更新

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

@@ -1,36 +1,26 @@
 package org.nl.acs.agv.server.impl;
 
-import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSONArray;
-import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
-import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun;
-import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.LokiLog;
 import org.nl.acs.log.LokiLogType;
 import org.nl.acs.log.service.DeviceExecuteLogService;
-import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
-import org.nl.acs.opc.DeviceType;
-import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.stereotype.Service;
 
 import java.util.HashMap;
-import java.util.List;
 import java.util.Map;
 
 @Slf4j
@@ -185,9 +175,9 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 }
                 log.info("下发AGV作业指令--{}", str1);
                 if (StrUtil.equals(agv_system_type,"2")){
-                    TwoNDCSocketConnectionAutoRun.write(b);
+                    //TwoNDCSocketConnectionAutoRun.write(b);
                 } else if (StrUtil.equals(agv_system_type,"3")){
-                    TwoNDC2SocketConnectionAutoRun.write(b);
+                    //TwoNDC2SocketConnectionAutoRun.write(b);
                 }
                 System.out.println("下发agv指令数据:" + Bytes2HexString(b));
             } else {

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

@@ -11,6 +11,7 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
+import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.modules.system.service.ParamService;
@@ -63,17 +64,18 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
     }
 
     public String getName() {
-        return "1楼NDC在线连接";
+        return "NDC在线连接";
     }
 
     public void autoRun() throws IOException {
-        System.out.println("1楼NDCAgv链接开始");
+        System.out.println("NDCAgv链接开始");
         ParamService ParamService = SpringContextHolder.getBean(ParamServiceImpl.class);
         InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
         AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
         NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
         DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
         DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
+        DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
         ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
         port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue());
 
@@ -83,7 +85,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
             s = new Socket(ip, port);
             dos = new DataOutputStream(s.getOutputStream());
             dis = new DataInputStream(s.getInputStream());
-            System.out.println("1楼NDCAgv链接成功");
+            System.out.println("NDCAgv链接成功");
+            log.info("NDCAgv链接成功");
             while (bConnected) {
                 int count = dis.read(b);
 
@@ -119,6 +122,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     //车号
                     int carno = arr[20];
                     Instruction link_inst = null;
+                    Instruction inst = null;
                     List<Instruction> insts = null;
                     boolean link_flag = false;
                     Device agv_device = null;
@@ -126,7 +130,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
                     }
                     if (ikey != 0) {
-                        insts = instructionService.findByLinkNum(String.valueOf(ikey));
+                        inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
+                        if (ObjectUtil.isEmpty(inst)){
+                            inst = instructionService.findByCode(String.valueOf(ikey));
+                        }
                     }
                     if (!ObjectUtil.isEmpty(link_inst)) {
                         link_flag = true;
@@ -142,7 +149,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
 
                     //开始任务/上报订单号
                     if (phase == 0x01) {
-                        for (Instruction inst : insts) {
+                        if (!ObjectUtil.isEmpty(inst)) {
                             inst.setInstruction_status("1");
                             inst.setAgv_jobno(String.valueOf(index));
                             inst.setSend_status("1");
@@ -154,7 +161,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     //（无车id及状态）
                     else if (phase == 0x0A) {
 
-                        for (Instruction inst : insts) {
+                        if (!ObjectUtil.isEmpty(inst)) {
                             if (!ObjectUtil.isEmpty(inst)) {
                                 instructionService.finish(inst.getInstruction_id());
                             }
@@ -172,7 +179,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     //(需要WCS反馈)
                     else if(phase == 0xFF) {
 
-                        for (Instruction inst : insts) {
+                        if (!ObjectUtil.isEmpty(inst)) {
                             if (!ObjectUtil.isEmpty(inst)) {
                                 instructionService.cancelNOSendAgv(inst.getInstruction_id());
                             }
@@ -187,10 +194,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         } else {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
                         }
-                        if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+                        if(ObjectUtil.isNotEmpty(device)){
-                            agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
+                            if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
-                            agvNdcOneDeviceDriver.processSocket(arr);
+                                agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
+                                agvNdcOneDeviceDriver.processSocket(arr);
+                            }
                         }
+
                     }
                     if (!ObjectUtil.isEmpty(data)) {
                         write(data);
@@ -203,6 +213,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
 
