rev：一楼桁架交互、AGV任务状态查询接口更新

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

@@ -28,6 +28,7 @@ import org.springframework.stereotype.Service;
 
 import java.util.LinkedHashMap;
 import java.util.Map;
+import java.util.Optional;
 
 /**
  * @author zhangjiangwei
@@ -65,6 +66,22 @@ public class AgvWaitUtil {
             if (manipulatorAgvStationDeviceDriver.getTo_command() != 2) {
                 manipulatorAgvStationDeviceDriver.writing(2);
             }
+            int i = 0;
+            while (true){
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
+                if (manipulatorAgvStationDeviceDriver.getAction() == 1){
+                    break;
+                }
+                if (i >= 4){
+                    break;
+                }
+                try {
+                    Thread.sleep(500);
+                } catch (InterruptedException e) {
+                    e.printStackTrace();
+                }
+                i++;
+            }
             if (manipulatorAgvStationDeviceDriver.getAction() == 1) {
                 LuceneLogDto logDto1 = LuceneLogDto.builder()
                         .device_code(inst.getCarno())
@@ -76,14 +93,18 @@ public class AgvWaitUtil {
                 map.put("status", 200);
                 map.put("message", "允许取货！");
                 log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                        .device_code(inst.getInstruction_code())
+                        .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
+                        .log_level(4)
+                        .build());
                 return map;
             } else {
-                LuceneLogDto logDto = LuceneLogDto.builder()
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                        .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
+                        .device_code(inst.getInstruction_code())
-                        .content("未给agv进入信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为1")
+                        .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: 桁架不允许取货! ")
-                        .build();
+                        .log_level(4)
-                logDto.setLog_level(4);
+                        .build());
-                luceneExecuteLogService.deviceExecuteLog(logDto);
                 throw new BadRequestException("行架不允许取货");
             }
 
@@ -93,31 +114,34 @@ 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("叉车允许取货")
-                        .build();
-                logDto1.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(logDto1);
                 JSONObject map = new JSONObject();
                 map.put("status", 200);
                 map.put("message", "允许取货！");
                 log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                        .device_code(inst.getInstruction_code())
+                        .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
+                        .log_level(4)
+                        .build());
                 return map;
             } else {
-                LuceneLogDto logDto1 = LuceneLogDto.builder()
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                        .device_code(inst.getCarno())
+                        .device_code(inst.getInstruction_code())
-                        .content("agv叉车对接位输送线不允许取货:" + inst.getCarno() + "点位号" + boxSubvolumesConveyorDeviceDriver.getDevice_code())
+                        .content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 设备不满足信号, 不允许取货! ")
-                        .build();
+                        .log_level(4)
-                logDto1.setLog_level(4);
+                        .build());
-                luceneExecuteLogService.deviceExecuteLog(logDto1);
+                throw new BadRequestException("设备不满足信号, 不允许取货");
-                throw new BadRequestException("上位系统不允许取货");
             }
         }
         JSONObject map = new JSONObject();
         map.put("status", 200);
         map.put("message", "允许取货！");
         log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(inst.getInstruction_code())
+                .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
+                .log_level(4)
+                .build());
         return map;
     }
 
