fix: 扫描码位生成指令优化、内包间优化、写信号优化、lucence注解

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

@@ -50,7 +50,7 @@ public class AgvWaitUtil {
         ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
         BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver;
         //agv诺宝对接位安全信号交互
-        if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+            if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
             if (manipulatorAgvStationDeviceDriver.getTo_command() != 2) {
                 manipulatorAgvStationDeviceDriver.writing(2);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java

@@ -11,6 +11,10 @@ import org.openscada.opc.lib.da.ItemState;
 import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.*;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.CompletionException;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.TimeoutException;
 
 public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements OpcDeviceDriver {
     UnifiedDataAccessor opcUdw;
@@ -35,201 +39,223 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
 
 
     public void checkcontrol(Map<String, Object> itemValues) throws Exception {
-        Group group = opcServerService.getServer(this.getOpcServer());
-        Map<String, Object> write = new HashMap();
-        Map<String, Item> readitems = new LinkedHashMap();
-        List<String> itemsString = new ArrayList();
-        itemsString = new ArrayList<>(itemValues.keySet());
-        Iterator is = itemsString.iterator();
 
-        while (is.hasNext()) {
+        CompletableFuture<String> future = CompletableFuture.supplyAsync(() -> {
-            String string = (String) is.next();
             try {
-                readitems.put(string, group.addItem(string));
+                Group group = opcServerService.getServer(this.getOpcServer());
-            } catch (Exception e) {
+                Map<String, Object> write = new HashMap();
-                e.printStackTrace();
+                Map<String, Item> readitems = new LinkedHashMap();
-            }
+                List<String> itemsString = new ArrayList();
-        }
+                itemsString = new ArrayList<>(itemValues.keySet());
-        int i = 0;
+                Iterator is = itemsString.iterator();
-        while (true) {
-            //下发信号
-            try {
-                if (i == 0) {
-                    control(itemValues);
-                } else {
-                    controlByNewConn(itemValues);
-                }
 
-            } catch (Exception e) {
+                while (is.hasNext()) {
-                e.printStackTrace();
+                    String string = (String) is.next();
-            }
+                    try {
-            Map<String, Object> read = new HashMap();
+                        readitems.put(string, group.addItem(string));
-            Map<Item, ItemState> itemStatus = null;
+                    } catch (Exception e) {
-            boolean check = true;
+                        e.printStackTrace();
-            try {
-                if (i > 0) {
-                    group = opcServerService.getServer(this.getOpcServer());
-                    itemsString = new ArrayList<>(itemValues.keySet());
-                    Iterator nis = itemsString.iterator();
-
-                    while (nis.hasNext()) {
-                        String string = (String) nis.next();
-                        try {
-                            readitems.put(string, group.addItem(string));
-                        } catch (Exception e) {
-                            e.printStackTrace();
-                        }
                     }
-                    itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0]));
-
-                } else {
-                    itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0]));
-                }
-                Set<Item> items = itemStatus.keySet();
-                Iterator var15 = items.iterator();
-                while (var15.hasNext()) {
-                    Item item = (Item) var15.next();
-                    ItemState itemState = (ItemState) itemStatus.get(item);
-                    Object value = OpcUtl.getValue(item, itemState);
-                    read.put(item.getId(), value);
                 }
+                int i = 0;
+                while (true) {
+                    //下发信号
 
-                Iterator var24 = itemsString.iterator();
+                    try {
+                        if (i == 0) {
+                            control(itemValues);
+                        } else {
+                            controlByNewConn(itemValues);
+                        }
 
