From 7de3402ca66218d72d1c23330fe4a6748bd7b0ea Mon Sep 17 00:00:00 2001
From: tuqiang <437016993@qq.com>
Date: Thu, 27 Feb 2025 10:55:35 +0800
Subject: [PATCH] =?UTF-8?q?rev:=E4=BB=A3=E7=A0=81=E4=BC=98=E5=8C=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../org/nl/acs/agv/server/AgvWaitUtil.java    |  73 ++++++++++--
 .../acs/agv/server/impl/AgvServiceImpl.java   | 111 +++++++++---------
 .../service/impl/DeviceServiceImpl.java       |   3 +
 .../java/org/nl/acs/device/wql/task_inst.xls  | Bin 157696 -> 157696 bytes
 .../acs/log/service/impl/LogServerImpl.java   |  48 ++++----
 .../org/nl/acs/task/service/dto/TaskDto.java  |   5 +
 .../task/service/impl/TaskServiceImpl.java    |   6 +-
 .../quartz/task/QueryXZAgvTaskStatus.java     |   8 +-
 .../main/resources/config/application-dev.yml |   2 +-
 .../src/main/resources/log/AgvWaitUtil.xml    |  32 +++++
 qd/public/config.js                           |   4 +-
 qd/vue.config.js                              |   2 +
 12 files changed, 198 insertions(+), 96 deletions(-)
 create mode 100644 hd/nladmin-system/src/main/resources/log/AgvWaitUtil.xml

diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java
index 9071ff8..21effe9 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java
@@ -12,6 +12,7 @@ import org.nl.acs.log.service.LogServer;
 import org.nl.exception.BadRequestException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
+import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
 
 /**
@@ -59,15 +60,39 @@ public class AgvWaitUtil {
     //取货完成等待
     public JSONObject waitOutGet(String startDeviceCode, Instruction inst) {
         log.info("仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
+        if (startDeviceCode.length() == 4) {
+            JSONObject requestWMSParam = new JSONObject();
+            requestWMSParam.put("device_code", startDeviceCode);
+            requestWMSParam.put("device_status", "close");
+            JSONObject wmsResult = acsToWmsService.gccControlDoorSwitch(requestWMSParam);
+            if (HttpStatus.OK.value() == wmsResult.optInt("status")) {
+                JSONObject responseBody = acsToWmsService.gccQueryDoorStatus(startDeviceCode);
+                log.info("当前设备" + startDeviceCode + "门的状态:" + responseBody.get("device_status") + ",门的状态应为关闭状态！");
+                if (ObjectUtil.isNotEmpty(responseBody) && "close".equals(responseBody.get("device_status"))) {
+                    inst.setExecute_status("2");
+                    instructionService.update(inst);
 
-        inst.setExecute_status("2");
-        instructionService.update(inst);
-
-        JSONObject map = new JSONObject();
-        map.put("status", 200);
-        map.put("message", "允许离开！");
-        log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
-        return map;
+                    JSONObject map = new JSONObject();
+                    map.put("status", 200);
+                    map.put("message", "允许离开！");
+                    log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
+                    return map;
+                } else {
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                throw new BadRequestException("请求失败!");
+            }
+        } else {
+            inst.setExecute_status("2");
+            instructionService.update(inst);
+
+            JSONObject map = new JSONObject();
+            map.put("status", 200);
+            map.put("message", "允许离开！");
+            log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
+            return map;
+        }
     }
 
     //放货前等待
@@ -99,10 +124,32 @@ public class AgvWaitUtil {
     public JSONObject waitOutPut(String endDeviceCode, Instruction inst) {
         log.info("仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
 
-        JSONObject map = new JSONObject();
-        map.put("status", 200);
-        map.put("message", "允许离开！");
-        log.info("允许仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
-        return map;
+        if (endDeviceCode.length() == 4) {
+            JSONObject requestWMSParam = new JSONObject();
+            requestWMSParam.put("device_code", endDeviceCode);
+            requestWMSParam.put("device_status", "close");
+            JSONObject wmsResult = acsToWmsService.gccControlDoorSwitch(requestWMSParam);
+            if (HttpStatus.OK.value() == wmsResult.optInt("status")) {
+                JSONObject responseBody = acsToWmsService.gccQueryDoorStatus(endDeviceCode);
+                log.info("当前设备" + endDeviceCode + "门的状态:" + responseBody.get("device_status") + ",门的状态应为关闭状态！");
+                if (ObjectUtil.isNotEmpty(responseBody) && "close".equals(responseBody.get("device_status"))) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 200);
+                    map.put("message", "允许离开！");
+                    log.info("允许仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
+                    return map;
+                } else {
+                    throw new BadRequestException("请求失败!");
+                }
+            } else {
+                throw new BadRequestException("请求失败!");
+            }
+        } else {
+            JSONObject map = new JSONObject();
+            map.put("status", 200);
+            map.put("message", "允许离开！");
+            log.info("允许仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
+            return map;
+        }
     }
 }
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
index 5989ace..1ad27ff 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
@@ -54,14 +54,9 @@ import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
 