@@ -145,21 +169,41 @@ public class AgvWaitUtil {
                 if (manipulatorAgvStationDeviceDriver.getTo_command() != 3) {
                     manipulatorAgvStationDeviceDriver.writing(3);
                 }
+                int i = 0;
+                while (true){
+                    manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
+                    if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2){
+                        break;
+                    }
+                    if (i >= 4){
+                        break;
+                    }
+                    try {
+                        Thread.sleep(500);
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                    i++;
+                }
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
                 if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
-                    if (StrUtil.equals(paramService.findByCode(AcsConfig.isSendLms).getValue(), CommonFinalParam.ONE)){
+                    if (StrUtil.equals(paramService.findByCode(AcsConfig.isSendLms).getValue(), CommonFinalParam.ONE)) {
                         if (!AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) {
                             applyLmsGetOut(inst);
+                        } else {
+                            boolean ignore_pickup_check = Optional.ofNullable(startDevice.getExtraValue().get("ignore_pickup_check")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
+                            if (ignore_pickup_check) {
+                                applyLmsGetOut(inst);
+                            }
                         }
                     }
                 } else {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                            .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
+                            .device_code(inst.getInstruction_code())
-                            .content("未给agv离开信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为0")
+                            .content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 桁架信号不满足条件, 不允许AGV取货完成离开! ")
-                            .build();
+                            .log_level(4)
-                    logDto.setLog_level(4);
+                            .build());
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                    throw new BadRequestException("桁架信号不满足条件,不允许AGV取货完成离开");
-                    log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", startDeviceCode);
-                    throw new BadRequestException("上位系统不允许agv离开");
                 }
             }
 
@@ -169,6 +213,11 @@ public class AgvWaitUtil {
         map.put("message", "允许离开！");
         log.info("允许仙工AGV取货完成后请求离开，返回参数 - {}", map);
         log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(inst.getInstruction_code())
+                .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
+                .log_level(4)
+                .build());
         return map;
     }
 
@@ -191,6 +240,11 @@ public class AgvWaitUtil {
                     .build();
             logDto2.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto2);
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                    .device_code(inst.getInstruction_code())
+                    .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: 请求LMS追加动诺宝作块, LMS返回成功")
+                    .log_level(4)
+                    .build());
         } else {
             LuceneLogDto logDto2 = LuceneLogDto.builder()
                     .device_code(inst.getCarno())
@@ -198,6 +252,11 @@ public class AgvWaitUtil {
                     .build();
             logDto2.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto2);
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                    .device_code(inst.getInstruction_code())
+                    .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: 请求LMS追加动诺宝作块, LMS返回失败")
+                    .log_level(4)
+                    .build());
             throw new BadRequestException("追加动诺宝作块返回失败");
         }
     }
@@ -212,15 +271,31 @@ public class AgvWaitUtil {
             if (manipulatorAgvStationDeviceDriver.getTo_command() != 4) {
                 manipulatorAgvStationDeviceDriver.writing(4);
             }
+            int i = 0;
+            while (true){
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) endDevice.getDeviceDriver();
+                if (manipulatorAgvStationDeviceDriver.getAction() == 1){
+                    break;
+                }
+                if (i >= 4){
+                    break;
+                }
+                try {
+                    Thread.sleep(500);
+                } catch (InterruptedException e) {
+                    e.printStackTrace();
+                }
+                i++;
+            }
+            manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) endDevice.getDeviceDriver();
             if (manipulatorAgvStationDeviceDriver.getAction() != 1) {
-                LuceneLogDto logDto = LuceneLogDto.builder()
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                        .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
+                        .device_code(inst.getInstruction_code())
-                        .content("未给agv进入信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为1")
+                        .content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 桁架信号不满足条件, 不允许AGV放货! ")
-                        .build();
+                        .log_level(4)
-                logDto.setLog_level(4);
+                        .build());
-                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");
+                throw new BadRequestException("桁架信号不满足条件, 不允许AGV放货");
             }
 
         }
@@ -234,6 +309,11 @@ public class AgvWaitUtil {
         map.put("status", 200);
         map.put("message", "允许放货！");
         log.info("允许仙工AGV放货，设备号 - {}", endDeviceCode);
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(inst.getInstruction_code())
+                .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
+                .log_level(4)
+                .build());
         return map;
     }
 
