opt:增加指令创建失败提示

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

@@ -121,7 +121,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         if (!ObjectUtil.isEmpty(link_inst)) {
             link_flag = true;
         }
-
+        if (error != 0) {
+            //todo 反馈立库AGV故障信息
+            sendAgvErrorStatus(inst, device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货")));
+        }
         Device device = null;
         String old_device_code = null;
         String emptyNum = null;
@@ -814,6 +817,38 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     }
 
 
+
+    private void sendAgvErrorStatus(Instruction inst, String device_code, Integer status) {
+        if (inst == null) {
+            return;
+        }
+        JSONArray ja = new JSONArray();
+        JSONObject jo = new JSONObject();
+        jo.put("vehicle_code", inst.getVehicle_code());
+        jo.put("status", status);
+        jo.put("device_code", this.device_code);
+        jo.put("task_code", inst.getTask_code());
+        ja.add(jo);
+        LuceneLogDto reqlogDto = LuceneLogDto.builder()
+                .device_code(device_code)
+                .content("请求参数:" + jo)
+                .requestparam("请求参数:" + jo)
+                .method("1111111111111111111111111111111feedAgvTaskStatus")
+                .build();
+        luceneExecuteLogService.deviceExecuteLog(reqlogDto);
+        HttpResponse resp = acsToWmsService.feedAgvErrorStatus(ja);
+        LuceneLogDto resplogDto = LuceneLogDto.builder()
+                .device_code(device_code)
+                .content("返回参数:" + resp.body())
+                .responseparam("返回参数:" + resp.body())
+                .method("feedAgvTaskStatus")
+                .status_code(String.valueOf(resp.getStatus()))
+                .build();
+        luceneExecuteLogService.deviceExecuteLog(resplogDto);
+    }
+
+
+
     private void sendAgvTaskStatus(Instruction inst, String device_code, Integer status) {
         if (inst == null) {
             return;

nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java

@@ -43,6 +43,19 @@ public class WmsToAcsController {
         return new ResponseEntity<>(wmstoacsService.crateTask(reqs), HttpStatus.OK);
     }
 
+
+
+    @PostMapping("/getAgvInfo")
+    @Log("agv信息")
+    @ApiOperation("agv信息")
+    public ResponseEntity<Object> allDeviceStatus() {
+        return new ResponseEntity<>(wmstoacsService.allDeviceStatus(), HttpStatus.OK);
+    }
+
+
+
+
+
     @PostMapping("/cancelTask")
     @Log(value = "WMS取消任务")
     @ApiOperation("WMS取消任务")

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

@@ -113,7 +113,13 @@ public interface AcsToWmsService {
      */
     HttpResponse feedAgvTaskStatus(JSONArray from);
 
-
+    /**
+     * 反馈AGV故障信息
+     *
+     * @param from
+     * @return
+     */
+    HttpResponse feedAgvErrorStatus(JSONArray from);
 
 
     /**

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

@@ -19,6 +19,10 @@ public interface WmsToAcsService {
     CreateTaskResponse crateTask(List<CreateTaskRequest> reqs);
 
 
+
+    JSONObject allDeviceStatus();
+
+
     /**
      * 取消任务
      *

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

@@ -552,6 +552,30 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         return result;
     }
 
+    @Override
+    public HttpResponse feedAgvErrorStatus(JSONArray from) {
+        String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+
+        AddressDto addressDto = addressService.findByCode("feedAgvErrorStatus");
+        String methods_url = addressDto.getMethods_url();
+        String url = wmsUrl + methods_url;
+        HttpResponse result = null;
+        log.info("feedAgvErrorStatus----请求参数{}", from);
+
+        try {
+            result = HttpRequest.post(url)
+                    .body(String.valueOf(from))
+                    .execute();
+            System.out.println(result);
+            log.info("feedAgvErrorStatus----返回参数{}", result);
+        } catch (Exception e) {
+            String msg = e.getMessage();
+            //网络不通
+            //System.out.println(msg);
+        }
+        return result;
+    }
+
     @Override
     public String applyTask(BaseRequest requestParam) {
         try {

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

@@ -31,11 +31,13 @@ import org.nl.acs.storage_cell.service.mapper.StorageCellMapper;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.common.exception.BadRequestException;
+import org.nl.common.utils.RedisUtils;
 import org.nl.config.SpringContextHolder;
 import org.nl.system.service.param.ISysParamService;
 import org.redisson.api.RLock;
 import org.redisson.api.RedissonClient;
 import org.slf4j.MDC;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.ApplicationContext;
 import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
@@ -67,6 +69,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     @Resource
     private RedissonClient redissonClient;
 