 import java.math.BigDecimal;
-import java.math.RoundingMode;
 import java.text.DateFormat;
-import java.text.DecimalFormat;
 import java.text.SimpleDateFormat;
 import java.util.*;
-import java.util.function.Function;
-import java.util.stream.Collectors;
-import java.util.stream.Stream;
 
 @Slf4j
 @Service
@@ -231,7 +226,7 @@ public class AgvServiceImpl implements AgvService {
      *                       demo:destination("cz14", "JackUnload", "3", "")
      * @return
      */
-    public  JSONObject destination2(String locationName, String operation, String propertiesType, String pro,Instruction dto) {
+    public JSONObject destination2(String locationName, String operation, String propertiesType, String pro, Instruction dto) {
         //新增业务订单
         JSONObject destinationOrder = new JSONObject();
         //目标工作站
@@ -247,7 +242,7 @@ public class AgvServiceImpl implements AgvService {
             destinationOrder.put("properties", properties);
         } else if (propertiesType.equals("2")) {//Spin转动
             AcsPointAngleDto acsPointAngleDto = getAcsPointAngleDto(dto);
-            if (ObjectUtil.isEmpty(acsPointAngleDto)){
+            if (ObjectUtil.isEmpty(acsPointAngleDto)) {
                 throw new RuntimeException("沒有找到内容，无法下发");
             }
             JSONArray properties = new JSONArray();
@@ -287,8 +282,7 @@ public class AgvServiceImpl implements AgvService {
     }
 
 
-
-    private  AcsPointAngleDto getAcsPointAngleDto(Instruction dto) {
+    private AcsPointAngleDto getAcsPointAngleDto(Instruction dto) {
         List<AcsPointAngleDto> list = acsPointAngleService.queryAll(new HashMap());
         AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto();
         for (int i = 0; i < list.size(); i++) {
@@ -664,12 +658,12 @@ public class AgvServiceImpl implements AgvService {
                     com.alibaba.fastjson.JSONObject current_order = jo.getJSONObject("current_order");
                     Integer connectionStatus = jo.getInteger("connection_status");
                     String inst_code = current_order.getString("id");
-                    String taskNo= "0";
+                    String taskNo = "0";
                     if (StrUtil.isNotEmpty(inst_code)) {
                         Instruction inst = instructionService.findByCodeFromCache(inst_code);
                         if (ObjectUtil.isNotEmpty(inst)) {
                             //任务号
-                            taskNo  = inst.getTask_code();
+                            taskNo = inst.getTask_code();
                         }
                     }
                     //x坐标
@@ -704,7 +698,7 @@ public class AgvServiceImpl implements AgvService {
             String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
 
-            agvurl = agvurl + ":" + agvport + "/orders?page=1&size=9999";
+            agvurl = agvurl + ":" + agvport + "/orders?page=1&size=100&orderBy=createTime";
             List<Instruction> insts = instructionService.findAllInstFromCache();
             if (!insts.isEmpty()) {
                 JSONObject where = new JSONObject();
@@ -718,7 +712,7 @@ public class AgvServiceImpl implements AgvService {
                     row.add(instruction.getInstruction_code());
                     predicates.add(row);
                 }
-                agvurl = agvurl+ "&where=" + where;
+                agvurl = agvurl + "&where=" + where;
             }
 
             HttpResponse result = HttpRequest.get(agvurl)
@@ -1815,18 +1809,18 @@ public class AgvServiceImpl implements AgvService {
                         MachinesSiteDeviceDriver machinesSiteDeviceDriver;
                         if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) {
                             ja.add(destination2(device_code + "IN", "Wait", "1", device_code + "IN"
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                             ja.add(destination2(device_code, "Wait", "1", device_code
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                             ja.add(destination2(device_code + "OUT", "Wait", "1", device_code + "OUT"
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
 