@@ -248,15 +328,31 @@ public class AgvWaitUtil {
                 if (manipulatorAgvStationDeviceDriver.getTo_command() != 5) {
                     manipulatorAgvStationDeviceDriver.writing(5);
                 }
+                int i = 0;
+                while (true){
+                    manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) nextDevice.getDeviceDriver();
+                    if (manipulatorAgvStationDeviceDriver.getAction() == 0){
+                        break;
+                    }
+                    if (i >= 4){
+                        break;
+                    }
+                    try {
+                        Thread.sleep(500);
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                    i++;
+                }
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) nextDevice.getDeviceDriver();
                 if (manipulatorAgvStationDeviceDriver.getAction() != 0) {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                            .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
+                            .device_code(inst.getInstruction_code())
-                            .content("未给agv离开信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为0")
+                            .content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 桁架信号不满足条件, 不允许AGV放货完成离开! ")
-                            .build();
+                            .log_level(4)
-                    logDto.setLog_level(4);
+                            .build());
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
                     log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", endDeviceCode);
-                    throw new BadRequestException("上位系统不允许agv离开");
+                    throw new BadRequestException("桁架信号不满足条件, 不允许AGV放货完成离开!");
                 }
             }
 
@@ -268,6 +364,11 @@ public class AgvWaitUtil {
         map.put("status", 200);
         map.put("message", "允许离开！");
         log.info("允许仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(inst.getInstruction_code())
+                .content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
+                .log_level(4)
+                .build());
         return map;
     }
 }

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

@@ -1,33 +1,17 @@
 package org.nl.acs.agv;
 
-import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
-import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
-import cn.hutool.http.HttpUtil;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
-import com.fasterxml.jackson.databind.JsonNode;
-import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
-import org.nl.acs.AcsConfig;
+import org.nl.acs.agv.server.XianGongAgvService;
-import org.nl.acs.device.domain.Device;
-import org.nl.acs.device_driver.agv.xg_agv_car.XgAgvCarDeviceDriver;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
-import org.nl.acs.opc.DeviceAppService;
-import org.nl.acs.task.domain.Task;
-import org.nl.acs.task.enums.AgvActionTypeEnum;
-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.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
-import java.util.List;
-import java.util.stream.Collectors;
 
 /**
  * 定时查询AGV状态
@@ -38,79 +22,53 @@ public class QueryAGVStatus {
 
 
     @Autowired
-    private DeviceAppService deviceAppService;
+    private XianGongAgvService agvService;
+    @Autowired
+    private InstructionService instructionService;
 
-    public void run() {
+    public void run() throws Exception {
-        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());
-        if (CollUtil.isEmpty(agvInstruction) || agvInstruction.size() < 1) {
-            return;
-        }
-        for (Instruction instruction : agvInstruction) {
-            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
-            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-            JSONObject param = new JSONObject();
-            agvurl = agvurl + ":" + agvport + "/orderDetails/" + instruction.getInstruction_code();
-            log.info("根据运单号查询运单状态的请求:{}", agvurl);
-            HttpResponse result = HttpRequest.get(agvurl)
-                    .timeout(20000)//超时，毫秒
-                    .execute();
-            log.info("根据运单号查询运单状态的请求反馈:{}", result);
-            String body = result.body();
-            JSONObject json = JSONObject.parseObject(body);
-            if (result.getStatus() == 200 && json.getString("id").equals(instruction.getInstruction_code())) {
-                // 已创建=CREATED，
-                // 待分配=TOBEDISPATCHED，
-                // 正在执行=RUNNING，
-                // 完成=FINISHED，
-                // 失败=FAILED(主动失败)，
-                // 终止=STOPPED(被人为终止)，
-                // 无法执行=Error(参数错误)，
-                // 等待=WAITING
-                //执行中
-                String state = json.getString("state");
-                String carNo = json.getString("vehicle");
-                String instructionCode = json.getString("id");
-                if ("RUNNING".equals(state)  || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) {
-                    TaskDto task = taskService.findById(instruction.getTask_id());
-                    if ("0".equals(instruction.getInstruction_status())&&"1".equals(task.getTask_status())) {
-                        instruction.setCarno(carNo);
-                        instruction.setInstruction_status("1");
-                        instructionService.update(instruction);
-                        task.setCarno(carNo);
-                        task.setTask_id(instruction.getTask_id());
-                        instructionService.update(instruction);
-                        taskService.update(task);
-                        if (StrUtil.isNotEmpty(instructionCode)) {
-                            Device carCode = deviceAppService.findDeviceByCode(instructionCode);
-                            XgAgvCarDeviceDriver xgAgvCarDeviceDriver;
-                            if (null != carCode) {
-                                if (carCode.getDeviceDriver() instanceof XgAgvCarDeviceDriver) {
-                                    xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) carCode.getDeviceDriver();
-                                    xgAgvCarDeviceDriver.setTaskType(AgvActionTypeEnum.getStatus(instruction.getAgv_action_type()));
-                                }
-                            }
-                        }
-                    }
 
