                        //判断关联的同一列烘箱设备是否都关门 都关门返回false，有一个不关门就返回true
-                    if (nextdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
+                        boolean isCloseDoor = this.judgeCloseDoor(start_device_code, next_device_code);
-                        hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextdevice.getDeviceDriver();
+                        //未关门结束
-                        if (hongXiangConveyorDeviceDriver.getMode() == 0 || hongXiangConveyorDeviceDriver.getMove() == 1) {
+                        if (isCloseDoor) {
-                            notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-烘箱:" + hongXiangConveyorDeviceDriver.getDevice_code() + "未联机或者有货,无法下发指令!指令号:" + instruction.getInstruction_code();
+                            notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位:" + start_device_code + ",放货位:" + next_device_code + ",存在关联的同一列烘箱设备未关门!指令号:" + instruction.getInstruction_code();
                             return false;
                         }
-                    }
-                    //判断关联的同一列烘箱设备是否都关门 都关门返回false，有一个不关门就返回true
-                    boolean isCloseDoor = this.judgeCloseDoor(start_device_code, next_device_code);
-                    //未关门结束
-                    if (isCloseDoor) {
-                        notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位:" + start_device_code + ",放货位:" + next_device_code + ",存在关联的同一列烘箱设备未关门!指令号:" + instruction.getInstruction_code();
-                        return false;
-                    }
                     /*instruction.setInstruction_status("1");
                     instruction.setUpdate_time(DateUtil.now());
                     instructionService.update(instruction);*/
-                    Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
+                        Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
-                    Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
+                        Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
-                    if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) {
+                        if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) {
-                        throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
+                            throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
+                        }
+                        if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))) {
+                            throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
+                        }
+                        String start_addr = startDevice.getExtraValue().get("address").toString();
+                        String next_addr = nextDevice.getExtraValue().get("address").toString();
+                        String msg = "当前设备:" + device_code + ",下发指令:"
+                                + instruction.getInstruction_code() + ",指令起点:" + instruction.getStart_device_code()
+                                + ",指令终点:" + instruction.getNext_device_code();
+                        LuceneLogDto logDto = LuceneLogDto.builder()
+                                .device_code(device_code)
+                                .content(msg)
+                                .build();
+                        logDto.setLog_level(3);
+                        luceneExecuteLogService.deviceExecuteLog(logDto);
+                        List list = new ArrayList<>();
+                        Map map = new HashMap();
+                        map.put("code", "to_onset");
+                        map.put("value", StrUtil.isNotBlank(start_addr) ? start_addr : "0");
+                        Map map1 = new HashMap();
+                        map1.put("code", "to_target");
+                        map1.put("value", StrUtil.isNotBlank(next_addr) ? next_addr : "0");
+                        Map map2 = new HashMap();
+                        map2.put("code", "to_task");
+                        map2.put("value", instruction.getInstruction_code());
+                        Map map3 = new HashMap();
+                        map3.put("code", "to_command");
+                        map3.put("value", "1");
+                        list.add(map);
+                        list.add(map1);
+                        list.add(map2);
+                        list.add(map3);
+                        this.writing(list);
+                        this.setRequireSucess(true);
+                        return true;
                     }
-                    if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))) {
-                        throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
-                    }
-                    String start_addr = startDevice.getExtraValue().get("address").toString();
-                    String next_addr = nextDevice.getExtraValue().get("address").toString();
-                    String msg = "当前设备:" + device_code + ",下发指令:"
-                            + instruction.getInstruction_code() + ",指令起点:" + instruction.getStart_device_code()
-                            + ",指令终点:" + instruction.getNext_device_code();
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content(msg)
-                            .build();
-                    logDto.setLog_level(3);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                    List list = new ArrayList<>();
-                    Map map = new HashMap();
-                    map.put("code", "to_onset");
-                    map.put("value", StrUtil.isNotBlank(start_addr) ? start_addr : "0");
-                    Map map1 = new HashMap();