-                while (var24.hasNext()) {
+                    } catch (Exception e) {
-                    String itemString = (String) var24.next();
+                        e.printStackTrace();
-                    if (!ObjectUtl.isEquals(String.valueOf(itemValues.get(itemString)), String.valueOf(read.get(itemString)))) {
+                    }
+                    Map<String, Object> read = new HashMap();
+                    Map<Item, ItemState> itemStatus = null;
+                    boolean check = true;
+                    try {
+                        if (i > 0) {
+                            group = opcServerService.getServer(this.getOpcServer());
+                            itemsString = new ArrayList<>(itemValues.keySet());
+                            Iterator nis = itemsString.iterator();
+
+                            while (nis.hasNext()) {
+                                String string = (String) nis.next();
+                                try {
+                                    readitems.put(string, group.addItem(string));
+                                } catch (Exception e) {
+                                    e.printStackTrace();
+                                }
+                            }
+                            itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0]));
+
+                        } else {
+                            itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0]));
+                        }
+                        Set<Item> items = itemStatus.keySet();
+                        Iterator var15 = items.iterator();
+                        while (var15.hasNext()) {
+                            Item item = (Item) var15.next();
+                            ItemState itemState = (ItemState) itemStatus.get(item);
+                            Object value = OpcUtl.getValue(item, itemState);
+                            read.put(item.getId(), value);
+                        }
+
+                        Iterator var24 = itemsString.iterator();
+
+                        while (var24.hasNext()) {
+                            String itemString = (String) var24.next();
+                            if (!ObjectUtl.isEquals(String.valueOf(itemValues.get(itemString)), String.valueOf(read.get(itemString)))) {
+                                check = false;
+                            }
+                        }
+                    } catch (Exception e) {
+                        e.printStackTrace();
                         check = false;
                     }
+
+                    if (check) {
+                        return "";
+                    }
+
+                    if (i > 0) {
+                        ThreadUtl.sleep(100L);
+                    }
+
+                    if (i >= 3) {
+//         log.info("写入次数超过3次而失败");
+                        throw new RuntimeException("写入次数超过3次而失败");
+                    }
+                    ++i;
                 }
             } catch (Exception e) {
-                e.printStackTrace();
+                Thread.currentThread().interrupt();
-                check = false;
+                throw new IllegalStateException("Interrupted", e);
             }
-
+        });
-            if (check) {
+        try {
-                return;
+            String result = future.get(2, TimeUnit.SECONDS); // 设置超时时间为2秒
+            System.out.println(result);
+        } catch (CompletionException e) {
+            Throwable cause = e.getCause();
+            if (cause instanceof TimeoutException) {
+                System.out.println("Operation timed out");
+            } else {
+                throw e; // rethrow other exceptions
             }
-
+        } catch (Exception e) {
-            if (i > 0) {
+            throw new RuntimeException(e);
-                ThreadUtl.sleep(100L);
-            }
-
-            if (i >= 3) {
-//         log.info("写入次数超过3次而失败");
-                throw new RuntimeException("写入次数超过3次而失败");
-            }
-            ++i;
         }
-    }
+            }
 
 
-    public boolean controlByNewConn(Map<String, Object> itemValues) {
+            public boolean controlByNewConn (Map < String, Object > itemValues){
 
-        Iterator<Map.Entry<String, Object>> it = itemValues.entrySet().iterator();
+                Iterator<Map.Entry<String, Object>> it = itemValues.entrySet().iterator();
 
