From 4a134ddb2eab5f3d536af589760436513104c6a2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E9=83=91=E6=97=AD=E6=98=8E=5C73939?= <739390650@QQ.COM>
Date: Fri, 20 Mar 2026 14:57:16 +0800
Subject: [PATCH] =?UTF-8?q?opt:=E8=A5=BF=E9=97=A8=E5=AD=90=E9=A1=B9?=
 =?UTF-8?q?=E7=9B=AE=E4=BC=98=E5=8C=96=EF=BC=8C=E6=96=B0=E5=A2=9E=E5=A4=A7?=
 =?UTF-8?q?=E5=B0=8F=E8=BD=A6=E6=8C=87=E5=AE=9A=E9=80=BB=E8=BE=91?=
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---
 .../nl/acs/agv/server/impl/NDCAgvServiceImpl.java    | 10 +++++++---
 .../org/nl/acs/agv_alarm/domain/AcsAgvStatus.java    | 10 +++++-----
 .../nl/acs/agv_alarm/mapper/AcsAgvStatusMapper.xml   | 10 +++++-----
 .../service/impl/AcsAgvAlarmServiceImpl.java         | 12 ++++++------
 .../acs/auto/run/OneNDCSocketConnectionAutoRun.java  |  5 +++--
 .../basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java | 12 +++++++-----
 .../basedriver/guard_lamp/GuardLampDeviceDriver.java | 10 ++--------
 .../service/impl/InstructionServiceImpl.java         |  1 +
 .../org/nl/wms/ext/fab/controller/FabController.java |  2 +-
 .../handheld/service/impl/HandheldServiceImpl.java   |  6 ++++++
 .../org/nl/wms/sch/task_manage/AbstractTask.java     |  1 +
 11 files changed, 44 insertions(+), 35 deletions(-)

diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index a110854..5cf9a57 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -94,12 +94,16 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             //如果起始点在PS15起始点位区间、终点也在PS15终点区间，则使用PS15，type=2其他情况，type =1
             StorageCell startStorageCell = storageCellService.getByCode(inst.getStart_point_code());
             StorageCell endStorageCell = storageCellService.getByCode(inst.getNext_point_code());
-            if(null != startStorageCell && null != endStorageCell
-                    && "2".equals(startStorageCell.getCar_type())){
+            if ((null != startStorageCell && null != endStorageCell)
+                    && (("start".equals(inst.getCar_type()) && "2".equals(startStorageCell.getCar_type()))
+                    || "end".equals(inst.getCar_type()) && "2".equals(endStorageCell.getCar_type())
+                    || "new_car".equals(startStorageCell.getRemark())
+                    || "new_car".equals(endStorageCell.getRemark()))) {
                 inst.setCar_type("2");
                 startAddress = deviceService.queryEndAddressBydeviceCode(inst.getStart_point_code());
                 nextAddress = deviceService.queryEndAddressBydeviceCode(inst.getNext_point_code());
-            } else {
+            }
+            else {
                 inst.setCar_type("1");
                 startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
                 nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/domain/AcsAgvStatus.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/domain/AcsAgvStatus.java
index e888af7..e98c7ba 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/domain/AcsAgvStatus.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/domain/AcsAgvStatus.java
@@ -25,12 +25,12 @@ public class AcsAgvStatus implements Serializable {
     /**
      * AGV设备编码
      */
-    private String deviceCode;
+    private String device_code;
 
     /**
      * AGV设备名称
      */
-    private String deviceName;
+    private String device_name;
 
     /**
      * 状态
@@ -55,16 +55,16 @@ public class AcsAgvStatus implements Serializable {
     /**
      * 电量
      */
-    private Integer electricQty;
+    private Integer electric_qty;
 
     /**
      * 更新时间
      */
-    private Date updateTime;
+    private Date update_time;
 
     /**
      * 是否有效: 1-有效, 0-无效
      */
-    private String isActive;
+    private String is_active;
 
 }
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/mapper/AcsAgvStatusMapper.xml b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/mapper/AcsAgvStatusMapper.xml
index 6527353..9b960da 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/mapper/AcsAgvStatusMapper.xml
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/mapper/AcsAgvStatusMapper.xml
@@ -4,15 +4,15 @@
 
     <resultMap id="BaseResultMap" type="org.nl.acs.agv_alarm.domain.AcsAgvStatus">
         <id column="id" property="id" />
-        <result column="device_code" property="deviceCode" />
-        <result column="device_name" property="deviceName" />
+        <result column="device_code" property="device_code" />
+        <result column="device_name" property="device_name" />
         <result column="status" property="status" />
         <result column="x" property="x" />
         <result column="y" property="y" />
         <result column="angle" property="angle" />
-        <result column="electric_qty" property="electricQty" />
-        <result column="update_time" property="updateTime" />
-        <result column="is_active" property="isActive" />
+        <result column="electric_qty" property="electric_qty" />
+        <result column="update_time" property="update_time" />
+        <result column="is_active" property="is_active" />
     </resultMap>
 