                         } else {
-                            ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01",inst));
+                            ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01", inst));
                         }
                     }
 
-                    ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01",inst));
+                    ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01", inst));
 
                 } else {
                     String startAddress = inst.getStart_device_code();
@@ -1837,25 +1831,25 @@ public class AgvServiceImpl implements AgvService {
                         MachinesSiteDeviceDriver machinesSiteDeviceDriver;
                         if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) {
                             ja.add(destination2(startAddress, "Wait", "5", startAddress
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                             ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                             ja.add(destination2(nextAddress, "Wait", "1", nextAddress
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                             ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                         } else {
                             ja.add(destination2(startAddress, "Wait", "1", startAddress
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                             ja.add(destination2(nextAddress, "Wait", "1", nextAddress
-                                    + "-" + inst_code + "-" + "01",inst));
+                                    + "-" + inst_code + "-" + "01", inst));
                         }
 
                     } else {
                         ja.add(destination2(startAddress, "Wait", "1", startAddress
-                                + "-" + inst_code + "-" + "01",inst));
+                                + "-" + inst_code + "-" + "01", inst));
                         ja.add(destination2(nextAddress, "Wait", "1", nextAddress
-                                + "-" + inst_code + "-" + "01",inst));
+                                + "-" + inst_code + "-" + "01", inst));
                     }
                 }
                 break;
@@ -1872,33 +1866,33 @@ public class AgvServiceImpl implements AgvService {
                     if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_pickup_spin"), "true") &&
                             ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin"))) {
                         ja.add(destination2(startAddress + "IQ", "Spin", "2",
-                                standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString(),inst));
+                                standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString(), inst));
                     }
                     ja.add(destination2(startAddress + "IQ", "Wait", "1", startAddress + "IQ"
-                            + "-" + inst_code + "-" + "07",inst));
+                            + "-" + inst_code + "-" + "07", inst));
                     ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN"
-                            + "-" + inst_code + "-" + "01",inst));
+                            + "-" + inst_code + "-" + "01", inst));
                     ja.add(destination2(startAddress, "JackLoad", "3", startAddress
-                            + "-" + inst_code + "-" + "02",inst));
+                            + "-" + inst_code + "-" + "02", inst));
                     ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT"
-                            + "-" + inst_code + "-" + "05",inst));
+                            + "-" + inst_code + "-" + "05", inst));
                     ja.add(destination2(startAddress + "OQ", "Wait", "1", startAddress + "OQ"
-                            + "-" + inst_code + "-" + "08",inst));
+                            + "-" + inst_code + "-" + "08", inst));
 
                 } else if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
 
                     ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN"
-                            + "-" + inst_code + "-" + "01",inst));
+                            + "-" + inst_code + "-" + "01", inst));
                     ja.add(destination2(startAddress, "JackLoad", "3", startAddress
-                            + "-" + inst_code + "-" + "02",inst));
+                            + "-" + inst_code + "-" + "02", inst));
                     ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT"
-                            + "-" + inst_code + "-" + "05",inst));
+                            + "-" + inst_code + "-" + "05", inst));
 
                 } else {
                     ja.add(destination2(nextAddress, "Wait", "1", startAddress
-                            + "-" + inst_code + "-" + "01",inst));
+                            + "-" + inst_code + "-" + "01", inst));
                     ja.add(destination2(startAddress, "JackLoad", "3", startAddress
-                            + "-" + inst_code + "-" + "01",inst));
+                            + "-" + inst_code + "-" + "01", inst));
                 }
 
                 //终点
@@ -1907,31 +1901,31 @@ public class AgvServiceImpl implements AgvService {
                     if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_release_spin"), "true") &&
                             ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin"))) {
                         ja.add(destination2(nextAddress + "IQ", "Spin", "2",
-                                standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString(),inst));
+                                standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString(), inst));
                     }
                     ja.add(destination2(nextAddress + "IQ", "Wait", "1", nextAddress + "IQ"
-                            + "-" + inst_code + "-" + "07",inst));
+                            + "-" + inst_code + "-" + "07", inst));
                     ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
-                            + "-" + inst_code + "-" + "03",inst));
+                            + "-" + inst_code + "-" + "03", inst));
 