         } catch (Exception e) {
             System.out.println("OneAgv链接异常");
+            log.info("OneAgv链接异常");
+            log.error("agv连接出现异常:{}", e);
+            logServer.deviceExecuteLog("1","","","agv异常"+e.getMessage());
+            logServer.deviceExecuteLog("1","","","agv异常" + e);
             if(ObjectUtil.isNotEmpty(s)){
                 s.close();
             }

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDC2SocketConnectionAutoRun.java

@@ -1,243 +0,0 @@
-package org.nl.acs.auto.run;
-
-import cn.hutool.core.util.ObjectUtil;
-import cn.hutool.core.util.StrUtil;
-import lombok.extern.slf4j.Slf4j;
-import org.nl.acs.AcsConfig;
-import org.nl.acs.agv.server.NDCAgvService;
-import org.nl.acs.device.service.DeviceService;
-import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver;
-import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
-import org.nl.acs.instruction.service.InstructionService;
-import org.nl.acs.instruction.service.dto.Instruction;
-import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
-import org.nl.acs.opc.Device;
-import org.nl.acs.opc.DeviceAppService;
-import org.nl.modules.system.service.ParamService;
-import org.nl.modules.system.service.impl.ParamServiceImpl;
-import org.nl.modules.wql.util.SpringContextHolder;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import java.io.DataInputStream;
-import java.io.DataOutputStream;
-import java.io.IOException;
-import java.net.Socket;
-import java.util.Date;
-
-import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
-
-
-@Slf4j
-@Component
-public class TwoNDC2SocketConnectionAutoRun extends AbstractAutoRunnable {
-
-    Socket s;
-    String ip = "192.168.46.225";
-    int port = 1234;
-    static DataOutputStream dos;
-    static DataInputStream dis;
-    private int recordTimeOut = 10000;
-    private Date recordTime;
-    String[] ERROR = new String[]{
-            "货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
-            "停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
-            "抬叉停止"};
-    boolean bConnected = true;
-
-    boolean isReConnect = false;
-
-    @Autowired
-    ParamService paramService;
-    @Autowired
-    AutoRunService autoRunService;
-
-
-    public TwoNDC2SocketConnectionAutoRun() {
-        this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
-    }
-
-    public String getCode() {
-        return TwoNDC2SocketConnectionAutoRun.class.getSimpleName();
-    }
-
-    public String getName() {
-        return "2楼2区域AGV系统";
-    }
-
-    public void autoRun() {
-
-        try {
-            System.out.println("2楼2区域AGV系统链接开始");
-            ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
-            InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
-            AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
-            NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
-            DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
-            DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
-            ip = paramService.findByCode(AcsConfig.AGVURL22).getValue();
-            port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT22).getValue());
-            byte[] b = new byte[1028];
-            s = new Socket(ip, port);
-            System.out.println("2楼2区域AGV链接成功");
-            dos = new DataOutputStream(s.getOutputStream());
-            dis = new DataInputStream(s.getInputStream());
-
-            while (bConnected) {
-                int count = dis.read(b);
-
-                if (count == -1) {
-                    break;
-                }
-
-                int[] arr = new int[count];
-                StringBuffer bs = new StringBuffer();
-
-                for (int i = 0; i < count; i++) {
-                    int temp = b[i];
-                    if (temp < 0)
-                        temp += 256;
-                    arr[i] = temp;
-                    StringBuffer bs1 = new StringBuffer("0");
-                    bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
-                }
-
-                System.out.println("收到请求参数：" + bs);
-                boolean flag = false;
-                if (arr[8] * 256 + arr[9] == 0x73) {
-                    byte[] data = null;
-                    System.out.println("接收agv上报信息：" + bs);
-                    //执行阶段
-                    int phase = arr[16] * 256 + arr[17];
-                    // agv任务号
-                    int index = arr[12] * 256 + arr[13];
-                    //任务号
-                    int ikey = arr[26] * 256 + arr[27];
-                    //站点号
-                    int agvaddr = arr[18] * 256 + arr[19];
-                    //车号
-                    int carno = arr[20];
