fix: 叉车二次分配

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

@@ -53,6 +53,7 @@ public class AgvWaitUtil {
             if(manipulatorAgvStationDeviceDriver.getAction() != 1){
                 throw new BadRequestException("上位系统不允许取货");
             }
+
         }
         //agv叉车对接位安全信号交互
         if(startDevice.getDeviceDriver() instanceof BoxSubvolumesConveyorDeviceDriver){

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

@@ -5,6 +5,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
@@ -23,6 +24,9 @@ import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.InteractionJsonDTO;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.device.enums.DeviceType;
+import org.nl.acs.task.enums.ActionTypeEnum;
+import org.nl.acs.task.enums.AgvActionTypeEnum;
+import org.nl.acs.task.enums.AgvSystemTypeEnum;
 import org.nl.common.exception.BadRequestException;
 import org.nl.config.language.LangProcess;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
@@ -32,10 +36,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
-import java.util.Arrays;
+import java.util.*;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
 
 /**
  * @author 20220102CG\noblelift
@@ -251,7 +252,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
         jo.put("id", inst.getInstruction_code());
         //运单封口,true=创建运单之后不可添加动作块;false=创建运单可以添加动作块
-        jo.put("complete", true);
+        if (AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) {
+            jo.put("complete", true);
+        } else {
+            jo.put("complete", false);
+        }
         //动作块
         jo.put("blocks", createBlocksData(inst));
         //运单优先级
@@ -262,7 +267,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 .build();
         logDto.setLog_level(4);
         luceneExecuteLogService.deviceExecuteLog(logDto);
-        log.info("任务号：{},指令号{},下发agv订单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo);
+        log.info("任务号：{},指令号{},下发诺宝运单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo);
 
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
             String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
@@ -304,22 +309,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         String start_point_code = inst.getStart_point_code();
         String next_device_code = inst.getNext_device_code();
         String next_point_code = inst.getNext_point_code();
-        String start_device_code2 = inst.getStart_device_code2();
+        Integer agv_action_type = inst.getAgv_action_type();
-        String start_point_code2 = inst.getStart_point_code2();
+
-        String next_device_code2 = inst.getNext_device_code2();
+
-        String next_point_code2 = inst.getNext_point_code2();
         //起点1
-        sendStartDeviceOrder(ja, start_device_code, start_point_code, instruction_code);
+        sendStartDeviceOrder(ja, start_device_code, start_point_code, instruction_code, agv_action_type);
         //终点1
-        sendEndDeviceOrder(ja, start_device_code, instruction_code, next_point_code, next_device_code);
+        sendEndDeviceOrder(ja, start_device_code, instruction_code, next_point_code, next_device_code, agv_action_type);
-        //起点2
+
-        if (StrUtil.isNotEmpty(start_device_code2)) {
-            sendStartDeviceOrder(ja, start_device_code2, start_point_code2, instruction_code);
-        }
-        //终点2
-        if (StrUtil.isNotEmpty(next_device_code2)) {
-            sendEndDeviceOrder(ja, start_device_code2, instruction_code, next_device_code2, next_point_code2);
-        }
         return ja;
     }
 
@@ -327,11 +324,12 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
      * 下发取货信号
      *
      * @param ja
-     * @param pointCode   起始点位
+     * @param pointCode       起始点位
-     * @param device_code 起始设备
+     * @param device_code     起始设备
-     * @param instCode    指令号
+     * @param instCode        指令号
+     * @param agv_action_type
      */
-    public void sendStartDeviceOrder(JSONArray ja, String pointCode, String device_code, String instCode) {
+    public void sendStartDeviceOrder(JSONArray ja, String pointCode, String device_code, String instCode, Integer agv_action_type) {
         Device startDevice = deviceAppService.findDeviceByCode(device_code);
         //取货前等待
         JSONObject jo = new JSONObject();
@@ -357,110 +355,99 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         jo.put("script_args", script_args);
         ja.add(jo);
 
-
+        if (AgvActionTypeEnum.ORDINARY.getCode().equals(agv_action_type) || AgvActionTypeEnum.OUT_STOCK.getCode().equals(agv_action_type)) {
-        //将货物顶起来,机器识别提升高度
+            //将货物顶起来,机器识别提升高度
-        JSONObject jo1 = new JSONObject();
+            JSONObject jo1 = new JSONObject();
-        jo1.put("blockId", IdUtil.simpleUUID());
+            jo1.put("blockId", IdUtil.simpleUUID());
-        jo1.put("location", pointCode);
+            jo1.put("location", pointCode);
-        jo1.put("operation", "JackLoad");
+            jo1.put("operation", "JackLoad");
-        jo1.put("operationArgs", new JSONObject() {{
+            jo1.put("operationArgs", new JSONObject() {{
-            put("recognize", true);
+                put("recognize", true);
-        }});
+            }});
-        ja.add(jo1);
+            ja.add(jo1);
 
 
-        JSONObject jo2 = new JSONObject();
+            JSONObject jo2 = new JSONObject();
-        jo2.put("blockId", IdUtil.simpleUUID());
+            jo2.put("blockId", IdUtil.simpleUUID());
-        jo2.put("location", pointCode + "OUTGET");
+            jo2.put("location", pointCode + "OUTGET");
-        jo2.put("operation", "script");
+            jo2.put("operation", "script");
-        jo2.put("id", pointCode + "OUTGET");
+            jo2.put("id", pointCode + "OUTGET");
-        jo2.put("script_name", "userpy/interact.py");
+            jo2.put("script_name", "userpy/interact.py");
-        JSONObject script_args2 = new JSONObject();
+            JSONObject script_args2 = new JSONObject();
-        script_args2.put("addr", addr);
+            script_args2.put("addr", addr);
-        JSONObject data2 = new JSONObject();
+            JSONObject data2 = new JSONObject();
-        JSONObject reach2 = new JSONObject();
+            JSONObject reach2 = new JSONObject();
-        reach2.put("task_code", instCode);
+            reach2.put("task_code", instCode);
-        reach2.put("address", pointCode + "OUTGET");
+            reach2.put("address", pointCode + "OUTGET");
-        data2.put("reach", reach2);
+            data2.put("reach", reach2);
-        script_args2.put("data", data2);
+            script_args2.put("data", data2);
-        script_args2.put("protocol", "HTTP");
+            script_args2.put("protocol", "HTTP");
-        jo2.put("script_args", script_args2);
+            jo2.put("script_args", script_args2);
-        ja.add(jo2);
+            ja.add(jo2);
+        }
     }
 
     /**
      * 下发放货信号
      *
      * @param ja
-     * @param device_code    起始设备
+     * @param device_code     起始设备
-     * @param instCode       指令号
+     * @param instCode        指令号
-     * @param pointCode      终点点位
+     * @param pointCode       终点点位
-     * @param nextDeviceCode 终点设备
+     * @param nextDeviceCode  终点设备
+     * @param agv_action_type
      */
-    public void sendEndDeviceOrder(JSONArray ja, String device_code, String instCode, String pointCode, String nextDeviceCode) {
+    public void sendEndDeviceOrder(JSONArray ja, String device_code, String instCode, String pointCode, String nextDeviceCode, Integer agv_action_type) {
         Device nextDevice = deviceAppService.findDeviceByCode(nextDeviceCode);
+        if (!AgvActionTypeEnum.IN_STOCK.getCode().equals(agv_action_type)) {
+            //放货前等待
+            JSONObject jo3 = new JSONObject();
+            jo3.put("blockId", IdUtil.simpleUUID());
+            jo3.put("location", pointCode + "INPUT");
+            jo3.put("operation", "script");
+            jo3.put("id", pointCode + "INPUT");
+            jo3.put("script_name", "userpy/interact.py");
+            JSONObject script_args3 = new JSONObject();
+            script_args3.put("addr", addr);
+            JSONObject data3 = new JSONObject();
+            JSONObject reach3 = new JSONObject();
+            reach3.put("task_code", instCode);
+            reach3.put("address", pointCode + "INPUT");
+            data3.put("reach", reach3);
+            script_args3.put("data", data3);
+            script_args3.put("protocol", "HTTP");
+            jo3.put("script_args", script_args3);
+            ja.add(jo3);
 