+    @Resource
+    private RedisUtils redisUtils;
+
     @Override
     public CancelTaskResponse cancelFromWms(List<CancelTaskRequest> reqs) throws Exception {
         ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
@@ -109,6 +114,22 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
         return response;
     }
 
+    /**
+     * agv信息查询
+     */
+    @Override
+    public JSONObject allDeviceStatus() {
+        JSONObject jsonObject = new JSONObject();
+        JSONArray agv = (JSONArray) redisUtils.get("AGV");
+        if (ObjectUtil.isNotEmpty(agv)) {
+            jsonObject.put("agv", agv);
+        } else {
+            jsonObject.put("agv", new JSONArray());
+        }
+        return jsonObject;
+    }
+
+
     @Override
     public Map<String, Object> updateDeviceGoodsFromWms(String param) {
         JSONArray datas = JSONArray.parseArray(param);

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

@@ -1,23 +1,17 @@
 package org.nl.acs.instruction.domain;
 
-import org.nl.acs.common.base.CommonModel;
-import com.baomidou.mybatisplus.annotation.TableName;
-import com.baomidou.mybatisplus.annotation.FieldFill;
-import com.baomidou.mybatisplus.annotation.TableField;
-import com.baomidou.mybatisplus.annotation.TableId;
-import com.baomidou.mybatisplus.annotation.IdType;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.AllArgsConstructor;
-import lombok.Builder;
-import lombok.Data;
-import lombok.NoArgsConstructor;
-import lombok.EqualsAndHashCode;
-import lombok.experimental.Accessors;
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.bean.copier.CopyOptions;
-import javax.validation.constraints.*;
+import com.baomidou.mybatisplus.annotation.*;
-import java.math.BigDecimal;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.*;
+import lombok.experimental.Accessors;
+import org.nl.acs.common.base.CommonModel;
+
+import javax.validation.constraints.NotBlank;
+import javax.validation.constraints.NotNull;
 import java.io.Serializable;
+import java.math.BigDecimal;
 
 /**
  * @author jiaolm
@@ -238,7 +232,12 @@ public class InstructionMybatis extends CommonModel<InstructionMybatis> implemen
     @ApiModelProperty(value = "AGV系统类型")
     private String agv_system_type;
 
-    public void copyFrom(Instruction source){
+    /**
-        BeanUtil.copyProperties(source,this, CopyOptions.create().setIgnoreNullValue(true));
+     * lms任务id
+     */
+    private String ext_task_id;
+
+    public void copyFrom(Instruction source) {
+        BeanUtil.copyProperties(source, this, CopyOptions.create().setIgnoreNullValue(true));
     }
 }

nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/rest/InstructionController.java

@@ -37,9 +37,9 @@ public class InstructionController {
     @ApiOperation("查询指令")
     //@PreAuthorize("@el.check('instruction:list')")
     public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
-        if(ObjectUtil.isEmpty(whereJson.get("status"))) {
+        //        if(ObjectUtil.isEmpty(whereJson.get("status"))) {
-            whereJson.put("status", "1");
+        //            whereJson.put("status", "1");
-        }
+        //        }
         return new ResponseEntity<>(instructionService.queryAll(whereJson, page), HttpStatus.OK);
     }
 

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

@@ -348,4 +348,9 @@ public class InstructionDto implements Serializable {
      */
     private String agv_system_type;
 