-        ItemValue[] p2;
+                ItemValue[] p2;
-        p2 = new ItemValue[itemValues.size()];
+                p2 = new ItemValue[itemValues.size()];
-        int i = 0;
+                int i = 0;
-        while (it.hasNext()) {
+                while (it.hasNext()) {
-            Map.Entry<String, Object> entry = it.next();
+                    Map.Entry<String, Object> entry = it.next();
-            System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue());
+                    System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue());
-            p2[i] = new ItemValue();
+                    p2[i] = new ItemValue();
-            p2[i].setItem_code(entry.getKey());
+                    p2[i].setItem_code(entry.getKey());
-            p2[i].setItem_value(entry.getValue());
+                    p2[i].setItem_value(entry.getValue());
-            i++;
+                    i++;
-        }
-
-        return this.controlByNewConn(p2);
-    }
-
-    public boolean control(Map<String, Object> itemValues) {
-
-        Iterator<Map.Entry<String, Object>> it = itemValues.entrySet().iterator();
-
-        ItemValue[] p2;
-        p2 = new ItemValue[itemValues.size()];
-        int i = 0;
-        while (it.hasNext()) {
-            Map.Entry<String, Object> entry = it.next();
-            System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue());
-            p2[i] = new ItemValue();
-            p2[i].setItem_code(entry.getKey());
-            p2[i].setItem_value(entry.getValue());
-            i++;
-        }
-
-        return this.control(p2);
-    }
-
-
-    public boolean control(ItemValue[] itemValues) {
-        if (itemValues != null && itemValues.length != 0) {
-            String this_items = JsonUtl.parseWithoutException(itemValues);
-            boolean need_write = false;
-            StringBuilder sb = new StringBuilder();
-            ItemValue[] var5 = itemValues;
-            int var6 = itemValues.length;
-
-            for (int var7 = 0; var7 < var6; ++var7) {
-                ItemValue itemValue = var5[var7];
-                String code = itemValue.getItem_code();
-                Object udw_value = this.getUdwValue(code);
-                Object write_value = itemValue.getItem_value();
-                sb.append(code);
-                sb.append(":");
-                sb.append(JsonUtl.parseWithoutException(udw_value));
-                sb.append(";");
-                if (!need_write && !UnifiedDataAppService.isEquals(udw_value, write_value)) {
-                    need_write = true;
-                } else {
-                    //log.warn("下发信号点位{} 当前写入值:{} 与系统内存值:{} 相同，不再写入 ", code, write_value, udw_value );
                 }
-            }
-            // need_write = true;
 
-            if (need_write) {
+                return this.controlByNewConn(p2);
-                Date date = new Date();
+            }
+
+            public boolean control (Map < String, Object > itemValues){
+
+                Iterator<Map.Entry<String, Object>> it = itemValues.entrySet().iterator();
+
+                ItemValue[] p2;
+                p2 = new ItemValue[itemValues.size()];
+                int i = 0;
+                while (it.hasNext()) {
+                    Map.Entry<String, Object> entry = it.next();
+                    System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue());
+                    p2[i] = new ItemValue();
+                    p2[i].setItem_code(entry.getKey());
+                    p2[i].setItem_value(entry.getValue());
+                    i++;
+                }
+
+                return this.control(p2);
+            }
+
+
+            public boolean control (ItemValue[]itemValues){
+                if (itemValues != null && itemValues.length != 0) {
+                    String this_items = JsonUtl.parseWithoutException(itemValues);
+                    boolean need_write = false;
+                    StringBuilder sb = new StringBuilder();
+                    ItemValue[] var5 = itemValues;
+                    int var6 = itemValues.length;
+
+                    for (int var7 = 0; var7 < var6; ++var7) {
+                        ItemValue itemValue = var5[var7];
+                        String code = itemValue.getItem_code();
+                        Object udw_value = this.getUdwValue(code);
+                        Object write_value = itemValue.getItem_value();
+                        sb.append(code);
+                        sb.append(":");
+                        sb.append(JsonUtl.parseWithoutException(udw_value));
+                        sb.append(";");
+                        if (!need_write && !UnifiedDataAppService.isEquals(udw_value, write_value)) {
+                            need_write = true;
+                        } else {
+                            //log.warn("下发信号点位{} 当前写入值:{} 与系统内存值:{} 相同，不再写入 ", code, write_value, udw_value );
+                        }
+                    }
+                    // need_write = true;
+
+                    if (need_write) {
+                        Date date = new Date();
         /*if (StringUtl.isEqual(this_items, this.last_items) && date.getTime() - this.sendTime.getTime() < (long) WcsConfig.opc_write_repeat_check) {
             log.trace("发送时间因为小于{}毫秒，而被无视", WcsConfig.opc_write_repeat_check);
             return false;
         }*/
 