-        //放货前等待
+            if (AgvActionTypeEnum.ORDINARY.getCode().equals(agv_action_type)) {
-        JSONObject jo3 = new JSONObject();
+                //将货物放下
-        jo3.put("blockId", IdUtil.simpleUUID());
+                com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
-        jo3.put("location", pointCode + "INPUT");
+                jo4.put("blockId", IdUtil.simpleUUID());
-        jo3.put("operation", "script");
+                jo4.put("location", pointCode);
-        jo3.put("id", pointCode + "INPUT");
+                jo4.put("operation", "JackUnload");
-        jo3.put("script_name", "userpy/interact.py");
+                ja.add(jo4);
-        JSONObject script_args3 = new JSONObject();
-        script_args3.put("addr", addr);
-        JSONObject data3 = new JSONObject();
-        JSONObject reach3 = new JSONObject();
-        reach3.put("task_code", instCode);
-        reach3.put("address", pointCode + "INPUT");
-        data3.put("reach", reach3);
-        script_args3.put("data", data3);
-        script_args3.put("protocol", "HTTP");
-        jo3.put("script_args", script_args3);
-        ja.add(jo3);
 
 
-        //放货前下发旋转角度
+                //放货完成等待
-        /*JSONObject json1 = new JSONObject();
+                com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
-        AcsPointAngle acsPointAngleDto = acsPointAngleService.findByCode(device_code, nextDeviceCode);
+                jo5.put("blockId", IdUtil.simpleUUID());
-        if (ObjectUtil.isNotEmpty(acsPointAngleDto)) {
+                jo5.put("location", pointCode + "OUTPUT");
-            log.info("acsPointAngleDto----參數,{}", acsPointAngleDto.toString());
+                jo5.put("operation", "script");
-            com.alibaba.fastjson.JSONObject operation_args = new com.alibaba.fastjson.JSONObject();
+                jo5.put("id", pointCode + "OUTPUT");
-            BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle();
+                jo5.put("script_name", "userpy/interact.py");
-            operation_args.put("increase_spin_angle", next_point_angle);//弧度值，如3.14
+                com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
-            operation_args.put("skill_name", "GoByOdometer");
+                script_args5.put("addr", addr);
-            json1.put("blockId", IdUtil.simpleUUID());
+                com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
-            json1.put("location", pointCode + "INPUT");
+                com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
-            json1.put("operation_args", operation_args);
+                reach5.put("task_code", instCode);
-            ja.add(json1);
+                reach5.put("address", pointCode + "OUTPUT");
-        }*/
+                data5.put("reach", reach5);
-
+                script_args5.put("data", data5);
-        //将货物放下
+                script_args5.put("protocol", "HTTP");
-        com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
+                jo5.put("script_args", script_args5);
-        jo4.put("blockId", IdUtil.simpleUUID());
+                ja.add(jo5);
-        jo4.put("location", pointCode);
+            }
-        jo4.put("operation", "JackUnload");
+        }
-        ja.add(jo4);
-
-
-        //放货完成等待
-        com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
-        jo5.put("blockId", IdUtil.simpleUUID());
-        jo5.put("location", pointCode + "OUTPUT");
-        jo5.put("operation", "script");
-        jo5.put("id", pointCode + "OUTPUT");
-        jo5.put("script_name", "userpy/interact.py");
-        com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
-        script_args5.put("addr", addr);
-        com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
-        com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
-        reach5.put("task_code", instCode);
-        reach5.put("address", pointCode + "OUTPUT");
-        data5.put("reach", reach5);
-        script_args5.put("data", data5);
-        script_args5.put("protocol", "HTTP");
-        jo5.put("script_args", script_args5);
-        ja.add(jo5);
 
     }
 
@@ -709,14 +696,33 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             throw new BadRequestException("请求失败，地址为空！");
         }
         if (address.contains("IN")) {
+            String instructionCode = instructionDto.getInstruction_code();
             String deviceCodeNow = address.substring(0, address.length() - 5);
             if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
                 throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
             }
-
             if (address.contains("GET")) {
+                if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
+                    //如果是取货二次分配，取放货二次分配需要重新追加动作块
+                    if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+                        Integer actionType = ActionTypeEnum.IN_STOCK.getCode();
+                        deviceCodeNow = applyXGAgvTask(instructionCode, actionType, instructionDto);
+                    }
+                } else if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
+
+                }
                 return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
             } else if (address.contains("PUT")) {
+                if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
+                    //如果是放货二次分配，取放货二次分配需要重新追加动作块
+                    if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+                        Integer actionType = ActionTypeEnum.OUT_STOCK.getCode();
+                        deviceCodeNow = applyXGAgvTask(instructionCode, actionType, instructionDto);
+                    }
+                } else if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
+                    Integer actionType = ActionTypeEnum.OUT_STOCK.getCode();
+                    deviceCodeNow = applyCCAgvTask(instructionCode, actionType, instructionDto);
+                }
                 return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
             }
         }
@@ -736,6 +742,102 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         throw new BadRequestException("请求失败，IN OUT 站点错误!");
     }
 