+
+    /**
+     * lms任务id
+     */
+    private String ext_task_id;
 }

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

@@ -20,6 +20,9 @@ import org.nl.acs.agv.server.MagicAgvService;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.agv.server.ZheDaAgvService;
 import org.nl.acs.auto.initial.ApplicationAutoInitial;
+import org.nl.acs.common.base.PageInfo;
+import org.nl.acs.common.base.QueryHelpMybatisPlus;
+import org.nl.acs.common.base.impl.CommonServiceImpl;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
@@ -30,9 +33,12 @@ import org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanne
 import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.ext.wms.liKuData.*;
 import org.nl.acs.ext.wms.service.AcsToLiKuService;
+import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.domain.InstructionMybatis;
+import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.InstructionDto;
 import org.nl.acs.instruction.service.dto.InstructionQueryParam;
+import org.nl.acs.instruction.service.mapper.InstructionMapper;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.route.service.RouteLineService;
@@ -42,31 +48,20 @@ import org.nl.acs.task.TaskInstructionLock;
 import org.nl.acs.task.domain.Task;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
-import org.nl.acs.common.base.PageInfo;
-import org.nl.acs.common.base.QueryHelpMybatisPlus;
-import org.nl.acs.common.base.impl.CommonServiceImpl;
 import org.nl.acs.task.service.mapper.TaskMapper;
-import org.nl.common.exception.BadRequestException;
 import org.nl.acs.utils.ConvertUtil;
-import org.nl.common.utils.FileUtil;
 import org.nl.acs.utils.PageUtil;
-import org.nl.acs.instruction.domain.Instruction;
+import org.nl.common.exception.BadRequestException;
-import org.nl.acs.instruction.service.InstructionService;
-import org.nl.acs.instruction.service.mapper.InstructionMapper;
-import org.nl.common.utils.SecurityUtils;
-import org.nl.system.service.dict.dao.Dict;
-import org.nl.system.service.param.ISysParamService;
 import org.nl.common.utils.CodeUtil;
+import org.nl.common.utils.FileUtil;
+import org.nl.common.utils.SecurityUtils;
 import org.nl.config.SpringContextHolder;
+import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.domain.Pageable;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Propagation;
 import org.springframework.transaction.annotation.Transactional;
-// 默认不使用缓存
-//import org.springframework.cache.annotation.CacheConfig;
-//import org.springframework.cache.annotation.CacheEvict;
-//import org.springframework.cache.annotation.Cacheable;
-import org.springframework.data.domain.Pageable;
 
