add:新增rgv驱动

acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java

@@ -63,7 +63,9 @@ public enum DriverTypeEnum {
 
     INDOOR_MANIPULATOR(24,"indoor_manipulator","内包间-行架机械手","station"),
 
-    PLUGGING_UNPLUGGING_MACHINE(25,"plugging_unplugging_machine","插拔轴机","station");
+    PLUGGING_UNPLUGGING_MACHINE(25,"plugging_unplugging_machine","插拔轴机","station"),
+
+    RGV(28,"rgv","rgv","conveyor");
 
 
     //驱动索引

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/casing_station/CasingStationConveyorDeviceDriver.java

@@ -99,6 +99,9 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
     String material2 = null;
     String last_material2 = null;
 
+    int qty = 0;
+    int last_qty = 0;
+
 
     //下发命令
     int to_command = 0;
@@ -135,6 +138,7 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             task = this.itemProtocol.getTask();
             material1 = this.itemProtocol.getMaterial1();
             material2 = this.itemProtocol.getMaterial2();
+            qty = this.itemProtocol.getQty();
 
             to_command = this.itemProtocol.getTo_command();
 
@@ -186,6 +190,11 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
             }
 
+            if (qty != last_qty) {
+                logServer.deviceItemValue(this.device_code, "qty", String.valueOf(qty));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号qty：" + last_qty + "->" + qty);
+            }
+
             if (move != 0 && task > 1) {
                 update_instruction_status();
             }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/casing_station/ItemProtocol.java

@@ -28,6 +28,8 @@ public class ItemProtocol {
     public static String item_material1 = "material1";
     //物料2
     public static String item_material2 = "material2";
+    //数量
+    public static String item_qty = "qty";
 
     //下发命令
     public static String item_to_command = "to_command";
@@ -48,6 +50,10 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_move);
     }
 
+    public int getQty() {
+        return this.getOpcIntegerValue(item_qty);
+    }
+
     public int getCarrier_direction() {
         return this.getOpcIntegerValue(item_carrier_direction);
     }
@@ -108,12 +114,13 @@ public class ItemProtocol {
         list.add(new ItemDto(item_task, "任务号", "DB101.W6"));
         list.add(new ItemDto(item_material1, "物料1", "DB101.W7"));
         list.add(new ItemDto(item_material2, "物料2", "DB101.W8"));
+        list.add(new ItemDto(item_qty, "数量", "DB101.W114"));
         return list;
     }
 
     public static List<ItemDto> getWriteableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_to_command, "下发命令", "DB102.W4"));
+        list.add(new ItemDto(item_to_command, "下发命令", "DB201.W4"));
         return list;
     }
 

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java

@@ -146,6 +146,11 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
                         bushingSucess();
                     }
                     break;
+                case 6:
+                    if (task1 > 0  && !requireSucess) {
+                        pullingSucess();
+                    }
+                    break;
                 default:
                     break;
 
@@ -159,6 +164,31 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
         last_task2 = task2;
     }
 
+    private synchronized void pullingSucess() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        Instruction inst1 = instructionService.findByCode(String.valueOf(task1));
+        String task_code1 = inst1.getTask_code();
+        applyManipulatorActionRequest.setTask_code1(task_code1);
+        applyManipulatorActionRequest.setType("8");
+        applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+        if (applyManipulatorActionResponse.getstatus()==200) {
+            Map<String, Object> map = new LinkedHashMap<>();
+            map.put("to_command", 6);
+            this.writing(map);
+            requireSucess = true;
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请拔轴,返回参数:" + applyManipulatorActionResponse);
+            message = "拔轴完成成功";
+        }else{
+            message = applyManipulatorActionResponse.getMessage();
+            Map<String, Object> map = new LinkedHashMap<>();
+            map.put("to_command", 99);
+            requireSucess = true;
+            message = "拔轴失败";
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请拔轴,返回参数:" + applyManipulatorActionResponse);
+        }
+    }
+
 