+    private String applyCCAgvTask(String instructionCode, Integer actionType, Instruction instructionDto) {
+        try {
+            JSONObject param = new JSONObject();
+            param.put("taskCode", instructionCode);
+            param.put("actionType", actionType.toString());
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code("追加动叉车作块：")
+                    .content("追加动叉车作块,参数:" + instructionCode + "--" + actionType)
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            String response = acsToWmsService.secondaryAllocationPoint(param);
+            JSONObject jo = JSON.parseObject(response);
+            if (jo.getInteger("status") == 200) {
+                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                        .device_code("追加动叉车作块：")
+                        .content("追加动叉车作块,参数,接口返回:" + jo)
+                        .build();
+                logDto2.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto2);
+                //请求成功调用叉车追加动作块
+                sendAddSequencesToCCAgv(instructionCode, jo.getString("data"), instructionDto);
+                return jo.getString("data");
+
+            } else {
+                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                        .device_code("追加动叉车作块：")
+                        .content("追加动叉车作块失败,返回参数:" + jo.getString("body"))
+                        .build();
+                logDto2.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto2);
+                throw new BadRequestException("追加动叉车作块返回失败");
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        return null;
+
+    }
+
+    private void sendAddSequencesToCCAgv(String instructionCode, String nextPoint, Instruction instructionDto) {
+        com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
+        jo.put("id", instructionCode);
+        //动作块
+        jo.put("blocks", createBlocksDataTowCCStart(nextPoint));
+
+        LuceneLogDto logDto = LuceneLogDto.builder()
+                .device_code("追加诺宝运单")
+                .content("指令号:" + instructionCode + ",追加诺宝运单参数:" + jo)
+                .build();
+        logDto.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto);
+        log.info("任务号：{},指令号{},追加诺宝运单:{}", instructionCode, instructionCode, jo);
+
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
+
+            agvurl = agvurl + ":" + agvport + "/addBlocks";
+
+            log.info(agvurl);
+            HttpResponse result = HttpRequest.post(agvurl)
+                    //表单内容
+                    .body(String.valueOf(jo))
+                    //超时，毫秒
+                    .timeout(20000)
+                    .execute();
+            LuceneLogDto logDto1 = LuceneLogDto.builder()
+                    .device_code("叉车运单响应")
+                    .content("指令号:" + instructionCode + ",下发追加诺宝运单反馈参数:" + jo)
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto1);
+            log.info("指令号{},状态{},下发追加诺宝运单序列反馈:{}", instructionCode, result.getStatus(), result.body());
+
+        }
+
+    }
+
+    private Object createBlocksDataTowCCStart(String nextPoint) {
+        JSONArray ja = new JSONArray();
+        JSONObject jo9 = new JSONObject();
+        jo9.put("blockId", IdUtil.simpleUUID());
+        jo9.put("location", nextPoint);
+        jo9.put("binTask", "ForkUnload");
+        ja.add(jo9);
+
+        JSONObject jo10 = new JSONObject();
+        jo10.put("blockId", IdUtil.simpleUUID());
+        jo10.put("location", nextPoint + "OUTPUT");
+        jo10.put("binTask", "OutForkHeight");
+        ja.add(jo10);
+        return ja;
+    }
+
     @Override
     public HttpResponse getRobotInfo(String robotCode) {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
@@ -754,14 +856,61 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         }
     }
 
+    private String applyXGAgvTask(String instructionCode, Integer actionType, Instruction instructionDto) {
+        try {
+            JSONObject param = new JSONObject();
+            param.put("taskCode", instructionCode);
+            param.put("actionType", actionType.toString());
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code("追加动诺宝作块：")
+                    .content("追加动诺宝作块,参数:" + instructionCode + "--" + actionType)
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            String response = acsToWmsService.secondaryAllocationPoint(param);
+            JSONObject jo = JSON.parseObject(response);
+            if (jo.getInteger("status") == 200) {
+                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                        .device_code("追加动诺宝作块：")
+                        .content("追加动诺宝作块,参数,接口返回:" + jo)
+                        .build();
+                logDto2.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto2);
+                if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) {
+                    //请求成功调用诺宝追加动作块
+                    sendAddSequencesToNBAgv(instructionCode, jo.getString("data"), instructionDto);
+                }
+                return jo.getString("data");
+
+            } else {
+                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                        .device_code("追加动诺宝作块：")
+                        .content("追加动诺宝作块失败,返回参数:" + jo.getString("body"))
+                        .build();
+                logDto2.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto2);
+                throw new BadRequestException("追加动诺宝作块返回失败");
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        return null;
+    }
+
+
     @Override
     public HttpResponse sendOrderSequencesToForklift(Instruction inst, InteractionJsonDTO interactionJsonDTO) {
         com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
         jo.put("id", inst.getInstruction_code());
         //运单封口,true=创建运单之后不可添加动作块;false=创建运单可以添加动作块
-        jo.put("complete", true);
+        //运单封口,true=创建运单之后不可添加动作块;false=创建运单可以添加动作块
-        //动作块
+        if (AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) {
-        jo.put("blocks", createBlocksForklift(inst,interactionJsonDTO));
+            jo.put("complete", true);
+        } else {
+            jo.put("complete", false);
+        }        //动作块
+        jo.put("blocks", createBlocksForklift(inst, interactionJsonDTO));
         //运单优先级
         jo.put("priority", inst.getPriority());
         LuceneLogDto logDto = LuceneLogDto.builder()
@@ -799,6 +948,184 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         }
     }
 
+
+    /**
+     * 追加动作块
+     *
+     * @param
+     * @param instructionCode
+     * @param instructionDto
+     * @return
+     */
+    private void sendAddSequencesToNBAgv(String instructionCode, String point, Instruction instructionDto) {
+        com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
+        jo.put("id", instructionCode);
+        //动作块
+        if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+            jo.put("blocks", createBlocksDataTowStart(instructionCode, point, instructionDto));
+        }
+        if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+            jo.put("blocks", createBlocksDataTowEnd(instructionCode, point, instructionDto));
+        }
+        LuceneLogDto logDto = LuceneLogDto.builder()
+                .device_code("追加诺宝运单")
+                .content("指令号:" + instructionCode + ",追加诺宝运单参数:" + jo)
+                .build();
+        logDto.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto);
+        log.info("任务号：{},指令号{},追加诺宝运单:{}", instructionCode, point, jo);
+
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
+
+            agvurl = agvurl + ":" + agvport + "/addBlocks";
+
+            log.info(agvurl);
+            HttpResponse result = HttpRequest.post(agvurl)
+                    //表单内容
+                    .body(String.valueOf(jo))
+                    //超时，毫秒
+                    .timeout(20000)
+                    .execute();
+            LuceneLogDto logDto1 = LuceneLogDto.builder()
+                    .device_code("叉车运单响应")
+                    .content("指令号:" + instructionCode + ",下发追加诺宝运单反馈参数:" + jo)
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto1);
+            log.info("指令号{},状态{},下发追加诺宝运单序列反馈:{}", instructionCode, result.getStatus(), result.body());
+
+        }
+    }
+
+    private Object createBlocksDataTowEnd(String instructionCode, String point, Instruction instructionDto) {
+        JSONArray ja = new JSONArray();
+        String nextDeviceCode = instructionDto.getNext_device_code();
+        //终点2
+        sendEndDeviceOrder3(ja, nextDeviceCode, instructionCode, instructionDto);
+        return ja;
+
+    }
+
+    private void sendEndDeviceOrder3(JSONArray ja, String nextDeviceCode, String instructionCode, Instruction instructionDto) {
+        //将货物放下
+        com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
+        jo4.put("blockId", IdUtil.simpleUUID());
+        jo4.put("location", nextDeviceCode);
+        jo4.put("operation", "JackUnload");
+        ja.add(jo4);
+        //放货完成等待
+        com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
+        jo5.put("blockId", IdUtil.simpleUUID());
+        jo5.put("location", nextDeviceCode + "OUTPUT");
+        jo5.put("operation", "script");
+        jo5.put("id", nextDeviceCode + "OUTPUT");
+        jo5.put("script_name", "userpy/interact.py");
+        com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
+        script_args5.put("addr", addr);
+        com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
+        com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
+        reach5.put("task_code", instructionCode);
+        reach5.put("address", nextDeviceCode + "OUTPUT");
+        data5.put("reach", reach5);
+        script_args5.put("data", data5);
+        script_args5.put("protocol", "HTTP");
+        jo5.put("script_args", script_args5);
+        ja.add(jo5);
+
+    }
+
+
+    private Object createBlocksDataTowStart(String instructionCode, String startPoint, Instruction instructionDto) {
+        JSONArray ja = new JSONArray();
+        String nextDeviceCode = instructionDto.getNext_device_code();
+        //起点2
+        sendStartDeviceOrder2(ja, startPoint, instructionCode);
+        //终点2
+        sendEndDeviceOrder2(ja, nextDeviceCode, instructionCode, instructionDto);
+        return ja;
+
+    }
+
+    private void sendEndDeviceOrder2(JSONArray ja, String nextDeviceCode, String instructionCode, Instruction instructionDto) {
+        //放货前等待
+        JSONObject jo3 = new JSONObject();
+        jo3.put("blockId", IdUtil.simpleUUID());
+        jo3.put("location", nextDeviceCode + "INPUT");
+        jo3.put("operation", "script");
+        jo3.put("id", nextDeviceCode + "INPUT");
+        jo3.put("script_name", "userpy/interact.py");
+        JSONObject script_args3 = new JSONObject();
+        script_args3.put("addr", addr);
+        JSONObject data3 = new JSONObject();
+        JSONObject reach3 = new JSONObject();
+        reach3.put("task_code", instructionCode);
+        reach3.put("address", nextDeviceCode + "INPUT");
+        data3.put("reach", reach3);
+        script_args3.put("data", data3);
+        script_args3.put("protocol", "HTTP");
+        jo3.put("script_args", script_args3);
+        ja.add(jo3);
+        if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+            //将货物放下
+            com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
+            jo4.put("blockId", IdUtil.simpleUUID());
+            jo4.put("location", nextDeviceCode);
+            jo4.put("operation", "JackUnload");
+            ja.add(jo4);
+            //放货完成等待
+            com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
+            jo5.put("blockId", IdUtil.simpleUUID());
+            jo5.put("location", nextDeviceCode + "OUTPUT");
+            jo5.put("operation", "script");
+            jo5.put("id", nextDeviceCode + "OUTPUT");
+            jo5.put("script_name", "userpy/interact.py");
+            com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
+            script_args5.put("addr", addr);
+            com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
+            reach5.put("task_code", instructionCode);
+            reach5.put("address", nextDeviceCode + "OUTPUT");
+            data5.put("reach", reach5);
+            script_args5.put("data", data5);
+            script_args5.put("protocol", "HTTP");
+            jo5.put("script_args", script_args5);
+            ja.add(jo5);
+        }
+    }
+
+    private void sendStartDeviceOrder2(JSONArray ja, String startPoint, String instructionCode) {
+        //将货物顶起来,机器识别提升高度
+        JSONObject jo1 = new JSONObject();
+        jo1.put("blockId", IdUtil.simpleUUID());
+        jo1.put("location", startPoint);
+        jo1.put("operation", "JackLoad");
+        jo1.put("operationArgs", new JSONObject() {{
+            put("recognize", true);
+        }});
+        ja.add(jo1);
+
+
+        JSONObject jo2 = new JSONObject();
+        jo2.put("blockId", IdUtil.simpleUUID());
+        jo2.put("location", startPoint + "OUTGET");
+        jo2.put("operation", "script");
+        jo2.put("id", startPoint + "OUTGET");
+        jo2.put("script_name", "userpy/interact.py");
+        JSONObject script_args2 = new JSONObject();
+        script_args2.put("addr", addr);
+        JSONObject data2 = new JSONObject();
+        JSONObject reach2 = new JSONObject();
+        reach2.put("task_code", instructionCode);
+        reach2.put("address", startPoint + "OUTGET");
+        data2.put("reach", reach2);
+        script_args2.put("data", data2);
+        script_args2.put("protocol", "HTTP");
+        jo2.put("script_args", script_args2);
+        ja.add(jo2);
+    }
+
     /**
      * 叉车运单动作块
      *
@@ -813,7 +1140,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         String pointCode = inst.getStart_point_code();
 