-                } else if ("FINISHED".equals(state)) {
+        HttpResponse response = agvService.queryXZAgvInstStatus();
-                    if (!"2".equals(instruction.getInstruction_status())) {
+        JSONObject jo = JSONArray.parseObject(response.body());
-                        instruction.setInstruction_status("2");
+
-                        try {
+        JSONArray ja = JSONArray.parseArray(jo.getString("list"));
-                            instructionService.finish(instruction);
+        for (int i = 0; i < ja.size(); i++) {
-                        } catch (Exception e) {
+            JSONObject one = (JSONObject) ja.get(i);
-                            log.error("执行完成，但无法更新状态，可能由于参数错误导致的异常");
+            String inst_code = one.getString("id");
-                            e.printStackTrace();
+            Instruction inst = instructionService.findByCodeFromCache(inst_code);
-                        }
+            if (ObjectUtil.isEmpty(inst))
-                    }
+                continue;
-                } else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) {
+
-                    if (!"1".equals(instruction.getInstruction_status())) {
+            String state = one.getString("state");
-                        instruction.setInstruction_status("1");
+            if (!StrUtil.isEmpty(one.getString("vehicle"))) {
-                        instructionService.update(instruction);
+                String carno = one.getString("vehicle");
-                    }
+                inst.setCarno(carno);
+            }
+
+//            已创建=CREATED，
+//            待分配=TOBEDISPATCHED，
+//            正在执行=RUNNING，
+//            完成=FINISHED，
+//            失败=FAILED(主动失败)，
+//            终止=STOPPED(被人为终止)，
+//            无法执行=Error(参数错误)，
+//            等待=WAITING
+
+            //执行中
+            if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) ||  "WAITING".equals(state)) {
+                if (inst != null && "0".equals(inst.getInstruction_status())) {
+                    inst.setInstruction_status("1");
+                    instructionService.update(inst);
+                }
+            } else if ("FINISHED".equals(state)) {
+                if (inst != null) {
+                    inst.setInstruction_status("2");
+                    instructionService.finish(inst);
+                }
+            } else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) {
+                if (inst != null) {
+                    //inst.setInstruction_status("1");
+                    //instructionService.update(inst);
                 }
             }
         }

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

@@ -60,6 +60,8 @@ public interface XianGongAgvService {
      */
     public HttpResponse queryXZAgvInstStatus(String instCode);
 
+    public HttpResponse queryXZAgvInstStatus();
+
     /**
      * 删除先知任务
      *

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

@@ -238,6 +238,25 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         }
     }
 
+    @Override
+    public HttpResponse queryXZAgvInstStatus() {
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
+
+            agvurl = agvurl + ":" + agvport + "/orders?page=1&size=50&orderBy=createTime&orderMethod=descending";
+
+            HttpResponse result = HttpRequest.get(agvurl)
+                    .timeout(20000)//超时，毫秒
+                    .execute();
+            log.info("queryXZAgvInstStatus----查询agv指令数据:{}" + result.body());
+            return result;
+        } else {
+
+            return null;
+        }
+    }
+
 