     private synchronized void bushingSucess() {
         ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
@@ -175,6 +205,7 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
         if (applyManipulatorActionResponse.getstatus()==200) {
             Map<String, Object> map = new LinkedHashMap<>();
             map.put("to_command", 5);
+            this.writing(map);
             requireSucess = true;
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
             message = "套轴完成成功";
@@ -182,6 +213,7 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
             message = applyManipulatorActionResponse.getMessage();
             Map<String, Object> map = new LinkedHashMap<>();
             map.put("to_command", 99);
+            this.writing(map);
             requireSucess = true;
             message = "套轴失败";
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
@@ -203,6 +235,7 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
         if (applyManipulatorActionResponse.getstatus()==200) {
             Map<String, Object> map = new LinkedHashMap<>();
             map.put("to_command", 4);
+            this.writing(map);
             requireSucess = true;
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
             message = "套轴申请成功";
@@ -210,6 +243,7 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
             message = applyManipulatorActionResponse.getMessage();
             Map<String, Object> map = new LinkedHashMap<>();
             map.put("to_command", 99);
+            this.writing(map);
             requireSucess = true;
             message = "申请失败";
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
@@ -225,22 +259,32 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
         }
     }
 
-    public void writing(List list) {
+    /**
+     * 抽取统一下发电气信号前缀
+     *
+     * @return
+     */
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
 
-        //String opcservcerid = this.getDevice().getOpc_server_id();
-//Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        for (int i = 0; i < list.size(); i++) {
-            Object ob = list.get(i);
-            JSONObject json = (JSONObject) JSONObject.toJSON(ob);
-            if (!StrUtil.isEmpty(json.getString("value"))) {
-                String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                        + "." + json.getString("code");
-                itemMap.put(to_param, json.getString("value"));
+    /**
+     * 多个信号一起下发电气
+     *
+     * @param map
+     */
+    public void writing(Map<String, Object> map) {
+        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+        Map<String, Object> itemMap = new LinkedHashMap<>();
+        map.forEach((key, value) -> {
+            if (ObjectUtil.isNotEmpty(value)) {
+                itemMap.put(getToParam() + key, value);
             }
+        });
+        if (ObjectUtil.isNotEmpty(itemMap)) {
+            this.control(itemMap);
+            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
         }
-        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号:" + itemMap);
-        this.control(itemMap);
     }
 
     //将扩展表中的字符串数据转换成集合

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/ItemProtocol.java

@@ -0,0 +1,103 @@
+package org.nl.acs.device_driver.basedriver.rgv;
+
+
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+    public static String item_heartbeat = "heartbeat";
+    public static String item_mode = "mode";
+    public static String item_move1 = "move1";
+    public static String item_move2 = "move2";
+    public static String item_error = "error";
+    public static String item_task = "task";
+    public static String item_qty1 = "qty1";
+    public static String item_qty2 = "qty2";
+    public static String item_to_command = "to_command";
+
+
+    private RgvDeviceDriver driver;
+
+    public ItemProtocol(RgvDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getHeartbeat() {
+        return this.getOpcIntegerValue(item_heartbeat);
+    }
+
+    public int getMode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getMove1() {
+        return this.getOpcIntegerValue(item_move1);
+    }
+
+    public int getMove2() {
+        return this.getOpcIntegerValue(item_move2);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getQty1() {
+        return this.getOpcIntegerValue(item_qty1);
+    }
+
+    public int getQty2() {
+        return this.getOpcIntegerValue(item_qty2);
+    }
+
+    public int getToCommand() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+    Boolean isonline;
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB102.W0"));
+        list.add(new ItemDto(item_mode, "工作状态", "DB102.W2"));
+        list.add(new ItemDto(item_move1, "光电开关信号1", "DB102.W4"));
+        list.add(new ItemDto(item_move1, "光电开关信号2", "DB102.W6"));
+        list.add(new ItemDto(item_qty1, "工位1重量", "DB102.REAL8"));
+        list.add(new ItemDto(item_qty2, "工位2重量", "DB102.REAL12"));
+        list.add(new ItemDto(item_error, "报警信号", "DB102.W16"));
+        list.add(new ItemDto(item_task, "任务号(行架任务号)", "DB102.D18"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "作业命令", "DB202.W0"));
+        return list;
+    }
+}
+
+
+