     <select id="selectAllStatus" resultMap="BaseResultMap">
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/service/impl/AcsAgvAlarmServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/service/impl/AcsAgvAlarmServiceImpl.java
index 2f13954..22b108d 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/service/impl/AcsAgvAlarmServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv_alarm/service/impl/AcsAgvAlarmServiceImpl.java
@@ -58,8 +58,8 @@ public class AcsAgvAlarmServiceImpl implements AcsAgvAlarmService {
             insertFlag = true;
             agvStatus = new AcsAgvStatus();
             agvStatus.setId(IdUtil.simpleUUID());
-            agvStatus.setDeviceCode(deviceCode);
-            agvStatus.setDeviceName(deviceName);
+            agvStatus.setDevice_code(deviceCode);
+            agvStatus.setDevice_name(deviceName);
         }
 
         // 更新状态信息
@@ -67,13 +67,13 @@ public class AcsAgvAlarmServiceImpl implements AcsAgvAlarmService {
         agvStatus.setX(x);
         agvStatus.setY(y);
         agvStatus.setAngle(angle);
-        agvStatus.setElectricQty(electricQty);
-        agvStatus.setUpdateTime(new Date());
+        agvStatus.setElectric_qty(electricQty);
+        agvStatus.setUpdate_time(new Date());
 
         if (statusInt == 1 || statusInt == 3 || statusInt == 4 || statusInt == 6 || statusInt == 7) {
-            agvStatus.setIsActive("1");
+            agvStatus.setIs_active("1");
         } else {
-            agvStatus.setIsActive("0");
+            agvStatus.setIs_active("0");
         }
 
         if (insertFlag) {
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
index 4e4f77c..7e9a582 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
@@ -18,6 +18,7 @@ import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.DeviceAppService;
+import org.nl.common.utils.ThrowableUtil;
 import org.nl.system.service.dict.ISysDictService;
 import org.nl.system.service.dict.dao.Dict;
 import org.nl.system.service.lucene.LuceneExecuteLogService;
@@ -267,7 +268,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                  }
                                     data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
                                 } catch (Exception e) {
-                                    log.info("下发告警灯告警信号失败");
+                                    log.error("下发告警灯告警信号失败", e);
                                 }
                             }
                         } else {
@@ -292,7 +293,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     }
                                     data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
                                 } catch (Exception e) {
-                                    log.info("下发告警灯取消告警信号失败");
+                                    log.error("下发告警灯取消告警信号失败", e);
                                 }
                             }
                         } else {
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
index 05165de..2620f3a 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -41,6 +41,7 @@ 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.task.service.impl.TaskServiceImpl;
+import org.nl.common.utils.ThrowableUtil;
 import org.nl.system.service.dict.ISysDictService;
 import org.nl.system.service.dict.dao.Dict;
 import org.nl.system.service.param.ISysParamService;
@@ -159,6 +160,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             transportOrder = inst.getTask_code();
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
 
+            //到达取货点
+            //(需要WCS反馈)
+        } else if (phase == 0x03) {
+
             // AGV使用率统计 - 开始工作
             try {
                 String agvDeviceCode = "agv" + carno;
@@ -172,9 +177,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.error("AGV使用率统计-开始工作失败: {}", e.getMessage());
             }
 
-            //到达取货点
-            //(需要WCS反馈)
-        } else if (phase == 0x03) {
             if (agvaddr == 0) {
                 agvaddr = agvaddr_copy;
             }
@@ -577,7 +579,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     }
                 }
             } catch (Exception e) {
-                log.info("下发告警灯告警信号失败");
+                log.error("下发告警灯告警信号失败", e);
             }
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
@@ -594,7 +596,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     }
                 }
             } catch (Exception e) {
-                log.info("下发告警灯取消告警信号失败");
+                log.error("下发告警灯取消告警信号失败", e);
             }
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/guard_lamp/GuardLampDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/guard_lamp/GuardLampDeviceDriver.java
index 0123b51..0fac4d4 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/guard_lamp/GuardLampDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/guard_lamp/GuardLampDeviceDriver.java
@@ -64,35 +64,29 @@ public class GuardLampDeviceDriver extends AbstractOpcDeviceDriver implements De
         Map<String, Object> itemMap = new HashMap<String, Object>();
         itemMap.put(to_param, Integer.parseInt(value));
 
-        // 改动1：恢复线程池状态打印（和你原代码一致，方便监控）
         java.util.concurrent.ThreadPoolExecutor executor = (java.util.concurrent.ThreadPoolExecutor) ThreadPoolUtil.getGlobalFixedExecutor();
         log.info("线程池状态 - 活跃线程数: {}, 队列大小: {}, 已完成任务数: {}",
                 executor.getActiveCount(),
                 executor.getQueue().size(),
                 executor.getCompletedTaskCount());
 