-                    Instruction inst = null;
-                    if (ikey != 0) {
-                        inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
-                    }
-                    log.info("接收agv上报信息：" + bs);
-                    log.info("接收agv上报信息：" + "phase--" + phase + "  index--" + index + "  ikey--" + ikey + "  agvaddr--" + agvaddr + "  Car--" + carno);
-                    Device device = null;
-                    String device_code = null;
-                    String old_device_code = null;
-                    String emptyNum = null;
-                    if (agvaddr != 0) {
-                        old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-                        if (StrUtil.contains(old_device_code, "-")) {
-                            String[] point = old_device_code.split("-");
-                            device_code = point[0];
-                        } else if (StrUtil.contains(old_device_code, ".")) {
-                            String[] point = old_device_code.split("\\.");
-                            device_code = point[0];
-                            emptyNum = point[1];
-                        } else {
-                            device_code = old_device_code;
-                        }
-                        device = deviceAppService.findDeviceByCode(device_code);
-                    }
-
-                    AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
-                    //开始任务
-                    if (phase == 0x01) {
-                        if (!ObjectUtil.isEmpty(inst)) {
-                            inst.setInstruction_status("1");
-                            inst.setAgv_jobno(String.valueOf(index));
-                            inst.setSend_status("1");
-                            instructionService.update(inst);
-                            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                        }
-                        flag = true;
-                    }
-                    //任务完毕
-                    //（无车id及状态）
-                    else if (phase == 0x14) {
-                        if (ObjectUtil.isEmpty(inst)) {
-                            log.info("未找到指令号{}对应的指令", ikey);
-                            break;
-                        }
-                        inst.setInstruction_status("2");
-                        instructionService.finish(inst);
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                    }
-                    //请求删除任务
-                    //(需要WCS反馈)
-                    else if (phase == 0x30) {
-                        if (ObjectUtil.isEmpty(inst)) {
-                            log.info("未找到指令号{}对应的指令", ikey);
-                            break;
-                        }
-                        data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0);
-                    }
-                    //任务删除确认
-                    //(需要WCS反馈)
-                    else if (phase == 0xFF) {
-                        if (ObjectUtil.isEmpty(inst)) {
-                            log.info("未找到指令号{}对应的指令", ikey);
-                            break;
-                        }
-                        instructionService.cancelNOSendAgv(inst.getInstruction_id());
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                    } else {
-                        //上报异常信息
-                        //（不需要WCS反馈）
-                        if(phase == 0x67){
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
-                        } else {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
-                        }
-                        if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
-                            agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
-                            agvNdcTwoDeviceDriver.processSocket(arr);
-                        }
-                    }
-                    if (!ObjectUtil.isEmpty(data)) {
-                        write(data);
-                    }
-
-                } else {
-                    System.out.println("agv上报不是0073类型动作，不处理");
-                }
-            }
-
-        } catch (Exception e) {
-
-
-        } finally {
-
-
-        }
-
-    }
-
-
-    @Override
-    public void stop() {
-        super.after();
-        try {
-            s.close();
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-
-    public static void write(byte[] b) {
-        try {
-            log.info("下发agv数据:" + Bytes2HexString(b));
-            System.out.println("下发agv数据:" + Bytes2HexString(b));
-            dos.write(b);
-            dos.flush();
-        } catch (IOException e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-        }
-
-    }
-}

