add:发货区出库

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

@@ -64,6 +64,16 @@ public interface NDCAgvService {
      */
    public byte[] sendAgvTwoModeInst(int phase, int index, int result,int offset,int quantity);
 
+    /**
+     * 下发agv偏移指令
+     * @param phase
+     * @param index
+     * @param result
+     * @return
+     */
+    public byte[] sendAgvTwoModeInstNewPoint(int phase, int index, int result,int offset,int quantity,int newStation);
+
+
     public byte[] sendAgvTwoModeInst();
 
 

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

@@ -48,6 +48,9 @@ public class NDCAgvServiceImpl implements NDCAgvService {
     @Override
     public void deleteAgvInstToNDC(Instruction inst) throws Exception {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
+            if (StrUtil.isEmpty(inst.getAgv_jobno())){
+                return;
+            }
             int index = Integer.parseInt(inst.getAgv_jobno());
 
             byte indexhigh = (byte) IntToHexHigh(index);
@@ -349,18 +352,54 @@ public class NDCAgvServiceImpl implements NDCAgvService {
         byte offsetlow = (byte) IntToHexLow(offset);
         byte quantityhigh = (byte) IntToHexHigh(quantity);
         byte quantitylow = (byte) IntToHexLow(quantity);
-
         byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
                 (byte) 0X00, (byte) 0X08,
-                (byte) 0X00, (byte) 0X0E,
+                (byte) 0X00, (byte) 0X10,
                 (byte) 0X00, (byte) 0X01,
                 (byte) 0X00, (byte) 0X6D,
-                (byte) 0X00, (byte) 0X0A,
+                (byte) 0X00, (byte) 0X0C,
                 (byte) indexhigh, (byte) indexlow,
                 (byte) 0X01, (byte) 0X12,
                 (byte) phasehigh, (byte) phaselow,
                 (byte) offsethigh, (byte) offsetlow,
-                (byte) quantityhigh, (byte) quantitylow
+                (byte) quantityhigh, (byte) quantitylow,
+                (byte) 0X00, (byte) 0X00
+        };
+
+
+        log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:"
+                + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF) + ",是否侧移: " + (offset == 1 ? "侧移" : "不测移") + ",偏离量: " + quantity);
+
+        System.out.println("反馈agv动作数据:" + Bytes2HexString(b));
+        return b;
+    }
+
+    @Override
+    public byte[] sendAgvTwoModeInstNewPoint(int phase, int index, int result, int offset, int quantity, int newStation) {
+        if (phase < 0 || index < 0)
+            return null;
+        byte indexhigh = (byte) IntToHexHigh(index);
+        byte indexlow = (byte) IntToHexLow(index);
+        byte phasehigh = (byte) IntToHexHigh(phase);
+        byte phaselow = (byte) IntToHexLow(phase);
+        byte offsethigh = (byte) IntToHexHigh(offset);
+        byte offsetlow = (byte) IntToHexLow(offset);
+        byte quantityhigh = (byte) IntToHexHigh(quantity);
+        byte quantitylow = (byte) IntToHexLow(quantity);
+        byte newStationhigh = (byte) IntToHexHigh(newStation);
+        byte newStationlow = (byte) IntToHexLow(newStation);
+        byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                (byte) 0X00, (byte) 0X08,
+                (byte) 0X00, (byte) 0X10,
+                (byte) 0X00, (byte) 0X01,
+                (byte) 0X00, (byte) 0X6D,
+                (byte) 0X00, (byte) 0X0C,
+                (byte) indexhigh, (byte) indexlow,
+                (byte) 0X01, (byte) 0X12,
+                (byte) phasehigh, (byte) phaselow,
+                (byte) offsethigh, (byte) offsetlow,
+                (byte) quantityhigh, (byte) quantitylow,
+                (byte) newStationhigh, (byte) newStationlow,
         };
 
 

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

@@ -1083,7 +1083,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
     private void updataTask(Instruction instructionDto, String newPoint) {
 
-        TaskDto taskUpdate = new TaskDto();
+        //TaskDto taskUpdate = new TaskDto();
+        TaskDto taskUpdate =  taskserver.findByCodeFromCache(instructionDto.getTask_code());
         if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
             instructionDto.setStart_point_code(newPoint);
             taskUpdate.setStart_point_code(newPoint);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -2,6 +2,8 @@ package org.nl.acs.auto.run;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.domain.TwoFloorAgvStatus;
@@ -20,6 +22,11 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
 import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.storage_cell.service.StorageCellService;
+import org.nl.acs.storage_cell.service.dto.StorageCellDto;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.acs.task.service.impl.TaskServiceImpl;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
@@ -72,6 +79,12 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
 
     private final ConcurrentHashMap<String, AtomicBoolean> CAR_PHASE = new ConcurrentHashMap<>();
 
