opt: 1.解决写入plc报错导致和ndc断开连接。2.解决处理沾包时数组index超出报警。3.解决指令和任务不一致问题。4.新增定时任务自动发送充电任务给ndc。

nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -200,7 +200,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 if (!ObjectUtil.isEmpty(inst)) {
                                     instructionService.finish(inst.getInstruction_id());
                                 } else {
-                                    log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!");
+                                    log.info("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!");
                                 }
                                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
                                 log.info("指令号:{},已反馈agv任务完成!");
@@ -232,7 +232,11 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 if (ObjectUtil.isNotEmpty(device)) {
                                     if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
                                         agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
+                                        try {
                                             agvNdcOneDeviceDriver.processSocket(arr);
+                                        }catch (Exception e){
+                                            log.error("处理phase:{},发生异常。异常信息:{}",phase,e.getMessage());
+                                        }
                                     }
                                 }
 
@@ -247,7 +251,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             // 更新偏移量，继续处理下一个数据包
                             offset+=messageHeaderLength;
 //                            ArrayUtils.indexOf()
-                            int index = IntStream.range(offset, packetData.length)
+                            int index = IntStream.range(offset, packetData.length - 1)
                                     .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
                                     .findFirst()
                                     .orElse(-1);
@@ -260,7 +264,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         }
                     }else {
                         log.info("消息头无效，不处理。");
-                        int index = IntStream.range(offset, packetData.length)
+                        int index = IntStream.range(offset, packetData.length - 1)
                                 .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
                                 .findFirst()
                                 .orElse(-1);
@@ -281,6 +285,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                 s.close();
             }
             System.out.println(e.getMessage());
+            log.error("异常信息:{}", e.getMessage());
             e.printStackTrace();
 
         } finally {

nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -96,8 +96,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
             s = new Socket(ip, port);
             dos = new DataOutputStream(s.getOutputStream());
             dis = new DataInputStream(s.getInputStream());
-            System.out.println("NDCAgv链接成功");
-            log.info("NDCAgv链接成功");
+            System.out.println("TwoNDCAgv链接成功");
+            log.info("TwoNDC2Agv链接成功");
             while (bConnected) {
                 int count = dis.read(b);
 
@@ -231,7 +231,11 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 if (ObjectUtil.isNotEmpty(device)) {
                                     if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
                                         agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
+                                        try {
                                             agvNdcOneDeviceDriver.processSocket2(arr);
+                                        }catch (Exception e){
+                                            log.error("处理phase:{},发生异常。异常信息:{}",phase,e.getMessage());
+                                        }
                                     }
                                 }
 
@@ -246,7 +250,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             // 更新偏移量，继续处理下一个数据包
                             offset+=messageHeaderLength;
 //                            ArrayUtils.indexOf()
-                            int index = IntStream.range(offset, packetData.length)
+                            int index = IntStream.range(offset, packetData.length-1)
                                     .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
                                     .findFirst()
                                     .orElse(-1);
@@ -259,7 +263,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         }
                     }else {
                         log.info("消息头无效，不处理。");
-                        int index = IntStream.range(offset, packetData.length)
+                        int index = IntStream.range(offset, packetData.length-1)
                                 .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
                                 .findFirst()
                                 .orElse(-1);

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

@@ -1472,8 +1472,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     JSONObject resp = acsToWmsService.feedAgvTaskAction(ja);
                     if ("200".equals(resp.getString("code"))) {
                         JSONObject respjson = JSONObject.parseObject(resp.getString("msg"));
-                        inst.setInstruction_status("1");
-                        inst.setExecute_status("2");
+                        //解决指令和任务不一致问题，放货完成后执行修改指令时，ndc上报phase10 先执行的修改指令状态完成，再执行这条修改导致指令完成被脏数据覆盖。
+                        //放货完成后 修改指令状态为完成。
+                        if (status == 4){
+                            inst.setInstruction_status("2");
+                        }
+                        inst.setExecute_status(status.toString());
                         instructionService.update(inst);
                         LuceneLogDto resplogDto = LuceneLogDto.builder()
                                 .device_code(device_code)

nlsso-server/src/main/java/org/nl/quartz/task/AutoCreateChargingTaskToNDC.java

@@ -0,0 +1,24 @@
+package org.nl.quartz.task;
+
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.NDCAgvService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+/**
+ * @author liejiu
+ */
+@Slf4j
+@Component
+public class AutoCreateChargingTaskToNDC {
+
+    @Autowired
+    NDCAgvService ndcAgvService;
+
+    public void run(String threadCode) throws Exception {
+        String[] threadCodes = threadCode.split(",");
+        for (String code : threadCodes) {
+            ndcAgvService.createChargingTaskToNDC(code);
+        }
+    }
+}