add:新增一体机接口

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/ToAgvDevice.java

@@ -0,0 +1,50 @@
+package org.nl.acs.agv;
+
+
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.enums.DeviceType;
+import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.hand.service.PdaService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+/**
+ * 查询AGV设备状态
+ */
+@Slf4j
+@Component
+public class ToAgvDevice {
+
+    @Autowired
+    AgvService agvService;
+    @Autowired
+    DeviceAppService deviceAppService;
+    @Autowired
+    PdaService pdaService;
+
+    public void run() throws Exception {
+        JSONArray agv_rows = new JSONArray();
+        AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
+        List<Device> deviceList = deviceAppService.findDeviceByType(DeviceType.agv);
+        for(Device device:deviceList) {
+            if (device.getDeviceDriver()instanceof AgvNdcTwoDeviceDriver){
+                JSONObject row = new JSONObject();
+                agvNdcTwoDeviceDriver= (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
+                row.put("device_code", String.valueOf(device.getDevice_code()));
+                row.put("positionX", String.valueOf(agvNdcTwoDeviceDriver.getX()));
+                row.put("positionY", String.valueOf(agvNdcTwoDeviceDriver.getY()));
+                row.put("positionAngle", String.valueOf(agvNdcTwoDeviceDriver.getAngle()));
+                agv_rows.add(row);
+            }
+        }
+
+        pdaService.feedbackAgv(agv_rows);
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -36,6 +36,8 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.region.domain.Region;
+import org.nl.acs.region.service.RegionService;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.acs.task.service.impl.TaskServiceImpl;
@@ -65,6 +67,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
     NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
     DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
+    RegionService regionService = SpringContextHolder.getBean(RegionService.class);
     DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
     DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
     DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
@@ -234,15 +237,26 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
             if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
-                String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
+                //放货确认
-                log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
+                if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
-                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
-                LuceneLogDto logDto = LuceneLogDto.builder()
+                    LuceneLogDto logDto = LuceneLogDto.builder()
-                        .device_code(this.getDeviceCode())
+                            .device_code(this.getDeviceCode())
-                        .content("agvphase:" + phase + "反馈:" + data)
+                            .content("agvphase:" + phase + "反馈:" + data)
-                        .build();
+                            .build();
-                logDto.setLog_level(4);
+                    logDto.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(logDto);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                    standardOrdinarySiteDeviceDriver.setOption(0);
+                } else {
+                    log.info("等待一体机进行放货确认，设备号{},option值{}", standardOrdinarySiteDeviceDriver.getDevice_code(), standardOrdinarySiteDeviceDriver.getOption());
+                    logServer.deviceExecuteLog(this.device_code, "", "", "等待一体机进行放货确认,设备号" + device.getDevice_code() + ",指令号" + ikey);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(standardOrdinarySiteDeviceDriver.getDevice_code())
+                            .content("等待一体机进行放货确认,设备号" + standardOrdinarySiteDeviceDriver.getDevice_code() + ",option当前值" + standardOrdinarySiteDeviceDriver.getOption())
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                }
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -589,7 +603,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
                 }
-
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                 try {
@@ -729,7 +742,176 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 logDto.setLog_level(4);
                 luceneExecuteLogService.deviceExecuteLog(logDto);
             }
+        } else if (phase == 0x4D) {
+            if (agvaddr == 0) {
+                agvaddr = agvaddr_copy;
+            }
+            if (agvaddr < 1) {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("agv地址参数有误,phase:" + phase)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                return;
+            }
+            if (agvaddr != 0) {
+                CommonFinalParam commonFinalParam = new CommonFinalParam();
+                old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
+                if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
+                    String[] point = old_device_code.split(commonFinalParam.getBARRE());
+                    device_code = point[0];
+                } else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
+                    String[] point = old_device_code.split("\\.");
+                    device_code = point[0];
+                    emptyNum = point[1];
+                } else {
+                    device_code = old_device_code;
+                }
+            }
+
+            device = deviceAppService.findDeviceByCode(device_code);
+            if (ObjectUtil.isEmpty(device_code)) {
+                log.info(agvaddr + "对应设备号为空!");
+                return;
+            }
+            if (ObjectUtil.isEmpty(inst)) {
+                log.info("未找到指令号{}对应的指令", ikey);
+                return;
+            }
+
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                Region region = regionService.findByCode("1");
+                if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
+                        && StrUtil.equals("true", device.getExtraValue().get("wait").toString()) ) {
+                    if (StrUtil.equals(region.getIs_charge(), CommonFinalParam.ZERO)) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                        LuceneLogDto logDto = LuceneLogDto.builder()
+                                .device_code(this.getDeviceCode())
+                                .content("agvphase:" + phase + "反馈:" + data)
+                                .build();
+                        logDto.setLog_level(4);
+                        luceneExecuteLogService.deviceExecuteLog(logDto);
+                        if (standardOrdinarySiteDeviceDriver.getOpenCount() == 0) {
+                            region.setIs_charge("1");
+                            region.setHas_agv("0");
+                            regionService.updateById(region);
+                            standardOrdinarySiteDeviceDriver.setOpenCount(standardOrdinarySiteDeviceDriver.getOpenCount() + 1);
+
+                        }
