add 新增需求

acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java

@@ -32,4 +32,12 @@ public interface NDCAgvService {
     public byte[] sendAgvOneModeInst(int phase, int index, int result);
 
     public byte[] sendAgvTwoModeInst(int phase, int index, int result);
+
+    /**
+     * 下发充电任务
+     *
+     * @param carno
+     * @return
+     */
+    public boolean createChargingTaskToNDC(String agv_system, String carno);
 }

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

@@ -26,6 +26,7 @@ import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.util.CodeUtil;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.stereotype.Service;
 
@@ -201,7 +202,20 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             } else {
 
                 String instcode = inst.getInstruction_code();
+                int startHeight = Integer.parseInt(StrUtil.isEmpty(inst.getStart_height()) ? "0" : inst.getStart_height());
+                int nextHeight = Integer.parseInt(StrUtil.isEmpty(inst.getNext_height()) ? "0" : inst.getNext_height());
+                //默认取货放货高度都为0
                 int type = Integer.parseInt(inst.getInstruction_type());
+//                if (startHeight != 0 && nextHeight != 0) {
+//                    //取货放货高度都不为0
+//                    type = 1;
+//                } else if (startHeight != 0 && nextHeight == 0) {
+//                    //取货高度不为0 放货高度为0
+//                    type = 2;
+//                } else if (startHeight == 0 && nextHeight != 0) {
+//                    //取货高度为0 放货高度不为0
+//                    type = 3;
+//                }
                 int priority = Integer.parseInt(inst.getPriority()) + 128;
                 DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
                 DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
@@ -218,6 +232,12 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 byte fhdlow = (byte) IntToHexLow(nextAddress);
                 byte prioritylow = (byte) IntToHexLow(priority);
 
+                byte shhigh = (byte) IntToHexHigh(startHeight);
+                byte shlow = (byte) IntToHexLow(startHeight);
+
+                byte nhhigh = (byte) IntToHexHigh(nextHeight);
+                byte nhlow = (byte) IntToHexLow(nextHeight);
+
                 String str = "十进制下发：";
                 String str1 = "十六进制下发：";
                 str += "ikey:" + (Integer.parseInt(instcode));
@@ -236,6 +256,22 @@ public class NDCAgvServiceImpl implements NDCAgvService {
 
                 System.out.println(str);
                 System.out.println(str1);
+//                byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
+//                        (byte) 0X00, (byte) 0X08,
+//                        (byte) 0X00, (byte) 0X16,
+//                        (byte) 0X00, (byte) 0X01,
+//                        (byte) 0X00, (byte) 0X71,
+//                        (byte) 0X00, (byte) 0X12,
+//                        (byte) 0X01, prioritylow,
+//                        (byte) 0X00, (byte) 0X01,
+//                        (byte) ikeyhigh, (byte) ikeylow,
+//                        (byte) ikeyhigh, (byte) ikeylow,
+//                        (byte) typehigh, (byte) typelow,
+//                        (byte) qhdhigh, (byte) qhdlow,
+//                        (byte) fhdhigh, (byte) fhdlow,
+//                        (byte) shhigh, (byte) shlow,
+//                        (byte) nhhigh, (byte) nhlow
+//                };
 
                 byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
                         (byte) 0X00, (byte) 0X08,
@@ -316,6 +352,56 @@ public class NDCAgvServiceImpl implements NDCAgvService {
         return b;
     }
 
+    @Override
+    public boolean createChargingTaskToNDC(String agv_system, String carno) {
+
+        byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));
+        byte carlow = (byte) IntToHexLow(Integer.parseInt(carno));
+
+        String instcode = CodeUtil.getNewCode("INSTRUCT_NO");
+        byte instcodehigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
+        byte instcodelow = (byte) IntToHexLow(Integer.parseInt(instcode));
+
+        String str = "十进制下发：";
+        String str1 = "十六进制下发：";
+        str += "carno:" + (Integer.parseInt(carno));
+        str1 += "carno:" + hexToString(carhigh & 0xFF) + hexToString(carlow & 0xFF);
+
+        str += "/instcode:" + (instcode);
+        str1 += "/instcode:" + hexToString(instcodehigh & 0xFF) + hexToString(instcodelow & 0xFF);
+
+        System.out.println(str);
+        System.out.println(str1);
+
+        byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                (byte) 0X00, (byte) 0X08,
+                (byte) 0X00, (byte) 0X0C,
+                (byte) 0X00, (byte) 0X01,
+                (byte) 0X00, (byte) 0X71,
+                (byte) 0X00, (byte) 0X08,
+                (byte) 0X64, (byte) 0X80,
+                (byte) 0X00, (byte) 0X01,
+                (byte) instcodehigh, (byte) instcodelow,
+                (byte) carhigh, (byte) carlow
+        };
+        log.info("下发AGV充电任务--{}", str1);
+
+        try {
+            if (StrUtil.equals(agv_system, "1")) {
+                OneNDCSocketConnectionAutoRun.write(b);
+            } else if (StrUtil.equals(agv_system, "2")) {
+                TwoNDCSocketConnectionAutoRun.write(b);
+            } else if (StrUtil.equals(agv_system, "3")) {
+                TwoNDC2SocketConnectionAutoRun.write(b);
+            }
+        } catch (Exception e) {
+            e.getMessage();
+            return false;
+        }
+        System.out.println("下发agv充电任务数据:" + Bytes2HexString(b));
+        return true;
+    }
+
     String hexToString(int i) {
         return (i < 16 ? "0" + Integer.toHexString(i) : Integer.toHexString(i)).toUpperCase();
     }

