定时器和接口数据

hd/nladmin-system/src/main/java/org/nl/acs/agv/AgvUtil.java

@@ -0,0 +1,26 @@
+package org.nl.acs.agv;
+
+import java.text.DateFormat;
+import java.text.SimpleDateFormat;
+import java.util.Calendar;
+import java.util.Date;
+import java.util.TimeZone;
+
+public class AgvUtil {
+    /**
+     * 获得之后num个天的时间
+     *
+     * @param num
+     * @return
+     */
+    public static String getNextDay(int num) {
+        Calendar calendar = Calendar.getInstance();
+        calendar.add(Calendar.DAY_OF_MONTH, num);
+        Date date = calendar.getTime();
+        TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai");
+        DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'");
+        df.setTimeZone(tz);
+        String nowAsISO = df.format(date);
+        return nowAsISO;
+    }
+}

hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/ZheDaAgvController.java

@@ -0,0 +1,4 @@
+package org.nl.acs.agv.rest;
+
+public class ZheDaAgvController {
+}

hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvService.java

@@ -10,6 +10,14 @@ import java.util.Map;
 
 public interface AgvService {
 
+    /**
+     * 下发指令
+     * @param inst 指令对象
+     * @return
+     * @throws Exception
+     */
+    public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception;
+
     /**
      * 下发agv任务
      *
@@ -39,6 +47,7 @@ public interface AgvService {
 
     void updateAgvFromCache(AgvDto dto);
 
+    String process(String jobno, String type, String address, String action, String processingVehicle);
     /**
      * 删除magic任务
      *
@@ -74,7 +83,7 @@ public interface AgvService {
      * @param processingVehicle
      * @return
      */
-    public String process(String jobno, String type, String address, String action, String processingVehicle);
+
 
     /**
      * Magic AGV 请求离开调用

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

@@ -23,6 +23,7 @@ import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceD
 import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
 import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_manipulator_inspect_site.StandardManipulatorInspectSiteDeviceDriver;
+import org.nl.acs.device_driver.standard_manipulator_stacking_site.StandardManipulatorStackingSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver;
@@ -38,6 +39,7 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.opc.DeviceType;
 import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.exception.BadRequestException;
 import org.nl.logger.BusinessLogger;
 import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
@@ -75,22 +77,22 @@ public class AgvServiceImpl implements AgvService {
 
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
-    /**
+//    /**
-     * 获得之后num个天的时间
+//     * 获得之后num个天的时间
-     *
+//     *
-     * @param num
+//     * @param num
-     * @return
+//     * @return
-     */
+//     */
-    public static String getNextDay(int num) {
+//    public static String getNextDay(int num) {
-        Calendar calendar = Calendar.getInstance();
+//        Calendar calendar = Calendar.getInstance();
-        calendar.add(Calendar.DAY_OF_MONTH, num);
+//        calendar.add(Calendar.DAY_OF_MONTH, num);
-        Date date = calendar.getTime();
+//        Date date = calendar.getTime();
-        TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai");
+//        TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai");
-        DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'");
+//        DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'");
-        df.setTimeZone(tz);
+//        df.setTimeZone(tz);
-        String nowAsISO = df.format(date);
+//        String nowAsISO = df.format(date);
-        return nowAsISO;
+//        return nowAsISO;
-    }
+//    }
 
     /**
      * 返回一个点位操作子任务
@@ -258,6 +260,48 @@ public class AgvServiceImpl implements AgvService {
         return destinationOrder;
     }
 