-                    map1.put("code", "to_target");
-                    map1.put("value", StrUtil.isNotBlank(next_addr) ? next_addr : "0");
-                    Map map2 = new HashMap();
-                    map2.put("code", "to_task");
-                    map2.put("value", instruction.getInstruction_code());
-                    Map map3 = new HashMap();
-                    map3.put("code", "to_command");
-                    map3.put("value", "1");
-                    list.add(map);
-                    list.add(map1);
-                    list.add(map2);
-                    list.add(map3);
-                    this.writing(list);
-                    this.setRequireSucess(true);
-                    return true;
                 } else {
-                    List<TaskDto> taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode);
+                    List<TaskDto> taskDtoList = taskserver.findByTrappedManipulatorReady();
                     if (ObjectUtil.isNotEmpty(taskDtoList)) {
-                        for (int j = 0; j < taskDtoList.size(); j++) {
+                        List<TaskDto> taskDtosReady = new ArrayList<>();
-                            //按照优先级排序 优先级相等按照创建时间排序
+                        for (TaskDto taskDto1 : taskDtoList) {
-                            taskDtoList = this.sortTask(taskDtoList);
+                            if (getDeviceCodeList.contains(taskDto1.getStart_device_code())) {
-                            task = taskDtoList.get(j);
+                                taskDtosReady.add(taskDto1);
-                            // 6 行架任务 8烘箱任务
-                            if (!StrUtil.equals(task.getTask_type(), "6") && !StrUtil.equals(task.getTask_type(), "8")) {
-                                task = null;
-                                continue;
-                            }
-                            if (ObjectUtil.isNotEmpty(task)) {
-                                break;
                             }
                         }
+//                        task = taskDtosReady.get(0);
+                        List<TaskDto> readyTaskDtos = new ArrayList<>();
+                        for (int j = 0; j < taskDtosReady.size(); j++) {
+                            task = taskDtosReady.get(j);
+
+                            readyTaskDtos.add(task);
+                        }
+                        //按照优先级排序 优先级相等按照创建时间排序
+                        readyTaskDtos = this.sortTask(readyTaskDtos);
+                        task = readyTaskDtos.get(0);
+                    }
+                    if (ObjectUtil.isNotEmpty(task)) {
+                        break;
                     }
                 }
             }
@@ -662,11 +664,11 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 list.add(map3);
                 this.writing(list);
                 this.setRequireSucess(true);
-                notCreateInstMessage = "";
+                return true;
-                notCreateTaskMessage = "";
             } else {
                 notCreateInstMessage = "未找到关联设备的任务，指令无法创建";
             }
+
             return true;
         }
     }
@@ -857,7 +859,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                         hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver();
 //                        EXECUTOR.execute(() -> {
-                            toOpenDoor(device);
+                        toOpenDoor(device);
 //                        });
                         int mode = hongXiangConveyorDeviceDriver.getMode();
                         int door = hongXiangConveyorDeviceDriver.getDoor();
@@ -923,7 +925,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                         hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver();
 //                        EXECUTOR.execute(() -> {
-                            toCloseDoor(device);
+                        toCloseDoor(device);
 //                        });
                         int mode = hongXiangConveyorDeviceDriver.getMode();
                         int door = hongXiangConveyorDeviceDriver.getDoor();
@@ -989,7 +991,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 if (nextDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                     hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextDevice.getDeviceDriver();
 //                    EXECUTOR.submit(() -> {
-                        toOpenDoor(nextDevice);
+                    toOpenDoor(nextDevice);
 //                    });
                     int mode = hongXiangConveyorDeviceDriver.getMode();
                     int door = hongXiangConveyorDeviceDriver.getDoor();
@@ -1059,7 +1061,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         if (nextDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                             hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextDevice.getDeviceDriver();
 //                            EXECUTOR.execute(() -> {
-                                toCloseDoor(nextDevice);
+                            toCloseDoor(nextDevice);
 //                            });
                             if (StrUtil.isNotEmpty(taskDto.getOven_time())) {
                                 //下发烘箱时间
@@ -1141,8 +1143,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 //                                }
 //                            }
 //
-                        }
                     }
+                }
             } else {
                 feedMessage = "行架机械手:";
                 if (mode != 3) {
@@ -1158,8 +1160,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
                 }
             }
-            }
         }
+    }
 
