更新

acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java

@@ -22,6 +22,7 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.opc.DeviceType;
 import org.nl.exception.BadRequestException;
+import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
 import org.nl.utils.SpringContextHolder;
 import org.slf4j.MDC;
 import org.springframework.stereotype.Service;
@@ -181,7 +182,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 };
                 log.info("下发AGV作业指令--{}", str1);
 
-//                NDCSocketConnectionAutoRun.write(b);
+                NDCSocketConnectionAutoRun.write(b);
                 System.out.println("下发agv指令数据:" + Bytes2HexString(b));
             }
         } finally {
@@ -240,63 +241,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             byte indexlow = (byte) IntToHexLow(index);
             byte phasehigh = (byte) IntToHexHigh(phase);
             byte phaselow = (byte) IntToHexLow(phase);
-            byte resulthigh = (byte) IntToHexHigh(result);
-            byte resultlow = (byte) IntToHexLow(result);
 
-            int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
+            byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
-            byte[] b = new byte[]{};
-            switch (type) {
-                case 0:
-                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
-                            (byte) 0X00, (byte) 0X08,
-                            (byte) 0X00, (byte) 0X0A,
-                            (byte) 0X00, (byte) 0X01,
-                            (byte) 0X00, (byte) 0X6D,
-                            (byte) 0X00, (byte) 0X06,
-                            (byte) indexhigh, (byte) indexlow,
-                            (byte) 0X01, (byte) 0X12,
-                            (byte) phasehigh, (byte) phaselow
-                    };
-                    break;
-                case 1:
-                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
-                            (byte) 0X00, (byte) 0X08,
-                            (byte) 0X00, (byte) 0X0D,
-                            (byte) 0X00, (byte) 0X01,
-                            (byte) 0X00, (byte) 0X6D,
-                            (byte) 0X00, (byte) 0X08,
-                            (byte) indexhigh, (byte) indexlow,
-                            (byte) 0X01, (byte) 0X12,
-                            (byte) phasehigh, (byte) phaselow,
-                            (byte) resulthigh, (byte) resultlow
-                    };
-                    break;
-                case 2:
-                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
-                            (byte) 0X00, (byte) 0X08,
-                            (byte) 0X00, (byte) 0X0A,
-                            (byte) 0X00, (byte) 0X01,
-                            (byte) 0X00, (byte) 0X6D,
-                            (byte) 0X00, (byte) 0X06,
-                            (byte) indexhigh, (byte) indexlow,
-                            (byte) 0X01, (byte) 0X12,
-                            (byte) phasehigh, (byte) phaselow
-                    };
-                    break;
-                case 5:
-                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
-                            (byte) 0X00, (byte) 0X08,
-                            (byte) 0X00, (byte) 0X0A,
-                            (byte) 0X00, (byte) 0X01,
-                            (byte) 0X00, (byte) 0X6D,
-                            (byte) 0X00, (byte) 0X06,
-                            (byte) indexhigh, (byte) indexlow,
-                            (byte) 0X01, (byte) 0X12,
-                            (byte) phasehigh, (byte) phaselow
-                    };
-                    break;
-                case 7:
-                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
                             (byte) 0X00, (byte) 0X08,
                             (byte) 0X00, (byte) 0X0A,
                             (byte) 0X00, (byte) 0X01,
@@ -306,8 +252,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                             (byte) 0X01, (byte) 0X12,
                             (byte) phasehigh, (byte) phaselow
                     };
-                    break;
+
-            }
             log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:" + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF));
 
             System.out.println("反馈agv动作数据:" + Bytes2HexString(b));

acs/hd/nladmin-system/src/main/java/org/nl/acs/config/server/impl/AcsConfigServiceImpl.java

@@ -83,9 +83,12 @@ public class AcsConfigServiceImpl implements AcsConfigService, ApplicationAutoIn
     public AcsConfigDto findByCode(String code) {
         WQLObject wo = WQLObject.getWQLObject("sys_param");
         JSONObject json = wo.query("code ='" + code + "'").uniqueResult(0);
+        if (ObjectUtil.isNotEmpty(json)) {
             final AcsConfigDto obj = json.toJavaObject(AcsConfigDto.class);
             return obj;
         }
+        return null;
+    }
 