-                this.last_items = this_items;
+                        this.last_items = this_items;
-                this.sendTime = date;
+                        this.sendTime = date;
                 /*  this.execute_log.setResource(this.getDevice().getCode(), this.getDevice().getName());
                 this.execute_log.log("原始记录{}->变更为{}", new Object[]{sb, this_items});
                 OpcServerService opcServerService = OpcServerFactory.getOpcServerService();*/
 
-                OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
+                        OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
 
-                opcServerService.writeInteger(this.getOpcServer(), itemValues);
+                        opcServerService.writeInteger(this.getOpcServer(), itemValues);
-                UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor();
+                        UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor();
-                ItemValue[] var17 = itemValues;
+                        ItemValue[] var17 = itemValues;
-                int var18 = itemValues.length;
+                        int var18 = itemValues.length;
 
-                for (int var19 = 0; var19 < var18; ++var19) {
+                        for (int var19 = 0; var19 < var18; ++var19) {
-                    ItemValue itemValue = var17[var19];
+                            ItemValue itemValue = var17[var19];
-                    String code = itemValue.getItem_code();
+                            String code = itemValue.getItem_code();
-                    Object value = itemValue.getItem_value();
+                            Object value = itemValue.getItem_value();
-                    opcValueAccessor.setValue(code, value);
+                            opcValueAccessor.setValue(code, value);
+                        }
+                    }
+
+                    return true;
+                } else {
+                    throw new RuntimeException("下发 无内容");
                 }
             }
 
-            return true;
-        } else {
-            throw new RuntimeException("下发 无内容");
-        }
-    }
 
-
+            public boolean controlByNewConn (ItemValue[]itemValues){
-    public boolean controlByNewConn(ItemValue[] itemValues) {
+                if (itemValues != null && itemValues.length != 0) {
-        if (itemValues != null && itemValues.length != 0) {
+                    String this_items = JsonUtl.parseWithoutException(itemValues);
-            String this_items = JsonUtl.parseWithoutException(itemValues);
+                    boolean need_write = false;
-            boolean need_write = false;
+                    StringBuilder sb = new StringBuilder();
-            StringBuilder sb = new StringBuilder();
+                    ItemValue[] var5 = itemValues;
-            ItemValue[] var5 = itemValues;
+                    int var6 = itemValues.length;
-            int var6 = itemValues.length;
 //      for (int var7 = 0; var7 < var6; ++var7) {
 //        ItemValue itemValue = var5[var7];
 //        String code = itemValue.getItem_code();
@@ -245,36 +271,36 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
 //          log.warn("下发信号点位{} 当前写入值:{} 与系统内存值:{} 相同，不再写入 ", code, write_value, udw_value );
 //        }
 //      }
-            need_write = true;
+                    need_write = true;
-            if (need_write) {
+                    if (need_write) {
-                Date date = new Date();
+                        Date date = new Date();
         /*if (StringUtl.isEqual(this_items, this.last_items) && date.getTime() - this.sendTime.getTime() < (long) WcsConfig.opc_write_repeat_check) {
             log.trace("发送时间因为小于{}毫秒，而被无视", WcsConfig.opc_write_repeat_check);
             return false;
         }*/
 
-                this.last_items = this_items;
+                        this.last_items = this_items;
-                this.sendTime = date;
+                        this.sendTime = date;
-                OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
+                        OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
 
-                opcServerService.writeIntegerByNewConn(this.getOpcServer(), itemValues);
+                        opcServerService.writeIntegerByNewConn(this.getOpcServer(), itemValues);
 
 
-                UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor();
+                        UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor();
-                ItemValue[] var17 = itemValues;
+                        ItemValue[] var17 = itemValues;
-                int var18 = itemValues.length;
+                        int var18 = itemValues.length;
 