     @Override
     public HttpResponse deleteXZAgvInst(String instCode) {
@@ -741,25 +760,29 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
     @Override
     public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(requestParam.getString("task_code"))
+                .content("AGV开始请求.....,请求参数:" + JSON.toJSONString(requestParam))
+                .log_level(4)
+                .build());
         log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
         String inst_code = requestParam.getString("task_code");
         Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
         if (ObjectUtil.isEmpty(instructionDto)) {
-            LuceneLogDto logDto = LuceneLogDto.builder()
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                    .content("请求失败，未找到指令！" +  inst_code)
+                    .device_code(requestParam.getString("task_code"))
-                    .build();
+                    .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: 指令号不存在!")
-            logDto.setLog_level(4);
+                    .log_level(4)
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+                    .build());
             throw new BadRequestException("请求失败，未找到指令！");
         }
         String address = requestParam.getString("address");
         if (StrUtil.isBlank(address)) {
-            LuceneLogDto logDto = LuceneLogDto.builder()
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                    .device_code(instructionDto.getCarno())
+                    .device_code(requestParam.getString("task_code"))
-                    .content("请求失败，地址为空！" )
+                    .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: 请求地址为空!")
-                    .build();
+                    .log_level(4)
-            logDto.setLog_level(4);
+                    .build());
-            luceneExecuteLogService.deviceExecuteLog(logDto);
             throw new BadRequestException("请求失败，地址为空！");
         }
         if (address.contains("IN") || address.contains("WAIT")) {
@@ -771,17 +794,15 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 deviceCodeNow = address.substring(0, address.length() - 5);
             }
             if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
-                LuceneLogDto logDto = LuceneLogDto.builder()
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                        .device_code(instructionDto.getCarno())
+                        .device_code(requestParam.getString("task_code"))
-                        .content("设备号 " + deviceCodeNow + " 不存在！")
+                        .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: 设备号: " + deviceCodeNow + "不存在! ")
-                        .build();
+                        .log_level(4)
-                logDto.setLog_level(4);
+                        .build());
-                luceneExecuteLogService.deviceExecuteLog(logDto);
                 throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
             }
             //一楼诺宝agv
             if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
-
                 if (address.contains("GET")) {
                     return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
                 } else if (address.contains("PUT")) {
@@ -795,6 +816,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                     JSONObject map = new JSONObject();
                     map.put("status", 200);
                     map.put("message", "取货二次分配追加诺宝成功！");
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(requestParam.getString("task_code"))
+                            .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(map))
+                            .log_level(4)
+                            .build());
                     return map;
                 }
                 //如果是放货二次分配，取放货二次分配需要重新追加动作块
@@ -806,6 +832,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                     JSONObject map = new JSONObject();
                     map.put("status", 200);
                     map.put("message", "放货二次分配追加诺宝成功！");
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(requestParam.getString("task_code"))
+                            .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(map))
+                            .log_level(4)
+                            .build());
                     return map;
                 }
             }
@@ -823,12 +854,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                         map.put("status", 200);
                         map.put("message", "允许叉车放货！" + "点位" + newPointCode);
                         log.info("允许仙工AGV放货，设备号 - {}", newPointCode);
-                        LuceneLogDto logDto = LuceneLogDto.builder()
+                        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-                                .device_code(instructionDto.getCarno())
+                                .device_code(requestParam.getString("task_code"))
-                                .content("叉车允许放货" + "新点位:" + newPointCode + map )
+                                .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(map))
-                                .build();
+                                .log_level(4)
-                        logDto.setLog_level(4);
+                                .build());
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
                         return map;
                     }
                     //放货前等待
@@ -841,6 +871,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         if (address.contains("OUT")) {
             String deviceCodeNow = address.substring(0, address.length() - 6);
             if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                        .device_code(requestParam.getString("task_code"))
+                        .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果:设备号 " + deviceCodeNow + "不存在！ ")
+                        .log_level(4)
+                        .build());
                 throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
             }
 