 import javax.servlet.http.HttpServletResponse;
 import java.io.IOException;
@@ -192,11 +187,10 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
         IPage<InstructionMybatis> queryPage = PageUtil.toMybatisPage(page);
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
-//        wrapper.eq(InstructionMybatis::getIs_delete,0);
+        //        wrapper.eq(InstructionMybatis::getIs_delete,0);
         wrapper.and(StringUtils.isNotBlank(code), instructionMybatis -> instructionMybatis.like(InstructionMybatis::getInstruction_code, code).or().like(InstructionMybatis::getTask_code, code));
         wrapper.like(StringUtils.isNotBlank(vehicle_code), InstructionMybatis::getVehicle_code, vehicle_code);
         wrapper.eq(StringUtils.isNotBlank(material_type), InstructionMybatis::getMaterial, material_type);
-        wrapper.eq(StringUtils.isNotBlank(status), InstructionMybatis::getInstruction_status, status);
         wrapper.and(StringUtils.isNotBlank(point_code), instructionMybatis -> instructionMybatis.like(InstructionMybatis::getStart_point_code, point_code).or().like(InstructionMybatis::getNext_point_code, point_code));
         wrapper.eq(StringUtils.isNotBlank(instruction_type), InstructionMybatis::getInstruction_type, instruction_type);
         if (!StrUtil.isEmpty(is_over)) {
@@ -206,6 +200,11 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 wrapper.lt(InstructionMybatis::getInstruction_status, 2);
             }
         }
+        if (!StrUtil.isEmpty(status)) {
+            wrapper.eq(InstructionMybatis::getInstruction_status, status);
+        } else {
+            wrapper.lt(InstructionMybatis::getInstruction_status, 2);
+        }
         IPage<InstructionMybatis> insPage = instructionMapper.selectPage(queryPage, wrapper);
         final JSONObject json = (JSONObject) JSON.toJSON(ConvertUtil.convertPage(insPage, InstructionDto.class));
         return json;
@@ -337,22 +336,12 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public Instruction findByTaskid(String id, String wherecaluse) {
-//        if (!StrUtil.isEmpty(wherecaluse)) {
-//            wherecaluse = " and " + wherecaluse;
-//        }
-//        WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//        JSONObject json = wo.query("task_id ='" + id + "'" + wherecaluse).uniqueResult(0);
-//        if (ObjectUtil.isNotEmpty(json)) {
-//            return json.toJavaObject(Instruction.class);
-//        }
-//        return null;
-
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
         wrapper.eq(InstructionMybatis::getTask_id, id);
         wrapper.apply(StringUtils.isNotBlank(wherecaluse), wherecaluse);
-        InstructionMybatis ins = instructionMapper.selectOne(wrapper);
+        List<InstructionMybatis> insList = instructionMapper.selectList(wrapper);
-        if (ObjectUtil.isNotEmpty(ins)) {
+        if (ObjectUtil.isNotEmpty(insList)) {
-            return ConvertUtil.convert(ins, Instruction.class);
+            return ConvertUtil.convert(insList.get(0), Instruction.class);
         }
         return null;
     }
@@ -362,6 +351,128 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         dto = foramte(dto);
         String task_code = dto.getTask_code();
         TaskDto task = taskService.findByCodeFromCache(task_code);
+        String currentUsername = SecurityUtils.getCurrentUsername();
+        String now = DateUtil.now();
+        if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
+            dto.setRoute_plan_code(task.getRoute_plan_code());
+        }
+        if (StrUtil.isEmpty(dto.getPriority())) {
+            dto.setPriority(task.getPriority());
+        }
+        if (StrUtil.isEmpty(dto.getInstruction_code())) {
+            dto.setInstruction_code(CodeUtil.getNewCode("INSTRUCT_NO"));
+        }
+        if (StrUtil.isEmpty(dto.getInstruction_id())) {
+            dto.setInstruction_id(IdUtil.simpleUUID());
+        }
+        if (StrUtil.isEmpty(dto.getIs_send())) {
+            dto.setIs_send(task.getIs_send());
+        }
+        if (StrUtil.isEmpty(dto.getLink_num())) {
+            dto.setIs_send(task.getLink_num());
+        }
+        //        if (task.getTask_type().equals("1") || task.getTask_type().equals("2")) {
+        dto.setInstruction_type(task.getTask_type());
+        //        } else if (false) {
+        //
+        //        } else {
+        //            dto.setInstruction_type("3");
+        //        }
+        // 查询是否存在相同指令号
+        //            if (!StrUtil.isEmpty(dto.getVehicle_code() )) {