                     ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
-                            + "-" + inst_code + "-" + "04",inst));
+                            + "-" + inst_code + "-" + "04", inst));
                     ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"
-                            + "-" + inst_code + "-" + "06",inst));
+                            + "-" + inst_code + "-" + "06", inst));
                     ja.add(destination2(nextAddress + "OQ", "Wait", "1", nextAddress + "OQ"
-                            + "-" + inst_code + "-" + "08",inst));
+                            + "-" + inst_code + "-" + "08", inst));
                 } else if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                     ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
-                            + "-" + inst_code + "-" + "03",inst));
+                            + "-" + inst_code + "-" + "03", inst));
                     ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
-                            + "-" + inst_code + "-" + "04",inst));
+                            + "-" + inst_code + "-" + "04", inst));
                     ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"
-                            + "-" + inst_code + "-" + "06",inst));
+                            + "-" + inst_code + "-" + "06", inst));
                 } else {
                     ja.add(destination2(nextAddress, "Wait", "1", nextAddress
-                            + "-" + inst_code + "-" + "01",inst));
+                            + "-" + inst_code + "-" + "01", inst));
                     ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
-                            + "-" + inst_code + "-" + "01",inst));
+                            + "-" + inst_code + "-" + "01", inst));
                 }
                 break;
         }
@@ -2232,16 +2226,16 @@ public class AgvServiceImpl implements AgvService {
 
         //放货前下发旋转角度
         com.alibaba.fastjson.JSONObject json1 = new com.alibaba.fastjson.JSONObject();
-        AcsPointAngleDto acsPointAngleDto = acsPointAngleService.findByCode(inst.getStart_device_code(),inst.getNext_device_code());
-        if (ObjectUtil.isNotEmpty(acsPointAngleDto)){
+        AcsPointAngleDto acsPointAngleDto = acsPointAngleService.findByCode(inst.getStart_device_code(), inst.getNext_device_code());
+        if (ObjectUtil.isNotEmpty(acsPointAngleDto)) {
             log.info("acsPointAngleDto----參數,{}", acsPointAngleDto.toString());
             com.alibaba.fastjson.JSONObject operation_args = new com.alibaba.fastjson.JSONObject();
             BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle();
-            operation_args.put("increase_spin_angle",next_point_angle);//弧度值，如3.14
-            operation_args.put("skill_name","GoByOdometer");
+            operation_args.put("increase_spin_angle", next_point_angle);//弧度值，如3.14
+            operation_args.put("skill_name", "GoByOdometer");
             json1.put("blockId", IdUtil.simpleUUID());
             json1.put("location", inst.getNext_point_code() + "INPUT");
-            json1.put("operation_args",operation_args);
+            json1.put("operation_args", operation_args);
             ja.add(json1);
         }
 
@@ -2271,6 +2265,16 @@ public class AgvServiceImpl implements AgvService {
             jo5.put("script_args", script_args5);
             ja.add(jo5);
         }
+
+        com.alibaba.fastjson.JSONObject jo6 = new com.alibaba.fastjson.JSONObject();
+        com.alibaba.fastjson.JSONObject operation_args = new com.alibaba.fastjson.JSONObject();
+        operation_args.put("robot_spin_angle", 0);
+        operation_args.put("spin_direction", 0);
+        jo6.put("blockId", IdUtil.simpleUUID());
+        jo6.put("location", inst.getNext_point_code() + "OUTPUT");
+        jo6.put("operation_args", operation_args);
+        ja.add(jo6);
+
         return ja;
     }
 
@@ -2315,4 +2319,5 @@ public class AgvServiceImpl implements AgvService {
 
         throw new BadRequestException("请求失败，IN OUT 站点错误!");
     }
+
 }
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
index a1c3061..e3dbfe9 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
@@ -49,6 +49,7 @@ import org.openscada.opc.lib.da.Server;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.data.domain.Pageable;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -86,6 +87,8 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
 
     @Autowired
     AcsConfigService acsConfigService;
+
+    @Lazy
     @Autowired
     TaskService taskService;
 
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device/wql/task_inst.xls b/hd/nladmin-system/src/main/java/org/nl/acs/device/wql/task_inst.xls
index c632b4105c1fd72841998d1834290b1592d5cda7..ab8cb9823d42c5956ce9ee7d709e4f474366c82d 100644
GIT binary patch
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diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/log/service/impl/LogServerImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/log/service/impl/LogServerImpl.java
index a6bf356..9e9740e 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/log/service/impl/LogServerImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/log/service/impl/LogServerImpl.java
@@ -137,27 +137,31 @@ public class LogServerImpl implements LogServer {
 