-                for (int var19 = 0; var19 < var18; ++var19) {
+                        for (int var19 = 0; var19 < var18; ++var19) {
-                    ItemValue itemValue = var17[var19];
+                            ItemValue itemValue = var17[var19];
-                    String code = itemValue.getItem_code();
+                            String code = itemValue.getItem_code();
-                    Object value = itemValue.getItem_value();
+                            Object value = itemValue.getItem_value();
-                    opcValueAccessor.setValue(code, value);
+                            opcValueAccessor.setValue(code, value);
+                        }
+                    }
+
+                    return true;
+                } else {
+                    throw new RuntimeException("下发 无内容");
                 }
             }
-
-            return true;
-        } else {
-            throw new RuntimeException("下发 无内容");
         }
-    }
-}

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

@@ -229,30 +229,6 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                     log.debug("设备运转模式:等待工作");
                     break;
                 case 2:
-                    //申请任务
-                    if (move > 0 && task == 0 && !requireSucess) {
-                        instruction_require();
-                    }else {
-                        String remark = "";
-                        ;
-                        if (mode != 2) {
-                            remark = "universal_remark2";
-                        }
-                        if (move != 0) {
-                            remark = "universal_remark3";
-                        }
-                        if (task != 0) {
-                            remark = "universal_remark4";
-                            if (ObjectUtil.isNotEmpty(this.inst)) {
-                                this.inst = null;
-                            }
-                        }
-                        if (requireSucess) {
-                            remark = "universal_remark5";
-                        }
-                        this.setNotCreateInstMessage(remark);
-                        //}
-                    }
                     break;
                 case 25:
                     if ( StrUtil.isEmpty(material_barcode)) {

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

@@ -28,6 +28,7 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.device_driver.led.led_screen.LedScreenDeviceDriver;
 import org.nl.acs.device_driver.one_manipulator.box_package_manipulator.InteractionJsonDTO;
 import org.nl.acs.device_driver.stacker.standard_stacker.StandardStackerDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver;
 import org.nl.acs.enums.StorageTypeEnum;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.history.ErrorUtil;
@@ -298,9 +299,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             List toInstructions;
             //木箱入库申请入库任务
             if (mode == 6 && !requireSucess) {
-                if (StrUtil.isEmpty(barcode)||StrUtil.isEmpty(material_barcode)) {
+                if (StrUtil.isEmpty(barcode) || StrUtil.isEmpty(material_barcode)) {
                     message = "托盘条码为空、或者子卷码为空";
-                }else {
+                } else {
                     applyIn(StorageTypeEnum.BOX_IN.getType(), mode);
                 }
 
@@ -310,7 +311,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             if (mode == 7 && move == 1 && !requireSucess) {
                 if (StrUtil.isEmpty(barcode) || StrUtil.isEmpty(material_barcode)) {
                     message = "托盘条码为空、或者子卷码为空";
-                }else {
+                } else {
                     applyIn(StorageTypeEnum.STORAGE.getType(), mode);
                 }
 
@@ -321,7 +322,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             if (mode == 9 && move == 1 && !requireSucess) {
                 if (container_type == 0 || StrUtil.isEmpty(barcode)) {
                     message = "托盘类型为空";
-                }else {
+                } else {
                     applyEmptyTask(StorageTypeEnum.DISKS_IN.getType(), mode);
                 }
             }
@@ -330,7 +331,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             if (mode == 18 && move == 1 && !requireSucess) {
                 if (StrUtil.isEmpty(barcode)) {
                     message = "托盘条码为空";
-                }else {
+                } else {
                     applyBoxReturnTask(StorageTypeEnum.BOX_RETURN.getType(), mode);
                 }
 
@@ -339,7 +340,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             if (mode == 23 && !requireSucess) {
                 if (StrUtil.isEmpty(barcode) || StrUtil.isEmpty(material_barcode)) {
                     message = "条码为空";
-                }else {
+                } else {
                     applyErrorHeight();
                 }
 