+                        if (standardOrdinarySiteDeviceDriver.getOpenCount() == 1) {
+                            region.setIs_charge("0");
+                            region.setHas_agv("1");
+                            regionService.updateById(region);
+                            standardOrdinarySiteDeviceDriver.setOpenCount(0);
+                        }
+                    }else {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                        LuceneLogDto logDto = LuceneLogDto.builder()
+                                .device_code(this.getDeviceCode())
+                                .content(region.getRegion_name()+"被管制!")
+                                .build();
+                        logDto.setLog_level(4);
+                        luceneExecuteLogService.deviceExecuteLog(logDto);
+                    }
+                } else {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(this.getDeviceCode())
+                            .content("agvphase:" + phase + "反馈:" + data)
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                }
+            }
         }
+
+        else if (phase == 0x4E) {
+            if (agvaddr == 0) {
+                agvaddr = agvaddr_copy;
+            }
+            if (agvaddr < 1) {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("agv地址参数有误,phase:" + phase)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                return;
+            }
+            if (agvaddr != 0) {
+                CommonFinalParam commonFinalParam = new CommonFinalParam();
+                old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
+                if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
+                    String[] point = old_device_code.split(commonFinalParam.getBARRE());
+                    device_code = point[0];
+                } else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
+                    String[] point = old_device_code.split("\\.");
+                    device_code = point[0];
+                    emptyNum = point[1];
+                } else {
+                    device_code = old_device_code;
+                }
+            }
+
+            device = deviceAppService.findDeviceByCode(device_code);
+            if (ObjectUtil.isEmpty(device_code)) {
+                log.info(agvaddr + "对应设备号为空!");
+                return;
+            }
+            if (ObjectUtil.isEmpty(inst)) {
+                log.info("未找到指令号{}对应的指令", ikey);
+                return;
+            }
+
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                Region region = regionService.findByCode("1");
+                if (ObjectUtil.isNotEmpty(device.getExtraValue().get("reqWms"))
+                        && StrUtil.equals("true", device.getExtraValue().get("reqWms").toString())) {
+                    if (StrUtil.equals(region.getIs_charge(), CommonFinalParam.ZERO)) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                        LuceneLogDto logDto = LuceneLogDto.builder()
+                                .device_code(this.getDeviceCode())
+                                .content("agvphase:" + phase + "反馈:" + data)
+                                .build();
+                        logDto.setLog_level(4);
+                        luceneExecuteLogService.deviceExecuteLog(logDto);
+
+                        if (standardOrdinarySiteDeviceDriver.getCloseCount() == 0) {
+                            region.setIs_charge("0");
+                            region.setHas_agv("1");
+                            regionService.updateById(region);
+                            standardOrdinarySiteDeviceDriver.setOpenCount(standardOrdinarySiteDeviceDriver.getOpenCount() + 1);
+                        }
+                        if (standardOrdinarySiteDeviceDriver.getCloseCount() == 1) {
+                            region.setIs_charge("1");
+                            region.setHas_agv("0");
+                            regionService.updateById(region);
+                            standardOrdinarySiteDeviceDriver.setCloseCount(0);
+                        }
+                    }else {
+                        LuceneLogDto logDto = LuceneLogDto.builder()
+                                .device_code(this.getDeviceCode())
+                                .content(region.getRegion_name()+"被管制!")
+                                .build();
+                        logDto.setLog_level(4);
+                        luceneExecuteLogService.deviceExecuteLog(logDto);
+                    }
+                } else {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(this.getDeviceCode())
+                            .content("agvphase:" + phase + "反馈:" + data)
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                }
+            }
+        }
+
+
         //放货完成
         //(Itype=1/2/3,需要WCS反馈)
         else if (phase == 0x09) {
@@ -771,22 +953,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             }
             if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
-                log.info("日志检查!" + device.getExtraValue().get("wait") + standardOrdinarySiteDeviceDriver.getOption());
+                //卸货确认
-                if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
+                if (standardOrdinarySiteDeviceDriver.getOption() == 2) {
-                        && StrUtil.equals("true", device.getExtraValue().get("wait").toString())) {
-                    if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
-                        LuceneLogDto logDto = LuceneLogDto.builder()
-                                .device_code(this.getDeviceCode())
-                                .content("agvphase:" + phase + "反馈:" + data)
-                                .build();
-                        logDto.setLog_level(4);
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
-                        standardOrdinarySiteDeviceDriver.setAgvphase(phase);
-                        standardOrdinarySiteDeviceDriver.setIndex(index);
-                        standardOrdinarySiteDeviceDriver.setInst(inst);
-                    }
-                } else {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
@@ -794,6 +962,16 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             .build();
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
+                    standardOrdinarySiteDeviceDriver.setOption(0);
+                } else {
+                    log.info("等待一体机进行卸货确认，设备号{},option值{}", standardOrdinarySiteDeviceDriver.getDevice_code(), standardOrdinarySiteDeviceDriver.getOption());
+                    logServer.deviceExecuteLog(this.device_code, "", "", "等待一体机进行卸货确认,设备号" + device.getDevice_code() + ",指令号" + ikey);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(standardOrdinarySiteDeviceDriver.getDevice_code())
+                            .content("等待一体机进行卸货确认,设备号" + standardOrdinarySiteDeviceDriver.getDevice_code() + ",option当前值" + standardOrdinarySiteDeviceDriver.getOption())
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
                 }
 