+    @Autowired
+    StorageCellService storageCellService;
+    @Autowired
+    InstructionService instructionService;
+    @Autowired
+    TaskService taskService;
 
     @Autowired
     ISysParamService paramService;
@@ -345,6 +358,32 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             } else {
                                 log.info(device_code + "对应设备号为空!");
                             }
+                        }        //
+                        else if (phase == 0x0B) {
+                            //二次分配
+                            if (ObjectUtil.isEmpty(inst)) {
+                                log.info("未找到指令号{}对应的指令", ikey);
+                                return;
+                            }
+                            //根据任务号直接请求上位分配新的点位
+                            JSONObject apply = new JSONObject();
+                            apply.put("task_code", inst.getTask_code());
+                            String str = acsToWmsService.applySendOutTwo(apply);
+                            JSONObject jo = JSON.parseObject(str);
+                            if (jo != null && jo.getInteger("status") == 200) {
+                                //申请成功以后更新指令和任务的终点
+                                //反馈NDC
+                                String newPoint = jo.getString("data");
+                                updataTask(inst, newPoint);
+                                StorageCellDto storageCellDto = storageCellService.findByCode(newPoint);
+                                if (ObjectUtil.isNotEmpty(storageCellDto)) {
+                                    data = ndcAgvService.sendAgvTwoModeInstNewPoint(phase, index, 0, 0, 0, storageCellDto.getAddress());
+                                } else {
+                                    LuceneLogDto logDto = LuceneLogDto.builder().device_code(device_code).content("未反馈NDC二次分配点位原因,货位表中未查询到该货位，对应的货位信息:" + newPoint).build();
+                                    logDto.setLog_level(4);
+                                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                                }
+                            }
                         }  else {
                             //上报异常信息
                             //（不需要WCS反馈）
@@ -444,7 +483,16 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
         }
     }
 
-
+    private void updataTask(Instruction instructionDto, String newPoint) {
+        TaskDto taskUpdate = taskService.findByCodeFromCache(instructionDto.getTask_code());
+        instructionDto.setNext_point_code(newPoint);
+        taskUpdate.setNext_point_code(newPoint);
+        instructionDto.setNext_device_code(newPoint);
+        taskUpdate.setNext_device_code(newPoint);
+        taskUpdate.setTask_id(instructionDto.getTask_id());
+        instructionService.update(instructionDto);
+        taskService.update1(taskUpdate);
+    }
     public static void write(byte[] b) {
         try {
             log.info("下发agv数据:" + Bytes2HexString(b));

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

@@ -239,7 +239,7 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                     case 2:
                         //申请任务
                         if (move > 0 && !requireSucess) {
-                            instruction_require();
+                           // instruction_require();
                         } else {
                             String remark = "";
                             ;
@@ -370,10 +370,14 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                         }
                         return;
                     }
+                    if (StrUtil.isEmpty(material_barcode)){
+                        this.message = "载具码为空，不允许申请AGV任务";
+                        return;
+                    }
                     JSONObject apply = new JSONObject();
                     apply.put("device_code", device_code);
-
-                    apply.put("vehicle_code", material_barcode);
+                    apply.put("vehicle_code", material_barcode.replaceAll("\\s+", "")
+                            .replaceAll(",+$", ""));
 
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(device_code)

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

@@ -2,7 +2,9 @@ package org.nl.acs.device_driver.two_conveyor.hongxiang_device;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -14,6 +16,8 @@ import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.wms.data.one.ApplyLabelingAndBindingRequest;
+import org.nl.acs.ext.wms.data.one.ApplyLabelingAndBindingResponse;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.history.ErrorUtil;
@@ -25,6 +29,8 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.storage_cell.domain.StorageCell;
+import org.nl.acs.storage_cell.service.StorageCellService;
 import org.nl.acs.task.service.TaskService;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.language.LangProcess;
@@ -64,6 +70,9 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
     @Autowired
     LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
 