@@ -406,7 +407,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 if (StrUtil.isNotEmpty(hand_barcode)) {
                     param.put("vehicle_code", hand_barcode);
                 }
-                if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) {
+                if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) {
                     param.put("vehicle_code", barcode);
                 }
                 if (StrUtil.isNotEmpty(material_barcode)) {
@@ -473,7 +474,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 if (StrUtil.isNotEmpty(hand_barcode)) {
                     param.put("vehicle_code", hand_barcode);
                 }
-                if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) {
+                if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) {
                     param.put("vehicle_code", barcode);
                 }
                 if (StrUtil.isNotEmpty(material_barcode)) {
@@ -589,7 +590,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 if (StrUtil.isNotEmpty(hand_barcode)) {
                     param.put("vehicle_code", hand_barcode);
                 }
-                if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) {
+                if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) {
                     param.put("vehicle_code", barcode);
                 }
                 param.put("type", type);
@@ -645,7 +646,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 if (StrUtil.isNotEmpty(hand_barcode)) {
                     param.put("vehicle_code", hand_barcode);
                 }
-                if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) {
+                if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) {
                     param.put("vehicle_code", barcode);
                 }
                 if (StrUtil.isNotEmpty(material_barcode)) {
@@ -654,7 +655,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 if (StrUtil.isNotEmpty(hand_material_barcode)) {
                     param.put("material_barcode", hand_material_barcode);
                 }
-                if (mode == 7 && weight != 0){
+                if (mode == 7 && weight != 0) {
                     param.put("weight", weight);
                 }
                 param.put("type", type);
@@ -796,21 +797,32 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             //判断有无出入库任务是相同路线
             //判断有没有DDJ对接位出入库的指令
             List<Instruction> byCodeAndExcute = instructionService.findByCodeAndExcute(next_device_code);
-            if (CollUtil.isNotEmpty(byCodeAndExcute)){
+            if (CollUtil.isNotEmpty(byCodeAndExcute)) {
-                Iterator<Instruction> iterator = byCodeAndExcute.iterator();
+                this.message = "有DDJ对接位出入库的指令";
-                while (iterator.hasNext()) {
-                    Instruction instruction = iterator.next();
-                    Device nextDevice = deviceAppService.findDeviceByCode(instruction.getNext_device_code());
-                    if (StrUtil.equals(nextDevice.getDevice_type(), DeviceType.storage.name())){
-                        iterator.remove();
-                    }
-                }
-            }
-            if (CollUtil.isNotEmpty(byCodeAndExcute)){
-                this.message="有DDJ对接位出入库的指令";
                 requireSucess = false;
                 return true;
             }
+            Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
+            BeltConveyorDeviceDriver beltConveyorDeviceDriver;
+            if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+                //判断对接位和关联站点光电信号
+                getDeviceCodeList = beltConveyorDeviceDriver.getExtraDeviceCodes("link_device_code");
+                if (CollUtil.isNotEmpty(getDeviceCodeList)) {
+                    String linkDeviceCode = getDeviceCodeList.get(0);
+                    Device linkDevice = deviceAppService.findDeviceByCode(linkDeviceCode);
+                    BeltConveyorDeviceDriver linkDeviceDriver;
+                    if (linkDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                        linkDeviceDriver = (BeltConveyorDeviceDriver) linkDevice.getDeviceDriver();
+                        if ((beltConveyorDeviceDriver.getMode() == 0 || beltConveyorDeviceDriver.getMove() == 1) && (linkDeviceDriver.getMode() == 0 || linkDeviceDriver.getMove() == 1)) {
+                            this.message = "DDJ对接位或关联输送线存在正在移动的货物或者未联机";
+                            requireSucess = false;
+                            return true;
+                        }
+                    }
+
+                }
+            }
             TaskDto dto = taskserver.findByCodeAndExcute(taskdto.getNext_device_code(), taskdto.getStart_device_code());
             if (ObjectUtil.isNotEmpty(dto)) {
                 requireSucess = false;

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

@@ -133,6 +133,8 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
     //行架机械手申请任务成功标识
     boolean requireSucess = false;
 