     public synchronized boolean finish_instruction(Instruction inst) throws Exception {
         instructionService.finish(inst);

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

@@ -183,7 +183,7 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      * @param dto
      * @throws Exception
      */
-    boolean create(Instruction dto) throws Exception;
+    void create(Instruction dto) throws Exception;
 
 
 

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

@@ -380,7 +380,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public boolean create(Instruction dto) throws Exception {
+    public void create(Instruction dto) throws Exception {
         dto = foramte(dto);
         String task_code = dto.getTask_code();
         TaskDto task = taskService.findByCodeFromCache(task_code);
@@ -394,7 +394,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                     .eq(InstructionMybatis::getTask_code, dto.getTask_code()));
             if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
                     .equals(start_device_code))) {
-                return false;
+                return;
             }
         }
         String currentUsername = SecurityUtils.getCurrentNickName();
@@ -538,7 +538,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                                 .build();
                         logDto1.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto1);
-                        return false;
                     }
                 } else {
                     // Boolean result =  createLkInst(task.getStorage_task_type(),dto);
@@ -591,7 +590,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
         instructionMapper.insert(entity);
         instructions.add(dto);
-        return true;
     }
 
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceExecuteAutoRun.java

@@ -2,18 +2,22 @@ package org.nl.acs.opc;
 
 import lombok.extern.slf4j.Slf4j;
 import org.dromara.dynamictp.core.DtpRegistry;
-import org.dromara.dynamictp.core.executor.DtpExecutor;
-import org.dromara.dynamictp.core.support.ExecutorWrapper;
 import org.nl.acs.auto.run.AbstractAutoRunnable;
 import org.nl.acs.auto.run.AutoRunService;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.udw.UnifiedDataAccessor;
 import org.nl.acs.udw.UnifiedDataAccessorFactory;
+import org.nl.config.SpringContextHolder;
+import org.nl.config.thread.TheadFactoryName;
 import org.nl.config.thread.ThreadPoolExecutorUtil;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.core.annotation.Order;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
+import java.lang.reflect.Field;
+import java.time.LocalDateTime;
 import java.util.*;
 import java.util.concurrent.*;
 
@@ -34,7 +38,10 @@ public class DeviceExecuteAutoRun extends AbstractAutoRunnable {
 
     int loop_time_millions = 100;
 
+    @Resource
+    private ThreadPoolExecutor executorService;
 
+    ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(30);
 
     Map<String, BlockedRunable> runs;
 
@@ -114,8 +121,33 @@ public class DeviceExecuteAutoRun extends AbstractAutoRunnable {
                     BlockedRunable runnable = new BlockedRunable() {
                         @Override
                         public void subRun() throws Exception {
-//                                Thread.sleep(6000);
                             deviceDriver.executeAuto();
+                           /* ThreadPoolExecutor executor= DtpRegistry.getDtpExecutor("dtpExecutor1");
+
+                            Future<?> submit = executor.submit(() -> {
+                                try {
+                                    deviceDriver.executeAuto();
+                                } catch (Exception e) {
+                                    throw new RuntimeException(e);
+                                }
+                            });
+                            try {
+                                // 设置超时时间为 15 秒，如果任务超时，抛出 TimeoutException
+                                submit.get(10, TimeUnit.SECONDS);
+                                System.out.println();
+                            } catch (TimeoutException e) {
+                                System.out.println("任务超时，取消任务！");
+                                // 使用反射获取 FutureTask 中的线程，并使用 Thread.stop() 强制终止
+                                Field runnerField = submit.getClass().getDeclaredField("runner");
+                                runnerField.setAccessible(true);
+                                Thread runnerThread = (Thread) runnerField.get(submit);
+                                if (runnerThread != null) {
+                                    runnerThread.stop();  // 强制终止线程（不推荐）
+                                }
+
+                            } catch (InterruptedException | ExecutionException e) {
+                                e.printStackTrace();
+                            }*/
                         }
 
                         @Override
@@ -127,16 +159,55 @@ public class DeviceExecuteAutoRun extends AbstractAutoRunnable {
                         this.runs.put(deviceDriver.getDeviceCode(), runnable);
                     }
                     runnable.setIndex(this.runs);
-
+//                    this.executorService.execute(runnable);
-                    ExecutorService executorService  = (ExecutorService) ThreadPoolExecutorUtil.getPoll();
+                    Future<?> future = this.executorService.submit(runnable);
-                    Future<?> future = executorService.submit(runnable);
+                    /* try {
+                        // 设置超时时间为 30 秒，如果任务超时，抛出 TimeoutException
+                        future.get(5, TimeUnit.SECONDS);
+                    } catch (TimeoutException e) {
+                        System.out.println("任务超时，取消任务！");
+                        // 超时后取消任务，并设置为 true 以中断执行中的线程
+                        future.cancel(true);
+                    } catch (InterruptedException | ExecutionException e) {
+                        e.printStackTrace();
+                    }*/
 