 
-
         //取货前等待
         JSONObject jo = new JSONObject();
         //动作块id
@@ -838,100 +1164,208 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         jo.put("script_args", script_args);
         ja.add(jo);
 
+        if (AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) {
+            // to do
+            JSONObject jo1 = new JSONObject();
+            jo1.put("blockId", IdUtil.simpleUUID());
+            jo1.put("location", inst.getStart_point_code() + "INGET");
+            jo1.put("binTask", "InForkHeight");
+            ja.add(jo1);
 
-        JSONObject jo1 = new JSONObject();
+            JSONObject jo3 = new JSONObject();
-        jo1.put("blockId", IdUtil.simpleUUID());
+            //动作块id
-        jo1.put("location", inst.getStart_point_code()+  "INGET");
+            jo3.put("blockId", IdUtil.simpleUUID());
-        jo1.put("binTask", "InForkHeight");
+            //目的地名称
-        ja.add(jo1);
+            jo3.put("location", pointCode + "INGET");
+            jo3.put("id", pointCode + "INGET");
+            //执行脚本
+            jo3.put("operation", "expand");
+            //通信脚本,动作前后与现场设备交互的场景
+            jo3.put("script_name", "Fork-expand.py");
+            JSONObject script_args2 = new JSONObject();
+            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
+                script_args2.put("expandWidth", interactionJsonDTO.getExpandWidthLength());
+            }
+            script_args2.put("operation", "expand");
+            jo3.put("script_args", script_args2);
+            ja.add(jo3);
+
+            JSONObject jo4 = new JSONObject();
+            //动作块id
+            jo4.put("blockId", IdUtil.simpleUUID());
+            //目的地名称
+            jo4.put("location", pointCode + "INGET");
+            jo4.put("id", pointCode + "INGET");
+            //执行脚本
+            jo4.put("operation", "stretch");
+            //通信脚本,动作前后与现场设备交互的场景
+            jo4.put("script_name", "Fork-expand.py");
+            JSONObject script_args1 = new JSONObject();
+            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
+                script_args1.put("stretchLength", interactionJsonDTO.getExpandWidthLength());
+            }
+            script_args1.put("operation", "stretch");
+            jo4.put("script_args", script_args1);
+            ja.add(jo4);
+
+            JSONObject jo6 = new JSONObject();
+            jo6.put("blockId", IdUtil.simpleUUID());
+            jo6.put("location", inst.getStart_point_code());
+            jo6.put("binTask", "Script");
+            ja.add(jo6);
+
+            JSONObject jo7 = new JSONObject();
+            jo7.put("blockId", IdUtil.simpleUUID());
+            jo7.put("location", inst.getStart_point_code());
+            jo7.put("binTask", "ForkLoad");
+            ja.add(jo7);
+
+            //取货完成
+            JSONObject jo2 = new JSONObject();
+            jo2.put("blockId", IdUtil.simpleUUID());
+            jo2.put("location", pointCode + "OUTGET");
+            jo2.put("operation", "script");
+            jo2.put("id", pointCode + "OUTGET");
+            jo2.put("script_name", "userpy/interact.py");
+            JSONObject script_args4 = new JSONObject();
+            script_args4.put("addr", addr);
+            JSONObject data2 = new JSONObject();
+            JSONObject reach2 = new JSONObject();
+            reach2.put("task_code", inst.getInstruction_code());
+            reach2.put("address", pointCode + "OUTGET");
+            data2.put("reach", reach2);
+            script_args4.put("data", data2);
+            script_args4.put("protocol", "HTTP");
+            jo2.put("script_args", script_args4);
+            ja.add(jo2);
+
+
+            //ForkUnload(货叉卸载货物，会将叉车的状态变成非载货中)
+            JSONObject jo8 = new JSONObject();
+            jo8.put("blockId", IdUtil.simpleUUID());
+            jo8.put("location", inst.getStart_point_code() + "OUTGET");
+            jo8.put("binTask", "OutForkHeight");
+            ja.add(jo8);
+
+            JSONObject jo9 = new JSONObject();
+            jo9.put("blockId", IdUtil.simpleUUID());
+            jo9.put("location", inst.getNext_point_code());
+            jo9.put("binTask", "ForkUnload");
+            ja.add(jo9);
+
+            JSONObject jo10 = new JSONObject();
+            jo10.put("blockId", IdUtil.simpleUUID());
+            jo10.put("location", inst.getNext_point_code() + "OUTPUT");
+            jo10.put("binTask", "OutForkHeight");
+            ja.add(jo10);
+
+        } else if (AgvActionTypeEnum.IN_STOCK.getCode().equals(inst.getAgv_action_type())) {
+
+        } else if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(inst.getAgv_action_type())) {
+            // to do
+            JSONObject jo1 = new JSONObject();
+            jo1.put("blockId", IdUtil.simpleUUID());
+            jo1.put("location", inst.getStart_point_code() + "INGET");
+            jo1.put("binTask", "InForkHeight");
+            ja.add(jo1);
+
+            JSONObject jo3 = new JSONObject();
+            //动作块id
+            jo3.put("blockId", IdUtil.simpleUUID());
+            //目的地名称
+            jo3.put("location", pointCode + "INGET");
+            jo3.put("id", pointCode + "INGET");
+            //执行脚本
+            jo3.put("operation", "expand");
+            //通信脚本,动作前后与现场设备交互的场景
+            jo3.put("script_name", "Fork-expand.py");
+            JSONObject script_args2 = new JSONObject();
+            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
+                script_args2.put("expandWidth", interactionJsonDTO.getExpandWidthLength());
+            }
+            script_args2.put("operation", "expand");
+            jo3.put("script_args", script_args2);
+            ja.add(jo3);
+
+            JSONObject jo4 = new JSONObject();
+            //动作块id
+            jo4.put("blockId", IdUtil.simpleUUID());
+            //目的地名称
+            jo4.put("location", pointCode + "INGET");
+            jo4.put("id", pointCode + "INGET");
+            //执行脚本
+            jo4.put("operation", "stretch");
+            //通信脚本,动作前后与现场设备交互的场景
+            jo4.put("script_name", "Fork-expand.py");
+            JSONObject script_args1 = new JSONObject();
+            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