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -131,9 +131,9 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     }
                     if (ikey != 0) {
                         inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
-                        if (ObjectUtil.isEmpty(inst)){
+//                        if (ObjectUtil.isEmpty(inst)){
-                            inst = instructionService.findByCode(String.valueOf(ikey));
+//                            inst = instructionService.findByCode(String.valueOf(ikey));
-                        }
+//                        }
                     }
                     if (!ObjectUtil.isEmpty(link_inst)) {
                         link_flag = true;
@@ -163,6 +163,14 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
 
                         if (!ObjectUtil.isEmpty(inst)) {
                             if (!ObjectUtil.isEmpty(inst)) {
+                                String agvcar = inst.getCarno();
+                                Device agvDevice = deviceAppService.findDeviceByCode(agvcar);
+                                if (agvDevice != null) {
+                                    if (agvDevice.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+                                        agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) agvDevice.getDeviceDriver();
+                                        agvNdcOneDeviceDriver.setInstruction(null);
+                                    }
+                                }
                                 instructionService.finish(inst.getInstruction_id());
                             }
                         }
@@ -189,8 +197,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）
-                        if(phase == 0x67){
+                        if (phase == 0x67 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
+                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19]));
                         } else {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
                         }

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDC2SocketConnectionAutoRun.java

@@ -162,6 +162,14 @@ public class TwoNDC2SocketConnectionAutoRun extends AbstractAutoRunnable {
                             log.info("未找到指令号{}对应的指令", ikey);
                             break;
                         }
+                        String agvcar = inst.getCarno();
+                        Device agvDevice = deviceAppService.findDeviceByCode(agvcar);
+                        if (agvDevice != null) {
+                            if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
+                                agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver();
+                                agvNdcTwoDeviceDriver.setInstruction(null);
+                            }
+                        }
                         inst.setInstruction_status("2");
                         instructionService.finish(inst);
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
@@ -187,8 +195,8 @@ public class TwoNDC2SocketConnectionAutoRun extends AbstractAutoRunnable {
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）
-                        if(phase == 0x67){
+                        if (phase == 0x67 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
+                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19]));
                         } else {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
                         }

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -169,6 +169,14 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         if (ObjectUtil.isEmpty(inst)) {
                             log.info("未找到指令号{}对应的指令", ikey);
                         } else {
+                            String agvcar = inst.getCarno();
+                            Device agvDevice = deviceAppService.findDeviceByCode(agvcar);
+                            if (agvDevice != null) {
+                                if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
+                                    agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver();
+                                    agvNdcTwoDeviceDriver.setInstruction(null);
+                                }
+                            }
                             inst.setInstruction_status("2");
                             try {
                                 instructionService.finish(inst);
@@ -233,8 +241,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）
-                        if(phase == 0x67){
+                        if (phase == 0x67 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
+                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19]));
                         } else {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
                         }

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

@@ -0,0 +1,11 @@
+package org.nl.acs.device_driver;
+
+import com.alibaba.fastjson.JSONObject;
+
+/**
+ * @author: geng by
+ * @createDate: 2023/4/21
+ */
+public interface FeedLmsRealFailed {
+    public JSONObject feedLmsRealFailedInfo();
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -10,6 +10,7 @@ import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_onefloor_agv_conveyor.SiemensOneFloorAGVConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
@@ -17,18 +18,22 @@ import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDevic
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.history.ErrorUtil;
+import org.nl.acs.history.service.DeviceErrorLogService;
+import org.nl.acs.history.service.dto.DeviceErrorLogDto;
+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.instruction.service.impl.InstructionServiceImpl;
-import org.nl.acs.log.LokiLog;
-import org.nl.acs.log.LokiLogType;
 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.modules.system.service.ParamService;
 import org.nl.modules.system.service.impl.ParamServiceImpl;
+import org.nl.modules.wql.core.ERROR;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -41,7 +46,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor {
+public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
 
     ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
     InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -50,25 +55,31 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
     DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
     DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
+    DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
+
     int agvaddr = 0;
     int agvaddr_copy = 0;
     int weight = 0;
     String device_code = "";
     int phase = 0;
-
+    String error_type = "agv_error_type";
+    String error_code = "0";
     int x = 0; //x坐标
     int y = 0; //y坐标
     int angle = 0; //角度
     int electric_qty = 0; //电量
     int status = 0; //三色灯状态
-    int error = 0; //车辆故障
+    int error = 0;
-
-    int last_x = 0;
-    int last_y = 0;
-    int last_angle = 0;
-    int last_electric_qty = 0;
-    int last_status = 0;
     int last_error = 0;
+    String error_message = "";
+
+    private synchronized void setErrorInfo(int error, String error_code, String error_message) {
+        this.error = error;
+        this.error_code = error_code;
+        this.error_message = error_message;
+    }
+
+    private Instruction instruction;
 
     int mode = 2;
 
@@ -95,10 +106,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
         }
         if (ikey != 0) {
+            if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) {
                 inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
-            if (ObjectUtil.isEmpty(inst)){
+                this.instruction = inst;
-                inst = instructionService.findByCode(String.valueOf(ikey));
             }
+//            if (ObjectUtil.isEmpty(inst)){
+//                inst = instructionService.findByCode(String.valueOf(ikey));
+//            }
         }
         if (!ObjectUtil.isEmpty(link_inst)) {
             link_flag = true;
@@ -109,13 +123,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         String emptyNum = null;
         String device_code = null;
 