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

@@ -1,245 +0,0 @@
-package org.nl.acs.auto.run;
-
-import cn.hutool.core.util.ObjectUtil;
-import cn.hutool.core.util.StrUtil;
-import lombok.extern.slf4j.Slf4j;
-import org.nl.acs.AcsConfig;
-import org.nl.acs.agv.server.NDCAgvService;
-import org.nl.acs.device.service.DeviceService;
-import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
-import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver;
-import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
-import org.nl.acs.instruction.service.InstructionService;
-import org.nl.acs.instruction.service.dto.Instruction;
-import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
-import org.nl.acs.opc.Device;
-import org.nl.acs.opc.DeviceAppService;
-import org.nl.modules.system.service.ParamService;
-import org.nl.modules.system.service.impl.ParamServiceImpl;
-import org.nl.modules.wql.util.SpringContextHolder;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import java.io.DataInputStream;
-import java.io.DataOutputStream;
-import java.io.IOException;
-import java.net.Socket;
-import java.util.Date;
-import java.util.List;
-
-import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
-
-
-@Slf4j
-@Component
-public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
-
-    Socket s;
-    String ip = "192.168.46.225";
-    int port = 1234;
-    static DataOutputStream dos;
-    static DataInputStream dis;
-    private int recordTimeOut = 10000;
-    private Date recordTime;
-    String[] ERROR = new String[]{
-            "货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
-            "停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
-            "抬叉停止"};
-    boolean bConnected = true;
-
-    boolean isReConnect = false;
-
-    @Autowired
-    ParamService paramService;
-    @Autowired
-    AutoRunService autoRunService;
-
-
-    public TwoNDCSocketConnectionAutoRun() {
-        this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
-    }
-
-    public String getCode() {
-        return TwoNDCSocketConnectionAutoRun.class.getSimpleName();
-    }
-
-    public String getName() {
-        return "2楼1区域AGV系统";
-    }
-
-    public void autoRun() {
-
-        try {
-            System.out.println("2楼1区域AGV系统链接开始");
-            ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
-            InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
-            AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
-            NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
-            DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
-            DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
-            ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
-            port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue());
-            byte[] b = new byte[1028];
-            s = new Socket(ip, port);
-            System.out.println("2楼1区域Agv链接成功");
-            dos = new DataOutputStream(s.getOutputStream());
-            dis = new DataInputStream(s.getInputStream());
-
-            while (bConnected) {
-                int count = dis.read(b);
-
-                if (count == -1) {
-                    break;
-                }
-
-                int[] arr = new int[count];
-                StringBuffer bs = new StringBuffer();
-
-                for (int i = 0; i < count; i++) {
-                    int temp = b[i];
-                    if (temp < 0)
-                        temp += 256;
-                    arr[i] = temp;
-                    StringBuffer bs1 = new StringBuffer("0");
-                    bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
-                }
-
-                System.out.println("收到请求参数：" + bs);
-                boolean flag = false;
-                if (arr[8] * 256 + arr[9] == 0x73) {
-                    byte[] data = null;
-                    System.out.println("接收agv上报信息：" + bs);
-                    //执行阶段
-                    int phase = arr[16] * 256 + arr[17];
-                    // agv任务号
-                    int index = arr[12] * 256 + arr[13];
-                    //任务号
-                    int ikey = arr[26] * 256 + arr[27];
-                    //站点号
-                    int agvaddr = arr[18] * 256 + arr[19];
-                    //车号
-                    int carno = arr[20];
-                    Instruction inst = null;
-                    if (ikey != 0) {
-                        inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
-                    }
-                    log.info("接收agv上报信息：" + bs);
-                    log.info("接收agv上报信息：" + "phase--" + phase + "  index--" + index + "  ikey--" + ikey + "  agvaddr--" + agvaddr + "  Car--" + carno);