+                script_args1.put("stretchLength", interactionJsonDTO.getExpandWidthLength());
+            }
+            script_args1.put("operation", "stretch");
+            jo4.put("script_args", script_args1);
+            ja.add(jo4);
+
+            JSONObject jo6 = new JSONObject();
+            jo6.put("blockId", IdUtil.simpleUUID());
+            jo6.put("location", inst.getStart_point_code());
+            jo6.put("binTask", "Script");
+            ja.add(jo6);
+
+            JSONObject jo7 = new JSONObject();
+            jo7.put("blockId", IdUtil.simpleUUID());
+            jo7.put("location", inst.getStart_point_code());
+            jo7.put("binTask", "ForkLoad");
+            ja.add(jo7);
+
+            //取货完成
+            JSONObject jo2 = new JSONObject();
+            jo2.put("blockId", IdUtil.simpleUUID());
+            jo2.put("location", pointCode + "OUTGET");
+            jo2.put("operation", "script");
+            jo2.put("id", pointCode + "OUTGET");
+            jo2.put("script_name", "userpy/interact.py");
+            JSONObject script_args4 = new JSONObject();
+            script_args4.put("addr", addr);
+            JSONObject data2 = new JSONObject();
+            JSONObject reach2 = new JSONObject();
+            reach2.put("task_code", inst.getInstruction_code());
+            reach2.put("address", pointCode + "OUTGET");
+            data2.put("reach", reach2);
+            script_args4.put("data", data2);
+            script_args4.put("protocol", "HTTP");
+            jo2.put("script_args", script_args4);
+            ja.add(jo2);
+
+
+            //ForkUnload(货叉卸载货物，会将叉车的状态变成非载货中)
+            JSONObject jo8 = new JSONObject();
+            jo8.put("blockId", IdUtil.simpleUUID());
+            jo8.put("location", inst.getStart_point_code() + "OUTGET");
+            jo8.put("binTask", "OutForkHeight");
+            ja.add(jo8);
+
+            JSONObject jo9 = new JSONObject();
+            jo9.put("blockId", IdUtil.simpleUUID());
+            jo9.put("location", pointCode + "INPUT");
+            jo9.put("operation", "script");
+            jo9.put("id", pointCode + "INPUT");
+            jo9.put("script_name", "userpy/interact.py");
+            JSONObject script_args5 = new JSONObject();
+            script_args5.put("addr", addr);
+            JSONObject data3 = new JSONObject();
+            JSONObject reach3 = new JSONObject();
+            reach3.put("task_code", inst.getInstruction_code());
+            reach3.put("address", pointCode + "INPUT");
+            data3.put("reach", reach3);
+            script_args5.put("data", data3);
+            script_args5.put("protocol", "HTTP");
+            jo9.put("script_args", script_args5);
+            ja.add(jo9);
+
+        } else if (AgvActionTypeEnum.IN_STOCK.getCode().equals(inst.getAgv_action_type())) {
 
-        JSONObject jo3 = new JSONObject();
-        //动作块id
-        jo3.put("blockId", IdUtil.simpleUUID());
-        //目的地名称
-        jo3.put("location", pointCode + "INGET");
-        jo3.put("id", pointCode + "INGET");
-        //执行脚本
-        jo3.put("operation", "expand");
-        //通信脚本,动作前后与现场设备交互的场景
-        jo3.put("script_name", "Fork-expand.py");
-        JSONObject script_args2 = new JSONObject();
-        if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
-            script_args2.put("expandWidth",interactionJsonDTO.getExpandWidthLength());
         }
-        script_args2.put("operation", "expand");
-        jo3.put("script_args", script_args2);
-        ja.add(jo3);
 
-        JSONObject jo4 = new JSONObject();
-        //动作块id
-        jo4.put("blockId", IdUtil.simpleUUID());
-        //目的地名称
-        jo4.put("location", pointCode + "INGET");
-        jo4.put("id", pointCode + "INGET");
-        //执行脚本
-        jo4.put("operation", "stretch");
-        //通信脚本,动作前后与现场设备交互的场景
-        jo4.put("script_name", "Fork-expand.py");
-        JSONObject script_args1 = new JSONObject();
-        if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
-            script_args2.put("stretchLength",interactionJsonDTO.getExpandWidthLength());
-        }
-        script_args1.put("operation", "stretch");
-        jo4.put("script_args", script_args1);
-        ja.add(jo4);
-
-        JSONObject jo6 = new JSONObject();
-        jo6.put("blockId", IdUtil.simpleUUID());
-        jo6.put("location", inst.getStart_point_code());
-        jo6.put("binTask", "Script");
-        ja.add(jo6);
-
-        JSONObject jo7 = new JSONObject();
-        jo7.put("blockId", IdUtil.simpleUUID());
-        jo7.put("location", inst.getStart_point_code());
-        jo7.put("binTask", "ForkLoad");
-        ja.add(jo7);
-
-        //取货完成
-        JSONObject jo2 = new JSONObject();
-        jo2.put("blockId", IdUtil.simpleUUID());
-        jo2.put("location", pointCode + "OUTGET");
-        jo2.put("operation", "script");
-        jo2.put("id", pointCode + "OUTGET");
-        jo2.put("script_name", "userpy/interact.py");
-        JSONObject script_args4 = new JSONObject();
-        script_args4.put("addr", addr);
-        JSONObject data2 = new JSONObject();
-        JSONObject reach2 = new JSONObject();
-        reach2.put("task_code", inst.getInstruction_code());
-        reach2.put("address", pointCode + "OUTGET");
-        data2.put("reach", reach2);
-        script_args4.put("data", data2);
-        script_args4.put("protocol", "HTTP");
-        jo2.put("script_args", script_args4);
-        ja.add(jo2);
-
-
-
-        //ForkUnload(货叉卸载货物，会将叉车的状态变成非载货中)
-        JSONObject jo8 = new JSONObject();
-        jo8.put("blockId", IdUtil.simpleUUID());
-        jo8.put("location", inst.getStart_point_code()+"OUTGET");
-        jo8.put("binTask", "OutForkHeight");
-        ja.add(jo8);
-
-        JSONObject jo9 = new JSONObject();
-        jo9.put("blockId", IdUtil.simpleUUID());
-        jo9.put("location", inst.getNext_point_code());
-        jo9.put("binTask", "ForkUnload");
-        ja.add(jo9);
-
-        JSONObject jo10 = new JSONObject();
-        jo10.put("blockId", IdUtil.simpleUUID());
-        jo10.put("location", inst.getNext_point_code()+"OUTPUT");
-        jo10.put("binTask", "OutForkHeight");
-        ja.add(jo10);
 