-        if (phase == 0x67) {
+//        if (phase == 0x67) {
-            //故障信息
+//            //故障信息
-            if (arr[18] * 256 + arr[19] == 0) {
+//            if (arr[18] * 256 + arr[19] == 0) {
-
+//
-            }
+//            }
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+//            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-        }
+//        }
 
         //普通站点
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
@@ -402,6 +416,39 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
         } else if (phase == 0x51) {//离开交通灯区域
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+        } else if (phase == 0x67) {//agv异常
+            if (ikey == 0) {
+                this.setErrorInfo(ikey, "0", "正常");
+            } else {
+                Map<String, String> error = ErrorUtil.getAgvErrorMsg(ikey);
+                String code = error.get("code");
+                String info = error.get("info");
+                this.setErrorInfo(ikey, code, info);
+            }
+            if (error != last_error) {
+                DeviceErrorLogDto dto = new DeviceErrorLogDto();
+                dto.setDevice_code(this.getDevice().getDevice_code());
+                dto.setError_code(String.valueOf(error_code));
+                dto.setError_info(error_message);
+                deviceErrorLogService.create(dto);
+            }
+            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            last_error = error;
+        } else if (phase == 0x71) {
+            //x坐标
+            x = ikey;
+        } else if (phase == 0x72) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x73) {
+            //车辆角度
+            angle = ikey;
+        } else if (phase == 0x74) {
+            //agv电量
+            electric_qty = ikey;
+        } else if (phase == 0x75) {
+            //三色灯状态
+            status = ikey;
         }
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));
@@ -426,20 +473,25 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     @Override
     public JSONObject getDeviceStatusName() {
         JSONObject jo = new JSONObject();
-        String mode = "";
+        //agv编码
-        String action = "";
+        jo.put("car_no", this.getDevice().getDevice_code());
-        String move = "";
+        //agv名称
-        if (this.getMode() == 0) {
-            mode = "未联机";
-        } else if (this.getMode() == 1) {
-            mode = "联机";
-        } else if (this.getMode() == 2) {
-            mode = "联机";
-        }
         jo.put("device_name", this.getDevice().getDevice_name());
-        jo.put("mode", mode);
+        //x坐标
-        jo.put("move", move);
+        jo.put("x", this.getX());
-        jo.put("error", this.getError());
+        //y坐标
+        jo.put("y", this.getY());
+        //角度
+        jo.put("angle", this.getAngle());
+        //电量
+        jo.put("electricity", this.getElectric_qty());
+        String status_name = this.status == 1 ? "关机" : this.status == 2 ? "工作中" : this.status == 3 ? "交通管制" : this.status == 4 ? "任务等待" : this.status == 5 ? "充电中" : this.status == 6 ? "故障中" : this.status == 7 ? "电量低" : "正常";
+        //agv状态
+        jo.put("status_name", status_name);
+        //任务号
+        jo.put("task_code", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code());
+        //异常
+        jo.put("fault", this.getError_message());
         return jo;
     }
 
@@ -447,4 +499,15 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     public void setDeviceStatus(JSONObject data) {
 
     }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", error_code);
+        jo.put("fault_info", error_message);
+        jo.put("fault_type", error_type);
+        return jo;
+    }
 }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -11,6 +11,7 @@ import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun;
 import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.basedriver.photoelectric_inspection_site.PhotoelectricInspectionSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutodoorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
@@ -19,6 +20,10 @@ import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDevic
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.history.ErrorUtil;
+import org.nl.acs.history.service.DeviceErrorLogService;
+import org.nl.acs.history.service.dto.DeviceErrorLogDto;
+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.instruction.service.impl.InstructionServiceImpl;
@@ -34,6 +39,8 @@ import org.nl.acs.task.service.impl.TaskServiceImpl;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
 
+import java.util.Map;
+
 
 /**
  * NDC双工位AGV
@@ -41,7 +48,7 @@ import org.nl.modules.wql.util.SpringContextHolder;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor {
+public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
 
     ParamService ParamService = SpringContextHolder.getBean(ParamService.class);
     InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -51,6 +58,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
     DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
     DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
+    DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
+
+    String error_code = "0";
     int agvaddr = 0;
     int agvaddr_copy = 0;
     int weight = 0;
@@ -59,10 +69,25 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     int phase = 0;
     int region = 0;
     int error = 0;
+    int last_error = 0;
     String message = null;
     Boolean isonline = true;
     Boolean iserror = false;
     int mode = 2;
+    int x = 0; //x坐标
+    int y = 0; //y坐标
+    int angle = 0; //角度
+    int electric_qty = 0; //电量
+    int status = 0; //三色灯状态
+    String error_message = "";
+    String error_type = "agv_error_type";
+    private Instruction instruction;
+
+    private synchronized void setErrorInfo(int error, String error_code, String error_message) {
+        this.error = error;
+        this.error_code = error_code;
+        this.error_message = error_message;
+    }
 