-                    Device device = null;
-                    String device_code = null;
-                    String old_device_code = null;
-                    String emptyNum = null;
-                    if (agvaddr != 0) {
-                        old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-                        if (StrUtil.contains(old_device_code, "-")) {
-                            String[] point = old_device_code.split("-");
-                            device_code = point[0];
-                        } else if (StrUtil.contains(old_device_code, ".")) {
-                            String[] point = old_device_code.split("\\.");
-                            device_code = point[0];
-                            emptyNum = point[1];
-                        } else {
-                            device_code = old_device_code;
-                        }
-                        device = deviceAppService.findDeviceByCode(device_code);
-                    }
-
-                    AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
-                    //开始任务
-                    if (phase == 0x01) {
-                        if (!ObjectUtil.isEmpty(inst)) {
-                            inst.setInstruction_status("1");
-                            inst.setAgv_jobno(String.valueOf(index));
-                            inst.setSend_status("1");
-                            instructionService.update(inst);
-                            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                        }
-                        flag = true;
-                    }
-                    //任务完毕
-                    //（无车id及状态）
-                    else if (phase == 0x14) {
-                        if (ObjectUtil.isEmpty(inst)) {
-                            log.info("未找到指令号{}对应的指令", ikey);
-                            break;
-                        }
-                        inst.setInstruction_status("2");
-                        instructionService.finish(inst);
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                    }
-                    //请求删除任务
-                    //(需要WCS反馈)
-                    else if (phase == 0x30) {
-                        if (ObjectUtil.isEmpty(inst)) {
-                            log.info("未找到指令号{}对应的指令", ikey);
-                            break;
-                        }
-                        data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0);
-                    }
-                    //任务删除确认
-                    //(需要WCS反馈)
-                    else if (phase == 0xFF) {
-                        if (ObjectUtil.isEmpty(inst)) {
-                            log.info("未找到指令号{}对应的指令", ikey);
-                            break;
-                        }
-                        instructionService.cancelNOSendAgv(inst.getInstruction_id());
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                    } else {
-                        //上报异常信息
-                        //（不需要WCS反馈）
-                        if(phase == 0x67){
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
-                        } else {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
-                        }
-                        if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
-                            agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
-                            agvNdcTwoDeviceDriver.processSocket(arr);
-                        }
-                    }
-                    if (!ObjectUtil.isEmpty(data)) {
-                        write(data);
-                    }
-
-                } else {
-                    System.out.println("agv上报不是0073类型动作，不处理");
-                }
-            }
-
-        } catch (Exception e) {
-
-
-        } finally {
-
-
-        }
-
-    }
-
-
-    @Override
-    public void stop() {
-        super.after();
-        try {
-            s.close();
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-
-    public static void write(byte[] b) {
-        try {
-            log.info("下发agv数据:" + Bytes2HexString(b));
-            System.out.println("下发agv数据:" + Bytes2HexString(b));
-            dos.write(b);
-            dos.flush();
-        } catch (IOException e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-        }
-
-    }
-}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -7,8 +7,11 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
+import org.nl.acs.common.StandardInspectSiteDevice;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
@@ -26,7 +29,10 @@ import org.nl.modules.system.service.ParamService;
 import org.nl.modules.system.service.impl.ParamServiceImpl;
 import org.nl.modules.wql.util.SpringContextHolder;
 