+    //行架请求动作标识
+    boolean actionRequireSucess = false;
     private int instruction_finished_time_out;
 
     int branchProtocol = 0;
@@ -185,9 +187,12 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
             to_type = this.itemProtocol.getTo_type();
 
             if (mode != last_mode) {
-
                 requireSucess = false;
             }
+
+            if (action != last_action) {
+                actionRequireSucess = false;
+            }
             // 更新指令状态
             if (mode == 3 && task > 0) {
                 if (null!=inst) {
@@ -196,13 +201,13 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
                 updateInstructionStatus();
             }
             //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 ){
+            if (action == 6 && task > 0 && !actionRequireSucess ){
                 Integer actionType = ActionTypeEnum.RELEASE_FINISHING.getCode();
                 creatAGV(actionType,action);
             }
 
             //空载具取货完成
-            if (action == 7 && task > 0 ){
+            if (action == 7 && task > 0 && !actionRequireSucess ){
                 Integer actionType = ActionTypeEnum.IN_FINISHING.getCode();
                 creatAGV(actionType, action);
             }
@@ -304,7 +309,7 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
             map1.put("value", toCommand);
             list.add(map1);
             this.writing(list);
-
+            this.actionRequireSucess = true;
         } else {
             LuceneLogDto logDto2 = LuceneLogDto.builder()
                     .device_code(device_code)

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

@@ -833,9 +833,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         map4.put("value", "0");
         list.add(map4);
         Map map5 = new HashMap<>();
-        map4.put("code", "to_task");
+        map5.put("code", "to_task");
-        map4.put("value", "0");
+        map5.put("value", "0");
-        list.add(map4);
+        list.add(map5);
 
         this.writing(list);
         message = null;

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

@@ -1949,7 +1949,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public List<Instruction> findByCodeAndExcute(String next_code) {
-        List<Instruction> instructionList = instructions.stream().filter(item -> item.getNext_device_code().equals(next_code) || item.getStart_device_code().equals(next_code)).collect(Collectors.toList());
+        List<Instruction> instructionList = instructions.stream().filter(item -> item.getNext_device_code().equals(next_code) ).collect(Collectors.toList());
 
         return instructionList;
     }

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

@@ -203,7 +203,7 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                         if (!UnifiedDataAppService.isEquals(value, his)) {
                             OpcItemDto itemDto = this.getItem(itemId);
                             if (true) {
-                                this.logItemChanged(itemId, accessor_value, value, itemDto);
+//                                this.logItemChanged(itemId, accessor_value, value, itemDto);
                             }
                             if(!ObjectUtil.isEmpty(value) || "".equals(value)){
                                 accessor_value.setValue(itemId, value);
@@ -416,7 +416,7 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                 sb.append("key:" + relate + "value:" + obj + ";");
             }
             if (!itemDto.getItem_code().endsWith("heartbeat") && !itemDto.getItem_code().endsWith("time") && !itemDto.getItem_code().endsWith("consumption")
-             && !itemDto.getItem_code().endsWith("x") && !itemDto.getItem_code().endsWith("y")) {
+                    && !itemDto.getItem_code().endsWith("x") && !itemDto.getItem_code().endsWith("y")) {
                 // 存在上次点位值为null情况 则不记录日志
                 if(!(his instanceof Float) && !(value instanceof Float)){
                     LuceneLogDto luceneLogDto = new LuceneLogDto(itemDto.getOpc_server_code(), itemDto.getOpc_plc_code(),4, itemDto.getDevice_code(), itemDto.getItem_code().substring(itemDto.getItem_code().lastIndexOf(".") + 1),

acs2/nladmin-ui/src/views/acs/device/driver/belt_conveyor.vue

@@ -49,6 +49,24 @@
       </div>
       <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
         <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备" prop="device_code">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                multiple
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
           <el-col :span="8">
             <el-form-item label="忽略工作模式校验" label-width="150px">
               <el-switch v-model="form.ignore_pickup_check" />