From c9fb151de52e908840c03fb7b3ee0d7d56fff80e Mon Sep 17 00:00:00 2001
From: yanps <yps00312>
Date: Tue, 19 Mar 2024 18:23:10 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E8=A7=A3=E5=86=B3=E8=BF=9E=E7=BB=AD?=
 =?UTF-8?q?=E5=88=9B=E5=BB=BA=E5=A4=9A=E4=B8=AA=E6=8C=87=E4=BB=A4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../IndoorManipulatorDeviceDriver.java               |  4 ++++
 .../service/impl/InstructionServiceImpl.java         | 12 ++++++++----
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
index 9c9b1ce2d..ad89dd0c2 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
@@ -251,6 +251,10 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     inst = null;
                     message = null;
                 }
+                if(mode == 2 && requireSucess){
+                    this.setRequireSucess(false);
+                    logServer.deviceExecuteLog(this.device_code, "", "", "再次信号复位requireSuccess：" + requireSucess);
+                }
                 logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
             }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 0c4f4a588..5b464fae6 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -1,6 +1,7 @@
 package org.nl.acs.instruction.service.impl;
 
 import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.collection.ListUtil;
 import cn.hutool.core.date.DateUtil;
@@ -15,6 +16,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.core.toolkit.StringUtils;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
@@ -367,10 +369,12 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         if(regional(dto.getStart_device_code(), dto.getNext_device_code())){
             throw new BadRequestException(LangProcess.msg("error_regional_max"));
         }
+        String start_device_code = dto.getStart_device_code();
         if(StrUtil.isNotEmpty(dto.getTask_code())){
-            InstructionMybatis instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
-                    .eq(InstructionMybatis::getTask_code, dto.getTask_code())).get(0);
-            if(ObjectUtil.isNotEmpty(instructionMybatis) && instructionMybatis.getStart_device_code().equals(dto.getStart_device_code())){
+            List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
+                    .eq(InstructionMybatis::getTask_code, dto.getTask_code()));
+            if(CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
+                    .equals(start_device_code))){
                 return;
             }
         }
@@ -436,7 +440,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
 
         try {
-            String start_device_code = dto.getStart_device_code();
+            /*String start_device_code = dto.getStart_device_code();*/
             String next_device_code = dto.getNext_device_code();
             String route_plan_code = task.getRoute_plan_code();
             List<RouteLineDto> shortPathsList =