     @Override
     @Transactional(rollbackFor = Exception.class)

acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java

@@ -28,6 +28,7 @@ import org.nl.acs.device_driver.standard_scanner.StandardScannerDeviceDriver;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.opc.DeviceType;
 import org.nl.exception.BadRequestException;
 import org.nl.modules.system.util.CodeUtil;
 import org.nl.start.auto.initial.ApplicationAutoInitial;
@@ -238,7 +239,12 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
 
             log.info("设备删除成功!");
             if (deviceByCode != null) {
-                if (StrUtil.equals("storage", deviceByCode.getDeviceDriverDefination().getFitDeviceTypes().get(0).name())) {
+                DeviceDriverDefination deviceDriverDefination = deviceByCode.getDeviceDriverDefination();
+                String name = "";
+                if (ObjectUtil.isNotEmpty(deviceDriverDefination)){
+                    name = deviceByCode.getDeviceDriverDefination().getFitDeviceTypes().get(0).name();
+                }
+                if (StrUtil.equals("storage", name)) {
                     storageTab.delete("substring_index( storage_code,'-',1)= '" + device_code + "'");
 
                 } else {

acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java

@@ -129,4 +129,11 @@ public class AcsToWmsController {
     public ResponseEntity<Object> feedbackDeviceStatus(@RequestBody String device_code, String code, String value) {
         return new ResponseEntity<>(acstowmsService.feedbackDeviceStatus(device_code, code, value), HttpStatus.OK);
     }
+
+    @PostMapping("/feedbackAgvTakePutStatus")
+    @Log("反馈agv取放货状态")
+    @ApiOperation("反馈agv取放货状态")
+    public ResponseEntity<Object> feedbackAgvTakePutStatus(@RequestBody JSONObject param) {
+        return new ResponseEntity<>(acstowmsService.feedbackAgvTakePutStatus(param), HttpStatus.OK);
+    }
 }

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

@@ -132,6 +132,14 @@ public interface AcsToWmsService {
      */
     HttpResponse feedbackDeviceStatus(String device_code, String code, String value);
 
+    /**
+     * 反馈AGV取放货状态
+     *
+     * @param param
+     * @return
+     */
+    HttpResponse feedbackAgvTakePutStatus(JSONObject param);
+
     /**
      * 反馈AGV设备信息
      *

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

@@ -225,7 +225,6 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     }
 
 
-
     @Override
     public HttpResponse applyBarcode(JSONObject json) {
         try {
@@ -519,25 +518,11 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
     @Override
     public HttpResponse feedbackTaskStatusToWms(JSONArray data) {
+        log.info("feedbackTaskStatusToWms-----请求参数{}", data.toString());
         try {
             MDC.put(log_file_type, log_type);
-
-        }  finally {
-            MDC.remove(log_file_type);
-        }
             String wmsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WMSURL);
-
-        String task_code = "";
-        for (int i = 0; i < data.size(); i++) {
-            JSONObject json = (JSONObject) data.get(i);
-            task_code = json.getString("task_code");
-        }
-        TaskDto taskDto = taskService.findByCode(task_code);
-        String vehicle_code = taskDto.getVehicle_code();
-
             HttpResponse result2 = null;
-        log.info("feedbackTaskStatusToWms-----请求参数{}", data.toString());
-
             AddressDto addressDto = addressService.findByCode("feedbackTaskStatusToWms");
             String methods_url = addressDto.getMethods_url();
             try {
@@ -562,6 +547,10 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             JSONObject jo = JSONObject.parseObject(result2.body());
             log.info("feedbackTaskStatusToWms-----输出参数{}", jo.toString());
             return result2;
+        } finally {
+            MDC.remove(log_file_type);
+        }
+
     }
 
     @Override
@@ -845,6 +834,37 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
     }
 
+    @Override
+    public HttpResponse feedbackAgvTakePutStatus(JSONObject param) {
+        try {
+            MDC.put(log_file_type, log_type);
+            String wmsUrl = acsConfigService.findConfigFromCache().get(AcsConfig.WMSURL);
+            JSONArray ja = new JSONArray();
+            ja.add(param);
+            AddressDto addressDto = addressService.findByCode("feedbackAgvTakePutStatus");
+            String methods_url = addressDto.getMethods_url();
+            String url = wmsUrl + methods_url;
+            HttpResponse result = null;
+            log.info("feedbackDeviceStatus----请求参数{}", param);
+
+            try {
+                result = HttpRequest.post(url)
+                        .body(String.valueOf(ja))
+                        .execute();
+                System.out.println(result);
+                log.info("feedbackDeviceStatus----返回参数{}", result);
+            } catch (Exception e) {
+                String msg = e.getMessage();
+                //网络不通
+                System.out.println(msg);
+            }
+            return result;
+        } finally {
+            MDC.remove(log_file_type);
+        }
+
+    }
+
     @Override
     public HttpResponse feedbackAgv(JSONArray from) {
         try {

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

@@ -1,5 +1,6 @@
 package org.nl.acs.ext.wms.service.impl;
 