@@ -849,6 +884,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 JSONObject jsonObject = agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
                 if (StringUtil.equals("200", jsonObject.getString("status"))) {
                     log.info("仙工AGV取货完成后离开，设备号 - {}", deviceCodeNow);
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(requestParam.getString("task_code"))
+                            .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(jsonObject))
+                            .log_level(4)
+                            .build());
                     return jsonObject;
                 }
             } else if (address.contains("PUT")) {
@@ -856,48 +896,62 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 JSONObject jsonObject = agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
                 if (StringUtil.equals("200", jsonObject.getString("status"))) {
                     log.info("仙工AGV放货完成后离开，设备号 - {}", deviceCodeNow);
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(requestParam.getString("task_code"))
+                            .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(jsonObject))
+                            .log_level(4)
+                            .build());
                     return jsonObject;
                 }
 
             }
         }
-
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(requestParam.getString("task_code"))
+                .content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: IN OUT 站点错误!")
+                .log_level(4)
+                .build());
         throw new BadRequestException("请求失败，IN OUT 站点错误!");
     }
 
     private String applyCCAgvTask(String task_code, Instruction instructionDto) {
-            JSONObject param = new JSONObject();
+        JSONObject param = new JSONObject();
-            param.put("task_code", task_code);
+        param.put("task_code", task_code);
-            LuceneLogDto logDto = LuceneLogDto.builder()
+        LuceneLogDto logDto = LuceneLogDto.builder()
+                .device_code(instructionDto.getCarno())
+                .content("叉车二次分配请求lms,参数:" + task_code)
+                .build();
+        logDto.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto);
+        String response = acsToWmsService.applySendOutTwo(param);
+        JSONObject jo = JSON.parseObject(response);
+        if (jo.getInteger("status") == 200) {
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
                     .device_code(instructionDto.getCarno())
-                    .content("叉车二次分配请求lms,参数:" + task_code)
+                    .content("叉车二次分配请求lms,参数,接口返回:" + jo)
                     .build();
-            logDto.setLog_level(4);
+            logDto2.setLog_level(4);
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
-            String response = acsToWmsService.applySendOutTwo(param);
+            //二次分配更新点位
-            JSONObject jo = JSON.parseObject(response);
+            updataTask(instructionDto, jo.getString("data"));
-            if (jo.getInteger("status") == 200) {
+            //请求成功调用叉车追加动作块
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
+            sendAddSequencesToCCAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
-                        .device_code(instructionDto.getCarno())
+            return jo.getString("data");
-                        .content("叉车二次分配请求lms,参数,接口返回:" + jo)
-                        .build();
-                logDto2.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
-                //二次分配更新点位
-                updataTask(instructionDto, jo.getString("data"));
-                //请求成功调用叉车追加动作块
-                sendAddSequencesToCCAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
-                return jo.getString("data");
 
-            } else {
+        } else {
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code(instructionDto.getCarno())
+                    .device_code(instructionDto.getCarno())
-                        .content("叉车二次分配请求lms失败,返回参数:" + jo.getString("message"))
+                    .content("叉车二次分配请求lms失败,返回参数:" + jo.getString("message"))
-                        .build();
+                    .build();
-                logDto2.setLog_level(4);
+            logDto2.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
-                throw new BadRequestException("叉车二次分配请求lms返回失败");
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
-            }
+                    .device_code(instructionDto.getInstruction_code())
+                    .content("AGV开始响应.....,请求参数: { 请查看请求参数 }, 响应结果: 二次分配请求LMS, LMS返回失败 ")
+                    .log_level(4)
+                    .build());
+            throw new BadRequestException("叉车二次分配请求lms返回失败");
+        }
     }
 
     private void sendAddSequencesToCCAgv(String instructionCode, String nextPoint, Instruction instructionDto) {
@@ -1009,6 +1063,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                     .build();
             logDto2.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto2);
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                    .device_code(instructionDto.getInstruction_code())
+                    .content("AGV开始响应.....,请求参数: { 请查看请求参数 }, 响应结果: 二次分配请求LMS, LMS返回失败 ")
+                    .log_level(4)
+                    .build());
             throw new BadRequestException("二次分配请求lms返回失败");
         }
 