-        // 改动2：加try-catch捕获线程池满的拒绝异常，实现「满了就拒绝」
         try {
-            // 核心：全局线程池直接执行control，无任何嵌套新建线程
             ThreadPoolUtil.getGlobalFixedExecutor().submit(new Runnable() {
                 @Override
                 public void run() {
                     try {
                         control(itemMap);
+                        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号设备号:" + device_code + ",下发电气:" + to_param + ",下发电气值:" + value);
                     } catch (Exception e) {
                         log.error("异步执行 control 方法失败，参数：" + to_param, e);
+                        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号失败：" + e.getMessage() + "，设备号:" + device_code + ",下发电气:" + to_param + ",下发电气值:" + value);
                     }
                 }
             });
         } catch (RejectedExecutionException e) {
-            // 改动3：线程池满拒绝时，打错误日志+记录执行日志，不影响主流程
             log.error("线程池队列满，下发任务被拒绝，参数：{}", to_param, e);
             logServer.deviceExecuteLog(device_code, "", "", "下发电气信号失败：线程池队列满，参数：" + to_param + "，值：" + value);
-            return; // 拒绝后直接返回，不记录成功日志
         }
-
-        // 仅任务提交成功时，记录正常下发日志
-        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号设备号:" + device_code + ",下发电气:" + to_param + ",下发电气值:" + value);
     }
 
     @Override
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 14a608f..6ea5f7d 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -987,6 +987,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instdto.setNext_point_code(next_point_code);
         instdto.setPriority(acsTask.getPriority());
         instdto.setInstruction_status("0");
+        instdto.setCar_type(acsTask.getCar_type());
         instdto.setExecute_device_code(dto.getNext_device_code());
         try {
             this.create(instdto);
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/fab/controller/FabController.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/fab/controller/FabController.java
index 4d4139a..467298a 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/fab/controller/FabController.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/fab/controller/FabController.java
@@ -225,7 +225,7 @@ public class FabController {
     public ResponseEntity<TableDataInfo<List<LB>>> vehicleType() {
         List<LB> result = new ArrayList<>();
         for (VehicleTypeEnum value : VehicleTypeEnum.values()) {
-            result.add(LB.builder().label(value.getVehicleName()).value(value.getVehicleCode()).build());
+            result.add(LB.builder().label(value.getVehicleCode()).value(value.getVehicleCode()).build());
         }
         return new ResponseEntity(TableDataInfo.build(result), HttpStatus.OK);
     }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/handheld/service/impl/HandheldServiceImpl.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/handheld/service/impl/HandheldServiceImpl.java
index 26e17f9..f87f713 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/handheld/service/impl/HandheldServiceImpl.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/handheld/service/impl/HandheldServiceImpl.java
@@ -294,6 +294,7 @@ public class HandheldServiceImpl implements HandheldService {
         jo.put("vehicle_type", mdBaseVehicle.getVehicle_type());
         jo.put("region_code", RegionEnum.NBGD.getRegion_code());
         param.put("region_code", RegionEnum.NBGD.getRegion_code());
+        jo.put("car_type","start");
         jo.put("ext_data", param);
         connectorTask.apply(jo);
     }
@@ -324,6 +325,7 @@ public class HandheldServiceImpl implements HandheldService {
         jo.put("config_code", "EMPTYCAGENEWTask");
         jo.put("create_mode", GeneralDefinition.AUTO_CREATION);
         jo.put("vehicle_code", vehicle_code);
+        jo.put("car_type","end");
         connectorTask.apply(jo);
     }
 
@@ -350,6 +352,8 @@ public class HandheldServiceImpl implements HandheldService {
         jo.put("create_mode", GeneralDefinition.AUTO_CREATION);
         jo.put("vehicle_qty", vehicle_list.length);
         jo.put("vehicle_code", vehicle);
+        jo.put("car_type","start");
+
         jo.put("ext_data", param);
         connectorTask.apply(jo);
     }
@@ -707,6 +711,7 @@ public class HandheldServiceImpl implements HandheldService {
         jo.put("config_code", "TOSTOREHOUSETask");
         jo.put("create_mode", GeneralDefinition.AUTO_CREATION);
         jo.put("vehicle_type", vehicle_type);
+        jo.put("car_type", "start");
         jo.put("ext_data", param);
         connectorTask.apply(jo);
         iSchBasePointService.update(Wrappers.lambdaUpdate(SchBasePoint.class)
@@ -743,6 +748,7 @@ public class HandheldServiceImpl implements HandheldService {
         jo.put("create_mode", GeneralDefinition.AUTO_CREATION);
         jo.put("vehicle_code", vehicle_code);
         jo.put("vehicle_type", mdBaseVehicle.getVehicle_type());
+        jo.put("car_type","start");
         jo.put("ext_data", param);
         connectorTask.apply(jo);
     }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/AbstractTask.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/AbstractTask.java
index 0ddd0e4..3b101ca 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/AbstractTask.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/AbstractTask.java
@@ -285,6 +285,7 @@ public abstract class AbstractTask {
         task.setWorkshop_code(taskConfig.getWorkshop_code());
         task.setRemark(param.getString("remark"));
         task.setAcs_trace_id(param.getString("task_seq"));
+        task.setCar_type(param.getString("car_type"));
         // 设置起/终点
         this.setTaskPoint(taskConfig, task, apply_point_code);
         task.setRequest_param(JSONObject.toJSONString(param.get("ext_data")));