         return ja;
     }

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

@@ -262,11 +262,11 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 case 25:
                     if ( StrUtil.isEmpty(material_barcode)) {
                         message = "子卷码为空";
-                    }
+                    }else {
-
+                        //二楼到一楼输送线申请行架任务
-                    //二楼到一楼输送线申请行架任务
+                        if (move == 1 && !requireSucess) {
-                    if (move == 1 && !requireSucess) {
+                            applyManipulatorTask();
-                        applyManipulatorTask();
+                        }
                     }
                     break;
             }

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

@@ -234,8 +234,9 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                     if (move == 1 && !requireSucess) {
                         if (StrUtil.isEmpty(material_barcode)) {
                             message = "条码为空";
+                        }else {
+                            applyAgvTask();
                         }
-                        applyAgvTask();
 
                     }
                     break;

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

@@ -210,7 +210,7 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
         }
 
 
-        if (move != last_move && move==0 && last_move==1) {
+        if (move != last_move && move == 0 && last_move == 1) {
             requireSucess = false;
             clearWrite();
         }
@@ -244,21 +244,21 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
 
             //申请空托盘入库
             if (mode == 9 && move == 1 && !requireSucess) {
-                if (container_type==0){
+                if (container_type == 0) {
                     message = "托盘类型为空";
+                } else {
+                    applyEmptyTask(StorageTypeEnum.DISKS_IN.getType(), mode);
                 }
-                applyEmptyTask(StorageTypeEnum.DISKS_IN.getType(), mode);
-
             }
 
 
             //申请空托盘出库
             if (mode == 8 && !requireSucess) {
-                if (container_type==0){
+                if (container_type == 0) {
                     message = "托盘类型为空";
+                } else {
+                    applyEmptyTask(StorageTypeEnum.DISKS_OUT.getType(), mode);
                 }
-                applyEmptyTask(StorageTypeEnum.DISKS_OUT.getType(), mode);
-
 
             }
 
@@ -315,21 +315,21 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
 
         List list = new ArrayList<>();
         Map map = new HashMap<>();
-        map.put("code","to_target");
+        map.put("code", "to_target");
-        map.put("value","0");
+        map.put("value", "0");
         list.add(map);
         Map map2 = new HashMap<>();
-        map2.put("code","to_task");
+        map2.put("code", "to_task");
-        map2.put("value","0");
+        map2.put("value", "0");
         list.add(map2);
         Map map4 = new HashMap<>();
-        map4.put("code","to_container_type");
+        map4.put("code", "to_container_type");
-        map4.put("value","0");
+        map4.put("value", "0");
         list.add(map4);
 
         this.writing(list);
-        message=null;
+        message = null;
-        vehicle_code=null;
+        vehicle_code = null;
     }
 
 

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

@@ -316,7 +316,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
 
             //申请空托盘入库
             if (mode == 9 && move == 1 && !requireSucess) {
-                if (container_type == 0) {
+                if (container_type == 0 || StrUtil.isEmpty(barcode)) {
                     message = "托盘类型为空";
                 }else {
                     applyEmptyTask(StorageTypeEnum.DISKS_IN.getType(), mode);
@@ -580,6 +580,12 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 JSONObject param = new JSONObject();
                 param.put("device_code", device_code);
                 param.put("container_type", container_type);
+                if (StrUtil.isNotEmpty(hand_barcode)) {
+                    param.put("vehicle_code", hand_barcode);
+                }
+                if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) {
+                    param.put("vehicle_code", barcode);
+                }
                 param.put("type", type);
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)

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

@@ -199,4 +199,6 @@ public interface AcsToWmsService {
      * @return
      */
     HttpResponse feedbackDies(JSONObject param);
+
+    String secondaryAllocationPoint(JSONObject param);
 }

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

@@ -637,6 +637,46 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         }
     }
 
+    @Override
+    public String secondaryAllocationPoint(JSONObject param) {
+        try {
+            MDC.put(log_file_type, log_type);
+            log.info("applyTaskToWms-----输入参数{}", param);
+            String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+            AddressDto addressDto = addressService.findByCode("secondaryAllocationPoint");
+            String url = wmsurl + addressDto.getMethods_url();
+            HttpResponse result2 = null;
+            try {
+                result2 = HttpRequest.post(url)
+                        .header("Authorization", token)
+                        .body(String.valueOf(param))
+                        .execute();
+            } catch (Exception e) {
+                String msg = e.getMessage();
+                log.info("applyTaskToWms-----输出参数{}", msg);
+                //网络不通
+            }
+            if(ObjectUtil.isEmpty(result2)){
+                log.info("applyTaskToWms-----输出参数{}", "返回结果为空");
+                return null;
+            }
+            String type = "";
+            if (result2.getStatus() == 200) {
+                type = "info";
+            } else {
+                type = "error";
+            }
+            log.info("applyTaskToWms-----输出参数{}", result2.body());
+            LuceneLogDto luceneLogDto = new LuceneLogDto(4,"applyTaskToWms", String.valueOf(result2.getStatus()),
+                    JSON.toJSONString(param), String.valueOf(result2.body()), "二期发货申请捆扎、贴标");
+            luceneLogService.interfaceExecuteLog(luceneLogDto);
+            return result2.body();
+
+        } finally {
+            MDC.remove(log_file_type);
+        }
+    }
+
     @Override
     public HttpResponse feedbackDies(JSONObject param) {
         HttpResponse result2 = null;

