更新

hd/logPath_IS_UNDEFINED/反馈AGV请求/2022-12-04.0.log

@@ -0,0 +1,2 @@
+2022-12-04 15:18:25.062 [nl-pool3-thread-9] INFO  org.nl.acs.agv.server.impl.AgvServiceImpl - 任务号：-00024,指令号00067,下发agv订单序列参数:{"id":"00067","complete":true,"blocks":[{"blockId":"70e4860e52a74ac5ba66bb47075277b4","location":"1008IN","operation":"script","id":"1008IN","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00067","address":"1008IN"}},"protocol":"HTTP"}},{"blockId":"b35e8b1db3d34b0baf8f95c0b16aedd8","location":"1008","operation":"JackLoad"},{"blockId":"99baaed5c81c4c7b823a580817589ecd","location":"1008OUT","operation":"script","id":"1008OUT","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00067","address":"1008OUT"}},"protocol":"HTTP"}},{"blockId":"1769a1f2350c4f02b18ce72cc5f1bce0","location":"1005IN","operation":"script","id":"1005IN","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00067","address":"1005IN"}},"protocol":"HTTP"}},{"blockId":"0db76fae9e544408851348adb127e5ce","location":"1005","operation":"JackUnload"},{"blockId":"0ef593155f7941eda29cab8be8907425","location":"1005OUT","operation":"script","id":"1005OUT","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00067","address":"1005OUT"}},"protocol":"HTTP"}}]}
+2022-12-04 15:19:16.402 [http-nio-8010-exec-5] INFO  org.nl.acs.agv.server.impl.AgvServiceImpl - 任务号：-00024,指令号00068,下发agv订单序列参数:{"id":"00068","complete":true,"blocks":[{"blockId":"0ae6f28e54b24ef1a7ab22c6f49313b5","location":"1008IN","operation":"script","id":"1008IN","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00068","address":"1008IN"}},"protocol":"HTTP"}},{"blockId":"5915e4a896ef41b495163780ca7e08d1","location":"1008","operation":"JackLoad"},{"blockId":"3c3e7d6d531b44d0a55817efbb3b8434","location":"1008OUT","operation":"script","id":"1008OUT","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00068","address":"1008OUT"}},"protocol":"HTTP"}},{"blockId":"af4d3333d2da48518e531eae74461411","location":"1005IN","operation":"script","id":"1005IN","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00068","address":"1005IN"}},"protocol":"HTTP"}},{"blockId":"5056dcd431ef4e0bbc20551e6b933b73","location":"1005","operation":"JackUnload"},{"blockId":"242f390e11b1401599ac3d2dcd81644c","location":"1005OUT","operation":"script","id":"1005OUT","script_name":"userpy/interact.py","script_args":{"addr":"http://127.0.0.1:8010","data":{"reach":{"task_code":"00068","address":"1005OUT"}},"protocol":"HTTP"}}]}

hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java

@@ -8,79 +8,79 @@ import net.sf.json.JSONObject;
  * https://blog.csdn.net/moneyshi/article/details/82978073
  */
 public enum DriverTypeEnum {
-    ORDINARY_SITE(1, "standard_ordinary_site", "普通站点", "conveyor"),
+//    ORDINARY_SITE(1, "standard_ordinary_site", "普通站点", "conveyor"),
-
+//
-    WEIGHING_SITE(2, "weighing_site", "称重站点", "conveyor"),
+//    WEIGHING_SITE(2, "weighing_site", "称重站点", "conveyor"),
-
+//
-    INSPECT_SITE(3, "standard_inspect_site", "检测站点", "conveyor"),
+//    INSPECT_SITE(3, "standard_inspect_site", "检测站点", "conveyor"),
-
+//
-    NON_LINE_INSPECT_SITE(4, "non_line_inspect_site", "检测站点-无PLC", "conveyor"),
+//    NON_LINE_INSPECT_SITE(4, "non_line_inspect_site", "检测站点-无PLC", "conveyor"),
-
+//
-    MACHINES_SITE(5, "machines_site", "机台设备-无光电", "conveyor"),
+//    MACHINES_SITE(5, "machines_site", "机台设备-无光电", "conveyor"),
-
+//
-    SPECIAL_SITE(6, "standard_special_inspect_site", "专机设备交互站点", "conveyor"),
+//    SPECIAL_SITE(6, "standard_special_inspect_site", "专机设备交互站点", "conveyor"),
-
+//
-    MANIPULATOR_SITE(7, "standard_manipulator_inspect_site", "区域管制设备交互站点", "conveyor"),
+//    MANIPULATOR_SITE(7, "standard_manipulator_inspect_site", "区域管制设备交互站点", "conveyor"),
-
+//
-    NON_LINE_MANIPULATOR_SITE(8, "non_line_manipulator_inspect_site", "区域管制设备交互站点-无PLC", "conveyor"),
+//    NON_LINE_MANIPULATOR_SITE(8, "non_line_manipulator_inspect_site", "区域管制设备交互站点-无PLC", "conveyor"),
-
+//
-    AUTODOOR(9, "standard_autodoor", "标准版-自动门", "autodoor"),
+//    AUTODOOR(9, "standard_autodoor", "标准版-自动门", "autodoor"),
-
+//
-    STACK_EMPUYPALLET_SITE(10, "standard_emptypallet_site", "标准版-空盘叠盘站点", "conveyor"),
+//    STACK_EMPUYPALLET_SITE(10, "standard_emptypallet_site", "标准版-空盘叠盘站点", "conveyor"),
-
+//
-    LAMP_THREE_COLOR(11, "lamp_three_color", "标准版-三色灯", "三色灯"),
+//    LAMP_THREE_COLOR(11, "lamp_three_color", "标准版-三色灯", "三色灯"),
-
+//
-    SPECIAL_ORDINARY_SITE(12, "special_ordinary_site", "特殊版-普通站点-关联锁定", "conveyor"),
+//    SPECIAL_ORDINARY_SITE(12, "special_ordinary_site", "特殊版-普通站点-关联锁定", "conveyor"),
-
+//
-    STORAGE(13, "standard_storage", "标准版-货架", "storage"),
+//    STORAGE(13, "standard_storage", "标准版-货架", "storage"),
-
+//
-    SCANNER(14, "standard_scanner", "标准版-扫码器", "scanner"),
+//    SCANNER(14, "standard_scanner", "标准版-扫码器", "scanner"),
-
+//
-    INSPECT_CONVEYOR_CONTROL_WITH_SCANNER(15, "standard_conveyor_control_with_scanner", "标准版-输送机-控制点-关联扫码", "conveyor"),
+//    INSPECT_CONVEYOR_CONTROL_WITH_SCANNER(15, "standard_conveyor_control_with_scanner", "标准版-输送机-控制点-关联扫码", "conveyor"),
 
     INSPECT_CONVEYOR_CONTROL(16, "standard_conveyor_control", "标准版-输送机-控制点", "conveyor"),
 