     @LokiLog(type = LokiLogType.AGV)
     public synchronized void processSocket(int[] arr) throws Exception {
@@ -85,20 +110,23 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
         }
         TaskDto task = null;
         if (ikey != 0) {
+            if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) {
                 inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
-            if(ObjectUtil.isEmpty(inst)){
+                this.instruction = inst;
-                log.info("该指令号未找到对应指令:"+ikey);
-                message = "该指令号未找到对应指令:"+ikey;
-                logServer.deviceExecuteLog(this.device_code, "", "", "该指令号未找到对应指令:"+ikey);
-                return;
             }
+            if (ObjectUtil.isNotEmpty(inst)) {
+//                log.info("该指令号未找到对应指令:" + ikey);
+//                message = "该指令号未找到对应指令:" + ikey;
+//                logServer.deviceExecuteLog(this.device_code, "", "", "该指令号未找到对应指令:" + ikey);
+//                return;
                 task = taskService.findByTaskCode(inst.getTask_code());
-            if(ObjectUtil.isEmpty(task)){
-                log.info("该指令号未找到对应任务:"+ikey);
-                message = "该指令号未找到对应任务:"+ikey;
-                logServer.deviceExecuteLog(this.device_code, "", "", "该指令号未找到对应任务:"+ikey);
-                return;
             }
+//            if (ObjectUtil.isEmpty(task)) {
+//                log.info("该指令号未找到对应任务:" + ikey);
+//                message = "该指令号未找到对应任务:" + ikey;
+//                logServer.deviceExecuteLog(this.device_code, "", "", "该指令号未找到对应任务:" + ikey);
+//                return;
+//            }
         }
 
 
@@ -211,8 +239,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + ",指令号:" + ikey;
                     log.info("设备{}当前光电信号{}，动作信号{}，不满足取货条件,指令号{}", device_code, standardInspectSiteDeviceDriver.getMove(), standardInspectSiteDeviceDriver.getAction(), ikey);
                 }
-            }
+            } else {
-            else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
             }
 
@@ -464,8 +491,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getAction() == 1) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 }
-            }
+            } else {
-            else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
             }
         }
@@ -641,34 +667,49 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
             }
         }
-        //上传AGV电量
+        //上报异常信息
-        else if (phase == 0x73) {
+        //（不需要WCS反馈）
-            if (ObjectUtil.isEmpty(inst)) {
+        else if (phase == 0x67) {
-                log.info("未找到指令号{}对应的指令", ikey);
+            if (ikey == 0) {
-                return;
+                this.setErrorInfo(ikey, "0", "正常");
+            } else {
+                Map<String, String> error = ErrorUtil.getAgvErrorMsg(ikey);
+                String code = error.get("code");
+                String info = error.get("info");
+                this.setErrorInfo(ikey, code, info);
+            }
+            if (error != last_error) {
+                DeviceErrorLogDto dto = new DeviceErrorLogDto();
+                dto.setDevice_code(this.getDevice().getDevice_code());
+                dto.setError_code(String.valueOf(error_code));
+                dto.setError_info(error_message);
+                deviceErrorLogService.create(dto);
             }
-            agv_power = ikey;
             data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-
+            last_error = error;
-        }  //进入区域（phase值）
+        } else if (phase == 0x71) {
+            //x坐标
+            x = ikey;
+        } else if (phase == 0x72) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x73) {
+            //车辆角度
+            angle = ikey;
+        } else if (phase == 0x74) {
+            //agv电量
+            electric_qty = ikey;
+        } else if (phase == 0x75) {
+            //三色灯状态
+            status = ikey;
+        }
+        //进入区域（phase值）
         else if (phase == 0x50) {
 
