opt: 上位下发取消任务接口 逻辑修改和反馈数据调整，反馈状态修改。

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

@@ -459,6 +459,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             }
 // "========================================================================请求放货================================================================================="
             agv_status = 3;
+            if (inst != null && !"3".equals(inst.getExecute_status())) {
+                inst.setExecute_status("3");
+                instructionService.update(inst);
+            }
             //到达桁架1请求放货
             if (device.getDeviceDriver() instanceof Hj1DeviceDriver) {
                 hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver();
@@ -534,10 +538,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 ssxDeviceDriver = (SsxDeviceDriver) device.getDeviceDriver();
                 log.info("agv到达" + device_code + "放货点,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",准备执行放货");
                 if (ssxDeviceDriver.getMove() == 0 & ssxDeviceDriver.getMode() == 1 & ssxDeviceDriver.getAction() == 1) {
-                    if (inst != null) {
+//                    if (inst != null) {
-                        inst.setExecute_status("3");
+//                        inst.setExecute_status("3");
-                        instructionService.update(inst);
+//                        instructionService.update(inst);
-                    }
+//                    }
                     data = getData(data, index, inst, task);
                     ssxDeviceDriver.setMessage("");
                     flag = true;

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

@@ -78,39 +78,45 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
         InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
         CancelTaskResponse response = new CancelTaskResponse();
         JSONArray errArr = new JSONArray();
+        log.info("cancelFromWms--------------:输入参数:{}",reqs);
         for (int i = 0; i < reqs.size(); i++) {
             CancelTaskRequest request = reqs.get(i);
             String task_code = request.getTask_code();
             String vehicle_code = request.getVehicle_code();
             Map<String, String> params = request.getParams();
             if (StrUtil.isEmpty(task_code)) {
-                throw new BadRequestException("任务号不能为空");
+                throw new BadRequestException(HttpStatus.OK,"任务号不能为空");
             }
             TaskDto taskDto = taskService.findByCodeFromCache(task_code);
-            String cancelTaskCheck = paramService.findByCode(AcsConfig.CANCELTASKCHECK).getValue();
+            if (ObjectUtil.isEmpty(taskDto)) {
+                throw new BadRequestException(HttpStatus.OK,"没有找到该任务");
+            }
+            //String cancelTaskCheck = paramService.findByCode(AcsConfig.CANCELTASKCHECK).getValue();
+            JSONObject json = new JSONObject();
             //todo acs直接取消任务还是取消指令还是任务
-            if (StrUtil.equals(cancelTaskCheck, "1")) {
+//            if (StrUtil.equals(cancelTaskCheck, "1")) {
-                taskService.cancelNoSendWms(taskDto.getTask_id());
+//                taskService.cancelNoSendWms(taskDto.getTask_id());
-            } else if (StrUtil.equals(cancelTaskCheck, "0")) {
+//            } else if (StrUtil.equals(cancelTaskCheck, "0")) {
                 Instruction inst = instructionService.findByTaskcode(task_code);
-                if (inst == null) {
+                if (inst != null) {
-                    taskService.cancelNoSendWms(taskDto.getTask_id());
+                    if (!StrUtil.isEmpty(inst.getExecute_status()) && Integer.parseInt(inst.getExecute_status())>=3){
-                } else {
+                        throw new BadRequestException(HttpStatus.OK,"请求放货后无法取消任务");
-                    throw new RuntimeException("指令正在执行中,操作失败!");
+                    }
+                    instructionService.cancel(inst.getInstruction_id());
                 }
-            }
+                taskService.cancelNoSendWms(taskDto.getTask_id());
+//                } else {
+//                    throw new RuntimeException("指令正在执行中,操作失败!");
+//                }
+//            }
 
         }
-
+        response.setStatus(200);
         if (ObjectUtil.isEmpty(errArr)) {
-            response.setStatus(200);
+            response.setMessage("success");
-        } else {
-            response.setStatus(400);
         }
-        response.setMessage("success");
         response.setErrArr(errArr);
         log.info("cancelFromWms--------------:输出参数：" + response);
-
         return response;
     }
 

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

@@ -57,6 +57,7 @@ import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.data.domain.Pageable;
+import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Propagation;
 import org.springframework.transaction.annotation.Transactional;
@@ -1020,12 +1021,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
     public void cancelNoSendWms(String id) throws Exception {
         TaskDto entity = this.findById(id);
         if (entity == null) {
-            throw new BadRequestException("被删除或无权限，操作失败!");
+            throw new BadRequestException(HttpStatus.OK,"被删除或无权限，操作失败!");
         }
         InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
         InstructionDto instdto = instructionservice.findByTaskid(id, "instruction_status <2 ");
         if (instdto != null) {
-            throw new BadRequestException("有指令未完成!");
+            throw new BadRequestException(HttpStatus.OK,"有指令未完成!");
         }
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();