-    INSPECT_CONVEYOR_MONITOR(17, "standard_conveyor_monitor", "标准版-输送机-监控点", "conveyor"),
+//    INSPECT_CONVEYOR_MONITOR(17, "standard_conveyor_monitor", "标准版-输送机-监控点", "conveyor"),
-
+//
-    MANIPULATOR_INSPECT_SITE_NDC(18, "manipulator_inspect_site_NDC", "区域管制设备交互站点-NDC", "conveyor"),
+//    MANIPULATOR_INSPECT_SITE_NDC(18, "manipulator_inspect_site_NDC", "区域管制设备交互站点-NDC", "conveyor"),
-
+//
-    FEEDBACK_AGV_STATUS_SITE(19, "feedback_agv_status_site", "上报AGV状态站点", "conveyor"),
+//    FEEDBACK_AGV_STATUS_SITE(19, "feedback_agv_status_site", "上报AGV状态站点", "conveyor"),
-
+//
-    MANIPULATOR_STACKING_SITE(20, "standard_manipulator_stacking_site", "机械手码垛驱动（区分托盘类型）", "conveyor"),
+//    MANIPULATOR_STACKING_SITE(20, "standard_manipulator_stacking_site", "机械手码垛驱动（区分托盘类型）", "conveyor"),
-
+//
-    PHOTOELECTRIC_INSPECT_SITE(21, "standard_photoelectric_inspect_site", "光电检测站点（优先出库）", "conveyor"),
+//    PHOTOELECTRIC_INSPECT_SITE(21, "standard_photoelectric_inspect_site", "光电检测站点（优先出库）", "conveyor"),
-
+//
-    HAILIANG_PACKING(22, "hailiang_packing", "海亮项目-包装机", "conveyor"),
+//    HAILIANG_PACKING(22, "hailiang_packing", "海亮项目-包装机", "conveyor"),
-
+//
-    HAILIANG_LABELING(23, "hailiang_labeling", "海亮项目-贴标机", "conveyor"),
+//    HAILIANG_LABELING(23, "hailiang_labeling", "海亮项目-贴标机", "conveyor"),
-
+//
-    HAILIANG_COATING(24, "hailiang_coating", "海亮项目-裹膜机", "conveyor"),
+//    HAILIANG_COATING(24, "hailiang_coating", "海亮项目-裹膜机", "conveyor"),
-
+//
-    NDXY_SPECIAL(25, "ndxy_special", "纽迪希亚专用", "conveyor"),
+//    NDXY_SPECIAL(25, "ndxy_special", "纽迪希亚专用", "conveyor"),
-
+//
-    NDXY_SPECIAL_TWO(26, "ndxy_special_two", "纽迪希亚专用2", "conveyor"),
+//    NDXY_SPECIAL_TWO(26, "ndxy_special_two", "纽迪希亚专用2", "conveyor"),
-
+//
-    INSPECT_CONVEYOR_CONTROL_WITH_PLCSCANNER(27, "standard_conveyor_control_with_plcscanner", "标准版-输送机-控制点-PLC扫码", "conveyor"),
+//    INSPECT_CONVEYOR_CONTROL_WITH_PLCSCANNER(27, "standard_conveyor_control_with_plcscanner", "标准版-输送机-控制点-PLC扫码", "conveyor"),
-
+//
-    WHXR_STORAGE_CONVEYOR(28, "whxr_storage_conveyor", "武汉新锐-立库对接位", "conveyor"),
+//    WHXR_STORAGE_CONVEYOR(28, "whxr_storage_conveyor", "武汉新锐-立库对接位", "conveyor"),
-
+//
-    WHXR_BALL_MILL_DEVICE(29, "whxr_ball_mill", "武汉新锐-球磨机", "conveyor"),
+//    WHXR_BALL_MILL_DEVICE(29, "whxr_ball_mill", "武汉新锐-球磨机", "conveyor"),
-
+//
-    WHXR_SPRAY_TOWER_DEVICE(30, "whxr_spary_tower", "武汉新锐-喷雾塔", "conveyor"),
+//    WHXR_SPRAY_TOWER_DEVICE(30, "whxr_spary_tower", "武汉新锐-喷雾塔", "conveyor"),
-
+//
-    WHXR_WEIGHT_DEVICE(31, "whxr_weight", "武汉新锐-称重设备", "conveyor"),
+//    WHXR_WEIGHT_DEVICE(31, "whxr_weight", "武汉新锐-称重设备", "conveyor"),
-
+//
-    ELECTRIC_FENCE(32, "electric_fence", "标准版-电子围栏", "safetydoor"),
+//    ELECTRIC_FENCE(32, "electric_fence", "标准版-电子围栏", "safetydoor"),
-
+//
-    OUMULONGPLC(33, "oumulong_plc", "标准版-自动门-欧姆龙plc", "autodoor"),
+//    OUMULONGPLC(33, "oumulong_plc", "标准版-自动门-欧姆龙plc", "autodoor"),
-
+//
-    TRAFFIC_LIGHT(34, "traffic_light", "标准版-交通灯-欧姆龙plc", "三色灯"),
+//    TRAFFIC_LIGHT(34, "traffic_light", "标准版-交通灯-欧姆龙plc", "三色灯"),
-
+//
-    STANDARD_RGV(35, "standard_rgv", "标准版-RGV", "rgv"),
+//    STANDARD_RGV(35, "standard_rgv", "标准版-RGV", "rgv"),
-
+//
-    YKBK_SPECIAL(36, "ykbk_special", "伊科拜克默认物料", "conveyor"),
+//    YKBK_SPECIAL(36, "ykbk_special", "伊科拜克默认物料", "conveyor"),
-
+//
-    ssj_cache_site(37, "ssj_cache_site", "三时纪-缓存站点", "conveyor"),
+//    ssj_cache_site(37, "ssj_cache_site", "三时纪-缓存站点", "conveyor"),
 
     STANDARDCONVEYORLINE(38, "standard_conveyor_line", "缓存架", "conveyor");
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_conveyor_control/ItemProtocol.java

@@ -11,21 +11,16 @@ import java.util.List;
 @Data
 public class ItemProtocol {
 
-    public static String item_heartbeat = "heartbeat";
-    public static String item_mode = "mode";
-    public static String item_move = "move";
-    public static String item_action = "action";
-    public static String item_ioaction = "ioaction";
-    public static String item_height = "height";
-    public static String item_error = "error";
-    public static String item_direction = "direction";
-    public static String item_operation_type = "operation_type";
-    public static String item_task = "task";
 
-    public static String item_to_command = "to_command";
+    public static String item_byMode = "Application_GVL_AGV_To_AGV_number_To_Mode";
-    public static String item_to_target = "to_target";
+    public static String item_bySignal = "Application_GVL_AGV_To_AGV_number_To_Signal";
-    public static String item_to_task = "to_task";
+    public static String item_byAction = "Application_GVL_AGV_To_AGV_number_To_Action";
-    public static String item_weight = "weight";
+    public static String item_byError = "Application_GVL_AGV_To_AGV_number_To_Error";
+    public static String item_dwTaskNo = "Application_GVL_AGV_To_AGV_number_To_DwTaskNo";
+
+    public static String item_to_byTarget = "Application_GVL_AGV_To_AGV_number_Fr_Target";
+    public static String item_to_byDwTaskNo = "Application_GVL_AGV_To_AGV_number_Fr_TaskNo";
+    public static String item_to_byWCommand = "Application_GVL_AGV_To_AGV_number_Fr_Command";
 
     private StandardCoveyorControlDeviceDriver driver;
 
@@ -33,44 +28,25 @@ public class ItemProtocol {
         this.driver = driver;
     }
 
-    public int getHeartbeat() {
+
-        return this.getOpcIntegerValue(item_heartbeat);
+    public int getByMode(String device_code) {
+        return this.getOpcIntegerValue(item_byMode, device_code);
     }
 
-    public int getMode() {
+    public int getBySignal(String device_code) {
-        return this.getOpcIntegerValue(item_mode);
+        return this.getOpcIntegerValue(item_bySignal, device_code);
     }
 
-    public int getMove() {
+    public int getByAction(String device_code) {
-        return this.getOpcIntegerValue(item_move);
+        return this.getOpcIntegerValue(item_byAction, device_code);
     }
 
-    public int getAction() {
+    public int getByError(String device_code) {
-        return this.getOpcIntegerValue(item_action);
+        return this.getOpcIntegerValue(item_byError, device_code);
     }
 
-    public int getError() {
+    public int getDwTaskNo(String device_code) {
-        return this.getOpcIntegerValue(item_error);
+        return this.getOpcIntegerValue(item_dwTaskNo, device_code);
-    }
-
-    public int getOperation_type() {
-        return this.getOpcIntegerValue(item_operation_type);
-    }
-
-    public int getTask() {
-        return this.getOpcIntegerValue(item_task);
-    }
-
-    public int getToCommand() {
-        return this.getOpcIntegerValue(item_to_command);
-    }
-
-    public int getToTarget() {
-        return this.getOpcIntegerValue(item_to_target);
-    }
-
-    public int getToTask() {
-        return this.getOpcIntegerValue(item_to_task);
     }
 
 
@@ -81,7 +57,8 @@ public class ItemProtocol {
 
     Boolean isonline;
 
-    public int getOpcIntegerValue(String protocol) {
+    public int getOpcIntegerValue(String protocol, String device_code) {
+        protocol = protocol.replace("number", device_code).replace("\"", "");
         Integer value = this.driver.getIntegerValue(protocol);
         if (value == null) {
             log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
@@ -96,24 +73,19 @@ public class ItemProtocol {
 
     public static List<ItemDto> getReadableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
+        list.add(new ItemDto(item_byMode, "工作模式", "DB600.B1"));
-        list.add(new ItemDto(item_mode, "工作状态", "DB600.B1", Boolean.valueOf(true)));
+        list.add(new ItemDto(item_bySignal, "光电信号", "DB600.B2", Boolean.valueOf(true)));
-        list.add(new ItemDto(item_move, "光电开关信号", "DB600.B2"));
+        list.add(new ItemDto(item_byAction, "动作信号", "DB600.B3"));
-        list.add(new ItemDto(item_action, "取放信号", "DB600.B3"));
+        list.add(new ItemDto(item_byError, "报警信号", "DB600.B4"));
-        list.add(new ItemDto(item_ioaction, "进出类型", "DB600.B4"));
+        list.add(new ItemDto(item_dwTaskNo, "任务号", "DB600.D5"));
-        list.add(new ItemDto(item_height, "高度类型", "DB600.B5"));
-        list.add(new ItemDto(item_error, "报警信号", "DB600.B6"));
-        list.add(new ItemDto(item_direction, "电机方向", "DB600.B7"));
-        list.add(new ItemDto(item_operation_type, "作业类型", "DB600.B8"));
-        list.add(new ItemDto(item_task, "任务号", "DB600.D22"));
         return list;
     }
 
     public static List<ItemDto> getWriteableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_to_command, "作业命令", "DB601.W2", Boolean.valueOf(true)));
+        list.add(new ItemDto(item_to_byWCommand, "作业命令", "DB601.W2"));
-        list.add(new ItemDto(item_to_target, "目标站", "DB601.W4"));
+        list.add(new ItemDto(item_to_byTarget, "目标站", "DB601.W4"));
-        list.add(new ItemDto(item_to_task, "任务号", "DB601.D8"));
+        list.add(new ItemDto(item_to_byDwTaskNo, "任务号", "DB601.D8"));
         return list;
     }
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_conveyor_control/StandardConveyorControlDefination.java