+    @Autowired
+    private StorageCellService storageCellService = SpringContextHolder.getBean(StorageCellService.class);
+
     private String error_type = "hx_error_type";
 
     private Date instruction_require_time = new Date();
@@ -211,7 +220,7 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
 
             if (finish == 1 && !requireSucess) {
                 //烘箱完成反馈LMS
-//                apply_finish();
+                apply_finish();
             }
         }
 
@@ -237,6 +246,39 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
         last_currentC = currentC;
     }
 
+    public synchronized boolean apply_finish() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return false;
+        } else {
+            this.instruction_apply_time = date;
+            message = "烘箱完成反馈LMS...";
+            ApplyLabelingAndBindingRequest applyLabelingAndBindingRequest = new ApplyLabelingAndBindingRequest();
+            //JSONObject device_json = WQLObject.getWQLObject("acs_storage_cell").query("storage_code ='" + this.device_code + "'").uniqueResult(0);
+            StorageCell storageCell = storageCellService.getOne(new LambdaQueryWrapper<StorageCell>()
+                    .eq(StorageCell::getStorage_code, this.device_code));
+            String start_point_code = null;
+            if (!ObjectUtil.isEmpty(storageCell)) {
+                //start_point_code = (String) device_json.get("parent_storage_code") == null ? this.device_code : (String) device_json.get("parent_storage_code");
+                start_point_code = storageCell.getParent_storage_code() == null ? this.device_code : storageCell.getParent_storage_code();
+            }
+            applyLabelingAndBindingRequest.setDevice_code(start_point_code);
+            applyLabelingAndBindingRequest.setType("3");
+            ApplyLabelingAndBindingResponse applyLabelingAndBindingResponse = acsToWmsService.applyLabelingAndBindingRequest(applyLabelingAndBindingRequest);
+            logServer.deviceExecuteLog(this.device_code, "", "", "烘拷完成,请求参数:" + JSON.toJSONString(applyLabelingAndBindingRequest));
+            if (applyLabelingAndBindingResponse.getstatus() == 200) {
+                requireSucess = true;
+                message = "烘箱完成反馈LMS成功...";
+                logServer.deviceExecuteLog(this.device_code, "", "", "烘拷完成请求成功,响应参数:" + JSON.toJSONString(applyLabelingAndBindingResponse));
+            } else {
+                requireSucess = true;
+                message = "烘箱完成反馈LMS失败，" + String.valueOf(applyLabelingAndBindingResponse);
+                logServer.deviceExecuteLog(this.device_code, "", "", "烘拷完成请求失败,响应参数:" + JSON.toJSONString(applyLabelingAndBindingResponse));
+            }
+            return true;
+        }
+    }
 
     protected void thingToNothing() {
         //this.setRequireSucess(false);

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

@@ -119,9 +119,9 @@ public class ManipulatorAgvStationDeviceDriver extends AbstractOpcDeviceDriver i
             iserror = this.itemProtocol.isError;
 
 
-            if (mode != last_mode) {
-                this.setRequireSucess(false);
-            }
+//            if (mode != last_mode) {
+//                this.setRequireSucess(false);
+//            }
         } catch (Exception var17) {
             this.message = "universal_message14";
             LuceneLogDto logDto = LuceneLogDto.builder()
@@ -130,6 +130,12 @@ public class ManipulatorAgvStationDeviceDriver extends AbstractOpcDeviceDriver i
                     .build();
             logDto.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto);
+            LuceneLogDto logDto1 = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content(this.device_code + "逻辑异常消息:" + var17.getMessage())
+                    .build();
+            logDto1.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto1);
         }
 
         if (!this.itemProtocol.getIsonline()) {

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

@@ -60,6 +60,10 @@ public class ItemProtocol {
     public static String item_to_empty_shaft_site = "to_empty_shaft_site";
     //下发任务类型
     public static String item_to_type = "to_type";
+    //下发分支任务1轴类型
+    public static String item_to_Task1_Axis_Type = "to_Task1_Axis_Type";
+    //下发分支任务2轴类型
+    public static String item_to_Task2_Axis_Type = "to_Task2_Axis_Type";
 
 
     private SlitTwoManipulatorDeviceDriver driver;
@@ -185,6 +189,8 @@ public class ItemProtocol {
         list.add(new ItemDto(item_to_target2, "下发目标站2", "DB16.W14"));
         list.add(new ItemDto(item_to_empty_shaft_site, "下发空轴位", "DB16.W16"));
         list.add(new ItemDto(item_to_type, "下发任务类型", "DB16.W20"));
+        list.add(new ItemDto(item_to_Task1_Axis_Type, "下发分支任务1轴类型", "DB16.W24"));
+        list.add(new ItemDto(item_to_Task2_Axis_Type, "下发分支任务2轴类型", "DB16.W28"));
         return list;
     }
 