+    @Override
+    public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception {
+        com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
+        String start_point_code = inst.getStart_point_code();
+        String next_point_code = inst.getNext_point_code();
+        //1楼AGV普通任务
+        //2楼AGV普通任务
+        //2楼AGV起点追加任务
+        //2楼AGV终点追加任务
+        String task_type = inst.getInstruction_type();
+        jo.put("deadline", this.getNextDay(1));
+        //判断是否追加任务
+        jo.put("complete", "true");
+
+        jo.put("task_code", inst.getInstruction_code());
+        //根据任务，下发指令类型
+        com.alibaba.fastjson.JSONArray destinations = new com.alibaba.fastjson.JSONArray();
+        destinations.add(destination(start_point_code, "Load", "1", "1"));
+        destinations.add(destination(next_point_code, "Unload", "1", "1"));
+
+        jo.put("destinations", destinations);
+
+        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+            String agvurl = acsConfigService.findByCode(AcsConfig.AGVURL).getValue();
+            String agvport = acsConfigService.findByCode(AcsConfig.AGVPORT).getValue();
+
+
+            agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + inst.getInstruction_code();
+            log.info("下发agv任务请求:{}", agvurl);
+            log.info("下发agv任务参数:{}", jo.toString());
+
+            HttpResponse result = HttpRequest.post(agvurl)
+                    .body(String.valueOf(jo))//表单内容
+                    .timeout(20000)//超时，毫秒
+                    .execute();
+            log.info("下发agv任务请求反馈:{}", result);
+            return result;
+        } else {
+            return null;
+        }
+    }
+
     @Override
     public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception {
         JSONArray ja = new JSONArray();
@@ -488,11 +532,14 @@ public class AgvServiceImpl implements AgvService {
             String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
 
-            agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + instCode;
+            agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/query";
 
-            HttpResponse result = HttpRequest.get(agvurl)
+            HttpResponse result = HttpRequest.post(agvurl)
+                    .body("{}")
                     .timeout(20000)//超时，毫秒
                     .execute();
+
+            log.info("查询agv指令数据:{}", result.body());
             System.out.println("查询agv指令数据:" + result.body());
 
             return result;
@@ -791,233 +838,119 @@ public class AgvServiceImpl implements AgvService {
 