@@ -52,22 +52,7 @@ public class StandardConveyorControlDefination implements OpcDeviceDriverDefinat
 
     @Override
     public List<ItemDto> getReadableItemDtos() {
-        return getReadableItemDtos2();
+        return ItemProtocol.getReadableItemDtos();
-    }
-
-    public static List<ItemDto> getReadableItemDtos2() {
-        List<ItemDto> list = new ArrayList();
-        list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "DB600.B0"));
-        list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "DB600.B1", Boolean.valueOf(true)));
-        list.add(new ItemDto(ItemProtocol.item_move, "光电开关信号", "DB600.B2"));
-        list.add(new ItemDto(ItemProtocol.item_action, "取放信号", "DB600.B3"));
-        list.add(new ItemDto(ItemProtocol.item_ioaction, "进出类型", "DB600.B4"));
-        list.add(new ItemDto(ItemProtocol.item_height, "高度类型", "DB600.B5"));
-        list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "DB600.B6"));
-        list.add(new ItemDto(ItemProtocol.item_direction, "电机方向", "DB600.B7"));
-        list.add(new ItemDto(ItemProtocol.item_operation_type, "作业类型", "DB600.B8"));
-        list.add(new ItemDto(ItemProtocol.item_task, "任务号", "DB600.D22"));
-        return list;
     }
 
     @Override

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java

@@ -68,16 +68,17 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
     //有货标记
     protected boolean has_goods_tag = false;
 
-    int mode = 0;
+    int byMode = 0;
-    int error = 0;
+    int bySignal = 0;
-    int move = 0;
+    int byAction = 0;
-    int task = 0;
+    int byError = 0;
-    //出入库模式
+    int dwTaskNo = 0;
-    int operation_type = 0;
+
-    int last_mode = 0;
+    int last_byMode = 0;
-    int last_error = 0;
+    int last_bySignal = 0;
-    int last_move = 0;
+    int last_byAction = 0;
-    int last_task = 0;
+    int last_byError = 0;
+    int last_dwTaskNo = 0;
 
     Boolean isonline = true;
     int hasGoods = 0;
@@ -143,133 +144,90 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
         String message = null;
         try {
             device_code = this.getDeviceCode();
-            mode = this.itemProtocol.getMode();
+            byMode = this.itemProtocol.getByMode(device_code);
-            error = this.itemProtocol.getError();
+            bySignal = this.itemProtocol.getBySignal(device_code);
-            move = this.itemProtocol.getMove();
+            byAction = this.itemProtocol.getByAction(device_code);
-            task = this.itemProtocol.getTask();
+            byError = this.itemProtocol.getByError(device_code);
-            hasGoods = this.itemProtocol.getMove();
+            dwTaskNo = this.itemProtocol.getDwTaskNo(device_code);
-            operation_type = this.itemProtocol.getOperation_type();
+            if (byMode != last_byMode) {
-            if (mode != last_mode) {
                 this.execute_log.setResource(this.device_code, this.device_code);
-                this.execute_log.log("设备:" + device_code + ",last_mode -> mode:" + last_mode + "->" + mode);
+                this.execute_log.log("设备:" + device_code + ",last_byMode -> byMode:" + last_byMode + "->" + byMode);
             }
-            if (move != last_move) {
+            if (bySignal != last_bySignal) {
                 this.execute_log.setResource(this.device_code, this.device_code);
-                this.execute_log.log("设备:" + device_code + ",last_move -> move:" + last_mode + "->" + move);
+                this.execute_log.log("设备:" + device_code + ",last_bySignal -> bySignal:" + last_bySignal + "->" + bySignal);
-                if (move == 0) {
-                    thingToNothing();
-                }
-                this.setRequireSucess(false);
-
             }
-            if (error != last_error) {
+            if (byAction != last_byAction) {
                 this.execute_log.setResource(this.device_code, this.device_code);
-                this.execute_log.log("设备:" + device_code + ",last_error -> error:" + last_error + "->" + error);
+                this.execute_log.log("设备:" + device_code + ",last_byAction -> byAction:" + last_byAction + "->" + byAction);
+            }
+            if (byError != last_byError) {
+                this.execute_log.setResource(this.device_code, this.device_code);
+                this.execute_log.log("设备:" + device_code + ",last_byError -> byError:" + last_byError + "->" + byError);
+            }
+            if (dwTaskNo != last_dwTaskNo) {
+                this.execute_log.setResource(this.device_code, this.device_code);
+                this.execute_log.log("设备:" + device_code + ",last_dwTaskNo -> dwTaskNo:" + last_dwTaskNo + "->" + dwTaskNo);
             }
 
-            if ( move != 0 && task > 0) {
-                //inst_message
-                inst = instructionService.findByCodeFromCache(String.valueOf(task));
-                if (inst != null) {
-                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + "  载具号：" + inst.getVehicle_code();
-                    if(mode == 2){
-                        if (StrUtil.equals(inst.getInstruction_status(), "1") && StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) {
-                            finish_instruction();
-                        }
-                    }
-                    if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {
-                        inst.setInstruction_status("1");
-                        instructionService.update(inst);
-                    }
-                }
-            }
         } catch (Exception var17) {
             return;
         }
 
-        if (!this.itemProtocol.getIsonline()) {
+        if (1 > 2) {
-            this.setIsonline(false);
+//            this.setIsonline(false);
-            this.setIserror(true);
+//            this.setIserror(true);
-            message = "信号量同步异常";
+//            message = "信号量同步异常";
-            //未联机
+//            //未联机
-        } else if (mode == 0) {
+//        } else if (mode == 0) {
-            this.setIsonline(false);
+//            this.setIsonline(false);
-            this.setIserror(true);
+//            this.setIserror(true);
-            message = "未联机";
+//            message = "未联机";
-            //有报警
+//            //有报警
-        } else if (error != 0) {
+//        } else if (error != 0) {
-            this.setIsonline(false);
+//            this.setIsonline(false);
-            this.setIserror(true);
+//            this.setIserror(true);
-            message = "有报警";
+//            message = "有报警";
-            //无报警
+//            //无报警
         } else {
             this.setIsonline(true);
             this.setIserror(false);
             message = "";
             Instruction instruction = null;
             List toInstructions;
-            switch (mode) {
-                case 1:
-                    log.debug("设备运转模式:等待工作");
-                    break;
-                case 2:
-                    //申请任务
-                    if (!StrUtil.isEmpty(material) && !StrUtil.isEmpty(qty) && material.length() > 0 && qty.length() > 0 && !requireSucess) {
-                        this.execute_log.log("设备:" + device_code + ",material:" + material + ",qty:" + qty);
-                        this.instruction_require(container);
-                    }
-                    break;
-                case 3:
-
-                    break;
-                case 4:
-                    //叫料
-
-                    break;
-                case 5:
-                    //申请空盘
-                    if (move == 0 && !requireSucess) {
-                        apply_OutEmpty();
-                    }
-                    break;
-                case 6:
-                    //申请入库
-                    if (move != 0 && !applySucess) {
-                        instruction_apply();
-                    }
-                    if (move != 0 && !requireSucess) {
-                        apply_InEmpty();
-                    }
-                    break;
-            }
-
-
-            switch (flag) {
-                //取货完成
-                case 1:
-                    writing(2);
-                    break;
-                //放货完成
-                case 2:
-                    writing(3);
-                    break;
-
-            }
 
         }
-        last_mode = mode;
+        last_byMode = byMode;
-        last_error = error;
+        last_bySignal = bySignal;
-        last_move = move;
+        last_byAction = byAction;
-        last_task = task;
+        last_byError = byError;
+        last_dwTaskNo = dwTaskNo;
     }
 
     public boolean exe_error() {
-        if (this.error == 0) {
+        return false;
-            return true;
+    }
-        } else {
+
-            log.debug("设备报警");
+    public void writing(int type, String value) {
-            return false;
+        String param = "";
+        if (type == 1){
+            param = "Application_GVL_AGV_To_AGV_number_Fr_Command";
+            param = param.replace("number", device_code).replace("\"", "");
+        } else if (type == 2){
+            param = "Application_GVL_AGV_To_AGV_number_Fr_Target";
+            param = param.replace("number", device_code).replace("\"", "");
+        } else if (type == 3){
+            param = "Application_GVL_AGV_To_AGV_number_Fr_TaskNo";
+            param = param.replace("number", device_code).replace("\"", "");
         }
+        String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + param;
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_param, value);
+
+        ReadUtil.write(itemMap, server);
     }
 
     protected void thingToNothing() {
@@ -299,336 +257,10 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
         return true;
     }
 
-    protected void executing(Instruction instruction) {
-        this.executing(1, instruction, "");
-    }
-
-    public void executing(int command, Instruction instruction, String appendMessage) {
-        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_command;
-        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_target;
-        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_task;
-        if (appendMessage == null) {
-            appendMessage = "";
-        }
-        if (instruction != null) {
-            instruction_num = Integer.parseInt(instruction.getInstruction_code());
-        }
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        itemMap.put(to_command, 1);
-        itemMap.put(to_task, instruction_num);
-        ReadUtil.write(itemMap, server);
-
-    }
 
     public void executing(Server server, Map<String, Object> itemMap) {
         ReadUtil.write(itemMap, server);
     }
 