+        //                Instruction inst_dto = findByContainer(dto.getVehicle_code());
+        //                if (inst_dto != null) {
+        //                    log.error("存在相同载具号任务,载具号"+dto.getVehicle_code());
+        //                    throw new BadRequestException("存在相同载具号任务！");
+        //                }
+        //            }
+        // 起点设备与终点设备相同则为初始指令
+        if (StrUtil.equals(task.getStart_device_code(), dto.getStart_device_code())) {
+            if (!StrUtil.equals(dto.getCompound_inst(), "0")
+                    && StrUtil.equals(task.getCompound_task(), "1")) {
+                dto.setCompound_inst("1");
+                dto.setCompound_inst_data(task.getCompound_task_data());
+            }
+        }
+        dto.setExt_task_id(task.getExt_task_id());
+        dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
+        dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
+        dto.setUpdate_time(now);
+        dto.setCreate_time(now);
+        dto.setStart_parent_code(task.getStart_parent_code());
+        dto.setNext_parent_code(task.getNext_parent_code());
+        if (ObjectUtil.isNotEmpty(task.getTask_type())) {
+            dto.setInstruction_type(task.getTask_type());
+        }
+        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+        try {
+            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 =
+                    routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+            RouteLineDto route = null;
+            for (int i = 0; i < shortPathsList.size(); i++) {
+                RouteLineDto routeLineDto = shortPathsList.get(i);
+                String route_device = routeLineDto.getDevice_code();
+                String route_next_device = routeLineDto.getNext_device_code();
+                if (route_device.equals(dto.getStart_device_code())
+                        && route_next_device.equals(dto.getNext_device_code())) {
+                    route = routeLineDto;
+                    break;
+                }
+            }
+            if (ObjectUtil.isEmpty(route)) {
+                throw new BadRequestException("未查询到相关路由！");
+            }
+            if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
+                NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
+                ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
+            } else if (StrUtil.equals(shortPathsList.get(0).getType(), "2")) {
+                ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
+                HttpResponse result = zheDaAgvService.sendAgvInstToAgv(dto);
+                if (!ObjectUtils.isEmpty(result)) {
+                    JSONObject jo = JSON.parseObject(result.body());
+                    if (jo.getInteger("status") != 200) {
+                        dto.setSend_status("2");
+                        dto.setRemark("失败原因:" + jo.getString("message"));
+                        log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), jo.getString("message"));
+                        if (task != null) {
+                            task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因{}" + jo.getString("message"));
+                            taskService.update(task);
+                        }
+                    } else {
+                        dto.setSend_status("1");
+                    }
+                } else {
+                    dto.setSend_status("2");
+                    dto.setRemark("失败原因:AGV/RGV未响应！");
+                    log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), "AGV/RGV未响应！");
+                    if (task != null) {
+                        task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因: AGV/RGV未响应！");
+                        taskService.update(task);
+                    }
+                }
+            }
+        } catch (Exception e) {
+           String msg = e.getMessage()==null?"连接失败！":e.getMessage();
+            dto.setSend_status("2");
+            dto.setRemark("失败原因:" + msg);
+            log.error("创建指令失败，任务id为：" + task.getTask_id(), "失败原因：" + msg);
+            if (task != null) {
+                task.setRemark("自动创建指令失败，失败原因:"+msg);
+                taskService.update(task);
+            }
+        }
+        InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
+        instructionMapper.insert(entity);
+        instructions.add(dto);
+    }
+
+    public void create1(Instruction dto) {
+        dto = foramte(dto);
+        String task_code = dto.getTask_code();
+        TaskDto task = taskService.findByCodeFromCache(task_code);
 