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONArray;
@@ -64,6 +65,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     String task_code = task.getString("task_code");
                     String start_point_code = task.getString("start_device_code");
                     String next_point_code = task.getString("next_device_code");
+                    String priority = task.getString("priority");
                     String start_device_code = "";
                     String next_device_code = "";
                     String start_parent_code = "";
@@ -77,6 +79,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     if (StrUtil.isEmpty(next_point_code)) {
                         throw new WDKException("终点不能为空");
                     }
+                    if (StrUtil.isEmpty(priority)){
+                        throw new WDKException("优先级不能为空");
+                    }
 
                     JSONObject start_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + start_point_code + "'").uniqueResult(0);
                     if (!ObjectUtil.isEmpty(start_device_json)) {
@@ -88,7 +93,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                         next_point_code = (String) next_device_json.get("parent_storage_code") == null ? next_point_code : (String) next_device_json.get("storage_code");
                         next_parent_code = next_device_json.get("parent_storage_code") == null ? next_point_code : (String) next_device_json.get("parent_storage_code");
                     }
-                    String priority = task.getString("priority");
+
                     String vehicle_code = task.getString("vehicle_code");
                     String vehicle_type = task.getString("vehicle_type");
                     String route_plan_code = task.getString("route_plan_code");
@@ -129,6 +134,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                         }
                     }
                     JSONObject jo = new JSONObject();
+                    jo.put("task_id", IdUtil.simpleUUID());
                     jo.put("task_code", task_code);
                     jo.put("ext_task_uuid", ext_task_uuid);
                     jo.put("start_point_code", start_point_code);
@@ -207,17 +213,18 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             log.info("cancelFromWms--------------:输入参数" + tasks.toString());
             for (int i = 0; i < tasks.size(); i++) {
                 JSONObject task = tasks.getJSONObject(i);
-                String task_uuid = task.getString("task_id");
+                //String task_uuid = task.getString("task_id");
                 String task_code = task.getString("task_code");
                 String vehicle_code = task.getString("vehicle_code");
                 String params = task.getString("params");
-
-                if (StrUtil.isEmpty(task_uuid)) {
-                    throw new WDKException("任务标识不能为空");
-                }
                 if (StrUtil.isEmpty(task_code)) {
                     throw new WDKException("任务号不能为空");
                 }
+                TaskDto taskDto = TaskService.findByCode(task_code);
+                String task_uuid = taskDto.getTask_id();
+                if (StrUtil.isEmpty(task_uuid)) {
+                    throw new WDKException("任务标识不能为空");
+                }
                 String cancelTaskCheck = acsConfigService.findConfigFromCache().get(AcsConfig.CANCELTASKCHECK);
                 if (StrUtil.equals(cancelTaskCheck, "1")) {
                     TaskService.cancel(task_uuid);

acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -508,7 +508,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
     @Transactional(rollbackFor = Exception.class)
     public void finish(String id) throws Exception {
         Instruction entity = this.findById(id);
-        //if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
+        if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();
         entity.setUpdate_time(now);

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

@@ -605,10 +605,10 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
             TaskFeedbackDto feefbackdto = taskFeedbackService.findByCode(entity.getTask_code());
             JSONObject feed_jo = new JSONObject();
             Instruction inst = instructionservice.findByTaskcodeToWms(entity.getTask_code());
-            feed_jo.put("ext_task_uuid", entity.getExt_task_uuid());
+            //feed_jo.put("ext_task_uuid", entity.getExt_task_uuid());
             feed_jo.put("task_code", entity.getTask_code());
             feed_jo.put("task_status", entity.getTask_status());
-            feed_jo.put("car_no", inst.getCarno());
+            //feed_jo.put("car_no", inst.getCarno());
             JSONArray ja = new JSONArray();
             ja.add(feed_jo);
             String message = null;
@@ -729,13 +729,19 @@ 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(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
+            //反馈wms任务状态---取消
             JSONObject feed_jo = new JSONObject();
-            feed_jo.put("ext_task_uuid", entity.getExt_task_uuid());
             feed_jo.put("task_code", entity.getTask_code());
             feed_jo.put("task_status", entity.getTask_status());
             JSONArray ja = new JSONArray();
             ja.add(feed_jo);
+            try {
                 acstowmsService.feedbackTaskStatusToWms(ja);
+                log.info("agv取消任务反馈成功,任务号{}",entity.getTask_code());
+            } catch (Exception e){
+                log.info("agv取消任务反馈失败,任务号{}",entity.getTask_code());
+                e.printStackTrace();
+            }
         }
         List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(entity.getStart_device_code(), entity.getNext_device_code(), entity.getRoute_plan_code());
         String type = shortPathsList.get(0).getType();

acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java

@@ -3,9 +3,9 @@ package org.nl.start.auto.run;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
-import net.sf.json.JSONArray;
-import net.sf.json.JSONObject;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.config.AcsConfig;
@@ -17,6 +17,7 @@ import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
 import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
 import org.nl.acs.device_driver.standard_emptypallet_site.StandardEmptyPalletSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
+import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.device_driver.traffic_light.TrafficLightDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
@@ -26,10 +27,6 @@ import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
-import org.nl.acs.opc.DeviceAppServiceImpl;
-import org.nl.acs.task.service.TaskService;
-import org.nl.acs.task.service.dto.TaskDto;
-import org.nl.acs.task.service.impl.TaskServiceImpl;
 import org.nl.utils.SpringContextHolder;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
@@ -93,6 +90,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
             port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT));
             byte[] b = new byte[1028];
             s = new Socket(ip, port);
+            System.out.println("Agv链接成功");
             dos = new DataOutputStream(s.getOutputStream());
             dis = new DataInputStream(s.getInputStream());
 
@@ -159,18 +157,28 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     StandardStorageDeviceDriver standardStorageDeviceDriver;
                     StandardAutodoorDeviceDriver standardAutodoorDeviceDriver;
                     StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver;
+                    StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
                     OumulongPlcDeviceDriver oumulongPlcDeviceDriver;
                     TrafficLightDeviceDriver trafficLightDeviceDriver;
-                    int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
 
                     if (phase == 0x01) {
-                        data = AgvService.sendAgvOneModeInst(phase, index);
+                        //data = AgvService.sendAgvOneModeInst(phase, index);
                         if (!ObjectUtil.isEmpty(inst)) {
                             inst.setInstruction_status("1");
                             inst.setAgv_jobno(String.valueOf(index));
                             inst.setSend_status("1");
                             instructionService.update(inst);
                             data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                            // 反馈wms任务状态---执行中
+                            JSONObject feed_jo = new JSONObject();
+                            feed_jo.put("task_code", inst.getTask_code());
+                            feed_jo.put("task_status", "1");
+                            JSONArray ja = new JSONArray();
+                            ja.add(feed_jo);
+
+                            acsToWmsService.feedbackTaskStatusToWms(ja);
+                            log.info("agv任务状态-执行中反馈成功,设备号{},任务号{}", device_code, inst.getTask_code());
+
                         }
                         flag = true;
                     }
@@ -187,6 +195,29 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             log.info("未找到指令号{}对应的指令", ikey);
                             break;
                         }
+
+                        //普通站点
+                        if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                            JSONObject map = new JSONObject();
+                            map.put("task_code", inst.getTask_code());
+                            map.put("status", "1");
+                            map.put("device_code", device_code);
+                            map.put("vehicle_code", inst.getVehicle_code());
+                            HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map);
+                            String body = httpResponse.body();
+                            JSONObject resJson = JSONObject.parseObject(body);
+                            String message = resJson.getString("message");
+                            int status = Integer.parseInt(resJson.getString("status"));
+                            if (status == 200) {
+                                inst.setExecute_status("1");
+                                instructionService.update(inst);
+                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                flag = true;
+                                log.info("agv请求取货反馈成功,设备号{},任务号{}", device_code, inst.getTask_code());
+                            } else {
+                                log.info("agv请求取货,wms系统不允许取货,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message);
+                            }
+                        }
                         //检测站点
                         if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                             standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -238,6 +269,29 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             break;
                         }
 
+                        //普通站点
+                        if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                            JSONObject map = new JSONObject();
+                            map.put("task_code", inst.getTask_code());
+                            map.put("status", "2");
+                            map.put("device_code", device_code);
+                            map.put("vehicle_code", inst.getVehicle_code());
+                            HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map);
+                            String body = httpResponse.body();
+                            JSONObject resJson = JSONObject.parseObject(body);
+                            String message = resJson.getString("message");
+                            int status = Integer.parseInt(resJson.getString("status"));
+                            if (status == 200) {
+                                inst.setExecute_status("5");
+                                instructionService.update(inst);
+                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                flag = true;
+                                log.info("agv取货完成反馈成功,设备号{},任务号{}", device_code, inst.getTask_code());
+                            } else {
+                                log.info("agv请求取货完成请求离开,wms系统不允许离开,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message);
+                            }
+                        }
+
                         if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                             standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
                             if (standardInspectSiteDeviceDriver.getMove() == 0) {
@@ -288,6 +342,30 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             log.info("未找到指令号{}对应的指令", ikey);
                             break;
                         }
+
+                        //普通站点
+                        if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                            JSONObject map = new JSONObject();
+                            map.put("task_code", inst.getTask_code());
+                            map.put("status", "3");
+                            map.put("device_code", device_code);
+                            map.put("vehicle_code", inst.getVehicle_code());
+                            HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map);
+                            String body = httpResponse.body();
+                            JSONObject resJson = JSONObject.parseObject(body);
+                            String message = resJson.getString("message");
+                            int status = Integer.parseInt(resJson.getString("status"));
+                            if (status == 200) {
+                                inst.setExecute_status("3");
+                                instructionService.update(inst);
+                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                flag = true;
+                                log.info("agv请求放货反馈成功,设备号{},任务号{}", device_code, inst.getTask_code());
+                            } else {
+                                log.info("agv请求放货,wms系统不允许放货,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message);
+                            }
+                        }
+
                         if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                             standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
                             if (standardInspectSiteDeviceDriver.getMove() == 0) {
@@ -325,6 +403,29 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             break;
                         }
 