-    public void writing(int command) {
-        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_command;
 
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        itemMap.put(to_command, command);
-        ReadUtil.write(itemMap, server);
-
-    }
-
-    public void writing(int command, int target, int task) {
-
-        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + org.nl.acs.device_driver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_command;
-        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + org.nl.acs.device_driver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_target;
-        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + org.nl.acs.device_driver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_task;
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        itemMap.put(to_command, command);
-        itemMap.put(to_target, target);
-        itemMap.put(to_task, task);
-        this.execute_log.setResource(this.device_code, device_code);
-        this.execute_log.log("设备:{},下发作业命令:{},目标站:{},任务号:{}", device_code, command, target, task);
-        ReadUtil.write(itemMap, server);
-    }
-
-    public void writing(int type, int command) {
-        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_command;
-        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_target;
-        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_task;
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        if (type == 1) {
-            itemMap.put(to_command, command);
-        } else if (type == 2) {
-            itemMap.put(to_target, command);
-
-        } else if (type == 3) {
-            itemMap.put(to_task, command);
-        }
-        ReadUtil.write(itemMap, server);
-
-    }
-
-    public boolean instruction_apply() throws Exception {
-        Date date = new Date();
-        if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) {
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
-            return false;
-        } else {
-            this.instruction_apply_time = date;
-            //container_code
-            List<TaskDto> taskList = taskserver.queryTaskByDeviceCode(this.device_code);
-            //
-            if (!ObjectUtil.isEmpty(taskList)) {
-                TaskDto task = taskList.get(0);
-                String taskid = task.getTask_id();
-                String taskcode = task.getTask_code();
-                String vehiclecode = task.getVehicle_code();
-                String priority = task.getPriority();
-                String start_point_code = task.getStart_point_code();
-                String start_device_code = task.getStart_device_code();
-                String route_plan_code = task.getRoute_plan_code();
-
-                List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, task.getNext_device_code(), route_plan_code);
-                RouteLineDto routeLineDto = shortPathsList.get(0);
-
-                String path = routeLineDto.getPath();
-                String type = routeLineDto.getType();
-                String[] str = path.split("->");
-                if (!StrUtil.equals(type, "0")) {
-                    return false;
-                }
-                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;
-                    }
-                }
-                String next_device_code = pathlist.get(index);
-                Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
-                Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
-                String next_point_code;
-                if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
-                    next_point_code = task.getTo_x() + "-" + task.getTo_y() + "-" + task.getTo_z();
-                } else {
-                    next_point_code = next_device_code;
-                }
-                Instruction instdto = new Instruction();
-                instdto.setInstruction_id(IdUtil.simpleUUID());
-                instdto.setRoute_plan_code(route_plan_code);
-                instdto.setRemark(task.getRemark());
-                instdto.setMaterial(task.getMaterial());
-                instdto.setQuantity(task.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);
-                try {
-                    instructionService.create(instdto);
-                } catch (Exception e) {
-                    task.setRemark("指令创建失败:" + e);
-                    taskserver.updateByCodeFromCache(task);
-                    throw new RuntimeException("指令创建失败:" + e);
-                }
-                //创建指令后修改任务状态
-                WQLObject taskwo = WQLObject.getWQLObject("acs_task");
-                task.setTask_status("1");
-                JSONObject json = JSONObject.fromObject(task);
-                taskwo.update(json);
-                applySucess = true;
-            } else {
-
-            }
-        }
-        return true;
-    }
-
-    public boolean instruction_require(String container_code) {
-        return instruction_require(container_code, WcsConfig.task_container_type_default_desc);
-    }
-
-    /**
-     * 请求指令
-     *
-     * @param container_code
-     * @param container_type
-     */
-    public synchronized boolean instruction_require(String container_code, String container_type) {
-        Date date = new Date();
-        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
-            return false;
-        } else {
-            this.instruction_require_time = date;
-            TaskDto dto = new TaskDto();
-            String now = DateUtil.now();
-            dto.setTask_id(IdUtil.simpleUUID());
-            dto.setCreate_by(this.getDevice().getDevice_code());
-            dto.setUpdate_by(this.getDevice().getDevice_code());
-            dto.setStart_point_code(this.getDevice().getDevice_code());
-            dto.setVehicle_code(container_code);
-            dto.setVehicle_type(container_type);
-
-            String taskcode = CodeUtil.getNewCode("TASK_NO");
-            dto.setTask_code("-" + taskcode);
-            dto.setTask_status("0");
-            dto.setPriority("101");
-            RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code());
-            String next_device_codecode = jo.getNext_device_code();
-            if (StrUtil.isEmpty(next_device_codecode)) {
-                throw new RuntimeException("该设备未找到对应路由");
-            }
-            dto.setNext_point_code(next_device_codecode);
-            dto.setUpdate_time(now);
-            dto.setCreate_time(now);
-
-            WQLObject wo = WQLObject.getWQLObject("acs_task");
-            JSONObject json = JSONObject.fromObject(dto);
-            wo.insert(json);
-            requireSucess = false;
-            return true;
-        }
-    }
-
-
-    public synchronized boolean finish_instruction() throws Exception {
-        instructionService.finish(inst);
-        return true;
-    }
-
-    public void apply_OutEmpty() {
-        String result = acsToWmsService.apply_OutEmpty(this.getDeviceCode());
-        JSONObject jo = JSONObject.fromObject(result);
-        if (ObjectUtil.isEmpty(jo)) {
-            message = "接口不通";
-        } else {
-            if (jo.getInt("status") == 200) {
-                this.setRequireSucess(true);
-            } else {
-                this.setRequireSucess(false);
-            }
-        }
-    }
-
-    public synchronized boolean apply_InEmpty() throws Exception {
-        Date date = new Date();
-        if (date.getTime() - this.instruction_require_time.getTime() < 6000) {
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
-            return false;
-        } else {
-            this.instruction_require_time = date;
-            //container_code
-            List<TaskDto> taskList = taskserver.queryTaskByDeviceCode(this.device_code);
-            //
-            if (!ObjectUtil.isEmpty(taskList)) {
-                TaskDto task = taskList.get(0);
-                String taskid = task.getTask_id();
-                String taskcode = task.getTask_code();
-                String vehiclecode = task.getVehicle_code();
-                String priority = task.getPriority();
-                String start_point_code = task.getStart_point_code();
-                String start_device_code = task.getStart_device_code();
-                String route_plan_code = task.getRoute_plan_code();
-
-                List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, task.getNext_device_code(), route_plan_code);
-                RouteLineDto routeLineDto = shortPathsList.get(0);
-
-                String path = routeLineDto.getPath();
-                String type = routeLineDto.getType();
-                String[] str = path.split("->");
-                if (!StrUtil.equals(type, "0")) {
-                    return false;
-                }
-                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;
-                    }
-                }
-                String next_device_code = pathlist.get(index);
-                Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
-                Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
-                String next_point_code;
-                if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
-                    next_point_code = task.getTo_x() + "-" + task.getTo_y() + "-" + task.getTo_z();
-                } else {
-                    next_point_code = next_device_code;
-                }
-                Instruction instdto = new Instruction();
-                instdto.setInstruction_id(IdUtil.simpleUUID());
-                instdto.setRoute_plan_code(route_plan_code);
-                instdto.setRemark(task.getRemark());
-                instdto.setMaterial(task.getMaterial());
-                instdto.setQuantity(task.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);
-                try {
-                    instructionService.create(instdto);
-                } catch (Exception e) {
-                    task.setRemark("指令创建失败:" + e);
-                    taskserver.updateByCodeFromCache(task);
-                    throw new RuntimeException("指令创建失败:" + e);
-                }                //创建指令后修改任务状态
-                WQLObject taskwo = WQLObject.getWQLObject("acs_task");
-                task.setTask_status("1");
-                JSONObject json = JSONObject.fromObject(task);
-                taskwo.update(json);
-                requireSucess = true;
-            } else {
-                if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.HASWMS).toString(), "1")) {
-                    //{"status":200,"message":"任务状态反馈成功!","data":{},"errArr":[]}
-                    String result = acsToWmsService.apply_InEmpty(this.getDeviceCode(), "1", "1", this.container);
-                    JSONObject jo = JSONObject.fromObject(result);
-                    if (ObjectUtil.isEmpty(jo)) {
-                        message = "接口不通";
-                    } else {
-                        if (jo.getInt("status") == 200) {
-                            this.setRequireSucess(true);
-                        } else {
-                            this.setRequireSucess(false);
-                        }
-                    }
-
-                }
-            }
-        }
-        return true;
-    }
 }

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsZDService.java

@@ -20,7 +20,7 @@ public interface AcsToWmsZDService {
      *
      * @return Map<String, Object>
      */
-    Map<String, Object> taskFeedback(Map whereJson) throws Exception;
+    Map<String, Object> taskFeedback(Map whereJson);
 
     /**
      * 任务取消
@@ -28,7 +28,7 @@ public interface AcsToWmsZDService {
      *
      * @return Map<String, Object>
      */
-    Map<String, Object> taskDeprecate(Map whereJson) throws Exception;
+    Map<String, Object> taskDeprecate(Map whereJson);
 