     //1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
     @Override
-    public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) {
+    public synchronized String process(String jobno, String type, String address, String action, String processingVehicle)
-        log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action);
+    {
-        boolean is_feedback = false;
+        {
-        String str = "";
+            log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action);
-        String backaddress = address;
+            //释放AGV资源，继续后续动作
-        if (address.indexOf(".") > 0) {
+            boolean is_feedback = false;
-            str = address.substring(address.indexOf("."), address.length());
+            String str = "";
-            address = address.substring(0, address.indexOf("."));
+            String backaddress = address;
-        } else if (address.indexOf("-") > 0) {
+            if (address.indexOf(".") > 0) {
-            address = address.substring(0, address.indexOf("-"));
+                str = address.substring(address.indexOf(".") + 1, address.length());
+                address = address.substring(0, address.indexOf("."));
+            } else if (address.indexOf("-") > 0) {
+                address = address.substring(0, address.indexOf("-"));
+            }
+            InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+            TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
+            AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
+
+            Instruction inst = instructionService.findByCodeFromCache(jobno);
+            TaskDto task = taskService.findByCode(inst.getTask_code());
+
+            DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+            Device addressdevice = appService.findDeviceByCode(address);
+
+            StandardManipulatorStackingSiteDeviceDriver standardManipulatorStackingSiteDeviceDriver;
+            //取货的进入前等待和离开等待
+            if (action.equals("Load")) {
+                if ("EntryRequired".equals(type)) {
+
+                    //
+                    if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
+                        standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){
+                            is_feedback = true;
+                        } else {
+                            log.info("设备{} 请求取货，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        is_feedback = true;
+                    }
+                }
+                if ("PauseOnStation".equals(type)) {
+                    if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
+                        standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardManipulatorStackingSiteDeviceDriver.getMove()==0){
+                            is_feedback = true;
+                        } else {
+                            log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        is_feedback = true;
+                    }
+                }
+            }
+
+            //放货的进入前等待和离开等待
+            if (action.equals("Unload")) {
+                if ("EntryRequired".equals(type)) {
+                    if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
+                        standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardManipulatorStackingSiteDeviceDriver.getMove()==0){
+                            is_feedback = true;
+                        } else {
+                            log.info("设备{} 请求放货，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        is_feedback = true;
+                    }
+                }
+                if ("PauseOnStation".equals(type)) {
+                    if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
+                        standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){
+                            is_feedback = true;
+                        } else {
+                            log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        is_feedback = true;
+                    }
+                }
+            }
+            com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject();
+            if (is_feedback) {
+                requestjo.put("task_code", jobno);
+                requestjo.put("operation", action);
+                if (type.equals("entryRequired") || type.equals("EntryRequired")) {
+                    requestjo.put("entryRequired", "true");
+                } else {
+                    requestjo.put("pauseOnStation", "true");
+                }
+                log.info("反馈AGV请求数据:{}", requestjo);
+                System.out.println("back agv:" + requestjo);
+
+
+                String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
+                String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+                agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + jobno + "/interact";
+
+
+                HttpResponse result = HttpRequest.post(agvurl)
+                        .body(String.valueOf(requestjo))
+                        .timeout(20000)//超时，毫秒
+                        .execute();
+            }
+            return requestjo.toString();
+
         }
-        InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
-        Instruction inst = instructionService.findByCodeFromCache(jobno);
-
-
-        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-        Device addressdevice = appService.findDeviceByCode(address);
-        StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
-        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-        SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
-        YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver;
-        //请求进入
-        if ("onEntry".equals(type)) {
-
-            if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
-                //请求取货
-                if ("Load".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
-                        inst.setExecute_status("1");
-                        is_feedback = true;
-                    }
-                    //请求放货
-                } else if ("Unload".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
-                        inst.setExecute_status("3");
-                        is_feedback = true;
-                    }
-                }
-            }
-            if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
-                specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
-                //请求取货
-                if ("Load".equals(action)) {
-                    if (addressdevice.getHas_goods() > 0) {
-                        inst.setExecute_status("1");
-                        is_feedback = true;
-                    }
-                    //请求放货
-                } else if ("Unload".equals(action)) {
-                    if (addressdevice.getHas_goods() == 0) {
-                        inst.setExecute_status("3");
-                        is_feedback = true;
-                    }
-                }
-
-            }