+import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 
 /**
  * NDC单工位AGV
@@ -78,13 +84,17 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         int carno = arr[20];
         Instruction link_inst = null;
         List<Instruction> insts = null;
+        Instruction inst = null;
         boolean link_flag = false;
         Device agv_device = null;
         if (carno != 0) {
             agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
         }
         if (ikey != 0) {
-            insts = instructionService.findByLinkNum(String.valueOf(ikey));
+            inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
+            if (ObjectUtil.isEmpty(inst)) {
+                inst = instructionService.findByCode(String.valueOf(ikey));
+            }
         }
         if (!ObjectUtil.isEmpty(link_inst)) {
             link_flag = true;
@@ -106,15 +116,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         //普通站点
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
         //货架
-        StandardStorageDeviceDriver standardStorageDeviceDriver;
+        StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
+        //
 
         //分配 车id
         //(不需要WCS反馈)
         if (phase == 0x02) {
-            for (Instruction inst : insts) {
+            inst.setCarno(String.valueOf(carno));
-                inst.setCarno(String.valueOf(carno));
+            instructionService.update(inst);
-                instructionService.update(inst);
-            }
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
 
             //到达取货点
@@ -148,26 +157,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
                 return;
             }
-            for (Instruction inst : insts) {
+            //校验agv上报站点编号与指令起始点相同
-                //校验agv上报站点编号与指令起始点相同
+            if (ObjectUtil.isEmpty(inst)) {
-                if (ObjectUtil.isEmpty(inst)) {
+                log.info("未找到编号{}对应的指令", ikey);
-                    log.info("未找到关联编号{}对应的指令", ikey);
+                logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
+                return;
-                    break;
-                }
-
-                if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
-                    standardOrdinarySiteDeviceDriver.setAgvphase(phase);
-                    standardOrdinarySiteDeviceDriver.setIndex(index);
-                    standardOrdinarySiteDeviceDriver.setInst(inst);
-                }
-
-                if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
-                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-                }
-                logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
             }
+
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                standardOrdinarySiteDeviceDriver.setIndex(index);
+                standardOrdinarySiteDeviceDriver.setInst(inst);
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            }
+            logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+
             //取货完毕
             //(需要WCS反馈)
         } else if (phase == 0x05) {
@@ -198,27 +203,21 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code);
                 return;
             }
-            for (Instruction inst : insts) {
+            //校验agv上报站点编号与指令起始点相同
-                //校验agv上报站点编号与指令起始点相同
+            if (ObjectUtil.isEmpty(inst)) {
-                if (ObjectUtil.isEmpty(inst)) {
+                log.info("未找到关联编号{}对应的指令", ikey);
-                    log.info("未找到关联编号{}对应的指令", ikey);
+                logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
+                return;
-                    break;
+            }
-                }
 
-                if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
+            if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
 
-                    if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                        standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
-                        standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                    standardOrdinarySiteDeviceDriver.setAgvphase(phase);
-                        standardOrdinarySiteDeviceDriver.setIndex(index);
+                    standardOrdinarySiteDeviceDriver.setIndex(index);
-                        standardOrdinarySiteDeviceDriver.setInst(inst);
+                    standardOrdinarySiteDeviceDriver.setInst(inst);
-                    }
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-
-                    if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
-                        standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
-                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-                    }
                 }
             }
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
@@ -251,23 +250,19 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.info(agvaddr + "对应设备号为空!");
                 return;
             }
-            for (Instruction inst : insts) {
+            //校验agv上报站点编号与指令起始点相同
-                //校验agv上报站点编号与指令起始点相同
+            if (ObjectUtil.isEmpty(inst)) {
-                if (ObjectUtil.isEmpty(inst)) {
+                log.info("未找到关联编号{}对应的指令", ikey);
-                    log.info("未找到关联编号{}对应的指令", ikey);
+                return;
-                    break;
+            }
-                }
+            if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
-                if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
 
-                    if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                        standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                        standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+//                        standardOrdinarySiteDeviceDriver.setAgvphase(phase);
-                        standardOrdinarySiteDeviceDriver.setIndex(index);
+//                        standardOrdinarySiteDeviceDriver.setIndex(index);
-                        standardOrdinarySiteDeviceDriver.setInst(inst);
+//                        standardOrdinarySiteDeviceDriver.setInst(inst);
-                    }
+                    if (standardInspectSiteDeviceDriver.getMove() == 0) {
-
-                    if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
-                        standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
                         data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
                     }
                 }
@@ -303,25 +298,24 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.info(agvaddr + "对应设备号为空!");
                 return;
             }
-            for (Instruction inst : insts) {
+            //校验agv上报站点编号与指令起始点相同
-                //校验agv上报站点编号与指令起始点相同
+            if (ObjectUtil.isEmpty(inst)) {
-                if (ObjectUtil.isEmpty(inst)) {
+                log.info("未找到编号{}对应的指令", ikey);
-                    log.info("未找到关联编号{}对应的指令", ikey);
+                return;
-                    break;
+            }
-                }
+            if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
-                if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
 
-                    if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+
-                        standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                        standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-                        standardOrdinarySiteDeviceDriver.setIndex(index);
+//                        standardOrdinarySiteDeviceDriver.setAgvphase(phase);
-                        standardOrdinarySiteDeviceDriver.setInst(inst);
+//                        standardOrdinarySiteDeviceDriver.setIndex(index);
-                    }
+//                        standardOrdinarySiteDeviceDriver.setInst(inst);
-                    if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                    if (standardInspectSiteDeviceDriver.getMove() > 0) {
-                        standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
                         data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
                     }
                 }
+
             }
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
 