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

@@ -392,11 +392,12 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             }
 
             if (!ObjectUtil.isEmpty(task)) {
-                this.executeReadyTask(task);
+                boolean flag = this.executeReadyTask(task);
+                return flag;
             } else {
                 notCreateInstMessage = "universal_notCreateInstMessage";
+                return false;
             }
-            return true;
         }
     }
 
@@ -448,11 +449,12 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             }
             if (!ObjectUtil.isEmpty(task)) {
-                this.executeReadyTask(task);
+                boolean flag1 = this.executeReadyTask(task);
+                return flag1;
             } else {
                 notCreateInstMessage = "universal_notCreateInstMessage";
+                return false;
             }
-            return true;
         }
     }
 
@@ -491,6 +493,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         map.put("to_type", taskDto.getTruss_type());
         map.put("to_empty_shaft_site", taskDto.getEmpty_site());
 
+        String interactionJson = taskDto.getInteraction_json();
+        if (StrUtil.isNotEmpty(interactionJson)){
+            JSONObject jsonObject = JSONObject.parseObject(interactionJson);
+            String to_Task1_Axis_Type = jsonObject.getString("to_Task1_Axis_Type");
+            if (StrUtil.isNotEmpty(to_Task1_Axis_Type)){
+                map.put("to_Task1_Axis_Type",to_Task1_Axis_Type);
+            }
+            String to_Task2_Axis_Type = jsonObject.getString("to_Task2_Axis_Type");
+            if (StrUtil.isNotEmpty(to_Task2_Axis_Type)){
+                map.put("to_Task2_Axis_Type",to_Task2_Axis_Type);
+            }
+        }
+
         if (StrUtil.isNotEmpty(start_device_code2)) {
             Device startDevice2 = deviceAppservice.findDeviceByCode(start_device_code2);
             Device nextDevice2 = deviceAppservice.findDeviceByCode(next_device_code2);
@@ -593,10 +608,23 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             map.put("to_onset2", start_addr2);
             map.put("to_target2", next_addr2);
         }
+        String interactionJson = taskDto.getInteraction_json();
+        if (StrUtil.isNotEmpty(interactionJson)){
+            JSONObject jsonObject = JSONObject.parseObject(interactionJson);
+            String to_Task1_Axis_Type = jsonObject.getString("to_Task1_Axis_Type");
+            if (StrUtil.isNotEmpty(to_Task1_Axis_Type)){
+                map.put("to_Task1_Axis_Type",to_Task1_Axis_Type);
+            }
+            String to_Task2_Axis_Type = jsonObject.getString("to_Task2_Axis_Type");
+            if (StrUtil.isNotEmpty(to_Task2_Axis_Type)){
+                map.put("to_Task2_Axis_Type",to_Task2_Axis_Type);
+            }
+        }
         try {
             instructionService.create(instdto);
         } catch (Exception e) {
             logServer.deviceExecuteLog(device_code, "", instdto.getInstruction_code(), "->" + e.getMessage());
+            return false;
         }
         //创建指令后修改任务状态
         taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());

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

@@ -154,7 +154,34 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
     @Override
     public ApplyLabelingAndBindingResponse applyLabelingAndBindingRequest(ApplyLabelingAndBindingRequest param) {
-        return null;
+        try {
+            MDC.put(log_file_type, log_type);
+            ApplyLabelingAndBindingResponse applyLabelingAndBindingResponse = new ApplyLabelingAndBindingResponse();
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+                AddressDto addressDto = addressService.findByCode("applyLabelingAndBinding");
+                String methods_url = addressDto.getMethods_url();
+                String url = wmsUrl + methods_url;
+                log.info("ApplyLabelingAndBindingRequest----请求参数{}", param);
+                try {
+//                    String result = "";
+                    String result = HttpRequest.post(url)
+                            .body(JSON.toJSONString(param))
+                            .execute().body();
+                    JSONObject jsonObject = JSONObject.parseObject(result);
+                    log.info("ApplyLabelingAndBindingResponse----返回参数{}", result);
+                    applyLabelingAndBindingResponse = JSONObject.toJavaObject(jsonObject, ApplyLabelingAndBindingResponse.class);
+                } catch (Exception e) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 400);
+                    map.put("message", e.getMessage());
+                    return JSONObject.toJavaObject(map, ApplyLabelingAndBindingResponse.class);
+                }
+            }
+            return applyLabelingAndBindingResponse;
+        } finally {
+            MDC.remove(log_file_type);
+        }
     }
 