             } else {
@@ -805,10 +983,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 logDto.setLog_level(4);
                 luceneExecuteLogService.deviceExecuteLog(logDto);
             }
-        }
+        } else if (phase == 0x70) {
-
-        //上传AGV电量
-        else if (phase == 0x70) {
             //x坐标
             x = ikey;
             LuceneLogDto logDto = LuceneLogDto.builder()

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java

@@ -158,6 +158,10 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
 
     int move;
 
+    int openCount = 0;
+
+    int closeCount = 0;
+
     @Override
     public void execute() {
         hasGoods = this.getDevice().getHas_goods();
@@ -264,8 +268,8 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
             jo.put("hasGoods", true);
         }
         DeviceDto dto = deviceservice.findByCode(this.getDevice().getDevice_code());
-        jo.put("zh_device_name",dto.getZh_device_name());
+        jo.put("zh_device_name", dto.getZh_device_name());
-        jo.put("en_device_name",dto.getEn_device_name());
+        jo.put("en_device_name", dto.getEn_device_name());
         jo.put("mode", mode);
         jo.put("move", move);
         jo.put("action", action);
@@ -281,7 +285,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
     @Override
     public void setDeviceStatus(JSONObject data) {
         String flag = data.getString("option");
-        if(StrUtil.isNotEmpty(flag)){
+        if (StrUtil.isNotEmpty(flag)) {
             option = Integer.parseInt(flag);
         }
     }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/rest/PdaController.java

@@ -105,5 +105,12 @@ public class PdaController {
         return new ResponseEntity<>(pdaService.cancel(whereJson), HttpStatus.OK);
     }
 
+    @PostMapping("/queryDevice")
+    @Log(value = "一体机查询设备状态")
+    @SaIgnore
+    public ResponseEntity<Object> queryDevice(@RequestBody String whereJson) throws Exception {
+        return new ResponseEntity<>(pdaService.queryDevice(whereJson), HttpStatus.OK);
+    }
+
 
 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/PdaService.java

@@ -1,5 +1,6 @@
 package org.nl.hand.service;
 
+import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import org.nl.acs.task.service.dto.TaskIdAndStatusDTO;
@@ -28,4 +29,14 @@ public interface PdaService {
     JSONArray queryAreas();
 
     Map<String, Object> putAction(String whereJson);
+
+    HttpResponse feedbackAgv(JSONArray agv_rows);
+
+    /**
+     * 查询设备状态
+     *
+     * @param jsonObject 条件
+     * @return Map<String, Object>
+     */
+    Map<String, Object> queryDevice(String jsonObject) throws Exception;
 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/PdaServiceImpl.java