 
-                    ScheduledExecutorService  scheduler= (ScheduledExecutorService) DtpRegistry.getExecutor("scheduled_pool");
+                    //plc断连后强制终止线程
+                   /* try {
+                        // 设置超时时间为 15 秒，如果任务超时，抛出 TimeoutException
+                        future.get(15, TimeUnit.SECONDS);
+                    } catch (TimeoutException e) {
+                        System.out.println("任务超时，取消任务！");
+                        // 使用反射获取 FutureTask 中的线程，并使用 Thread.stop() 强制终止
+                        Field runnerField = future.getClass().getDeclaredField("runner");
+                        runnerField.setAccessible(true);
+                        Thread runnerThread = (Thread) runnerField.get(future);
+                        if (runnerThread != null) {
+                            runnerThread.stop();  // 强制终止线程（不推荐）
+                        }
 
-                    // 使用调度器在超时后取消任务
+                    } catch (InterruptedException | ExecutionException e) {
+                        e.printStackTrace();
+                    }*/
+
+                        // 使用调度器在超时后取消任务
                     scheduler.schedule(() -> {
                         if (!future.isDone()) {
+
+//                            future.cancel(true);  // 尝试中断任务
+//                            Field runnerField = null;
+//                            try {
+//                                runnerField = future.getClass().getDeclaredField("runner");
+//                                runnerField.setAccessible(true);
+//                                Thread runnerThread = (Thread) runnerField.get(future);
+//                                if (runnerThread != null) {
+//                                    runnerThread.stop();  // 强制终止线程（不推荐）
+//                                }
+//                            } catch (Exception e) {
+//                                throw new RuntimeException(e);
+//                            }
+
                             try {
                                 // 设置超时时间为 30 秒，如果任务超时，抛出 TimeoutException
                                 future.get(5, TimeUnit.SECONDS);
@@ -147,8 +218,15 @@ public class DeviceExecuteAutoRun extends AbstractAutoRunnable {
                             } catch (InterruptedException | ExecutionException e) {
                                 e.printStackTrace();
                             }
+
+
                         }
-                    }, 1, TimeUnit.MILLISECONDS);  // 设置超时时间为10秒
+                    }, 5, TimeUnit.SECONDS);  // 设置超时时间为10秒
+
+
+
+
+
                 }
             }
         }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/OpcUtl.java

@@ -52,7 +52,6 @@ public class OpcUtl {
                e1.printStackTrace();
             }
 
-
             boolean is_success = true;
             StringBuilder message = new StringBuilder();
             Iterator arg4 = e.keySet().iterator();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/domain/Task.java

@@ -48,6 +48,10 @@ public class Task extends CommonModel<Task> implements Serializable {
 
     private String vehicle_code;
 
+    private String vehicle_code2;
+
+
+
 
     private String vehicle_type;
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/thread/ThreadPoolExecutorUtil.java

@@ -35,7 +35,7 @@ public class ThreadPoolExecutorUtil {
 
     public static Executor getPoll(){
 
-        return   DtpRegistry.getExecutor("cool_pool");
+        return   DtpRegistry.getExecutor("dtpExecutor1");
 
       /*  AsyncTaskProperties properties = SpringContextHolder.getBean(AsyncTaskProperties.class);
         return new ThreadPoolExecutor(

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

@@ -46,7 +46,6 @@ public class AutoCreateInst {
      * 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货
      */
     public void run() throws Exception {
-        log.info("自动生成指令"+DateUtil.now());
         TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
         InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
         RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
@@ -194,9 +193,8 @@ public class AutoCreateInst {
             } else {
                 instdto.setAgv_inst_type("4");
             }
-            boolean flag;
             try {
-                flag = instructionService.create(instdto);
+               instructionService.create(instdto);
             } catch (Exception e) {
                 acsTask.setRemark(e.getMessage());
                 taskserver.updateByCodeFromCache(acsTask);
@@ -209,11 +207,9 @@ public class AutoCreateInst {
                 continue;
             }
             //创建指令后修改任务状态
-            if (flag) {
                 acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
                 acsTask.setUpdate_time(DateUtil.now());
                 taskserver.update(acsTask);
-            }
 
         }
     }

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

@@ -43,7 +43,6 @@ public class CreateDDJInst {
      * 定时查询堆垛机任务
      */
     public void run() {
-        log.info("定时查询堆垛机任务"+DateUtil.now());
         TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
         InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
         RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);