@@ -334,10 +328,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             agvaddr_copy = agvaddr;
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
-        }else if(phase == 0x50){//进入交通灯区域
+        } else if (phase == 0x50) {//进入交通灯区域
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
-        }else if(phase == 0x51){//离开交通灯区域
+        } else if (phase == 0x51) {//离开交通灯区域
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
         }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -6,8 +6,6 @@ import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.server.NDCAgvService;
-import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun;
-import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
@@ -469,9 +467,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
             if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
-                TwoNDCSocketConnectionAutoRun.write(data);
+                //TwoNDCSocketConnectionAutoRun.write(data);
             } else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
-                TwoNDC2SocketConnectionAutoRun.write(data);
+                //TwoNDC2SocketConnectionAutoRun.write(data);
             }
         }
     }

acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java

@@ -90,26 +90,42 @@ public class AMHandServiceImpl implements AMHandService {
             String device_id = device.getString("device_id");
             String device_code = device.getString("device_code");
             String device_name = device.getString("device_name");
-            JSONObject deviceRunPoint = wo_runPoint.query("device_id = '" + device_id + "'").uniqueResult(0);
+            StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-            Integer hasgoods = deviceRunPoint.getInteger("hasgoods");
+            StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
-            String material_type = deviceRunPoint.getString("material_type");
+            Device device_driver = deviceAppService.findDeviceByCode(device_code);
             //点位状态status对应status_name 0空 1有货 2有任务
             String status = "0";
             String status_name = "无货";
             String input_material = "0";
             String allow_update = "0";
-            TaskDto taskDto = taskService.findByStartAndNextCode(device_code);
+            String material_type = "0";
-            if (ObjectUtil.isNotEmpty(taskDto) && hasgoods == 1) {
-                status = "2";
-                status_name = "有任务";
-            } else if (hasgoods == 1) {
-                status = "1";
-                status_name = "有货";
-            }
-            Device device_driver = deviceAppService.findDeviceByCode(device_code);
             if (device_driver.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                JSONObject deviceRunPoint = wo_runPoint.query("device_id = '" + device_id + "'").uniqueResult(0);
+                Integer hasgoods = deviceRunPoint.getInteger("hasgoods");
+                material_type = deviceRunPoint.getString("material_type");
+                TaskDto taskDto = taskService.findByStartAndNextCode(device_code);
+                if (ObjectUtil.isNotEmpty(taskDto) && hasgoods == 1) {
+                    status = "2";
+                    status_name = "有任务";
+                } else if (hasgoods == 1) {
+                    status = "1";
+                    status_name = "有货";
+                }
                 input_material = "1";
                 allow_update = "1";
+            } else if (device_driver.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device_driver.getDeviceDriver();
+                int move = standardInspectSiteDeviceDriver.getMove();
+                TaskDto taskDto = taskService.findByStartAndNextCode(device_code);
+                if (move != 0 && ObjectUtil.isNotEmpty(taskDto)) {
+                    status = "2";
+                    status_name = "有任务";
+                    material_type = "1";
+                } else if (move != 0) {
+                    status = "1";
+                    status_name = "有货";
+                    material_type = "1";
+                }
             }
             JSONObject map = new JSONObject();
             map.put("device_id", device_id);
@@ -671,12 +687,12 @@ public class AMHandServiceImpl implements AMHandService {
             status = "1";
         }
         JSONObject map = new JSONObject();
-        if (StrUtil.equals(type, "0")) {
+        if (StrUtil.equals(type, "1")) {
-            map.put("material_type", "");
-            map.put("hasgoods", "0");
-        } else {
             map.put("material_type", material_type);
             map.put("hasgoods", status);
+        } else {
+            map.put("material_type", "");
+            map.put("hasgoods", "0");
         }
         wo_runPoint.update(map, "device_code = '" + device_code + "'");
         jo.put("code", "1");
@@ -753,6 +769,21 @@ public class AMHandServiceImpl implements AMHandService {
             jo.put("desc", "呼叫失败,起点或终点不能为空!");
             return jo;
         }
+        for (int i = 0; i < start_device_codes.size(); i++) {
+            String device_code = start_device_codes.getString(i);
+            Device device = deviceAppService.findDeviceByCode(device_code);
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                JSONObject jsonObject = wo_runPoint.query("device_code = '" + device_code + "'").uniqueResult(0);
+                if (ObjectUtil.isNotEmpty(jsonObject)){
+                    String hasgoods = jsonObject.getString("hasgoods");
+                    if (StrUtil.equals(hasgoods,"0")){
+                        throw new BadRequestException("设备:" + device_code + "库存为无货状态，请手动绑定货物!");
+                    }
+                }
+            } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+
+            }
+        }
         //将数组转换为集合判断是否为同一排的库位,并按照库位顺序号排序
         List<String> start_device_code_list = JSONArray.parseArray(start_device_codes.toJSONString(), String.class);
         Collections.sort(start_device_code_list, new Comparator<String>() {
@@ -808,13 +839,14 @@ public class AMHandServiceImpl implements AMHandService {
                         taskDto.setCreate_by(SecurityUtils.getCurrentUsername());
                         taskDto.setUpdate_by(SecurityUtils.getCurrentUsername());
                         taskDto.setRoute_plan_code("normal");
-                        taskDto.setTask_type("3");
+                        //任务类型
+                        taskDto.setTask_type("4");
                         taskDto.setTask_status("0");
                         taskDto.setPriority("1");
                         taskDto.setCreate_time(DateUtil.now());
                         taskDto.setUpdate_time(DateUtil.now());
                         taskDto.setRemark("手持创建任务!");
-                        taskDto.setAgv_system_type("2");
+                        taskDto.setAgv_system_type("1");
                         taskDto.setMaterial(jsonObject.getString("material"));
                         TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class);
                         try {

acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/wql/QJN_QUERY001.wql

@@ -54,6 +54,8 @@
             	LEFT JOIN sys_dict_detail dtl ON dtl.dict_id = sys.dict_id
             WHERE
             	sys.NAME = "region_type"
+            order by
+                dict_sort
 		ENDSELECT
 	ENDQUERY
  ENDIF

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

@@ -217,6 +217,9 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
     public Instruction findByCode(String code) {
         WQLObject wo = WQLObject.getWQLObject("acs_instruction");
         JSONObject json = wo.query("instruction_code ='" + code + "'").uniqueResult(0);
+        if (ObjectUtil.isEmpty(json)){
+            return null;
+        }
         final Instruction obj = json.toJavaObject(Instruction.class);
         return obj;
     }

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

@@ -1170,7 +1170,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                 return task;
             }
         }
-        return new TaskDto();
+        return null;
     }
 
     @Override

acs/nladmin-system/src/main/java/org/nl/modules/quartz/utils/ExecutionJob.java

@@ -25,6 +25,7 @@ import org.nl.modules.quartz.domain.QuartzLog;
 import org.nl.modules.quartz.repository.QuartzLogRepository;
 import org.nl.modules.quartz.service.QuartzJobService;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.quartz.DisallowConcurrentExecution;
 import org.quartz.JobExecutionContext;
 import org.springframework.scheduling.annotation.Async;
 import org.springframework.scheduling.quartz.QuartzJobBean;
@@ -41,6 +42,7 @@ import java.util.concurrent.ThreadPoolExecutor;
 @Async
 @SuppressWarnings({"unchecked", "all"})
 @Slf4j
+@DisallowConcurrentExecution
 public class ExecutionJob extends QuartzJobBean {
 
     /**

acs/nladmin-ui/src/views/acs/task/index.vue

@@ -460,7 +460,7 @@ export default {
         task_id: null,
         vehicle_code: null,
         vehicle_type: null,
-        task_type: '3',
+        task_type: '4',
         storage_task_type: '',
         task_status: null,
         priority: 1,
@@ -479,7 +479,7 @@ export default {
         to_x: null,
         to_y: null,
         to_z: null,
-        agv_system_type: '2'
+        agv_system_type: '1'
       },
       rules: {
         start_point_code: [