@@ -3,21 +3,39 @@ package org.nl.hand.service.impl;
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.toolkit.StringUtils;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.AcsConfig;
+import org.nl.acs.address.service.AddressService;
+import org.nl.acs.address.service.dto.AddressDto;
 import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver;
+import org.nl.acs.device_driver.conveyor.box_palletizing_manipulator.BoxPalletizingManipulatorDeviceDriver;
 import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
+import org.nl.acs.device_driver.one_conveyor.fold_disc_site.FoldDiscSiteDeviceDriver;
+import org.nl.acs.device_driver.one_manipulator.box_package_manipulator.BoxPackageManipulatorDeviceDriver;
+import org.nl.acs.device_driver.paper_tube_device2.PaperTubeConveyor2DeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.blank_manipulator.BlankManipulatorDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.hongxiang_device.HongXiangConveyorDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.inflatable_shaft_library.InflatableShaftLibraryDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.oven_manipulator.OvenGantryManipulatorDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.subvolume_weighing_station.SubvolumeWeighingStationDriver;
+import org.nl.acs.device_driver.two_conveyor.waste_foil_weighing_station.WasteFoilWeighingStationDriver;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.region.domain.Region;
 import org.nl.acs.region.service.RegionService;
+import org.nl.acs.storage_cell.domain.StorageCell;
 import org.nl.acs.task.enums.TaskStatusEnum;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
@@ -30,6 +48,7 @@ import org.nl.hand.service.HandService;
 import org.nl.hand.service.PdaService;
 import org.nl.system.service.dict.dao.Dict;
 import org.nl.system.service.dict.dao.mapper.SysDictMapper;
+import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.http.HttpStatus;
@@ -61,6 +80,12 @@ public class PdaServiceImpl implements PdaService {
     @Autowired
     private InstructionService instructionService;
 
+    @Autowired
+    ISysParamService paramService;
+
+    @Autowired
+    AddressService addressService;
+
     @Override
     public JSONArray queryAllPoints() {
         JSONArray data = new JSONArray();
@@ -205,12 +230,12 @@ public class PdaServiceImpl implements PdaService {
     @Override
     public JSONArray queryTaskIds() {
         //查询所有就绪或者执行中的任务
+        JSONArray result = new JSONArray();
         List<TaskDto> list = taskserver.queryAllUnfinished();
         if (CollectionUtil.isEmpty(list)) {
-            throw new BadRequestException(LangProcess.msg("error_no_regional"));
+            return result;
         }
         JSONArray arr = JSONArray.parseArray(JSON.toJSONString(list));
-        JSONArray result = new JSONArray();
         for (int i = 0; i < arr.size(); i++) {
             JSONObject obj = arr.getJSONObject(i);
             JSONObject json = new JSONObject();
@@ -227,12 +252,17 @@ public class PdaServiceImpl implements PdaService {
         JSONObject resultJson = new JSONObject();
         TaskDto dto = taskserver.findByCode(task_code);
         if (Integer.parseInt(dto.getTask_status())==0) {
+            try {
+                taskserver.cancel(dto.getTask_id());
+            } catch (Exception e) {
+                resultJson.put("message", e.getMessage());
+                return resultJson;
+            }
             resultJson.put("message", "取消成功");
             return resultJson;
         }
-        Instruction instruction = instructionService.findByTaskid(dto.getTask_id(),"instruction_status <2 ");
         try {
-            instructionService.cancel(instruction.getInstruction_id());
+            taskserver.cancelAndInst(dto.getTask_id());
         } catch (Exception e) {
             resultJson.put("message", e.getMessage());
             return resultJson;
@@ -271,4 +301,63 @@ public class PdaServiceImpl implements PdaService {
         }
         return resultJson;
     }
+
+    @Override
+    public HttpResponse feedbackAgv(JSONArray from) {
+        String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+
+        AddressDto addressDto = addressService.findByCode("feedbackAgv");
+        String methods_url = addressDto.getMethods_url();
+        String url = wmsUrl + methods_url;
+        HttpResponse result = null;
+        try {
+            result = HttpRequest.post(url)
+                    .body(String.valueOf(from))
+                    .execute();
+            System.out.println(result);
+            log.info("feedbackAgv----返回参数{}", result);
+        } catch (Exception e) {
+            String msg = e.getMessage();
+            //网络不通
+            //System.out.println(msg);
+        }
+        return result;
+    }
+
+    @Override
+    public Map<String, Object> queryDevice(String jsonObject) throws Exception {
+        JSONArray backja = new JSONArray();
+        JSONArray datas = JSONArray.parseArray(jsonObject);
+        //agv
+        AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
+
+        if (datas.size() == 0) {
+            throw new BadRequestException("缺少输入参数！");
+        }
+
+        for (int i = 0; i < datas.size(); i++) {
+            JSONObject jo = new JSONObject();
+            JSONObject ja = new JSONObject();
+            JSONObject data = datas.getJSONObject(i);
+            String device_code = data.getString("device_code");
+            Device device = deviceAppService.findDeviceByCode(device_code);
+            if (ObjectUtil.isEmpty(device)) {
+                throw new Exception("未找到对应设备:" + device_code);
+            }
+            if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
+                agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
+                jo.put("device_code", agvNdcTwoDeviceDriver.getDevice().getDevice_code());
+                jo.put("x", agvNdcTwoDeviceDriver.getX());
+                jo.put("y", agvNdcTwoDeviceDriver.getY());
+                jo.put("angle", agvNdcTwoDeviceDriver.getAngle());
+                ja.put(agvNdcTwoDeviceDriver.getDevice().getDevice_code(),jo);
+            }
+            backja.add(ja);
+        }
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("status", HttpStatus.OK.value());
+        resultJson.put("message", "操作成功");
+        resultJson.put("data", backja);
+        return resultJson;
+    }
 }