     @Override
     public void log(String task_code, String method, String type, String requestParam, String responseParam, String status_code, String requesturl, String vehicle_code) {
-        String currentUsername = SecurityUtils.getCurrentUsername();
-        String now = DateUtil.now();
-
-        LogDto logDto = new LogDto();
-        logDto.setLog_uuid(IdUtil.simpleUUID());
-        logDto.setTask_code(task_code);
-        logDto.setMethod(method);
-        logDto.setLog_type(type);
-        logDto.setRequestparam(requestParam);
-        logDto.setResponseparam(responseParam);
-        logDto.setStatus_code(status_code);
-        logDto.setRequesturl(requesturl);
-        logDto.setVehicle_code(vehicle_code);
-
-        logDto.setCreate_by(currentUsername);
-        logDto.setUpdate_by(currentUsername);
-        logDto.setUpdate_time(now);
-        logDto.setCreate_time(now);
-
-        WQLObject wo = WQLObject.getWQLObject("acs_log");
-        JSONObject json = JSONObject.fromObject(logDto);
-        wo.insert(json);
+        try {
+            String currentUsername = SecurityUtils.getCurrentUsername();
+            String now = DateUtil.now();
+
+            LogDto logDto = new LogDto();
+            logDto.setLog_uuid(IdUtil.simpleUUID());
+            logDto.setTask_code(task_code);
+            logDto.setMethod(method);
+            logDto.setLog_type(type);
+            logDto.setRequestparam(requestParam);
+            logDto.setResponseparam(responseParam);
+            logDto.setStatus_code(status_code);
+            logDto.setRequesturl(requesturl);
+            logDto.setVehicle_code(vehicle_code);
+
+            logDto.setCreate_by(currentUsername);
+            logDto.setUpdate_by(currentUsername);
+            logDto.setUpdate_time(now);
+            logDto.setCreate_time(now);
+
+            WQLObject wo = WQLObject.getWQLObject("acs_log");
+            JSONObject json = JSONObject.fromObject(logDto);
+            wo.insert(json);
+        }catch (Exception ex){
+            ex.printStackTrace();
+        }
     }
 }
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
index 96e79e0..5e660ee 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
@@ -217,4 +217,9 @@ public class TaskDto implements Serializable {
      * 外部系统标识
      */
     private String ext_task_uuid;
+
+    /**
+     * agv车号
+     */
+    private String carno;
 }
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index c309725..a22b4d9 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -834,8 +834,6 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     @Transactional(rollbackFor = Exception.class)
     public void update(TaskDto dto) {
         TaskDto entity = this.findById(dto.getTask_id());
-        Instruction instruction = instructionService.findByTaskcode(dto.getTask_code());
-
         if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
 
         String currentUsername = SecurityUtils.getCurrentUsername();
@@ -859,13 +857,13 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         }
         //判断是否为WMS下发的任务，如果是反馈任务状态给WMS
         String hasWms = acsConfigService.findConfigFromCache().get(AcsConfig.HASWMS);
-        if (!StrUtil.startWith(dto.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
+        if (!StrUtil.startWith(dto.getTask_code(), "-") && StrUtil.equals(hasWms, "1")&&ObjectUtil.isNotEmpty(dto.getCarno())) {
             TaskFeedbackDto feefbackdto = taskFeedbackService.findByCode(entity.getTask_code());
             JSONObject feed_jo = new JSONObject();
             feed_jo.put("task_code", dto.getTask_code());
             feed_jo.put("ext_task_uuid", entity.getExt_task_uuid());
             feed_jo.put("task_status", dto.getTask_status());
-            feed_jo.put("agv_code",instruction.getCarno());
+            feed_jo.put("agv_code",dto.getCarno());
             JSONArray ja = new JSONArray();
             ja.add(feed_jo);
             String message = null;
diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java
index 640d6e5..ca18f88 100644
--- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java
+++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java
@@ -57,8 +57,8 @@ public class QueryXZAgvTaskStatus {
                         String carno = one.getString("vehicle");
                         if (ObjectUtil.isEmpty(inst.getCarno())) {
                             inst.setCarno(carno);
-                            instructionService.update(inst);
                             TaskDto taskDto = taskService.findByCode(inst.getTask_code());
+                            taskDto.setCarno(carno);
                             taskService.update(taskDto);
                         }
                     }
@@ -74,14 +74,20 @@ public class QueryXZAgvTaskStatus {
 