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDefination.java

@@ -0,0 +1,57 @@
+package org.nl.acs.device_driver.basedriver.rgv;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+@Service
+public class RgvDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "rgv";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "rgv";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "rgv";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new RgvDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return RgvDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java

@@ -0,0 +1,294 @@
+package org.nl.acs.device_driver.basedriver.rgv;
+
+import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.wms.data.ApplyManipulatorActionRequest;
+import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.history.service.DeviceErrorLogService;
+import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.service.impl.ParamServiceImpl;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.HashMap;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
+    @Autowired
+    RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
+    @Autowired
+    DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+    @Autowired
+    DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
+    @Autowired
+    ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
+
+    int mode = 0;
+    int last_mode = 0;
+    int error = 0;
+    int last_error = 0;
+    int move1 = 0;
+    int last_move1 = 0;
+    int move2 = 0;
+    int last_move2 = 0;
+    int qty1 = 0;
+    int last_qty1 = 0;
+    int qty2 = 0;
+    int last_qty2 = 0;
+
+    int task = 0;
+    int last_task = 0;
+    Boolean isonline = true;
+
+    Boolean iserror = false;
+    //行架机械手申请任务成功标识
+    boolean requireSucess = false;
+
+    //当前指令
+    Instruction inst = null;
+
+    //1-执行任务；2-取货完成；3-放货完成；
+    int flag;
+
+    String device_code;
+
+    String message = null;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+    public void execute() {
+        String message = null;
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            error = this.itemProtocol.getError();
+            move1 = this.itemProtocol.getMove1();
+            move2 = this.itemProtocol.getMove2();
+            qty1 = this.itemProtocol.getQty1();
+            qty2 = this.itemProtocol.getQty2();
+            task = this.itemProtocol.getTask();
+
+            if (mode != last_mode) {
+                this.requireSucess = false;
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记");
+            }
+            if (move1 != last_move1) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move1：" + last_move1 + "->" + move1);
+            }
+            if (move2 != last_move2) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move2：" + last_move2 + "->" + move2);
+            }
+
+        } catch (Exception var17) {
+
+
+        }
+
+        if (mode == 0) {
+            this.setIsonline(false);
+            message = "未联机";
+            //有报警
+
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            if (error != 0) {
+                this.setIserror(true);
+                message = "有报警";
+            }
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    return;
+                case 2:
+                    break;
+                case 3:
+                    break;
+                case 4:
+                    if (task > 0 && !requireSucess && (qty1 > 0 || qty2 > 0)) {
+                        feedbackQty();
+                    }
+                    break;
+                default:
+                    break;
+
+            }
+
+        }
+        last_mode = mode;
+        last_error = error;
+        last_move1 = move1;
+        last_move2 = move2;
+        last_task = task;
+        last_qty1 = qty1;
+        last_qty2 = qty2;
+    }
+
+    private void feedbackQty() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        Instruction inst1 = checkInst();
+        String task_code = inst1.getTask_code();
+        applyManipulatorActionRequest.setType("2");
+        if (qty1 > 0) {
+            applyManipulatorActionRequest.setQty(String.valueOf(qty1));
+        }
+        if (qty2 > 0) {
+            applyManipulatorActionRequest.setQty(String.valueOf(qty2));
+        }
+        applyManipulatorActionRequest.setTask_code1(task_code);
+        applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+        if (applyManipulatorActionResponse.getstatus() == 200) {
+            requireSucess = true;
+            message = "反馈LMS成功...";
+            logServer.deviceExecuteLog(this.device_code, "", "", "反馈重量请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+            Map<String, Object> map = new LinkedHashMap<>();
+            map.put("to_command", 4);
+            this.writing(map);
+        } else {
+            requireSucess = false;
+            message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
+            logServer.deviceExecuteLog(this.device_code, "", "", "反馈重量请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+            Map<String, Object> map = new LinkedHashMap<>();
+            map.put("to_command", 99);
+            this.writing(map);
+        }
+    }
+
+    /**
+     * 抽取统一下发电气信号前缀
+     *
+     * @return
+     */
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
+
+    /**
+     * 多个信号一起下发电气
+     *
+     * @param map
+     */
+    public void writing(Map<String, Object> map) {
+        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+        Map<String, Object> itemMap = new LinkedHashMap<>();
+        map.forEach((key, value) -> {
+            if (ObjectUtil.isNotEmpty(value)) {
+                itemMap.put(getToParam() + key, value);
+            }
+        });
+        if (ObjectUtil.isNotEmpty(itemMap)) {
+            this.control(itemMap);
+            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
+        }
+    }
+
+
+    public Instruction checkInst() {
+        if (ObjectUtil.isNotEmpty(this.inst)) {
+            if (this.task > 0) {
+                if (this.inst.getInstruction_code().equals(String.valueOf(this.task))) {
+                    return this.inst;
+                } else {
+                    inst = instructionService.findByCodeFromCache(String.valueOf(task));
+                    return inst;
+                }
+            }
+        } else {
+            inst = instructionService.findByCodeFromCache(String.valueOf(task));
+            return inst;
+        }
+        return null;
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move1 = "";
+        String move2 = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove1() == 0 && this.getMove2() == 0) {
+            move1 = "无货";
+            move2 = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove1() == 1 || this.getMove2() == 1) {
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move1", move1);
+        jo.put("move2", move2);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("isError", this.getIserror());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
+    public void writing(String param, String value) {
+        String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + param;
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_param, Integer.parseInt(value));
+
+        this.control(itemMap);
+        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号设备号:" + device_code + ",下发电气:" + to_param + ",下发电气值:" + value);
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java