-            if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
-                //请求取货
-                if ("Load".equals(action)) {
-                    if (addressdevice.getHas_goods() > 0) {
-                        inst.setExecute_status("1");
-                        is_feedback = true;
-                    }
-                    //请求放货
-                } else if ("Unload".equals(action)) {
-                    if (addressdevice.getHas_goods() == 0) {
-                        inst.setExecute_status("3");
-                        is_feedback = true;
-                    }
-                }
-            }
-            if (addressdevice.getDeviceDriver() instanceof YzjaSpecialDeviceDriver) {
-                yzjaSpecialDeviceDriver = (YzjaSpecialDeviceDriver) addressdevice.getDeviceDriver();
-                //是否需要人工确认
-                String is_unlock = yzjaSpecialDeviceDriver.getIs_unlock();
-
-                //请求取货
-                if ("Load".equals(action)) {
-                    if (is_unlock.equals("true")) {
-                        if (addressdevice.getHas_goods() > 0 && yzjaSpecialDeviceDriver.getManua_confirm() == 2) {
-                            yzjaSpecialDeviceDriver.setManua_confirm(0);
-                            inst.setExecute_status("1");
-                            is_feedback = true;
-                        } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")){
-                            yzjaSpecialDeviceDriver.setManua_confirm(1);
-                        }
-                    } else {
-                        if (addressdevice.getHas_goods() > 0) {
-                            inst.setExecute_status("1");
-                            is_feedback = true;
-                        }
-                    }
-                    //请求放货
-                } else if ("Unload".equals(action)) {
-                    if (is_unlock.equals("true")) {
-                        if (addressdevice.getHas_goods() == 0 && yzjaSpecialDeviceDriver.getManua_confirm() == 2) {
-                            yzjaSpecialDeviceDriver.setManua_confirm(0);
-                            inst.setExecute_status("3");
-                            is_feedback = true;
-                        } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")){
-                            yzjaSpecialDeviceDriver.setManua_confirm(1);
-                        }
-                    } else {
-                        if (addressdevice.getHas_goods() == 0) {
-                            inst.setExecute_status("3");
-                            is_feedback = true;
-                        }
-                    }
-                }
-            }
-
-            if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
-                //请求取货
-                if ("Load".equals(action)) {
-                    inst.setExecute_status("1");
-                    is_feedback = true;
-                    //请求放货
-                } else if ("Unload".equals(action)) {
-                    inst.setExecute_status("3");
-                    is_feedback = true;
-                }
-            }
-
-            //取放货完成
-        } else if ("onStation".equals(type)) {
-
-            System.out.println("取放货完成");
-            if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
-                //取货完成
-                if ("Load".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
-                        inst.setExecute_device_code(processingVehicle);
-                        inst.setExecute_status("2");
-                        is_feedback = true;
-                    }
-                    //放货完成
-                } else if ("Unload".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
-                        inst.setExecute_device_code(address);
-                        inst.setExecute_status("4");
-                        is_feedback = true;
-                    }
-                }
-
-            }
-            if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
-                //取货完成
-                if ("Load".equals(action)) {
-                    inst.setExecute_device_code(processingVehicle);
-                    inst.setExecute_status("2");
-                    is_feedback = true;
-                    //放货完成
-                } else if ("Unload".equals(action)) {
-                    inst.setExecute_device_code(address);
-                    inst.setExecute_status("4");
-                    is_feedback = true;
-                }
-
-            }
-            if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
-                specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
-                //取货完成
-                if ("Load".equals(action)) {
-                    inst.setExecute_device_code(processingVehicle);
-                    inst.setExecute_status("2");
-                    is_feedback = true;
-                    //放货完成
-                } else if ("Unload".equals(action)) {
-                    inst.setExecute_device_code(processingVehicle);
-                    inst.setExecute_status("4");
-                    is_feedback = true;
-                }
-            }
-            if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
-                //取货完成
-                if ("Load".equals(action)) {
-                    inst.setExecute_device_code(processingVehicle);
-                    inst.setExecute_status("2");
-                    is_feedback = true;
-                    //放货完成
-                } else if ("Unload".equals(action)) {
-                    inst.setExecute_device_code(processingVehicle);
-                    inst.setExecute_status("4");
-                    is_feedback = true;
-                }
-            }
-        }
-
-        JSONObject requestjo = new JSONObject();
-        JSONArray ja = new JSONArray();
-        if (is_feedback) {
-            String param = "";
-            JSONObject jo = new JSONObject();
-            if (str.length() > 0) {
-                backaddress = backaddress + str;
-            }
-            if ("onEntry".equals(type)) {
-                param = "EntryPermitted-" + backaddress + action;
-            } else if ("onStation".equals(type)) {
-                param = "ContinueOnStation-" + backaddress + action;
-            }
-
-            jo.put("key", param);
-            jo.put("value", "False");
-            ja.add(jo);
-            requestjo.put("properties", ja);
-            log.info("反馈AGV请求数据:{}", requestjo);
-            System.out.println("back agv:" + requestjo);
-
-            String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
-            String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
-
-            agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact";
-
-            HttpResponse result = HttpRequest.post(agvurl)
-                    .body(String.valueOf(requestjo))
-                    .timeout(20000)//超时，毫秒
-                    .execute();
-        }
-        is_feedback = false;
-
-        return requestjo.toString();
-
     }
 