     @Override

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

@@ -1075,11 +1075,14 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         removeByCodeFromCache(dto.getInstruction_code());
 
         String instnextdevice = dto.getNext_device_code();
-        String insttaskid = dto.getTask_id();
+//        String insttaskid = dto.getTask_id();
+//
+//        Task task = new LambdaQueryChainWrapper<>(taskMapper)
+//                .eq(Task::getTask_id, insttaskid)
+//                .one();
+
+        TaskDto task = taskService.findByCodeFromCache(dto.getTask_code());
 
-        Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id, insttaskid)
-                .one();
         // =0 则不用再次请求
         if (StrUtil.equals(task.getRequest_again(), "0")) {
             if (StrUtil.equals(task.getTask_type(), "8")) {
@@ -1133,10 +1136,11 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     @Transactional(rollbackFor = Exception.class)
     public void finishAndCreateNextInst(Instruction dto) {
         dto = foramte(dto);
-        String device_code = dto.getNext_device_code();
-        Task acsTask = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id, dto.getTask_id())
-                .one();
+//        String device_code = dto.getNext_device_code();
+//        Task acsTask = new LambdaQueryChainWrapper<>(taskMapper)
+//                .eq(Task::getTask_id, dto.getTask_id())
+//                .one();
+        TaskDto acsTask = taskService.findByCodeFromCache(dto.getTask_code());
 
         RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
         List<RouteLineDto> list =
@@ -1191,7 +1195,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instdto.setRoute_plan_code(acsTask.getRoute_plan_code());
         instdto.setRemark(acsTask.getRemark());
         instdto.setMaterial(acsTask.getMaterial());
-        instdto.setQuantity(acsTask.getQuantity().toPlainString());
+        instdto.setQuantity(acsTask.getQuantity());
         instdto.setTask_id(acsTask.getTask_id());
         instdto.setTask_code(acsTask.getTask_code());
         instdto.setVehicle_code(acsTask.getVehicle_code());

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/storage_cell/service/StorageCellService.java

@@ -54,6 +54,8 @@ public interface StorageCellService extends CommonService<StorageCell> {
      */
     StorageCellDto findById(String id);
 
+    StorageCellDto findByCode(String code);
+
     /**
      * 新增数据
      *

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

@@ -178,6 +178,17 @@ public class StorageCellServiceImpl extends CommonServiceImpl<StorageCellMapper,
         return null;
     }
 
+
+    @Override
+    public StorageCellDto findByCode(String code) {
+        StorageCell storageCell = this.getOne(new LambdaQueryWrapper<StorageCell>().eq(StorageCell::getStorage_code, code));
+        if (ObjectUtil.isNotEmpty(storageCell)) {
+            final StorageCellDto obj = ConvertUtil.convert(storageCell, StorageCellDto.class);
+            return obj;
+        }
+        return null;
+    }
+
 //    @Override
 //    public StorageCellDto findByCode(String code) {
 //        WQLObject wo = WQLObject.getWQLObject("acs_storage_cell");
@@ -190,7 +201,6 @@ public class StorageCellServiceImpl extends CommonServiceImpl<StorageCellMapper,
 //    }
 
 
-
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void create(StorageCellDto dto) {

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

@@ -67,12 +67,12 @@ spring:
           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
+          tryInterrupt: false
           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）
+          runTimeout: 8000                                # 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
@@ -84,12 +84,12 @@ spring:
           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
+          tryInterrupt: false
           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）
+          runTimeout: 8000                                # 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）
 task:
   pool:

acs2/nladmin-ui/src/views/screen/twoFloorAgvScreen.vue

@@ -169,6 +169,7 @@ export default {
         })
     },
     updateAgvData(agvDataList) {
+      this.agvList = agvDataList
       // 更新AGV数据
       agvDataList.forEach(data => {
         const agvIndex = this.agvList.findIndex(agv => agv.vehicle_code === data.vehicle_code)