                     //执行中
                     if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) {
+                        log.info("queryXZAgvTaskStatus--当前inst_code:{},agv_status:{}", inst.getInstruction_code(), state);
                         if (inst != null) {
                             inst.setInstruction_status("1");
                             instructionService.update(inst);
+                        }else {
+                            log.info("queryXZAgvTaskStatus--指令为空");
                         }
                     } else if ("FINISHED".equals(state)) {
+                        log.info("queryXZAgvTaskStatus--当前inst_code:{},agv_status:{}", inst.getInstruction_code(), state);
                         if (inst != null) {
                             inst.setInstruction_status("2");
                             instructionService.finish(inst);
+                        }else {
+                            log.info("queryXZAgvTaskStatus--指令为空");
                         }
                     } else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) {
                         if (inst != null) {
diff --git a/hd/nladmin-system/src/main/resources/config/application-dev.yml b/hd/nladmin-system/src/main/resources/config/application-dev.yml
index a62f81a..f581cac 100644
--- a/hd/nladmin-system/src/main/resources/config/application-dev.yml
+++ b/hd/nladmin-system/src/main/resources/config/application-dev.yml
@@ -11,7 +11,7 @@ spring:
 #      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:gcc_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:gcc_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
-      password: ${DB_PWD:root}
+      password: ${DB_PWD:123456}
 #      password: ${DB_PWD:Root.123456}
       # 初始连接数
       initial-size: 5
diff --git a/hd/nladmin-system/src/main/resources/log/AgvWaitUtil.xml b/hd/nladmin-system/src/main/resources/log/AgvWaitUtil.xml
new file mode 100644
index 0000000..4f37ef3
--- /dev/null
+++ b/hd/nladmin-system/src/main/resources/log/AgvWaitUtil.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<included>
+    <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
+    <property name="LOG_HOME" value="${logPath}"/>
+    <!-- 按照每天生成日志文件 -->
+    <appender name="FILE9" class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <!--日志文件输出的文件名-->
+            <FileNamePattern>${LOG_HOME}/反馈仙工取放货状态/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <!--日志文件保留天数-->
+            <maxHistory>15</maxHistory>
+            <!--单个日志最大容量 至少10MB才能看得出来-->
+            <maxFileSize>200MB</maxFileSize>
+            <!--所有日志最多占多大容量-->
+            <totalSizeCap>2GB</totalSizeCap>
+        </rollingPolicy>
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <!--格式化输出：%d表示日期，%thread表示线程名，%-5level：级别从左显示5个字符宽度%msg：日志消息，%n是换行符-->
+            <pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
+        </encoder>
+
+    </appender>
+
+    <!--  <logger name="org.nl.start.Init" level="info" additivity="false">
+          <appender-ref ref="FILE3"/>
+      </logger>-->
+
+    <!-- 打印sql -->
+    <logger name="org.nl.acs.agv.service.AgvWaitUtil" level="info" additivity="false">
+        <appender-ref ref="FILE9"/>
+    </logger>
+</included>
diff --git a/qd/public/config.js b/qd/public/config.js
index c7b9835..1dc7d83 100644
--- a/qd/public/config.js
+++ b/qd/public/config.js
@@ -1,9 +1,9 @@
 window.g = {
   dev: {
-    VUE_APP_BASE_API: '/'
+    VUE_APP_BASE_API: 'http://10.118.33.115:8010'
   },
   prod: {
-    VUE_APP_BASE_API: 'http://127.0.0.1:8010'
+    VUE_APP_BASE_API: 'http://10.118.33.115:8010'
 
   }
 
diff --git a/qd/vue.config.js b/qd/vue.config.js
index 820dd10..fedc4a3 100644
--- a/qd/vue.config.js
+++ b/qd/vue.config.js
@@ -19,6 +19,8 @@ module.exports = {
   lintOnSave: process.env.NODE_ENV === 'development',
   productionSourceMap: false,
   devServer: {
+    allowedHosts: ['all'],
+    disableHostCheck: true,
     port: port,
     open: true,
     overlay: {