     @Override
@@ -2002,6 +1935,24 @@ public class AgvServiceImpl implements AgvService {
         return ret;
     }
 
+
+    /**
+     * 获得之后num个天的时间
+     *
+     * @param num
+     * @return
+     */
+    public static String getNextDay(int num) {
+        Calendar calendar = Calendar.getInstance();
+        calendar.add(Calendar.DAY_OF_MONTH, num);
+        Date date = calendar.getTime();
+        TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai");
+        DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'");
+        df.setTimeZone(tz);
+        String nowAsISO = df.format(date);
+        return nowAsISO;
+    }
+
     public static void main(String[] args) {
         String address = "L1-01-01";
         if (address.indexOf("-") > 0) {

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

@@ -450,6 +450,13 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                             dto.setSend_status("1");
                         }
                     }
+                } else  if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "4")) {
+                    HttpResponse result = agvService.sendAgvInstToAgv(dto);
+                    if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
+                        dto.setSend_status("2");
+                    } else {
+                        dto.setSend_status("1");
+                    }
                 }
             }
         } catch (Exception e) {

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java

@@ -0,0 +1,101 @@
+package org.nl.modules.quartz.task;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+
+/**
+ * 查询AGV任务状态
+ */
+@Slf4j
+@Component
+public class QueryAgvTaskStatus {
+    @Autowired
+    InstructionService instructionService;
+
+    @Autowired
+    AgvService agvService;
+
+
+    public void run() throws Exception {
+        try {
+            HttpResponse response = agvService.queryAgvInstStatus("1");
+            //查询AGV指令列表
+            JSONArray inst_rows = JSONArray.parseArray(response.body());
+            for (int i = 0; i < inst_rows.size(); i++) {
+                JSONObject inst_jo = inst_rows.getJSONObject(i);
+                String inst_code = inst_jo.getString("task_code");
+                Instruction inst = instructionService.findByCodeFromCache(inst_code);
+                if (ObjectUtil.isEmpty(inst)) {
+                    continue;
+                }
+                //反馈结果状态
+                log.info("instcode：" + inst_code + "," + inst_jo.toString());
+
+                String state = inst_jo.getString("state");
+                String vehicle = "";
+                //正在执行指令agv车号
+                if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
+                    vehicle = inst_jo.getString("vehicle");
+                    inst.setCarno(vehicle);
+                }
+//							RAW：初始状态
+//							ACTIVE：业务订单已激活
+//							DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
+//							BEING_PROCESSED：业务订单正在被执行
+//							WITHDRAWN：业务订单已被撤销
+//							FINISHED：业务订单已完成
+//							FAILED：业务订单已失败
+//							UNROUTABLE：无法规划该业务订单的执行路线
+
+                //执行中
+                if ("BEING_PROCESSED".equals(state)) {
+                    if (inst != null) {
+                        inst.setInstruction_status("1");
+                        instructionService.update(inst);
+                    }
+                } else if ("FINISHED".equals(state)) {
+                    if (inst != null) {
+                        inst.setInstruction_status("2");
+                        instructionService.finish(inst);
+                    }
+                } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) {
+                    if (inst != null) {
+                        inst.setInstruction_status("3");
+                        instructionService.update(inst);
+                        instructionService.removeByCodeFromCache(inst_jo.getString("task_code"));
+                    }
+                }
+                JSONArray ja = inst_jo.getJSONArray("destinations");
+                for (int j = 0; j < ja.size(); j++) {
+                    JSONObject jo = ja.getJSONObject(j);
+                    JSONArray pro_rows = jo.getJSONArray("properties");
+                    //Load 取货动作 Unload放货动作 Wait等待
+                    String operation = jo.getString("operation");
+                    String device = jo.getString("locationName");
+                    for (int k = 0; k < pro_rows.size(); k++) {
+                        JSONObject item = pro_rows.getJSONObject(k);
+                        if ("true".equals(item.get("value"))) {
+                            String param = item.get("key").toString();
+                            //EntryRequired是否进入前等待  PauseOnStation是否离开等待 Wait在该点进行等待
+                            agvService.process(inst_code, param, device, operation, vehicle);
+                        }
+                    }
+                }
+            }
+        } catch (Exception e) {
+
+        }
+
+    }
+
+}