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

@@ -1,6 +1,5 @@
 package org.nl.system.service.quartz.task;
 
-import cn.hutool.core.date.DateUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.auto.run.AutoRunService;
 import org.nl.system.service.param.ISysParamService;
@@ -21,7 +20,6 @@ public class NdcAutoReconnection {
     AutoRunService autoRunService;
 
     public void run(String threadCode) throws Exception {
-        log.info("定时NDC自动重连"+ DateUtil.now());
         String[] threadCodes = threadCode.split(",");
         for (String code : threadCodes) {
             if (!autoRunService.getThreadByCode(code).isAlive()) {

acs2/nladmin-system/nlsso-server/src/main/resources/config/application.yml

@@ -51,40 +51,22 @@ spring:
       monitorInterval: 8
       tomcatTp: # tomcat webserver 线程池配置
         threadPoolAliasName: tomcat 线程池          # 线程池别名，可选
-        corePoolSize: 30
+        corePoolSize: 10
         maximumPoolSize: 50
         keepAliveTime: 60
         runTimeout: 10000
         queueTimeout: 100
       executors: # 动态线程池配置，都有默认值，采用默认值的可以不配置该项，减少配置量
-        - threadPoolName: cool_pool         # 线程池名称，必填dtpExecutor1
+        - threadPoolName: dtpExecutor1         # 线程池名称，必填
           threadPoolAliasName: core_thread        # 线程池别名，可选
           executorType: common                 # 线程池类型 common、eager、ordered、scheduled、priority，默认 common
-          corePoolSize: 30                      # 核心线程数，默认1
+          corePoolSize: 10                      # 核心线程数，默认1
-          maximumPoolSize: 50               # 最大线程数，默认cpu核数
+          maximumPoolSize: 30               # 最大线程数，默认cpu核数
           queueCapacity: 1024                  # 队列容量，默认1024
           queueType: VariableLinkedBlockingQueue         # 任务队列，查看源码QueueTypeEnum枚举类，默认VariableLinkedBlockingQueue
           rejectedHandlerType: CallerRunsPolicy          # 拒绝策略，查看RejectedTypeEnum枚举类，默认AbortPolicy
           keepAliveTime: 30                              # 空闲线程等待超时时间，默认60
           threadNamePrefix: core_thread                         # 线程名前缀，默认dtp
-          tryInterrupt: true
-          allowCoreThreadTimeOut: true                  # 是否允许核心线程池超时，默认false
-          waitForTasksToCompleteOnShutdown: true         # 参考spring线程池设计，优雅关闭线程池，默认true
-          awaitTerminationSeconds: 5                     # 优雅关闭线程池时，阻塞等待线程池中任务执行时间，默认3，单位（s）
-          preStartAllCoreThreads: false                  # 是否预热所有核心线程，默认false
-          runTimeout: 2000                                # 任务执行超时阈值，单位（ms），默认0（不统计）
-          queueTimeout: 1000                              # 任务在队列等待超时阈值，单位（ms），默认0（不统计）
-        - threadPoolName: scheduled_pool         # 线程池名称，必填
-          threadPoolAliasName: scheduled_thread        # 线程池别名，可选
-          executorType: scheduled                 # 线程池类型 common、eager、ordered、scheduled、priority，默认 common
-          corePoolSize: 30                      # 核心线程数，默认1
-          maximumPoolSize: 50               # 最大线程数，默认cpu核数
-          queueCapacity: 1024                  # 队列容量，默认1024
-          queueType: VariableLinkedBlockingQueue         # 任务队列，查看源码QueueTypeEnum枚举类，默认VariableLinkedBlockingQueue
-          rejectedHandlerType: CallerRunsPolicy          # 拒绝策略，查看RejectedTypeEnum枚举类，默认AbortPolicy
-          keepAliveTime: 30                              # 空闲线程等待超时时间，默认60
-          threadNamePrefix: scheduled_thread                         # 线程名前缀，默认dtp
-          tryInterrupt: true
           allowCoreThreadTimeOut: true                  # 是否允许核心线程池超时，默认false
           waitForTasksToCompleteOnShutdown: true         # 参考spring线程池设计，优雅关闭线程池，默认true
           awaitTerminationSeconds: 5                     # 优雅关闭线程池时，阻塞等待线程池中任务执行时间，默认3，单位（s）