@@ -13,6 +13,7 @@ public class ApplyManipulatorActionRequest extends BaseRequest  {
      * 5-反馈二次放货点
      * 6-套轴申请
      * 7-套轴完成
+     * 8-拔轴完成
      */
     private String type;
 
@@ -35,5 +36,10 @@ public class ApplyManipulatorActionRequest extends BaseRequest  {
      * 取货完成1 放货完成2
      */
     private String action;
+    /**
+     * 重量
+     */
+    private String qty;
+
 
 }

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

@@ -112,10 +112,22 @@ public interface AcsToWmsService {
     // 输送线有货变成无货时向lms请求
     HttpResponse shipDeviceUpdate(JSONObject param);
 
+    //task变化时向LMS请求
     HttpResponse taskDeviceUpdate(JSONObject param);
 
     void sendDeviceStatus(JSONObject param);
 
+    /**
+     * 向lms申请反馈
+     * @param param
+     * @return
+     */
     ApplyManipulatorActionResponse applyManipulatorActionRequest(ApplyManipulatorActionRequest param);
+
+    /**
+     * 向LMS反馈缓存库取/放货完成
+     * @param param
+     * @return
+     */
     ApplyManipulatorActionResponse actionFinishRequest(ApplyManipulatorActionRequest param);
 }

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

@@ -34,6 +34,7 @@ import org.nl.acs.device_driver.basedriver.paper_tube_device2.Paper;
 import org.nl.acs.device_driver.basedriver.paper_tube_device2.PaperTubeConveyor2DeviceDriver;
 import org.nl.acs.device_driver.basedriver.plug_pull_device_site.PlugPullDeviceSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.plugging_unplugging_machine.PluggingUnpluggingMachineDeviceDriver;
+import org.nl.acs.device_driver.basedriver.rgv.RgvDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor_ckk.SiemensConveyorCkkDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor_labeling.SiemensConveyorLabelingDeviceDriver;
@@ -252,6 +253,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             IndoorManipulatorDeviceDriver indoorManipulatorDeviceDriver;
             //套管工位
             CasingStationConveyorDeviceDriver casingStationConveyorDeviceDriver;
+            //RGV
+            RgvDeviceDriver rgvDeviceDriver;
 
             if (datas.size() == 0) {
                 throw new BadRequestException("缺少输入参数！");
@@ -315,6 +318,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("task", casingStationConveyorDeviceDriver.getTask());
                     jo.put("material1", casingStationConveyorDeviceDriver.getMaterial1());
                     jo.put("material2", casingStationConveyorDeviceDriver.getMaterial2());
+                    jo.put("qty", casingStationConveyorDeviceDriver.getQty());
 