@@ -1085,7 +1144,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
 
 
-
     /**
      * 追加动作块
      *
@@ -1437,7 +1495,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             jo10.put("binTask", "OutForkHeight");
             ja.add(jo10);
 
-         } else if (AgvActionTypeEnum.IN_STOCK.getCode().equals(inst.getAgv_action_type())) {
+        } else if (AgvActionTypeEnum.IN_STOCK.getCode().equals(inst.getAgv_action_type())) {
 
         } else if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(inst.getAgv_action_type())) {
             // to do

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

@@ -273,27 +273,36 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
     }
 
     private void updateInstrction() {
+        //更改指令状态
+        if (task > 0) {
+            Instruction inst = checkInst();
+            if (inst != null) {
+                if (StrUtil.equals(inst.getInstruction_status(), "0")) {
+                    inst.setInstruction_status(CommonFinalParam.ONE);
+                    inst.setExecute_device_code(this.device_code);
+                    instructionService.update(inst);
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(inst.getInstruction_code())
+                            .content("装箱桁架: 桁架任务更新为执行中")
+                            .log_level(4)
+                            .build());
+                }
+            }
+        }
         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 {
             this.instruction_update_time = date;
-            //更改指令状态
-            if (task > 0) {
-                Instruction inst = checkInst();
-                if (inst != null) {
-                    if (StrUtil.equals(inst.getInstruction_status(), "0")) {
-                        inst.setInstruction_status(CommonFinalParam.ONE);
-                        inst.setExecute_device_code(this.device_code);
-                        instructionService.update(inst);
-                    }
-                }
-            }
-
             //放货完成
             if ( action == 4 && move == 0) {
                 if (inst != null) {
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(inst.getInstruction_code())
+                            .content("装箱桁架: 桁架任务放货完成")
+                            .log_level(4)
+                            .build());
                     try {
                         logServer.deviceExecuteLog(this.device_code,"","","放货完成");
                         finish_instruction(inst);
@@ -541,6 +550,11 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             }
         }
         this.writing(list);
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(task)
+                .content("装箱桁架: 下发桁架任务")
+                .log_level(4)
+                .build());
     }
 
     private void packageData(Instruction instdto, String route_plan_code, String taskid, String taskcode, String start_device_code, String next_device_code, String start_point_code, String next_point_code) {

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

@@ -59,7 +59,8 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
 
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
 
-    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);;
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
+    ;
 
     DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
 
@@ -195,18 +196,28 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
             // 更新指令状态
             if (mode == 3 && task > 0) {
                 updateInstructionStatus();
-                if (null!=inst) {
+                if (null != inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
             }
             //四个点行架任务，满轴放货完成后调lms生成rgv任务
-            if (action == 6 && task > 0 && !actionRequireSucess ){
+            if (action == 6 && task > 0 && !actionRequireSucess) {
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                        .device_code(String.valueOf(this.task))
+                        .content("子卷下线桁架: 桁架任务满轴放货完成")
+                        .log_level(4)
+                        .build());
                 Integer actionType = ActionTypeEnum.RELEASE_FINISHING.getCode();
-                creatAGV(actionType,action);
+                creatAGV(actionType, action);
             }
 