     /**
      * 设备查询
@@ -36,5 +36,5 @@ public interface AcsToWmsZDService {
      *
      * @return Map<String, Object>
      */
-    Map<String, Object> checkDeviceStatus(Map whereJson) throws Exception;
+    Map<String, Object> checkDeviceStatus(Map whereJson);
 }

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AgvWaitUtil.java

@@ -0,0 +1,315 @@
+package org.nl.acs.ext.wms.service;
+
+import net.sf.json.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
+import org.nl.acs.device_driver.standard_conveyor_line.StandardConveyorLineDeviceDriver;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsZDServiceImpl;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.log.service.LogServer;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.exception.BadRequestException;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author: geng by
+ * @createDate: 2022/12/5
+ */
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class AgvWaitUtil {
+    private final DeviceAppService deviceAppService;
+    private final AcsToWmsZDServiceImpl acsToWmsZDService;
+    private final InstructionService instructionService;
+    @Autowired
+    LogServer logServer;
+
+    //取货前等待
+    public Map<String, Object> waitInGet(String device_code, Map<String, Object> feedMap, JSONObject param) {
+        String inst_code = param.getString("task_code");
+        Instruction instructionDto = instructionService.findByCode(inst_code);
+        String task_code = String.valueOf(feedMap.get("taskCode"));
+        StandardConveyorLineDeviceDriver standardConveyorLineDeviceDriver;
+        StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
+        Device device = deviceAppService.findDeviceByCode(device_code);
+        JSONObject map = new JSONObject();
+        String type = "";
+        if (device.getDeviceDriver() instanceof StandardConveyorLineDeviceDriver) {
+            standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) device.getDeviceDriver();
+            if (standardConveyorLineDeviceDriver.getMove() == 1 && standardConveyorLineDeviceDriver.getAction() == 1) {
+                feedMap.put("feedbackStatus", "applyTake");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = Integer.parseInt((String) feedback.get("responseCode"));
+                String responseMessage = String.valueOf(feedback.get("responseMessage"));
+                if (responseCode == 0) {
+                    feedback.put("feedbackStatus", "taking");
+                    acsToWmsZDService.taskFeedback(feedMap);
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,起点位置无货!move = " + standardConveyorLineDeviceDriver.getMove() + "action = " + standardConveyorLineDeviceDriver.getAction());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,起点位置无货!");
+            }
+        }
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+            standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            if (standardCoveyorControlDeviceDriver.getBySignal() == 1 && standardCoveyorControlDeviceDriver.getByAction() == 0) {
+                feedMap.put("feedbackStatus", "applyTake");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = Integer.parseInt((String) feedback.get("responseCode"));
+                String responseMessage = String.valueOf(feedback.get("responseMessage"));
+                if (responseCode == 0) {
+                    feedback.put("feedbackStatus", "taking");
+                    acsToWmsZDService.taskFeedback(feedMap);
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,起点位置无货!move = " + standardCoveyorControlDeviceDriver.getBySignal());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,起点位置无货!");
+            }
+        }
+        return map;
+    }
+
+    //取货完成等待
+    public Map<String, Object> waitOutGet(String device_code, Map<String, Object> feedMap, JSONObject param) {
+        String inst_code = param.getString("task_code");
+        Instruction instructionDto = instructionService.findByCode(inst_code);
+        String task_code = String.valueOf(feedMap.get("taskCode"));
+        StandardConveyorLineDeviceDriver standardConveyorLineDeviceDriver;
+        StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
+        Device device = deviceAppService.findDeviceByCode(device_code);
+        JSONObject map = new JSONObject();
+        String type = "";
+        if (device.getDeviceDriver() instanceof StandardConveyorLineDeviceDriver) {
+            standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) device.getDeviceDriver();
+            if (standardConveyorLineDeviceDriver.getMove() == 0) {
+                standardConveyorLineDeviceDriver.writing(2);
+                feedMap.put("feedbackStatus", "takeFinish");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = (int) feedback.get("responseCode");
+                String responseMessage = (String) feedback.get("responseMessage");
+                if (responseCode == 0) {
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,取货完成后，起点位置仍有货!move=" + standardConveyorLineDeviceDriver.getMove());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,起点位置有货!");
+            }
+        }
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+            standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            if (standardCoveyorControlDeviceDriver.getBySignal() == 0) {
+                standardCoveyorControlDeviceDriver.writing(1, "2");
+                feedMap.put("feedbackStatus", "takeFinish");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = (int) feedback.get("responseCode");
+                String responseMessage = (String) feedback.get("responseMessage");
+                if (responseCode == 0) {
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,取货完成后，起点位置仍有货!move=" + standardCoveyorControlDeviceDriver.getBySignal());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,起点位置有货!");
+            }
+        }
+        return map;
+    }
+
+    //放货前等待
+    public Map<String, Object> waitInPut(String device_code, Map<String, Object> feedMap, JSONObject param) {
+        String inst_code = param.getString("task_code");
+        Instruction instructionDto = instructionService.findByCode(inst_code);
+        String task_code = String.valueOf(feedMap.get("taskCode"));
+        StandardConveyorLineDeviceDriver standardConveyorLineDeviceDriver;
+        StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
+        Device device = deviceAppService.findDeviceByCode(device_code);
+        JSONObject map = new JSONObject();
+        String type = "";
+        if (device.getDeviceDriver() instanceof StandardConveyorLineDeviceDriver) {
+            standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) device.getDeviceDriver();
+            if (standardConveyorLineDeviceDriver.getMove() == 0 && standardConveyorLineDeviceDriver.getAction() == 2) {
+                feedMap.put("feedbackStatus", "applyPut");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = Integer.parseInt((String) feedback.get("responseCode"));
+                String responseMessage = (String) feedback.get("responseMessage");
+                if (responseCode == 0) {
+                    feedback.put("feedbackStatus", "puting");
+                    acsToWmsZDService.taskFeedback(feedMap);
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,终点位置有货!move = " + standardConveyorLineDeviceDriver.getMove() + "action = " + standardConveyorLineDeviceDriver.getAction());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,终点位置有货!");
+            }
+        }
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+            standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            if (standardCoveyorControlDeviceDriver.getBySignal() == 0 && standardCoveyorControlDeviceDriver.getByAction() == 0) {
+                feedMap.put("feedbackStatus", "applyPut");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = Integer.parseInt((String) feedback.get("responseCode"));
+                String responseMessage = (String) feedback.get("responseMessage");
+                if (responseCode == 0) {
+                    feedback.put("feedbackStatus", "puting");
+                    acsToWmsZDService.taskFeedback(feedMap);
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,终点位置有货!move = " + standardCoveyorControlDeviceDriver.getBySignal());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,终点位置有货!");
+            }
+        }
+        return map;
+    }
+
+
+    //放货完成等待
+    public Map<String, Object> waitOutPut(String device_code, Map<String, Object> feedMap, JSONObject param) {
+        String inst_code = param.getString("task_code");
+        Instruction instructionDto = instructionService.findByCode(inst_code);
+        String task_code = String.valueOf(feedMap.get("taskCode"));
+        StandardConveyorLineDeviceDriver standardConveyorLineDeviceDriver;
+        StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
+        Device device = deviceAppService.findDeviceByCode(device_code);
+        JSONObject map = new JSONObject();
+        String type = "";
+        if (device.getDeviceDriver() instanceof StandardConveyorLineDeviceDriver) {
+            standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) device.getDeviceDriver();
+            if (standardConveyorLineDeviceDriver.getMove() == 1) {
+                standardConveyorLineDeviceDriver.writing(3);
+                feedMap.put("feedbackStatus", "putFinish");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = (int) feedback.get("responseCode");
+                String responseMessage = (String) feedback.get("responseMessage");
+                if (responseCode == 0) {
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,放货货完成后，终点位置仍无货!move=" + standardConveyorLineDeviceDriver.getMove());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,放货货完成后，终点位置仍无货!");
+            }
+        }
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+            standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            if (standardCoveyorControlDeviceDriver.getBySignal() == 1) {
+                standardCoveyorControlDeviceDriver.writing(1, "3");
+                feedMap.put("feedbackStatus", "putFinish");
+                Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
+                int responseCode = (int) feedback.get("responseCode");
+                String responseMessage = (String) feedback.get("responseMessage");
+                if (responseCode == 0) {
+                    map.put("status", 200);
+                    map.put("message", "请求成功");
+                    type = "info";
+                    logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                } else {
+                    map.put("status", responseCode);
+                    map.put("message", responseMessage);
+                    type = "erro";
+                    logServer.log(task_code, "feedbackTask", type, param.toString(), String.valueOf(map), "400", "/restful/api/v3/feedbackTask", instructionDto.getVehicle_code());
+                    throw new BadRequestException("请求失败");
+                }
+            } else {
+                map.put("status", 400);
+                map.put("message", "请求失败,放货货完成后，终点位置仍无货!move=" + standardCoveyorControlDeviceDriver.getBySignal());
+                type = "erro";
+                logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
+                throw new BadRequestException("请求失败,放货货完成后，终点位置仍无货!");
+            }
+        }
+        return map;
+    }
+}