+                        //普通站点
+                        if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                            JSONObject map = new JSONObject();
+                            map.put("task_code", inst.getTask_code());
+                            map.put("status", "4");
+                            map.put("device_code", device_code);
+                            map.put("vehicle_code", inst.getVehicle_code());
+                            HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map);
+                            String body = httpResponse.body();
+                            JSONObject resJson = JSONObject.parseObject(body);
+                            String message = resJson.getString("message");
+                            int status = Integer.parseInt(resJson.getString("status"));
+                            if (status == 200) {
+                                inst.setExecute_status("6");
+                                instructionService.update(inst);
+                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                flag = true;
+                                log.info("agv放货完成反馈成功,设备号{},任务号{}", device_code, inst.getTask_code());
+                            } else {
+                                log.info("agv放货完成请求离开,wms系统不允许离开,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message);
+                            }
+                        }
+
                         if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                             standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
                             if (standardInspectSiteDeviceDriver.getMove() != 0) {
@@ -363,6 +464,15 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         if (!ObjectUtil.isEmpty(inst)) {
                             inst.setInstruction_status("2");
                             instructionService.finish(inst);
+
+                            //反馈wms任务状态---完成
+                            JSONObject feed_jo = new JSONObject();
+                            feed_jo.put("task_code", inst.getTask_code());
+                            feed_jo.put("task_status", "2");
+                            JSONArray ja = new JSONArray();
+                            ja.add(feed_jo);
+                            acsToWmsService.feedbackTaskStatusToWms(ja);
+                            log.info("agv任务完成反馈成功,设备号{},任务号{}", device_code, inst.getTask_code());
                         }
                         data = AgvService.sendAgvOneModeInst(phase, index, 0);
                     }
@@ -503,6 +613,9 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         dto.setName(String.valueOf(carno));
                         dto.setEnergyLevel(String.valueOf(ikey));
                     }
+                    if (!ObjectUtil.isEmpty(data)) {
+                        write(data);
+                    }
 
                 } else {
                     System.out.println("agv上报不是0073类型动作，不处理");

acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NdcAutoReconnection.java

@@ -0,0 +1,32 @@
+package org.nl.start.auto.run;
+
+import cn.hutool.core.util.StrUtil;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.config.AcsConfig;
+import org.nl.acs.config.server.AcsConfigService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+/**
+ * ndc掉线自动重连
+ */
+@Slf4j
+@Component
+public class NdcAutoReconnection {
+
+    @Autowired
+    AcsConfigService acsConfigService;
+
+    @Autowired
+    AutoRunService autoRunService;
+
+    public void run(String threadCode) throws Exception {
+        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.NDC_RECONNECTION).toString(), "1")) {
+
+            if (!autoRunService.getThreadByCode(threadCode).isAlive()) {
+                autoRunService.startThread(threadCode);
+            }
+
+        }
+    }
+}

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

@@ -8,11 +8,11 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:hl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:szhr}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
 #      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:rljn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
 #      password: ${DB_PWD:P@ssw0rd}
-      password: ${DB_PWD:Root.123456}
+      password: ${DB_PWD:password}
 #      password: ${DB_PWD:123456}
       # 初始连接数
       initial-size: 5

acs/qd/.env.development

@@ -1,7 +1,7 @@
 ENV = 'development'
 
 # 接口地址
-VUE_APP_BASE_API  = 'http://192.168.81.140:8010'
+VUE_APP_BASE_API  = 'http://127.0.0.1:8010'
 VUE_APP_WS_API = 'ws://127.0.0.1:8010'
 
 # 是否启用 babel-plugin-dynamic-import-node插件