             //空载具取货完成
-            if (action == 7 && task > 0 && !actionRequireSucess ){
+            if (action == 7 && task > 0 && !actionRequireSucess) {
+                luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                        .device_code(String.valueOf(this.task))
+                        .content("子卷下线桁架: 桁架任务空载具取货完成")
+                        .log_level(4)
+                        .build());
                 Integer actionType = ActionTypeEnum.IN_FINISHING.getCode();
                 creatAGV(actionType, action);
             }
@@ -291,22 +302,27 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
 
     private void creatAGV(Integer actionType, int toCommand) {
         Instruction instruction = checkInst();
-        if(ObjectUtil.isEmpty(instruction)){
+        if (ObjectUtil.isEmpty(instruction)) {
             log.info("指令不存在");
             return;
         }
         JSONObject param = new JSONObject();
         param.put("taskCode", instruction.getTask_code());
-        param.put("actionType",actionType );
+        param.put("actionType", actionType);
         LuceneLogDto logDto = LuceneLogDto.builder()
                 .device_code(device_code)
-                .content("行架取放货完成请求lms,参数:" + task + "--" +ActionTypeEnum.getStatus(actionType))
+                .content("行架取放货完成请求lms,参数:" + task + "--" + ActionTypeEnum.getStatus(actionType))
                 .build();
         logDto.setLog_level(4);
         luceneExecuteLogService.deviceExecuteLog(logDto);
         String response = acsToWmsService.secondaryAllocationPoint(param);
         JSONObject jo = JSON.parseObject(response);
         if (jo.getInteger("status") == 200) {
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                    .device_code(instruction.getInstruction_code())
+                    .content("子卷下线桁架: 桁架任务" + ActionTypeEnum.getStatus(actionType) + "完成请求LMS, LMS反馈成功")
+                    .log_level(4)
+                    .build());
             LuceneLogDto logDto2 = LuceneLogDto.builder()
                     .device_code(device_code)
                     .content("行架取放货完成请求lms,参数,接口返回:" + jo)
@@ -327,6 +343,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
                     .build();
             logDto2.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto2);
+            luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                    .device_code(instruction.getInstruction_code())
+                    .content("子卷下线桁架: 桁架任务" + ActionTypeEnum.getStatus(actionType) + "完成请求LMS, LMS反馈失败")
+                    .log_level(4)
+                    .build());
             throw new BadRequestException("行架取放货完成请求lms返回失败");
         }
 
@@ -342,6 +363,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
                     inst.setExecute_device_code(this.device_code);
                     instructionService.update(inst);
                     logServer.deviceExecuteLog(this.device_code, "", "", "修改指令状态为执行中");
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(inst.getInstruction_code())
+                            .content("子卷下线桁架: 桁架任务更新为执行中")
+                            .log_level(4)
+                            .build());
                 }
             }
         }
@@ -353,6 +379,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
             //放货完成
             if (action == 4 && move == 0) {
                 if (inst != null) {
+                    luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                            .device_code(inst.getInstruction_code())
+                            .content("子卷下线桁架: 桁架任务放货完成")
+                            .log_level(4)
+                            .build());
                     try {
                         logServer.deviceExecuteLog(this.device_code, "", "", "放货完成");
                         finish_instruction(inst);
@@ -603,6 +634,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
         list.add(map7);
 
         this.writing(list);
+        luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
+                .device_code(task)
+                .content("子卷下线桁架: 下发桁架任务")
+                .log_level(4)
+                .build());
     }
 
     /**
@@ -706,7 +742,7 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
         jo.put("isError", this.getIserror());
         jo.put("message", LangProcess.msg(message));
         jo.put("notCreateTaskMessage", notCreateTaskMessage);
-       jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
+        jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
         jo.put("feedMessage", LangProcess.msg(feedMessage));
         jo.put("driver_type", "siemens_conveyor");
         jo.put("is_click", true);

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

@@ -853,7 +853,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
     }
 
     @Override
-    @Transactional(rollbackFor = Exception.class)
     public void update(TaskDto dto) {
         TaskDto entity = this.findById(dto.getTask_id());
         if (entity == null) {