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsZDServiceImpl.java

@@ -156,7 +156,9 @@ public class AcsToWmsZDServiceImpl implements AcsToWmsZDService {
         TaskDto task_dto = (TaskDto) JSONObject.toBean(jo, TaskDto.class);
         try {
             taskService.create(task_dto);
+            logServer.log(taskCode, "taskCreate", "success", whereJson.toString(), "创建成功", String.valueOf(200), "/createTask", "");
         } catch (Exception e) {
+            logServer.log(taskCode, "taskCreate", "error", whereJson.toString(), e.getMessage(), String.valueOf(400), "/createTask", "");
             e.printStackTrace();
             map.put("responseCode", 1);
             map.put("responseMessage", e.getMessage());
@@ -182,17 +184,21 @@ public class AcsToWmsZDServiceImpl implements AcsToWmsZDService {
             result = HttpRequest.post(url)
                     .header("Authorization", token).body(String.valueOf(whereJson))
                     .execute();
+            logServer.log(taskCode, "taskFeedback", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, carId);
+            JSONObject jo = JSONObject.fromObject(result.body());
+            return jo;
         } catch (Exception e) {
-            logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, carId);
+            int status = 400;
+            if (!ObjectUtil.isEmpty(result)) {
+                status = result.getStatus();
+            }
+            logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, carId);
             Map<String, Object> map = new HashMap<>();
             map.put("responseCode", 1);
             map.put("responseMessage", e.getMessage());
             map.put("parameters", new HashMap<>());
             return map;
         }
-        logServer.log(taskCode, "taskFeedback", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, carId);
-        JSONObject jo = JSONObject.fromObject(result.body());
-        return jo;
     }
 
     @Override
@@ -208,18 +214,20 @@ public class AcsToWmsZDServiceImpl implements AcsToWmsZDService {
             result = HttpRequest.post(url)
                     .header("Authorization", token).body(String.valueOf(whereJson))
                     .execute();
+            logServer.log(taskCode, "taskDeprecate", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, "");
+            JSONObject jo = JSONObject.fromObject(result.body());
+            return jo;
         } catch (Exception e) {
-            e.printStackTrace();
+            int status = 400;
-            logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), e.getMessage(), String.valueOf(result.getStatus()), url, "");
+            if (!ObjectUtil.isEmpty(result)) {
+                status = result.getStatus();
+            }
+            logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, "");
             Map<String, Object> map = new HashMap<>();
             map.put("responseCode", 1);
             map.put("responseMessage", e.getMessage());
             return map;
         }
-        logServer.log(taskCode, "taskDeprecate", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, "");
-        JSONObject jo = JSONObject.fromObject(result.body());
-        log.info("taskDeprecate-----输出参数{}", jo.toString());
-        return jo;
     }
 
     @Override
@@ -241,16 +249,19 @@ public class AcsToWmsZDServiceImpl implements AcsToWmsZDService {
             result = HttpRequest.post(url)
                     .header("Authorization", token).body(String.valueOf(whereJson))
                     .execute();
+            JSONObject jo = JSONObject.fromObject(result.body());
+            log.info("checkDeviceStatus-----输出参数{}", jo.toString());
+            return jo;
         } catch (Exception e) {
-            e.printStackTrace();
+            int status = 400;
-            logServer.log(deviceCode, "checkDeviceStatus", "error", whereJson.toString(), e.getMessage(), String.valueOf(result.getStatus()), url, "");
+            if (!ObjectUtil.isEmpty(result)) {
+                status = result.getStatus();
+            }
+            logServer.log(deviceCode, "checkDeviceStatus", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, "");
             map.put("responseCode", 1);
             map.put("responseMessage", e.getMessage());
             return map;
         }
-        JSONObject jo = JSONObject.fromObject(result.body());
-        log.info("checkDeviceStatus-----输出参数{}", jo.toString());
-        return jo;
     }
 
 }

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AgvToAcsServiceImpl.java

@@ -4,8 +4,10 @@ import cn.hutool.core.util.ObjectUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import net.sf.json.JSONObject;
+import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
 import org.nl.acs.device_driver.standard_conveyor_line.StandardConveyorLineDeviceDriver;
 import org.nl.acs.ext.wms.service.AgvToAcsService;
+import org.nl.acs.ext.wms.service.AgvWaitUtil;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.LogServer;
@@ -28,6 +30,7 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
     private final DeviceAppService deviceAppService;
     private final AcsToWmsZDServiceImpl acsToWmsZDService;
     private final InstructionService instructionService;
+    private final AgvWaitUtil agvWaitUtil;
     @Autowired
     LogServer logServer;
 
@@ -36,7 +39,6 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
     public Map<String, Object> waitpointRequest(JSONObject param) {
         String inst_code = param.getString("task_code");
         String address = param.getString("address");
-        StandardConveyorLineDeviceDriver standardConveyorLineDeviceDriver;
         Instruction instructionDto = instructionService.findByCode(inst_code);
         Map<String, Object> map = new HashMap<>();
         if (ObjectUtil.isEmpty(instructionDto)) {
@@ -49,132 +51,25 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
         Map<String, Object> feedMap = new HashMap();
         feedMap.put("taskCode", task_code);
         feedMap.put("taskType", instructionDto.getInstruction_type());
+        feedMap.put("carId", instructionDto.getAgv_jobno());
         String type = "";
         String start_device_code = instructionDto.getStart_device_code();
         String next_device_code = instructionDto.getNext_device_code();
         if (address.contains("IN")) {
             String deviceCodeNow = address.substring(0, address.length() - 2);
-            Device deviceNow = deviceAppService.findDeviceByCode(deviceCodeNow);
+            if (start_device_code.equals(deviceCodeNow)) {
-            if (deviceNow.getDeviceDriver() instanceof StandardConveyorLineDeviceDriver) {
+                return agvWaitUtil.waitInGet(deviceCodeNow,feedMap,param);
-                standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) deviceNow.getDeviceDriver();
+            }else if (next_device_code.equals(deviceCodeNow)) {
-                if (start_device_code.equals(deviceCodeNow)) {
+                return agvWaitUtil.waitOutGet(deviceCodeNow,feedMap,param);
-                    if (standardConveyorLineDeviceDriver.getMove() == 1) {
-                        feedMap.put("feedbackStatus", "applyTake");
-                        Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
-                        int responseCode = Integer.parseInt((String) feedback.get("responseCode"));
-                        String responseMessage = (String) feedback.get("responseMessage");
-                        if (responseCode == 0) {
-                            feedback.put("feedbackStatus", "“taking");
-                            acsToWmsZDService.taskFeedback(feedMap);
-                            map.put("status", 200);
-                            map.put("message", "请求成功");
-                            type = "info";
-                            logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        } else {
-                            map.put("status", 400);
-                            map.put("message", "操作失败");
-                            type = "erro";
-                            logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                            throw new BadRequestException("请求失败!");
-                        }
-                    } else {
-                        map.put("status", 400);
-                        map.put("message", "请求失败,起点位置无货!");
-                        type = "erro";
-                        logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        throw new BadRequestException("请求失败,起点位置无货!");
-                    }
-                } else if (deviceCodeNow.equals(next_device_code)) {
-                    if (standardConveyorLineDeviceDriver.getMove() != 0) {
-                        map.put("status", 400);
-                        map.put("message", "请求失败,终点位置有货!");
-                        type = "erro";
-                        logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        throw new BadRequestException("请求失败,终点位置有货!");
-                    } else {
-                        feedMap.put("feedbackStatus", "applyPut");
-                        Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
-                        int responseCode = Integer.parseInt((String) feedback.get("responseCode"));
-                        String responseMessage = (String) feedback.get("responseMessage");
-                        if (responseCode == 0) {
-                            feedback.put("feedbackStatus", "puting");
-                            acsToWmsZDService.taskFeedback(feedMap);
-                            map.put("status", 200);
-                            map.put("message", "请求成功");
-                            type = "info";
-                            logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        } else {
-                            logServer.log(task_code, "waitpointRequest", "waitpointRequest", param.toString(), feedback.toString(), responseCode + "", "", "");
-                            map.put("status", 400);
-                            map.put("message", "操作失败");
-                            type = "erro";
-                            throw new BadRequestException("请求失败!");
-                        }
-                    }
-                }
             }
-            return map;
         }
         if (address.contains("OUT")) {
             String deviceCodeNow = address.substring(0, address.length() - 3);
-            Device deviceNow = deviceAppService.findDeviceByCode(deviceCodeNow);
+            if (start_device_code.equals(deviceCodeNow)) {
-            if (deviceNow.getDeviceDriver() instanceof StandardConveyorLineDeviceDriver) {
+                return agvWaitUtil.waitInPut(deviceCodeNow,feedMap,param);
-                standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) deviceNow.getDeviceDriver();
+            }else if (next_device_code.equals(deviceCodeNow)) {
-                if (start_device_code.equals(deviceCodeNow)) {
+                return agvWaitUtil.waitOutPut(deviceCodeNow,feedMap,param);
-                    if (standardConveyorLineDeviceDriver.getMove() == 0) {
-                        standardConveyorLineDeviceDriver.writing(1, 2);
-                        feedMap.put("feedbackStatus", "takeFinish");
-                        Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
-                        int responseCode = (int) feedback.get("responseCode");
-                        String responseMessage = (String) feedback.get("responseMessage");
-                        if (responseCode == 0) {
-                            map.put("status", 200);
-                            map.put("message", "请求成功");
-                            type = "info";
-                            logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        } else {
-                            map.put("status", 400);
-                            map.put("message", "操作失败");
-                            type = "erro";
-                            logServer.log(task_code, "waitpointRequest", type, param.toString(), feedback.toString(), responseCode + "", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                            throw new BadRequestException("请求失败!");
-                        }
-                    } else {
-                        map.put("status", 400);
-                        map.put("message", "请求失败,起点位置有货!");
-                        type = "erro";
-                        logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        throw new BadRequestException("请求失败,起点位置有货!");
-                    }
-                } else if (next_device_code.equals(deviceCodeNow)) {
-                    if (standardConveyorLineDeviceDriver.getMove() == 0) {
-                        map.put("status", 400);
-                        map.put("message", "请求失败,终点位置无货!");
-                        type = "erro";
-                        logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        throw new BadRequestException("请求失败,终点位置无货!");
-                    } else {
-                        standardConveyorLineDeviceDriver.writing(1, 3);
-                        feedMap.put("feedbackStatus", "putFinish");
-                        Map<String, Object> feedback = acsToWmsZDService.taskFeedback(feedMap);
-                        int responseCode = (int) feedback.get("responseCode");
-                        String responseMessage = (String) feedback.get("responseMessage");
-                        if (responseCode == 0) {
-                            map.put("status", 200);
-                            map.put("message", "请求成功");
-                            type = "info";
-                            logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "200", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                        } else {
-                            map.put("status", 400);
-                            map.put("message", "操作失败");
-                            type = "erro";
-                            logServer.log(task_code, "waitpointRequest", type, param.toString(), String.valueOf(map), "400", "api/agv/waitpointRequest", instructionDto.getVehicle_code());
-                            throw new BadRequestException("请求失败");
-                        }
-                    }
-                }
             }
-            return map;
         }
         map.put("status", 400);
         map.put("message", "请求失败,IN OUT 站点错误!");