acs2/nladmin-ui/src/views/acs/device/config.vue

@@ -74,6 +74,7 @@ import crud from '@/mixins/crud'
 import { get, selectDriverCodeList } from '@/api/acs/device/driverConfig'
 import { getDicts } from '@/views/system/dict/dict'
 import standard_autodoor from '@/views/acs/device/driver/standard_autodoor'
+import standard_conveyor_with_inspect from '@/views/acs/device/driver/standard_conveyor_with_inspect'
 import standard_inspect_site from './driver/standard_inspect_site'
 import ranging_stations from './driver/ranging_stations'
 import standard_ordinary_site from './driver/standard_ordinary_site'
@@ -198,7 +199,8 @@ export default {
     manipulator_cache,
     paper_tube_pick_size,
     one_rgv,
-    die_manipulator
+    die_manipulator,
+    standard_conveyor_with_inspect
   },
   dicts: ['device_type'],
   mixins: [crud],

acs2/nladmin-ui/src/views/acs/device/driver/standard_conveyor_with_inspect.vue

@@ -0,0 +1,413 @@
+<template>
+  <!--标准版-带光电检测站点-->
+  <div>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-row>
+        <el-col :span="12">
+          OpcServer:
+          <el-select
+            v-model="opc_id"
+            placeholder="无"
+            clearable
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">输送系统：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="12">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-switch v-model="form.OPCServer" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="12">
+            <el-form-item label="选择区域" prop="region">
+              <el-select
+                v-model="form.region"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in region"
+                  :key="item.region_number"
+                  :label="item.region_name"
+                  :value="item.region_number"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="12">
+            <el-form-item label="关联设备" prop="device_code" label-width="135px">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_name"
+                  :label="item.device_code"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC读取字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data1"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data1[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishReadEdit(data1[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+<!--    <el-card class="box-card" shadow="never">-->
+<!--      <div slot="header" class="clearfix">-->
+<!--        <span class="role-span">PLC写入字段：</span>-->
+<!--      </div>-->
+<!--      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">-->
+<!--        <el-table-->
+<!--          v-loading="false"-->
+<!--          :data="data2"-->
+<!--          :max-height="550"-->
+<!--          size="small"-->
+<!--          style="width: 100%;margin-bottom: 15px"-->
+<!--        >-->
+
+<!--          <el-table-column prop="name" label="用途" />-->
+<!--          <el-table-column prop="code" label="别名要求" />-->
+<!--          <el-table-column prop="db" label="DB块">-->
+<!--            <template slot-scope="scope">-->
+<!--              <el-input-->
+<!--                v-model="data2[scope.$index].db"-->
+<!--                size="mini"-->
+<!--                class="edit-input"-->
+<!--                @input="finishWriteEdit(data2[scope.$index])"-->
+<!--              />-->
+<!--            </template>-->
+<!--          </el-table-column>-->
+<!--          <el-table-column prop="dbr_value2">-->
+<!--            <template slot="header">-->
+<!--              <el-link type="primary" :underline="false" @click.native="test_read2()">测试读</el-link>-->
+<!--            </template>-->
+<!--            <template slot-scope="scope">-->
+<!--              <el-input v-model="data2[scope.$index].dbr_value" size="mini" class="edit-input" />-->
+<!--            </template>-->
+<!--          </el-table-column>-->
+<!--          <el-table-column prop="dbw_value">-->
+<!--            <template slot="header">-->
+<!--              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>-->
+<!--            </template>-->
+<!--            <template slot-scope="scope">-->
+<!--              <el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />-->
+<!--            </template>-->