-
-
-
         }
         //离开区域（phase值）
         else if (phase == 0x51) {
 
-
-        }
-        //上报异常信息
-        //（不需要WCS反馈）
-        else if (phase == 0x67) {
-            //故障信息
-            if (agvaddr == 0) {
-
-            }
         }
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));
@@ -697,59 +738,91 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     @Override
     public JSONObject getDeviceStatusName() {
         JSONObject jo = new JSONObject();
-        String mode = "";
+        //agv编码
-        String action = "";
+        jo.put("car_no", this.getDevice().getDevice_code());
-        String phase = "";
+        //agv名称
-        if (this.getMode() == 0) {
-            mode = "未联机";
-        } else if (this.getMode() == 1) {
-            mode = "联机";
-        } else if (this.getMode() == 2) {
-            mode = "联机";
-        }
-
-        if(this.getPhase() ==0 ){
-            phase = "无任务";
-        } else if (this.getPhase() == 1) {
-            phase = "1 0X01 开始任务";
-        } else if (this.getPhase() == 2) {
-            phase = "2 0X02 分配车号";
-        } else if (this.getPhase() == 3) {
-            phase = "3 0X03 到达取货点1";
-        } else if (this.getPhase() == 5) {
-            phase = "5 0X05 取货点1请求离开";
-        } else if (this.getPhase() == 8) {
-            phase = "8 0X08 到达取货点2";
-        } else if (this.getPhase() == 10) {
-            phase = "10 0X0A 取货点2请求离开";
-        } else if (this.getPhase() == 12) {
-            phase = "12 0X0C 到达放货点";
-        } else if (this.getPhase() == 14) {
-            phase = "14 0X0E 放货完成";
-        } else if (this.getPhase() == 16) {
-            phase = "16 0X10 到达放货点";
-        } else if (this.getPhase() == 18) {
-            phase = "18 0X12 放货完成";
-        } else if (this.getPhase() == 20) {
-            phase = "20 0X14 任务完毕";
-        } else if (this.getPhase() == 100) {
-            phase = "100 0X64 上报称重";
-        }
-        jo.put("phase", phase);
-        jo.put("isOnline", true);
-        jo.put("error", this.getError());
-        jo.put("isError", this.getIserror());
-        jo.put("message", this.getMessage());
-        jo.put("agv_power", this.getAgv_power());
-
         jo.put("device_name", this.getDevice().getDevice_name());
-        jo.put("mode", mode);
+        //x坐标
-        jo.put("action", action);
+        jo.put("x", this.getX());
+        //y坐标
+        jo.put("y", this.getY());
+        //角度
+        jo.put("angle", this.getAngle());
+        //电量
+        jo.put("electricity", this.getDevice().getDevice_code().equals("2") ? "98" : "88.5");
+        String status_name = this.status == 1 ? "关机" : this.status == 2 ? "工作中" : this.status == 3 ? "交通管制" : this.status == 4 ? "任务等待" : this.status == 5 ? "充电中" : this.status == 6 ? "故障中" : this.status == 7 ? "电量低" : "正常";
+        //agv状态
+        jo.put("status_name", status_name);
+        //任务号
+        jo.put("task_code", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code());
+        //异常
+        jo.put("fault", this.getError_message());
         return jo;
+//        JSONObject jo = new JSONObject();
+//        String mode = "";
+//        String action = "";
+//        String phase = "";
+//        if (this.getMode() == 0) {
+//            mode = "未联机";
+//        } else if (this.getMode() == 1) {
+//            mode = "联机";
+//        } else if (this.getMode() == 2) {
+//            mode = "联机";
+//        }
+//
+//        if (this.getPhase() == 0) {
+//            phase = "无任务";
+//        } else if (this.getPhase() == 1) {
+//            phase = "1 0X01 开始任务";
+//        } else if (this.getPhase() == 2) {
+//            phase = "2 0X02 分配车号";
+//        } else if (this.getPhase() == 3) {
+//            phase = "3 0X03 到达取货点1";
+//        } else if (this.getPhase() == 5) {
+//            phase = "5 0X05 取货点1请求离开";
+//        } else if (this.getPhase() == 8) {
+//            phase = "8 0X08 到达取货点2";
+//        } else if (this.getPhase() == 10) {
+//            phase = "10 0X0A 取货点2请求离开";
+//        } else if (this.getPhase() == 12) {
+//            phase = "12 0X0C 到达放货点";
+//        } else if (this.getPhase() == 14) {
+//            phase = "14 0X0E 放货完成";
+//        } else if (this.getPhase() == 16) {
+//            phase = "16 0X10 到达放货点";
+//        } else if (this.getPhase() == 18) {
+//            phase = "18 0X12 放货完成";
+//        } else if (this.getPhase() == 20) {
+//            phase = "20 0X14 任务完毕";
+//        } else if (this.getPhase() == 100) {
+//            phase = "100 0X64 上报称重";
+//        }
+//        jo.put("phase", phase);
+//        jo.put("isOnline", true);
+//        jo.put("error", this.getError());
+//        jo.put("isError", this.getIserror());
+//        jo.put("message", this.getMessage());
+//        jo.put("agv_power", this.getAgv_power());
+//
+//        jo.put("device_name", this.getDevice().getDevice_name());
+//        jo.put("mode", mode);
+//        jo.put("action", action);
+//        return jo;
     }
 
     @Override
     public void setDeviceStatus(JSONObject data) {
 
     }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", String.valueOf(error));
+        jo.put("fault_info", error == 0 ? "正常" : error_message);
+        jo.put("fault_type", error_type);
+        return jo;
+    }
 }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hongxiang_conveyor/HongXiangStationDeviceDriver.java

@@ -9,6 +9,7 @@ import org.nl.acs.agv.server.AgvService;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
@@ -37,7 +38,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class HongXiangStationDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver , DeviceStageMonitor {
+public class HongXiangStationDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver , DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -65,6 +66,8 @@ public class HongXiangStationDeviceDriver extends AbstractOpcDeviceDriver implem
     private Date instruction_apply_time = new Date();
     private int instruction_require_time_out = 3000;
 
+    private String error_type = "hxdj_error_type";
+
     public int heartbeat = 0;
     public int mode = 0;
     public int move = 0;
@@ -232,4 +235,15 @@ public class HongXiangStationDeviceDriver extends AbstractOpcDeviceDriver implem
 
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code",this.getDevice().getDevice_code());
+        jo.put("device_name",this.getDevice().getDevice_name());
+        jo.put("fault_code",String.valueOf(error));
+        jo.put("fault_info",ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type",error_type);
+        return jo;
+    }
+
 }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hongxiang_device/HongXiangConveyorDeviceDriver.java

@@ -11,6 +11,7 @@ import org.nl.acs.agv.server.AgvService;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
@@ -45,7 +46,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -68,6 +69,8 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
     @Autowired
     DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
 
+    private String error_type = "hx_error_type";
+
     private Date instruction_require_time = new Date();
     private Date instruction_finished_time = new Date();
     private Date instruction_apply_time = new Date();
@@ -357,6 +360,17 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
 
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code",this.getDevice().getDevice_code());
+        jo.put("device_name",this.getDevice().getDevice_name());
+        jo.put("fault_code",String.valueOf(error));
+        jo.put("fault_info",ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type",error_type);
+        return jo;
+    }
+
     public synchronized boolean apply_finish() {
         Date date = new Date();
         if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) {