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

@@ -16,6 +16,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver;
+import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver;
 import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.one_conveyor.fold_disc_site.FoldDiscSiteDeviceDriver;
@@ -492,7 +493,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     public PutActionResponse putAction(String jsonObject) throws Exception {
         log.info("putAction--------------:输入参数" + jsonObject);
         String date = new Date().toString();
-        LuceneLogDto luceneLogDto = new LuceneLogDto(4, jsonObject, date+"LMS反馈ACS动作信号");
+        LuceneLogDto luceneLogDto = new LuceneLogDto(4, jsonObject, date + "LMS反馈ACS动作信号");
         luceneLogService.interfaceExecuteLog(luceneLogDto);
         JSONArray datas = JSONArray.parseArray(jsonObject);
         PutActionResponse response = new PutActionResponse();
@@ -504,51 +505,51 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             String code = request.getCode();
             String value = request.getValue();
             Device device = deviceAppService.findDeviceByCode(device_code);
-                if (ObjectUtil.isEmpty(device)) {
+            if (ObjectUtil.isEmpty(device)) {
-                    throw new Exception("未找到对应设备:" + device_code);
+                throw new Exception("未找到对应设备:" + device_code);
-                }
+            }
-                InflatableShaftLibraryDeviceDriver inflatableShaftLibraryDeviceDriver;
+            InflatableShaftLibraryDeviceDriver inflatableShaftLibraryDeviceDriver;
-                HongXiangStationDeviceDriver hongXiangStationDeviceDriver;
+            HongXiangStationDeviceDriver hongXiangStationDeviceDriver;
-                LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
+            LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
-                SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
+            BeltConveyorDeviceDriver beltConveyorDeviceDriver ;
-                WasteFoilWeighingStationDriver wasteFoilWeighingStationDriver;
+            WasteFoilWeighingStationDriver wasteFoilWeighingStationDriver;
-                FoldDiscSiteDeviceDriver foldDiscSiteDeviceDriver;
+            FoldDiscSiteDeviceDriver foldDiscSiteDeviceDriver;
-                if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
+            if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
-                    hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
+                hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
-                    hongXiangStationDeviceDriver.writing(code, value);
+                hongXiangStationDeviceDriver.writing(code, value);
-                }
+            }
-                if (device.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
+            if (device.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
-                    lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) device.getDeviceDriver();
+                lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) device.getDeviceDriver();
-                    lampThreecolorDeviceDriver.writing(code, value);
+                lampThreecolorDeviceDriver.writing(code, value);
-                }
+            }
-                if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
+            if (device.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
-                    siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
+                beltConveyorDeviceDriver=(BeltConveyorDeviceDriver) device.getDeviceDriver();
-                    siemensConveyorDeviceDriver.writing(code, value);
+                beltConveyorDeviceDriver.writing(code, value);
-                }
+            }
-                if (device.getDeviceDriver() instanceof InflatableShaftLibraryDeviceDriver) {
+            if (device.getDeviceDriver() instanceof InflatableShaftLibraryDeviceDriver) {
-                    inflatableShaftLibraryDeviceDriver = (InflatableShaftLibraryDeviceDriver) device.getDeviceDriver();
+                inflatableShaftLibraryDeviceDriver = (InflatableShaftLibraryDeviceDriver) device.getDeviceDriver();
-                    inflatableShaftLibraryDeviceDriver.writing(code, value);
+                inflatableShaftLibraryDeviceDriver.writing(code, value);
-                }
+            }
-                if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+            if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
-                    foldDiscSiteDeviceDriver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
+                foldDiscSiteDeviceDriver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
-                    List list = new ArrayList();
+                List list = new ArrayList();
-                    Map map = new HashMap();
+                Map map = new HashMap();
-                    map.put("code",code);
+                map.put("code", code);
-                    map.put("value",value);
+                map.put("value", value);
-                    list.add(map);
+                list.add(map);
-                    foldDiscSiteDeviceDriver.writing(list);
+                foldDiscSiteDeviceDriver.writing(list);
-                }
+            }
-                if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
+            if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
-                    wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
+                wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
-                    wasteFoilWeighingStationDriver.writing(code, value);
+                wasteFoilWeighingStationDriver.writing(code, value);
-                    try {
+                try {
-                        Thread.sleep(1000); //休眠1秒
+                    Thread.sleep(1000); //休眠1秒
-                    } catch (InterruptedException e) {
+                } catch (InterruptedException e) {
-                        e.printStackTrace();
+                    e.printStackTrace();
-                    }
                 }
             }
-            response.setStatus(200);
+        }
+        response.setStatus(200);
         response.setMessage("success");
         LuceneLogDto luceneLogDto1 = new LuceneLogDto(4, "putAction", String.valueOf(response.getCode()),
                 jsonObject, String.valueOf(response), "LMS下发动作");
@@ -561,7 +562,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     public Map<String, Object> putWeightAction(String jsonObject) throws Exception {
         log.info("putWeightAction--------------:输入参数" + jsonObject);
         String date = new Date().toString();
-        LuceneLogDto luceneLogDto = new LuceneLogDto(4, jsonObject, date+"LMS反馈ACS废箔重量");
+        LuceneLogDto luceneLogDto = new LuceneLogDto(4, jsonObject, date + "LMS反馈ACS废箔重量");
         luceneLogService.interfaceExecuteLog(luceneLogDto);
         JSONArray datas = JSONArray.parseArray(jsonObject);
         JSONObject jo = new JSONObject();
@@ -622,7 +623,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     public Map<String, Object> getTubeMes(String jsonObject) throws Exception {
         log.info("getTubeMes--------------:输入参数" + jsonObject);
         String date = new Date().toString();
-        LuceneLogDto luceneLogDto = new LuceneLogDto(4, jsonObject, date+"获取管芯信息");
+        LuceneLogDto luceneLogDto = new LuceneLogDto(4, jsonObject, date + "获取管芯信息");
         luceneLogService.interfaceExecuteLog(luceneLogDto);
         JSONArray datas = JSONArray.parseArray(jsonObject);
         JSONObject jo = new JSONObject();
@@ -721,7 +722,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("action", Math.min(3, blankManipulatorDeviceDriver.getAction()));
                     jo.put("task", Math.min(3, blankManipulatorDeviceDriver.getTask()));
                     jo.put("error", blankManipulatorDeviceDriver.getError());
-                }else if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
+                } else if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                     hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver();
                     jo.put("device_code", parent_device_code);
                     jo.put("mode", hongXiangConveyorDeviceDriver.getMode());
@@ -831,7 +832,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("action", subvolumeWeighingStationDriver.getAction());
                     jo.put("weight", subvolumeWeighingStationDriver.getWeight());
                     jo.put("error", subvolumeWeighingStationDriver.getError());
-                }else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+                } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
                     foldDiscSiteDeviceDriver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
                     jo.put("device_code", parent_device_code);
                     jo.put("move", foldDiscSiteDeviceDriver.getMove());
@@ -848,7 +849,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             resultJson.put("status", HttpStatus.OK.value());
             resultJson.put("message", "操作成功");
             resultJson.put("data", backja);
-            LuceneLogDto luceneLogDto = new LuceneLogDto(4,"queryDevice", String.valueOf(resultJson.get("status")),
+            LuceneLogDto luceneLogDto = new LuceneLogDto(4, "queryDevice", String.valueOf(resultJson.get("status")),
                     jsonObject, String.valueOf(resultJson), "LMS查询设备状态");
             luceneExecuteLogService.interfaceExecuteLog(luceneLogDto);
             return resultJson;
@@ -878,5 +879,4 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     }
 
 
-
 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/domain/InstructionMybatis.java

@@ -239,6 +239,10 @@ public class InstructionMybatis extends CommonModel<InstructionMybatis> implemen
 
     private String agv_system_type;
 
+
+
+    private Integer agv_action_type;
+
     public void copyFrom(Instruction source) {
         BeanUtil.copyProperties(source, this, CopyOptions.create().setIgnoreNullValue(true));
     }