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();
@@ -467,9 +578,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             e.printStackTrace();
             log.error("");
         }
-//        WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//        JSONObject json = (JSONObject) JSONObject.toJSON(dto);
-//        wo.insert(json);
         InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
         instructionMapper.insert(entity);
         instructions.add(dto);
@@ -480,8 +588,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         dto = foramte(dto);
         String task_code = dto.getTask_code();
         TaskDto task = taskService.findByCodeFromCache(task_code);
-
-//        WQLObject instwo = WQLObject.getWQLObject("acs_instruction");
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();
         if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
@@ -542,6 +648,127 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             hongXiangConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
         }
 
+        try {
+            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 =
+                    routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+            RouteLineDto route = null;
+            for (int i = 0; i < shortPathsList.size(); i++) {
+                RouteLineDto routeLineDto = shortPathsList.get(i);
+                String route_device = routeLineDto.getDevice_code();
+                String route_next_device = routeLineDto.getNext_device_code();
+                if (route_device.equals(dto.getStart_device_code())
+                        && route_next_device.equals(dto.getNext_device_code())) {
+                    route = routeLineDto;
+                    break;
+                }
+            }
+            if (ObjectUtil.isEmpty(route)) {
+                throw new BadRequestException("未查询到相关路由！");
+            }
+            if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
+                NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
+                ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
+            } else if (StrUtil.equals(shortPathsList.get(0).getType(), "2")) {
+                ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
+                HttpResponse result = zheDaAgvService.sendAgvInstToAgv(dto);
+                if (!ObjectUtils.isEmpty(result)) {
+                    JSONObject jo = JSON.parseObject(result.body());
+                    if (jo.getInteger("status") != 200) {
+                        dto.setSend_status("2");
+                        dto.setRemark("失败原因:" + jo.getString("message"));
+                        log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), jo.getString("message"));
+                        task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因{}" + jo.getString("message"));
+                    } else {
+                        dto.setSend_status("1");
+                        task.setRemark("");
+                    }
+                } else {
+                    dto.setSend_status("2");
+                    dto.setRemark("失败原因:AGV/RGV未响应！");
+                    log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), "AGV/RGV未响应！");
+                    task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因: AGV/RGV未响应！");
+                }
+                taskService.update(task);
+            }
+        } catch (Exception e) {
+            if (e.getMessage() == null) {
+                dto.setRemark("失败原因:连接异常！");
+            } else {
+                dto.setRemark("失败原因:" + e.getMessage());
+            }
+            dto.setSend_status("2");
+            log.error("创建指令失败，下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), e.getMessage());
+        }
+        InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
+        instructionMapper.insert(entity);
+        instructions.add(dto);
+    }
+
+    public void create3(Instruction dto) throws Exception {
+        dto = foramte(dto);
+        String task_code = dto.getTask_code();
+        TaskDto task = taskService.findByCodeFromCache(task_code);
+        String currentUsername = SecurityUtils.getCurrentUsername();
+        String now = DateUtil.now();
+        if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
+            dto.setRoute_plan_code(task.getRoute_plan_code());
+        }
+        if (StrUtil.isEmpty(dto.getPriority())) {
+            dto.setPriority(task.getPriority());
+        }
+        if (StrUtil.isEmpty(dto.getInstruction_code())) {
+            dto.setInstruction_code(CodeUtil.getNewCode("INSTRUCT_NO"));
+        }
+        if (StrUtil.isEmpty(dto.getInstruction_id())) {
+            dto.setInstruction_id(IdUtil.simpleUUID());
+        }
+        if (StrUtil.isEmpty(dto.getIs_send())) {
+            dto.setIs_send(task.getIs_send());
+        }
+        if (StrUtil.isEmpty(dto.getLink_num())) {
+            dto.setIs_send(task.getLink_num());
+        }
+        if (task.getTask_type().equals("1") || task.getTask_type().equals("2")) {
+            dto.setInstruction_type(task.getTask_type());
+        } else if (false) {
+
+        } else {
+            dto.setInstruction_type("3");
+        }
+        // 起点设备与终点设备相同则为初始指令
+        if (StrUtil.equals(task.getStart_device_code(), dto.getStart_device_code())) {
+            if (!StrUtil.equals(dto.getCompound_inst(), "0")
+                    && StrUtil.equals(task.getCompound_task(), "1")) {
+                dto.setCompound_inst("1");
+                dto.setCompound_inst_data(task.getCompound_task_data());
+            }
+        }
+        dto.setCreate_by(currentUsername);
+        dto.setUpdate_by(currentUsername);
+        dto.setUpdate_time(now);
+        dto.setCreate_time(now);
+        dto.setStart_parent_code(task.getStart_parent_code());
+        dto.setNext_parent_code(task.getNext_parent_code());
+
+        if (ObjectUtil.isNotEmpty(task.getTask_type())) {
+            dto.setInstruction_type(task.getTask_type());
+        }
+
+        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+        Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
+        Device nextdevice = appService.findDeviceByCode(dto.getNext_device_code());
+
+        HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
+        StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
+
+        if (startdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
+            hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startdevice.getDeviceDriver();
+            hongXiangConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
+        }
+
         try {
             String start_device_code = dto.getStart_device_code();
             String next_device_code = dto.getNext_device_code();

nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java

@@ -38,10 +38,10 @@ public class TaskController {
     @ApiOperation("查询任务")
     //@PreAuthorize("@el.check('task:list')")
     public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
-//        return new ResponseEntity<>(taskService.queryAllByCache(whereJson, page), HttpStatus.OK);
+    //        return new ResponseEntity<>(taskService.queryAllByCache(whereJson, page), HttpStatus.OK);
-//        if(ObjectUtil.isEmpty(whereJson.get("status"))) {
+    //        if(ObjectUtil.isEmpty(whereJson.get("status"))) {
-//            whereJson.put("status", "1");
+    //            whereJson.put("status", "1");
-//        }
+    //        }
         return new ResponseEntity<>(taskService.queryAll(whereJson, page), HttpStatus.OK);
     }
 

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

@@ -993,11 +993,15 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             String resp = null;
             try {
                 resp = acstowmsService.feedTaskStatus(request);
-                log.info("任务号:{},反馈wms任务状态完成成功,响应信息:{}!", entity.getTask_code(), resp);
+                JSONObject jo = JSON.parseObject(resp);
+                if ("200".equals(jo.getString("code"))) {
+                    log.info("任务号:{},反馈wms任务状态完成成功,响应信息:{}!", entity.getTask_code(), resp);
+
+                } else {
+                    log.error("任务号:{},反馈wms任务状态失败,原因:{}!", entity.getTask_code(), jo.getString("message"));
+                }
             } catch (Exception e) {
                 log.error("任务号:{},反馈wms任务状态失败,原因:{}!", entity.getTask_code(), e.getMessage());
-            } finally {
-
             }
         }
         List<RouteLineDto> shortPathsList =
@@ -1181,6 +1185,101 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     public Instruction createInst(String ids) throws Exception {
+        TaskDto acsTask = this.findById(ids);
+        if (acsTask == null) {
+            throw new BadRequestException("被删除或无权限，操作失败!");
+        }
+        //只有执行中的任务才能创建指令
+        if (!"1".equals(acsTask.getTask_status())) {
+            throw new BadRequestException("任务未执行，不能创建指令!");
+        }
+        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+        InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
+        InstructionDto inst = instructionservice.findByTaskid(ids, "instruction_status < 2 ");
+        if (inst != null) {
+            throw new BadRequestException("有指令未完成!");
+        }
+        String taskid = acsTask.getTask_id();
+        String taskcode = acsTask.getTask_code();
+        String vehiclecode = acsTask.getVehicle_code();
+        String priority = acsTask.getPriority();
+        String start_point_code = acsTask.getStart_point_code();
+        String start_device_code = acsTask.getStart_device_code();
+        String route_plan_code = acsTask.getRoute_plan_code();
+        String vehicleType = acsTask.getVehicle_type();
+        // 是否复合任务 =0非复合任务
+        String compound_task = acsTask.getCompound_task();
+        String next_point_code = acsTask.getNext_point_code();
+        String next_device_code = acsTask.getNext_device_code();
+        String start_point_code2 = acsTask.getStart_point_code2();
+        String next_point_code2 = acsTask.getNext_point_code2();
+        String agv_system_type = acsTask.getAgv_system_type();
+        String task_type = acsTask.getTask_type();
+        /** 开始平均分解校验 */
+        String this_device_code =
+                this.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
+        if (StrUtil.isEmpty(this_device_code)) {
+            List<RouteLineDto> shortPathsList =
+                    routeLineService.getShortPathLines(
+                            start_device_code, acsTask.getNext_device_code(), route_plan_code);
+            RouteLineDto routeLineDto = shortPathsList.get(0);
+            String path = routeLineDto.getPath();
+            String type = routeLineDto.getType();
+            String[] str = path.split("->");
+            List<String> pathlist = Arrays.asList(str);
+            int index = 0;
+            for (int m = 0; m < pathlist.size(); m++) {
+                if (pathlist.get(m).equals(start_device_code)) {
+                    index = m + 1;
+                    break;
+                }
+            }
+            next_device_code = pathlist.get(index);
+        } else {
+            next_device_code = this_device_code;
+        }
+
+        if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
+            next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
+        } else {
+            next_point_code = next_device_code;
+        }
+        Instruction instdto = new Instruction();
+        instdto.setInstruction_type(task_type);
+        instdto.setInstruction_id(IdUtil.simpleUUID());
+        instdto.setRoute_plan_code(route_plan_code);
+        instdto.setMaterial(acsTask.getMaterial());
+        instdto.setQuantity(acsTask.getQuantity());
+        instdto.setTask_id(taskid);
+        instdto.setTask_code(taskcode);
+        instdto.setVehicle_code(vehiclecode);
+        String now = DateUtil.now();
+        instdto.setCreate_time(now);
+        instdto.setCreate_by("auto");
+        instdto.setStart_device_code(start_device_code);
+        instdto.setNext_device_code(next_device_code);
+        instdto.setStart_point_code(start_point_code);
+        instdto.setNext_point_code(next_point_code);
+        instdto.setPriority(priority);
+        instdto.setInstruction_status("0");
+        instdto.setExecute_device_code(start_point_code);
+        instdto.setVehicle_type(vehicleType);
+        instdto.setStart_point_code2(start_point_code2);
+        instdto.setStart_device_code2(start_point_code2);
+        instdto.setNext_device_code2(next_point_code2);
+        instdto.setNext_point_code2(next_point_code2);
+        instdto.setAgv_system_type(agv_system_type);
+        instdto.setAgv_inst_type("1");
+        instdto.setExt_task_id(acsTask.getExt_task_id());
+        try {
+            instructionservice.create2(instdto);
+        } catch (Exception e) {
+            log.error("手动创建指令失败！任务id为:{},指令号为:{}，失败原因{}", acsTask.getTask_id(), instdto.getInstruction_code(), e.getMessage());
+        }
+        return instdto;
+    }
+
+    public Instruction createInst1(String ids) throws Exception {
         TaskDto acsTask = this.findById(ids);
         if (acsTask == null) {
             throw new BadRequestException("被删除或无权限，操作失败!");
@@ -1274,10 +1373,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     public Instruction createInst(Instruction inst) throws Exception {
-
-        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
         InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
-
         instructionservice.create2(inst);
         return inst;
     }

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

@@ -199,7 +199,11 @@ public class AutoCreateInst {
             try {
                 instructionService.create(instdto);
             } catch (Exception e) {
-                acsTask.setRemark(e.getMessage());
+                if (e.getMessage() == null) {
+                    acsTask.setRemark("自动创建指令失败，失败原因:连接失败！");
+                } else {
+                    acsTask.setRemark("自动创建指令失败，失败原因:" + e.getMessage());
+                }
                 taskserver.updateByCodeFromCache(acsTask);
                 continue;
             }

nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/QueryZDAgvTaskStatus.java

@@ -59,15 +59,14 @@ public class QueryZDAgvTaskStatus {
                     vehicle = inst_jo.getString("vehicle");
                     inst.setCarno(vehicle);
                 }
-//							RAW：初始状态
+                //							RAW：初始状态
-//							ACTIVE：业务订单已激活
+                //							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
+                //							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
+                //							BEING_PROCESSED：业务订单正在被执行
-//							WITHDRAWN：业务订单已被撤销
+                //							WITHDRAWN：业务订单已被撤销
-//							FINISHED：业务订单已完成
+                //							FINISHED：业务订单已完成
-//							FAILED：业务订单已失败
+                //							FAILED：业务订单已失败
-//							UNROUTABLE：无法规划该业务订单的执行路线
+                //							UNROUTABLE：无法规划该业务订单的执行路线
-
                 //执行中
                 if ("BEING_PdROCESSED".equals(status) || "ACTIVE".equals(status)) {
                     if (inst != null) {

nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java

@@ -82,6 +82,7 @@ public class SyncDeviceStatus {
             //agv状态信息反馈
             JSONObject param = new JSONObject();
             param.put("AGV", AGV);
+            redisUtils.set("AGV", AGV);
             HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
             if (response == null || response.getStatus() == 200) {
                 log.info("自动上报agv状态,接口返回:" + response.body());

nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml

@@ -7,10 +7,10 @@ spring:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
 #      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:stand_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:qzyf_acs_bak}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:qzyf_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
 #      password: ${DB_PWD:Root.123456}
-      password: ${DB_PWD:123456789}
+      password: ${DB_PWD:123456}
       # 初始连接数
       initial-size: 5
       # 最小连接数

nladmin-ui/src/views/acs/history/instRecord/index.vue

@@ -104,6 +104,7 @@
             <span v-if="scope.row.instruction_status=='0' ">就绪</span>
             <span v-if="scope.row.instruction_status=='1' ">执行中</span>
             <span v-if="scope.row.instruction_status=='2' ">完成</span>
+            <span v-if="scope.row.instruction_status=='3' ">取消</span>
           </template>
         </el-table-column>
         <el-table-column prop="start_point_code" label="起点" />

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

@@ -134,10 +134,12 @@
             <span v-if="scope.row.instruction_status=='0' ">就绪</span>
             <span v-if="scope.row.instruction_status=='1' ">执行中</span>
             <span v-if="scope.row.instruction_status=='2' ">完成</span>
+            <span v-if="scope.row.instruction_status=='3' ">取消</span>
           </template>
         </el-table-column>
         <el-table-column prop="send_status" label="下发状态">
           <template slot-scope="scope">
+            <span v-if="scope.row.send_status==null ">未下发</span>
             <span v-if="scope.row.send_status=='0' ">未下发</span>
             <span v-if="scope.row.send_status=='1' ">成功</span>
             <span v-if="scope.row.send_status=='2' ">失败</span>

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

@@ -97,22 +97,6 @@
           <el-form-item v-if="false" label="任务标识" prop="task_id">
             <el-input v-model="form.task_id" style="width: 370px;" />
           </el-form-item>
-          <el-form-item label="物料类型">
-            <el-select
-              v-model="form.material"
-              style="width: 370px;"
-              filterable
-              placeholder="请选择"
-              @change="isDisabled=false"
-            >
-              <el-option
-                v-for="item in dict.material_type"
-                :key="item.id"
-                :label="item.label"
-                :value="item.value"
-              />
-            </el-select>
-          </el-form-item>
           <el-form-item label="任务类型">
             <el-select
               v-model="form.task_type"
@@ -306,6 +290,22 @@
           <!--              />-->
           <!--            </el-select>-->
           <!--          </el-form-item>-->
+          <!--          <el-form-item label="物料类型">-->
+          <!--            <el-select-->
+          <!--              v-model="form.material"-->
+          <!--              style="width: 370px;"-->
+          <!--              filterable-->
+          <!--              placeholder="请选择"-->
+          <!--              @change="isDisabled=false"-->
+          <!--            >-->
+          <!--              <el-option-->
+          <!--                v-for="item in dict.material_type"-->
+          <!--                :key="item.id"-->
+          <!--                :label="item.label"-->
+          <!--                :value="item.value"-->
+          <!--              />-->
+          <!--            </el-select>-->
+          <!--          </el-form-item>-->
           <el-form-item label="优先级">
             <el-input v-model="form.priority" style="width: 370px;" @change="isDisabled=false" />
           </el-form-item>