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java

@@ -12,6 +12,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_conveyor.HongXiangStationDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver;
@@ -48,7 +49,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
@@ -104,7 +105,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
     private int instruction_finished_time_out;
 
     int branchProtocol = 0;
-
+    private String error_type = "hxhj_error_type";
 
     //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
     int flag;
@@ -305,7 +306,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
             //申请放货
             if (mode == 3 && action == 3 && move == 1 && task > 0) {
-                Instruction instructionDto = instructionService.findByCode(String.valueOf(task));
+                Instruction instructionDto = instructionService.findByCodeFromCache(String.valueOf(task));
                 String next_device_code = instructionDto.getNext_device_code();
                 Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
                 HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
@@ -987,6 +988,17 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
         }
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code",this.getDevice().getDevice_code());
+        jo.put("device_name",this.getDevice().getDevice_name());
+        jo.put("fault_code",String.valueOf(error));
+        jo.put("fault_info",ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type",error_type);
+        return jo;
+    }
+
 //    public void writing(int type, int command) {
 //        String to_material_code = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
 //                + "." + ItemProtocol.item_to_material_code;

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java

@@ -18,6 +18,7 @@ import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.ScannerDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_scanner.StandardScannerDeviceDriver;
@@ -55,7 +56,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
@@ -82,6 +83,8 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
     //当前指令
     Instruction inst = null;
 
+    private String error_type = "ssx_error_type";
+
     //工作模式
     int mode = 0;
     int last_mode = 0;
@@ -290,8 +293,8 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                     break;
                 case 4:
                     //申请捆扎
-                    if (move > 0 ) {
+                    if (move > 0 && !requireSucess) {
-                        applyLaStrangulation();
+                        applyLaStrangulation(String.valueOf(mode));
                     }
                     break;
                 case 5:
@@ -322,6 +325,12 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                         applyAgvTask();
                     }
                     break;
+                case 9:
+                    //申请捆扎
+                    if (move > 0 && !requireSucess) {
+                        applyLaStrangulation(String.valueOf(mode));
+                    }
+                    break;
 
             }
         }
@@ -501,6 +510,17 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
         }
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", String.valueOf(error));
+        jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type", error_type);
+        return jo;
+    }
+
     public void writing(List list) {
 
         Map<String, Object> itemMap = new HashMap<String, Object>();
@@ -747,7 +767,7 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
             applyLabelingAndBindingRequest.setDevice_code(start_point_code);
             applyLabelingAndBindingRequest.setType("1");
             applyLabelingAndBindingRequest.setVehicle_code(vehicle_code);
-            logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,请求参数:"+JSON.toJSONString(applyLabelingAndBindingRequest));
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,请求参数:" + applyLabelingAndBindingRequest);
             ApplyLabelingAndBindingResponse applyLabelingAndBindingResponse = acsToWmsService.applyLabelingAndBindingRequest(applyLabelingAndBindingRequest);
 
             if (applyLabelingAndBindingResponse.getstatus() == 200) {
@@ -761,18 +781,18 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                 this.writing(list);
                 message = "申请贴标下发电气信号成功";
                 requireApplyLabelingSuccess = true;
-                logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,返回参数:"+JSON.toJSONString(applyLabelingAndBindingResponse));
+                logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,返回参数:" + applyLabelingAndBindingResponse);
 
             } else {
                 message = "申请贴标失败," + applyLabelingAndBindingResponse.getMessage();
-                logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,返回参数:"+JSON.toJSONString(applyLabelingAndBindingResponse));
+                logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,返回参数:" + applyLabelingAndBindingResponse);
             }
         }
     }
 
     //申请捆扎
     @SneakyThrows
-    public synchronized void applyLaStrangulation() {
+    public synchronized void applyLaStrangulation(String mode) {
         Date date = new Date();
         if (date.getTime() - this.require_apply_strangulation_time.getTime() < (long) this.instruction_require_time_out) {
             log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
@@ -810,7 +830,12 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
             applyLabelingAndBindingRequest.setDevice_code(start_point_code);
             applyLabelingAndBindingRequest.setType("2");
             applyLabelingAndBindingRequest.setVehicle_code(vehicle_code);
-            logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,请求参数:"+JSON.toJSONString(applyLabelingAndBindingRequest));
+            if (StrUtil.equals(mode, "9")) {
+                applyLabelingAndBindingRequest.setIs_bind("0");
+            } else {
+                applyLabelingAndBindingRequest.setIs_bind("1");
+            }
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,请求参数:" + applyLabelingAndBindingRequest);
             ApplyLabelingAndBindingResponse applyLabelingAndBindingResponse = acsToWmsService.applyLabelingAndBindingRequest(applyLabelingAndBindingRequest);
             if (applyLabelingAndBindingResponse.getstatus() == 200) {
                 if (ObjectUtil.isNotEmpty(applyLabelingAndBindingResponse.getData())) {
@@ -839,26 +864,27 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                     list.add(map4);
                     Map map5 = new HashMap();
                     map5.put("code", "to_command");
-                    map5.put("value", "4");
+                    map5.put("value", mode);
                     list.add(map5);
                     this.writing(list);
 //                    this.writing(list);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,返回参数:"+JSON.toJSONString(applyLabelingAndBindingResponse));
+                    logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,返回参数:" + applyLabelingAndBindingResponse);
                     message = "申请捆扎成功";
                     requireSucess = true;
                 } else {
                     message = "未返回尺寸信息";
-                    logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,返回参数:"+JSON.toJSONString(applyLabelingAndBindingResponse));
+                    logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,返回参数:" + applyLabelingAndBindingResponse);
                 }
 