 
                 } else if (device.getDeviceDriver() instanceof PaperTubeConveyorDeviceDriver) {
@@ -326,7 +330,19 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("material_code", ObjectUtil.isEmpty(paperTubeConveyorDeviceDriver.getMaterial()) ? "" : paperTubeConveyorDeviceDriver.getMaterial());
                     jo.put("out_finish", paperTubeConveyorDeviceDriver.getOut_finish());
 
-                } else if (device.getDeviceDriver() instanceof DeviceStatusDeviceDriver) {
+                } else if (device.getDeviceDriver() instanceof RgvDeviceDriver) {
+                    rgvDeviceDriver = (RgvDeviceDriver) device.getDeviceDriver();
+                    jo.put("device_code", parent_device_code);
+                    jo.put("qty1", rgvDeviceDriver.getQty1());
+                    jo.put("qty2", rgvDeviceDriver.getQty2());
+                    jo.put("mode", rgvDeviceDriver.getMode());
+                    jo.put("move1", rgvDeviceDriver.getMove1());
+                    jo.put("move2", rgvDeviceDriver.getMove2());
+                    jo.put("task", rgvDeviceDriver.getTask());
+                    jo.put("error", rgvDeviceDriver.getError());
+
+
+                }else if (device.getDeviceDriver() instanceof DeviceStatusDeviceDriver) {
                     deviceStatusDeviceDriver = (DeviceStatusDeviceDriver) device.getDeviceDriver();
                     jo.put("device_code", deviceStatusDeviceDriver.getDevice().getDevice_code());
                     jo.put("device_name", deviceStatusDeviceDriver.getDevice().getDevice_name());

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

@@ -105,6 +105,7 @@ import casing_station from '@/views/acs/device/driver/casing_station'
 import device_status from '@/views/acs/device/driver/device_status'
 import indoor_manipulator from '@/views/acs/device/driver/indoor_manipulator'
 import plugging_unplugging_machine from '@/views/acs/device/driver/plugging_unplugging_machine'
+import rgv from '@/views/acs/device/driver/rgv'
 
 export default {
   name: 'DeviceConfig',
@@ -140,7 +141,8 @@ export default {
     casing_station,
     device_status,
     indoor_manipulator,
-    plugging_unplugging_machine
+    plugging_unplugging_machine,
+    rgv
   },
   dicts: ['device_type'],
   mixins: [crud],

acs/nladmin-ui/src/views/acs/device/driver/rgv.vue

@@ -0,0 +1,500 @@
+<template>
+  <!--RGV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
+            filterable
+            @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="8">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-input v-model="form.address" />
+            </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">指令相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="检验有货">
+              <el-switch v-model="form.inspect_in_stocck" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视取货校验" label-width="150px">
+              <el-switch v-model="form.ignore_pickup_check" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视放货校验" label-width="150px">
+              <el-switch v-model="form.ignore_release_check" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="呼叫">
+              <el-switch v-model="form.apply_task" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="响应" label-width="150px">
+              <el-switch v-model="form.manual_create_task" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备" prop="device_code">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                multiple
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="关联三色灯" prop="device_code" label-width="100px">
+              <el-select
+                v-model="form.link_three_lamp"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="是否输入物料" label-width="150px">
+              <el-switch v-model="form.input_material" />
+            </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">AGV相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="取货">
+              <el-switch v-model="form.is_pickup" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="放货">
+              <el-switch v-model="form.is_release" />
+            </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.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'Rgv',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      require: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        link_three_lamp: '',
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true,
+        link_device_code: [],
+        address: ''
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$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: {
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        debugger
+        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('inventory_qty') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+          if (this.data1[val].code.indexOf('out_finish') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 6)
+          }
+        }
+      }
+    },
+    finishWriteEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('to_command') !== -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.data2) {
+          if (this.data2[val].code.indexOf('to_out_qty') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+        }
+      }
+    },
+    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()
+      })
+    },
+    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_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)
+      })
+    },
+    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)
+      })
+    },
+    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>