+<!--          </el-table-column>-->
+<!--        </el-table>-->
+<!--      </el-form>-->
+<!--    </el-card>-->
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+import deviceCrud from '@/api/acs/device/device'
+
+import crud from '@/mixins/crud'
+
+export default {
+  name: 'StandardConveyorWithInspect',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      required: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true
+      },
+      rules: {},
+      region: [
+        { region_name: '区域一', region_number: '1' },
+        { region_name: '区域二', region_number: '2' },
+        { region_name: '区域三', region_number: '3' }
+      ]
+    }
+  },
+  created() {
+    this.$nextTick(() => {
+      // 从父表单获取设备编码
+      this.device_id = this.$props.parentForm.device_id
+      this.device_code = this.$props.parentForm.device_code
+      queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
+        // 给表单赋值，并且属性不能为空
+        if (data.form) {
+          const arr = Object.keys(data.form)
+          // 不为空
+          if (arr.length > 0) {
+            this.form = data.form
+          }
+        }
+
+        // 给表单赋值，并且属性不能为空
+        if (data.parentForm) {
+          const arr = Object.keys(data.parentForm)
+          // 不为空
+          if (arr.length > 0) {
+            this.opc_code = data.parentForm.opc_code
+            this.plc_code = data.parentForm.plc_code
+          }
+        }
+        this.data1 = data.rs
+        this.data2 = data.ws
+        this.sliceItem()
+      })
+      selectPlcList().then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = this.$props.parentForm.opc_plc_id
+      })
+      selectOpcList().then(data => {
+        this.dataOpcservers = data
+        this.opc_id = this.$props.parentForm.opc_server_id
+      })
+      deviceCrud.selectDeviceList().then(data => {
+        this.deviceList = data
+      })
+    })
+  },
+  methods: {
+    changeOpc(val) {
+      this.dataOpcservers.forEach(item => {
+        if (item.opc_id === val) {
+          this.opc_code = item.opc_code
+        }
+      })
+      selectListByOpcID(val).then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = ''
+        this.plc_code = ''
+        if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
+          this.plc_id = this.dataOpcPlcs[0].plc_id
+          this.plc_code = this.dataOpcPlcs[0].plc_code
+        }
+        this.sliceItem()
+      })
+    },
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        for (const val in this.data1) {
+          if (this.data1[val].code.indexOf('action') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 1)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+        }
+      }
+    },
+    changePlc(val) {
+      this.dataOpcPlcs.forEach(item => {
+        if (item.plc_id === val) {
+          this.plc_code = item.plc_code
+          this.sliceItem()
+          return
+        }
+      })
+    },
+    test_read1() {
+      testRead(this.data1, this.opc_id).then(data => {
+        this.data1 = data
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_write1() {
+      testwrite(this.data2, this.opc_id).then(data => {
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_read2() {
+      testRead(this.data2, this.opc_id).then(data => {
+        this.data2 = data
+        console.log(this.data2)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    doSubmit() {
+      this.$refs['form'].validate((valid) => {
+        if (valid) {
+          this.configLoading = true
+          // 根据驱动类型判断是否为路由设备
+          const parentForm = this.parentForm
+          parentForm.is_route = true
+          parentForm.plc_id = this.plc_id
+          parentForm.opc_id = this.opc_id
+          updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
+            this.notify('保存成功', 'success')
+            this.configLoading = false
+          }).catch(err => {
+            this.configLoading = false
+            console.log(err.response.data.message)
+          })
+        }
+      })
+    },
+    sliceItem() { // 拼接DB的Item值
+      this.data1.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+      this.data2.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+    }
+  }
+}
+</script>
+
+<style scoped>
+
+</style>