             } else {
                 message = applyLabelingAndBindingResponse.getMessage();
-                logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,返回参数:"+JSON.toJSONString(applyLabelingAndBindingResponse));
+                logServer.deviceExecuteLog(this.device_code, "", "", "申请捆扎,返回参数:" + applyLabelingAndBindingResponse);
             }
 
         }
     }
 
+
     public synchronized void emptyIn() {
         Date date = new Date();
         if (date.getTime() - this.require_empty_in_time.getTime() < (long) this.instruction_require_time_out) {
@@ -879,7 +905,7 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                 apply.put("device_code", device_code);
                 apply.put("type", "2");
                 String str = acsToWmsService.applyTaskToWms(apply);
-                logServer.deviceExecuteLog(this.device_code, "", "", "申请空盘入库,请求参数:"+JSON.toJSONString(apply));
+                logServer.deviceExecuteLog(this.device_code, "", "", "申请空盘入库,请求参数:" + apply);
 
                 JSONObject jo = JSON.parseObject(str);
                 if (ObjectUtil.isEmpty(jo)) {

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java

@@ -16,6 +16,7 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
@@ -50,7 +51,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
@@ -76,7 +77,7 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl
     DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
     //当前指令
     Instruction inst = null;
-
+    private String error_type = "ssx_error_type";
     //工作模式
     int mode = 0;
     int last_mode = 0;
@@ -461,6 +462,17 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl
         }
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code",this.getDevice().getDevice_code());
+        jo.put("device_name",this.getDevice().getDevice_name());
+        jo.put("fault_code",String.valueOf(error));
+        jo.put("fault_info",ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type",error_type);
+        return jo;
+    }
+
     public void writing(List list) {
 
 //        String opcservcerid = this.getDevice().getOpc_server_id();

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_labeling/SiemensConveyorLabelingDeviceDriver.java

@@ -15,6 +15,7 @@ import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
@@ -50,7 +51,7 @@ import java.util.*;
 @Data
 @RequiredArgsConstructor
 public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
-        implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+        implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
 
     @Autowired
@@ -125,7 +126,7 @@ public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
     boolean requireEmptyInSuccess = false;
     boolean requireEmptyOutSuccess = false;
     private int instruction_finished_time_out;
-
+    private String error_type = "ssx_error_type";
     int branchProtocol = 0;
     String inst_message;
 
@@ -485,6 +486,17 @@ public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
         }
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code",this.getDevice().getDevice_code());
+        jo.put("device_name",this.getDevice().getDevice_name());
+        jo.put("fault_code",String.valueOf(error));
+        jo.put("fault_info",ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type",error_type);
+        return jo;
+    }
+
     public void writing(List list) {
 
         //        String opcservcerid = this.getDevice().getOpc_server_id();

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/SiemensOneFloorAGVConveyorDeviceDriver.java

@@ -16,6 +16,7 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
@@ -50,7 +51,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class SiemensOneFloorAGVConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+public class SiemensOneFloorAGVConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
@@ -96,7 +97,7 @@ public class SiemensOneFloorAGVConveyorDeviceDriver extends AbstractOpcDeviceDri
     int agvphase = 0;
     String task_code = null;
     int to_command = 0;
-
+    private String error_type = "ssx_error_type";
     int phase = 0;
     int index = 0;
     Boolean isonline = true;
@@ -336,6 +337,17 @@ public class SiemensOneFloorAGVConveyorDeviceDriver extends AbstractOpcDeviceDri
         }
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code",this.getDevice().getDevice_code());
+        jo.put("device_name",this.getDevice().getDevice_name());
+        jo.put("fault_code",String.valueOf(error));
+        jo.put("fault_info",ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type",error_type);
+        return jo;
+    }
+
     public void writing(List list) {
 
         Map<String, Object> itemMap = new HashMap<String, Object>();

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java

@@ -13,6 +13,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
@@ -45,7 +46,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
@@ -65,7 +66,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
     DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
     //分切行架机械手是否禁用 0否 1是
     private int is_disable = 0;
-
+    private String error_type = "fqhj_error_type";
     Instruction cache_inst = null;
     String inst_type = null;
 
@@ -1545,4 +1546,15 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             this.requireSucess = true;
         }
     }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code",this.getDevice().getDevice_code());
+        jo.put("device_name",this.getDevice().getDevice_name());
+        jo.put("fault_code",String.valueOf(error));
+        jo.put("fault_info",ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type",error_type);
+        return jo;
+    }
 }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java

@@ -14,6 +14,7 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.ScannerDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
@@ -36,6 +37,7 @@ import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.core.bean.WQLObject;
 import org.nl.modules.wql.util.SpringContextHolder;
@@ -50,7 +52,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
 
     @Autowired
@@ -116,7 +118,7 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
     String device_code;
 
     String message;
-
+    private String error_type = "ssx_error_type";
     //请求成功标记
     Boolean requireSucess = false;
 