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

@@ -365,6 +365,12 @@ public class InstructionDto implements Serializable {
     private String to_device_code;
 
 
+    /**
+     *  agv二次分配类型（1、普通任务 2、取货二次分配 3、防货二次分配 4、取放货二次分配）
+     */
+    private Integer agv_action_type;
+
+
     /**
      *
      */

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

@@ -516,7 +516,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //                } else
                 if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
                     String interactionJson = task.getInteraction_json();
-                    if (StrUtil.isNotEmpty(interactionJson)){
+                    if (StrUtil.isEmpty(interactionJson)){
                         throw  new BadRequestException("agv叉车调整长宽参数为空");
                     }
                     InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
@@ -645,24 +645,43 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             if (ObjectUtil.isEmpty(route) && !(start_device_code.equals(next_device_code))) {
                 throw new BadRequestException(LangProcess.msg("error_isNull", "route"));
             }
-            if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
+
-                // 0为输送、立库任务  1 1楼叉车系统  2 2楼1区域AGV系统 3 2楼2区域AGV系统
+            //判断是否是仙工AGV
-                if (!StrUtil.equals(task.getAgv_system_type(), "0")
+            if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
-                        && ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
+                Device deviceByCode = deviceAppService.findDeviceByCode(dto.getStart_device_code());
-                    NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
+                if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
-                    ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
+                    String interactionJson = task.getInteraction_json();
-                } else {
+                    if (StrUtil.isEmpty(interactionJson)){
-                    Resp resp = acsToLiKuService.sendInst(task.getStorage_task_type(), dto);
+                        throw  new BadRequestException("agv叉车调整长宽参数为空");
-                    if (StrUtil.equals(resp.result, "true")) {
+                    }
-                        dto.setSend_status("1");
+                    InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
-                    } else {
+                    //仙工叉车
+                    HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto,interactionJsonDTO);
+                    if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
                         dto.setSend_status("2");
+                    } else {
+                        dto.setSend_status("1");
+                    }
+                } else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
+                    //一楼agv任务创建运单序列
+                    HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto);
+                    if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
+                        dto.setSend_status("2");
+                    } else {
+                        dto.setSend_status("1");
                     }
                 }
             }
         } catch (Exception e) {
             dto.setSend_status("2");
-            e.printStackTrace();
+            log.error(e.getMessage());
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code("创建指令报错")
+                    .content("任务号" + dto.getTask_code() + "报错原因:" + e.getMessage())
+                    .build();
+            logDto.setLog_level(2);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            throw e;
         }
 
         InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);

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

@@ -240,6 +240,10 @@ public class Task extends CommonModel<Task> implements Serializable {
 
     private String interaction_json;
 
+
+
+    private Integer agv_action_type;
+
     public void copyFrom(Task source) {
         BeanUtil.copyProperties(source, this, CopyOptions.create().setIgnoreNullValue(true));
     }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java

@@ -0,0 +1,35 @@
+package org.nl.acs.task.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum ActionTypeEnum {
+
+    /**
+     * 取货二次分配
+     */
+    IN_STOCK(1, "取货二次分配"),
+
+    /**
+     * 防货二次分配
+     */
+    OUT_STOCK(2, "防货二次分配"),
+    /**
+     * 取货完成
+     */
+    IN_FINISHING(3, "取货完成");
+
+    Integer code;
+    String status;
+
+    public static String getStatus(Integer code) {
+        for (ActionTypeEnum value : values()) {
+            if (value.code.equals(code)) {
+                return value.status;
+            }
+        }
+        return null;
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvActionTypeEnum.java

@@ -0,0 +1,39 @@
+package org.nl.acs.task.enums;
+
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+
+@Getter
+@AllArgsConstructor
+public enum AgvActionTypeEnum {
+    /**
+     * 普通任务
+     */
+    ORDINARY(1, "普通任务"),
+    /**
+     * 取货二次分配
+     */
+    IN_STOCK(2, "取货二次分配"),
+    /**
+     * 防货二次分配
+     */
+    OUT_STOCK(3, "防货二次分配"),
+    /**
+     * 取放货二次分配
+     */
+    IN_OUT_STOCK(4, "取放货二次分配");
+
+    Integer code;
+    String status;
+
+    public static String getStatus(Integer code) {
+        for (AgvActionTypeEnum value : values()) {
+            if (value.code.equals(code)) {
+                return value.status;
+            }
+        }
+        return null;
+    }
+}

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

@@ -349,4 +349,10 @@ public class TaskDto implements Serializable {
      * 是否拔轴 0/1
      */
     private String is_pulling;
+
+
+    /**
+     *  agv二次分配类型（1、普通任务 2、取货二次分配 3、防货二次分配 4、取放货二次分配）
+     */
+    private Integer agv_action_type;
 }

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

@@ -42,6 +42,7 @@ import org.nl.acs.route.domain.RoutePlan;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.route.service.mapper.RoutePlanMapper;
+import org.nl.acs.task.enums.AgvSystemTypeEnum;
 import org.nl.acs.task.enums.TaskStatusEnum;
 import org.nl.acs.task.enums.TaskTypeEnum;
 import org.nl.acs.task.service.TaskFeedbackService;
@@ -839,7 +840,9 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         //反馈上位系统任务状态
         this.feedWmsTaskStatus(entity);
         //关闭仙工运单序列
-        this.markComplete(entity);
+        if(StrUtil.equals(task.getTask_type(),TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode())||StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) {
+            this.markComplete(entity);
+        }
     }
 
     @Override
@@ -868,7 +871,9 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         //反馈上位系统任务状态
         this.feedWmsTaskStatus(entity);
         //关闭仙工运单序列
-        this.markComplete(entity);
+        if(StrUtil.equals(task.getTask_type(),TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode())||StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) {
+            this.markComplete(entity);
+        }
     }
 
 
@@ -1634,23 +1639,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
      */
     private void markComplete(TaskDto taskDto) {
         // 如果属于先知AGV，关闭运单序列
-        List<RouteLineDto> shortPathsList =
+        try {
-                routeLineService.getShortPathLines(
+            agvService.markComplete(taskDto.getTask_code());
-                        taskDto.getStart_device_code(),
+        } catch (Exception e) {
-                        taskDto.getNext_device_code(),
+            log.error("关闭运单异常,原因:{}", e.getMessage());
-                        taskDto.getRoute_plan_code());
-        if (ObjectUtil.isNotEmpty(shortPathsList)) {
-            String type = shortPathsList.get(0).getType();
-            // != 0 为agv任务
-            if (!StrUtil.equals(type, "0")) {
-                if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
-                    try {
-                        agvService.markComplete(taskDto.getTask_code());
-                    } catch (Exception e) {
-                        log.error("关闭运单异常,原因:{}", e.getMessage());
-                    }
-                }
-            }
         }
     }
 

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

@@ -86,6 +86,7 @@ public class AutoCreateInst {
 
             String start_height = acsTask.getStart_height();
             String next_height = acsTask.getNext_height();
+            Integer agvActionType = acsTask.getAgv_action_type();
 
 
             if (StrUtil.equals(is_send, "0")) {
@@ -158,6 +159,7 @@ public class AutoCreateInst {
             instdto.setAgv_system_type(agv_system_type);
             instdto.setStart_height(start_height);
             instdto.setNext_height(next_height);
+            instdto.setAgv_action_type(agvActionType);
             //判断agv系统
             //1、1楼叉车系统
             //2、2楼1区域AGV系统