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

@@ -438,17 +438,17 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     continue;
                 }
                 if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
-                    standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+//                    standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
-                    jo.put("device_code", device.getDevice_code());
+//                    jo.put("device_code", device.getDevice_code());
-                    jo.put("mode", standardCoveyorControlDeviceDriver.getMode());
+//                    jo.put("mode", standardCoveyorControlDeviceDriver.getMode());
-                    jo.put("move", standardCoveyorControlDeviceDriver.getMove());
+//                    jo.put("move", standardCoveyorControlDeviceDriver.getMove());
-                    jo.put("hasGoods", standardCoveyorControlDeviceDriver.getHasGoods());
+//                    jo.put("hasGoods", standardCoveyorControlDeviceDriver.getHasGoods());
-                    jo.put("isOnline", standardCoveyorControlDeviceDriver.getIsonline());
+//                    jo.put("isOnline", standardCoveyorControlDeviceDriver.getIsonline());
-                    jo.put("error", standardCoveyorControlDeviceDriver.getError());
+//                    jo.put("error", standardCoveyorControlDeviceDriver.getError());
-                    jo.put("isError", standardCoveyorControlDeviceDriver.getIserror());
+//                    jo.put("isError", standardCoveyorControlDeviceDriver.getIserror());
-                    jo.put("requestSucess", standardCoveyorControlDeviceDriver.getRequireSucess());
+//                    jo.put("requestSucess", standardCoveyorControlDeviceDriver.getRequireSucess());
-                    jo.put("applySucess", standardCoveyorControlDeviceDriver.getApplySucess());
+//                    jo.put("applySucess", standardCoveyorControlDeviceDriver.getApplySucess());
-                    jo.put("message", standardCoveyorControlDeviceDriver.getMessage());
+//                    jo.put("message", standardCoveyorControlDeviceDriver.getMessage());
                 } else if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
                     standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
                     jo.put("device_code", device.getDevice_code());
@@ -686,16 +686,16 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
 
                 if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
                     standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
-                    jo.put("device_code", device.getDevice_code());
+//                    jo.put("device_code", device.getDevice_code());
-                    jo.put("mode", standardCoveyorControlDeviceDriver.getMode());
+//                    jo.put("mode", standardCoveyorControlDeviceDriver.getMode());
-                    jo.put("move", standardCoveyorControlDeviceDriver.getMove());
+//                    jo.put("move", standardCoveyorControlDeviceDriver.getMove());
-                    jo.put("hasGoods", standardCoveyorControlDeviceDriver.getHasGoods());
+//                    jo.put("hasGoods", standardCoveyorControlDeviceDriver.getHasGoods());
-                    jo.put("isOnline", standardCoveyorControlDeviceDriver.getIsonline());
+//                    jo.put("isOnline", standardCoveyorControlDeviceDriver.getIsonline());
-                    jo.put("error", standardCoveyorControlDeviceDriver.getError());
+//                    jo.put("error", standardCoveyorControlDeviceDriver.getError());
-                    jo.put("isError", standardCoveyorControlDeviceDriver.getIserror());
+//                    jo.put("isError", standardCoveyorControlDeviceDriver.getIserror());
-                    jo.put("requestSucess", standardCoveyorControlDeviceDriver.getRequireSucess());
+//                    jo.put("requestSucess", standardCoveyorControlDeviceDriver.getRequireSucess());
-                    jo.put("applySucess", standardCoveyorControlDeviceDriver.getApplySucess());
+//                    jo.put("applySucess", standardCoveyorControlDeviceDriver.getApplySucess());
-                    jo.put("message", standardCoveyorControlDeviceDriver.getMessage());
+//                    jo.put("message", standardCoveyorControlDeviceDriver.getMessage());
                 } else if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
                     standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
                     jo.put("device_code", device.getDevice_code());

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

@@ -121,6 +121,30 @@ public class TaskController {
         return new ResponseEntity<>(HttpStatus.OK);
     }
 
+    @Log("任务异常完成")
+    @ApiOperation("任务异常完成")
+    @PostMapping(value = "/errorFinish/{id}")
+    public ResponseEntity<Object> errorFinish(@RequestBody String id) throws Exception {
+        taskService.errorFinish(id);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @Log("任务异常")
+    @ApiOperation("任务异常")
+    @PostMapping(value = "/exception/{id}")
+    public ResponseEntity<Object> exception(@RequestBody String id) throws Exception {
+        taskService.exception(id);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @Log("任务作废")
+    @ApiOperation("任务异常")
+    @PostMapping(value = "/deprecate/{id}")
+    public ResponseEntity<Object> deprecate(@RequestBody String id) throws Exception {
+        taskService.deprecate(id);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
     @Log("手动创建指令")
     @ApiOperation("手动创建指令")
     @PostMapping(value = "/createInst/{id}")

hd/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java

@@ -147,6 +147,25 @@ public interface TaskService {
      */
     void deleteAll(String[] ids) throws Exception;
 
+    /**
+     * 异常完成任务
+     *
+     * @param ids
+     */
+    void errorFinish(String ids);
+
+    /**
+     * 异常
+     *
+     * @param ids
+     */
+    void exception(String ids);
+    /**
+     * 作废
+     *
+     * @param ids
+     */
+    void deprecate(String ids);
     /**
      * 完成任务
      *

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

@@ -617,6 +617,87 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         }
     }
 
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void errorFinish(String ids) {
+        TaskDto entity = this.findById(ids);
+        Instruction instruction = instructionService.findByTaskcode(entity.getTask_code());
+        if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
+        InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
+        InstructionDto instdto = instructionservice.findByTaskid(ids, "instruction_status <2 ");
+        if (instdto != null) throw new BadRequestException("有指令未完成!");
+        String currentUsername = SecurityUtils.getCurrentUsername();
+        String now = DateUtil.now();
+        entity.setUpdate_time(now);
+        entity.setUpdate_by(currentUsername);
+        entity.setTask_status("2");
+        entity.setRemark("异常完成");
+        WQLObject wo = WQLObject.getWQLObject("acs_task");
+        JSONObject json = JSONObject.fromObject(entity);
+        wo.update(json);
+        Map<String, Object> feedMap = new HashMap();
+        feedMap.put("taskCode", entity.getTask_code());
+        feedMap.put("taskType", entity.getTask_type());
+        feedMap.put("carId", instruction.getAgv_jobno());
+        feedMap.put("feedbackStatus", "errorFinish");
+        Map<String, Object> map = acsToWmsZDService.taskFeedback(feedMap);
+        removeByCodeFromCache(entity.getTask_code());
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void exception(String ids) {
+        TaskDto entity = this.findById(ids);
+        Instruction instruction = instructionService.findByTaskcode(entity.getTask_code());
+        if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
+        InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
+        InstructionDto instdto = instructionservice.findByTaskid(ids, "instruction_status <2 ");
+        if (instdto != null) throw new BadRequestException("有指令未完成!");
+        String currentUsername = SecurityUtils.getCurrentUsername();
+        String now = DateUtil.now();
+        entity.setUpdate_time(now);
+        entity.setUpdate_by(currentUsername);
+        entity.setTask_status("3");
+        entity.setRemark("任务异常");
+        WQLObject wo = WQLObject.getWQLObject("acs_task");
+        JSONObject json = JSONObject.fromObject(entity);
+        wo.update(json);
+        Map<String, Object> feedMap = new HashMap();
+        feedMap.put("taskCode", entity.getTask_code());
+        feedMap.put("taskType", entity.getTask_type());
+        feedMap.put("carId", instruction.getAgv_jobno());
+        feedMap.put("feedbackStatus", "exception");
+        acsToWmsZDService.taskFeedback(feedMap);
+        removeByCodeFromCache(entity.getTask_code());
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void deprecate(String ids) {
+        TaskDto entity = this.findById(ids);
+        Instruction instruction = instructionService.findByTaskcode(entity.getTask_code());
+        if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
+        InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
+        InstructionDto instdto = instructionservice.findByTaskid(ids, "instruction_status <2 ");
+        if (instdto != null) throw new BadRequestException("有指令未完成!");
+        String currentUsername = SecurityUtils.getCurrentUsername();
+        String now = DateUtil.now();
+        entity.setUpdate_time(now);
+        entity.setUpdate_by(currentUsername);
+        entity.setTask_status("3");
+        entity.setRemark("任务作废");
+        WQLObject wo = WQLObject.getWQLObject("acs_task");
+        JSONObject json = JSONObject.fromObject(entity);
+        wo.update(json);
+        Map<String, Object> feedMap = new HashMap();
+        feedMap.put("taskCode", entity.getTask_code());
+        feedMap.put("taskType", entity.getTask_type());
+        feedMap.put("carId", instruction.getAgv_jobno());
+        feedMap.put("feedbackStatus", "deprecate");
+        acsToWmsZDService.taskFeedback(feedMap);
+        removeByCodeFromCache(entity.getTask_code());
+    }
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void finish(String id) {
@@ -653,7 +734,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
             HttpResponse body = null;
             boolean flag = false;
             try {
-                body = acstowmsService.feedbackTaskStatusToWms(ja);
+                //body = acstowmsService.feedbackTaskStatusToWms(ja);
             } catch (Exception e) {
                 flag = true;
                 message = e.getMessage();
@@ -688,8 +769,14 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                     taskFeedbackService.update(feefbackdto);
                 }
             } else {
-                int status = body.getStatus();
+                int status = 400;
-                JSONObject jo = JSONObject.fromObject(body.body());
+                String job = "";
+                if (ObjectUtil.isNotEmpty(body)){
+                    status = body.getStatus();
+                    job = body.body();
+                    JSONObject jo = JSONObject.fromObject(job);
+                    job = jo.getString("message");
+                }
                 if (ObjectUtil.isEmpty(feefbackdto)) {
                     feefbackdto = new TaskFeedbackDto();
                     feefbackdto.setTask_id(entity.getTask_id());
@@ -697,7 +784,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                     feefbackdto.setTask_status(entity.getTask_status());
                     feefbackdto.setVehicle_type(entity.getVehicle_type());
                     feefbackdto.setVehicle_code(entity.getVehicle_code());
-                    feefbackdto.setError_code(String.valueOf(body.getStatus()));
+                    feefbackdto.setError_code(String.valueOf(status));
                     feefbackdto.setStart_device_code(entity.getStart_device_code());
                     feefbackdto.setStart_point_code(entity.getNext_point_code());
                     feefbackdto.setNext_device_code(entity.getNext_device_code());
@@ -710,7 +797,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                         }
                     } else {
                         feefbackdto.setIs_finished("0");
-                        feefbackdto.setRemark(jo.getString("message"));
+                        feefbackdto.setRemark("失败");
                     }
                     taskFeedbackService.create(feefbackdto);
                 } else {
@@ -723,7 +810,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                         }
                     } else {
                         feefbackdto.setIs_finished("0");
-                        feefbackdto.setRemark(jo.getString("message"));
+                        feefbackdto.setRemark(job);
                     }
                     taskFeedbackService.update(feefbackdto);
                 }

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

@@ -2,8 +2,6 @@ server:
   port: 8010
 #配置数据源
 spring:
-  profiles:
-    dev
   datasource:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource

hd/nladmin-system/src/main/resources/config/application-prod.yml

@@ -2,13 +2,11 @@ server:
   port: 8010
 #配置数据源
 spring:
-  profiles:
-    prod
   datasource:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:zdtn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:tn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
       password: ${DB_PWD:123456}
       # 初始连接数
@@ -137,4 +135,4 @@ file:
   avatarMaxSize: 5
 
 agvToAcs:
-  addr: http://192.168.200.128:8010
+  addr: http://172.22.50.184:8010

hd/nladmin-system/src/main/resources/config/application.yml

@@ -2,7 +2,7 @@ spring:
   freemarker:
     check-template-location: false
   profiles:
-    active: dev
+    active: prod
   jackson:
     time-zone: GMT+8
   data:

qd/.env.production

@@ -2,8 +2,8 @@ ENV = 'production'
 
 # 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置
 # 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http
-VUE_APP_BASE_API  = 'http://192.168.200.128:8010'
+VUE_APP_BASE_API  = 'http://127.0.0.1:8010'
-#VUE_APP_BASE_API  = 'http://192.168.200.128:8010'
+#VUE_APP_BASE_API  = 'http://127.0.0.1:8010'
 # 如果接口是 http 形式， wss 需要改为 ws
-VUE_APP_WS_API = 'ws://192.168.81.122:8010'
+VUE_APP_WS_API = 'ws://127.0.0.1:8010'
 #VUE_APP_WS_API = 'ws://127.0.0.1:8010'

qd/src/api/acs/instruction/instruction.js

@@ -1,6 +1,5 @@
 import request from '@/utils/request'
 
-
 export function add(data) {
   return request({
     url: 'api/instruction',
@@ -63,4 +62,12 @@ export function reload() {
   })
 }
 
-export default { add, edit, del, finish, cancel, queryUnFinish, queryByTaskId,reload }
+export function forceCancel(instruction_id) {
+  return request({
+    url: 'api/instruction/forceCancel/' + instruction_id,
+    method: 'post',
+    data: instruction_id
+  })
+}
+
+export default { add, edit, del, finish, cancel, forceCancel, queryUnFinish, queryByTaskId, reload }

qd/src/api/acs/task/task.js

@@ -40,6 +40,30 @@ export function cancel(task_id) {
   })
 }
 
+export function errorFinish(task_id) {
+  return request({
+    url: 'api/task/errorFinish/' + task_id,
+    method: 'post',
+    data: task_id
+  })
+}
+
+export function exceptions(task_id) {
+  return request({
+    url: 'api/task/exception/' + task_id,
+    method: 'post',
+    data: task_id
+  })
+}
+
+export function deprecate(task_id) {
+  return request({
+    url: 'api/task/deprecate/' + task_id,
+    method: 'post',
+    data: task_id
+  })
+}
+
 export function createInst(task_id) {
   return request({
     url: 'api/task/createInst/' + task_id,
@@ -95,5 +119,5 @@ export function specialTaskCreate(data) {
   })
 }
 
-export default { add, edit, del, finish, cancel, createTaskByClick, deviceAskTask, ordinaryTaskCreate, specialTaskCreate, createInst,reload }
+export default { add, edit, del, finish, cancel, createTaskByClick, deviceAskTask, ordinaryTaskCreate, specialTaskCreate, createInst, reload, errorFinish, exceptions, deprecate }
 

qd/src/views/acs/task/index.vue

@@ -268,6 +268,9 @@
                 <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'a')">完成</el-dropdown-item>
                 <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'b')">取消</el-dropdown-item>
                 <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'c')">创建指令</el-dropdown-item>
+                <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'d')">异常完成</el-dropdown-item>
+                <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'e')">异常</el-dropdown-item>
+                <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'f')">作废</el-dropdown-item>
               </el-dropdown-menu>
             </el-dropdown>
           </template>
@@ -440,6 +443,30 @@ export default {
         console.log(err.response.data.message)
       })
     },
+    errorFinish(index, row) {
+      crudTask.errorFinish(row.task_id).then(res => {
+        this.crud.toQuery()
+        this.crud.notify('成功', CRUD.NOTIFICATION_TYPE.SUCCESS)
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    exception(index, row) {
+      crudTask.exceptions(row.task_id).then(res => {
+        this.crud.toQuery()
+        this.crud.notify('成功', CRUD.NOTIFICATION_TYPE.SUCCESS)
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    deprecate(index, row) {
+      crudTask.deprecate(row.task_id).then(res => {
+        this.crud.toQuery()
+        this.crud.notify('成功', CRUD.NOTIFICATION_TYPE.SUCCESS)
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
     reload() {
       crudTask.reload().then(res => {
         this.crud.toQuery()
@@ -466,6 +493,15 @@ export default {
         case 'c':// 创建指令
           this.createInst(command.index, command.row)
           break
+        case 'd':// 异常完成
+          this.errorFinish(command.index, command.row)
+          break
+        case 'e':// 异常
+          this.exception(command.index, command.row)
+          break
+        case 'f':// 作废
+          this.deprecate(command.index, command.row)
+          break
       }
     },
     showStartStorage(val) {