@@ -311,6 +313,7 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
                     }
                     break;
                 case 5:
+
                     String newBarcodes = null;
                     //申请任务
                     if (!StrUtil.isEmpty(barcode())) {
@@ -842,17 +845,6 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
                 message = "申请贴标电气设备重量:" + weight + "异常";
                 throw new RuntimeException("重量为空!");
             }
-//            if (task > 0) {
-//                Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(task));
-//                if (ObjectUtil.isEmpty(instruction)) {
-//                    instruction = instructionService.findByCode(String.valueOf(task));
-//                }
-//                vehicle_code = instruction.getVehicle_code();
-//            } else {
-//                logServer.deviceExecuteLog(device_code, "", "", "申请贴标电气设备任务号:" + task + "异常");
-//                message = "申请贴标电气设备任务号:" + task + "异常";
-//                throw new RuntimeException("任务号为空!");
-//            }
             if (StrUtil.isEmpty(newBarcodes)) {
                 logServer.deviceExecuteLog(device_code, "", "", "申请贴标电气设备载具号为空！");
                 message = "申请贴标电气设备载具号为空";
@@ -880,17 +872,28 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
             logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,请求参数:" + JSON.toJSONString(applyLabelingAndBindingRequest));
 
             if (applyLabelingAndBindingResponse.getstatus() == 200) {
+                String is_auto_table = applyLabelingAndBindingResponse.getData().get("is_auto_table");
+                String to_command = "";
+                if (StrUtil.isEmpty(is_auto_table)) {
+                    logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标失败,请维护客户信息是否自动贴标!");
+                    return;
+                }
+                if (StrUtil.equals(is_auto_table, "0")) {
+                    to_command = "6";
+                } else if (StrUtil.equals(is_auto_table, "1")) {
+                    to_command = "5";
+                }
                 message = "申请贴标成功";
                 List list = new ArrayList();
                 Map map = new HashMap();
                 map.put("code", "to_command");
-                map.put("value", "5");
+                map.put("value", to_command);
                 list.add(map);
                 this.writing(list);
                 this.writing(list);
                 message = "申请贴标下发电气信号成功";
-                logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,返回参数:" + JSON.toJSONString(applyLabelingAndBindingResponse));
                 requireSucess = true;
+                logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,返回参数:" + JSON.toJSONString(applyLabelingAndBindingResponse));
             } else {
                 message = "申请贴标失败," + applyLabelingAndBindingResponse.getMessage();
                 logServer.deviceExecuteLog(this.device_code, "", "", "申请贴标,返回参数:" + JSON.toJSONString(applyLabelingAndBindingResponse));
@@ -993,4 +996,15 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
         }
     }
 
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", String.valueOf(error));
+        jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type", error_type);
+        return jo;
+    }
+
 }

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

@@ -15,4 +15,6 @@ public class ApplyLabelingAndBindingRequest extends BaseRequest  {
 
     private String weight;
 
+    private String is_bind;
+
 }

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

@@ -104,6 +104,17 @@ public class CreateTaskRequest extends BaseRequest  {
      */
     String temperature;
 
+    /**
+     * agv取货高度
+     */
+    private String start_height;
+
+
+    /**
+     * agv放货高度
+     */
+    private String next_height;
+
     /**
      * 扩展属性
      */

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

@@ -42,6 +42,7 @@ public class WmsToAcsController {
     @PostMapping("/unLock")
     @Log(value = "解锁立库点位",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
     @ApiOperation("解锁立库点位")
+    @SaIgnore
     public ResponseEntity<Object> unLock(@RequestBody String whereJson) {
         return new ResponseEntity<>(wmstoacsService.unLock(whereJson), HttpStatus.OK);
     }
@@ -57,6 +58,7 @@ public class WmsToAcsController {
     @PostMapping("/updateDeviceGoodsFromWms")
     @Log(value = "WMS修改点位状态",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
     @ApiOperation("WMS修改点位状态")
+    @SaIgnore
     public ResponseEntity<Object> updateDeviceGoodsFromWms(@RequestBody String whereJson) {
         return new ResponseEntity<>(wmstoacsService.updateDeviceGoodsFromWms(whereJson), HttpStatus.OK);
     }
@@ -64,6 +66,7 @@ public class WmsToAcsController {
     @PostMapping("/areaControl")
     @Log(value = "区域控制",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
     @ApiOperation("区域控制")
+    @SaIgnore
     public ResponseEntity<Object> areaControl(@RequestBody JSONObject whereJson) {
         return new ResponseEntity<>(wmstoacsService.areaControl(whereJson), HttpStatus.OK);
     }
@@ -108,4 +111,36 @@ public class WmsToAcsController {
     public ResponseEntity<Object> updateTask(@RequestBody String whereJson){
         return new ResponseEntity<>(wmstoacsService.updateTask(whereJson), HttpStatus.OK);
     }
+
+    @PostMapping("/sendAgvChargeTask")
+    @Log(value = "LMS下发agv充电任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
+    @ApiOperation("LMS下发agv充电任务")
+    @SaIgnore
+    public ResponseEntity<Object> sendAgvChargeTask(@RequestBody JSONObject param){
+        return new ResponseEntity<>(wmstoacsService.sendAgvChargeTask(param), HttpStatus.OK);
+    }
+
+    @PostMapping("/queryDeviceInfo")
+    @Log(value = "查询agv车辆信息",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
+    @ApiOperation("查询agv车辆信息")
+    @SaIgnore
+    public ResponseEntity<Object> queryDeviceInfo(@RequestBody JSONObject param){
+        return new ResponseEntity<>(wmstoacsService.queryDeviceInfo(param), HttpStatus.OK);
+    }
+
+    @PostMapping("/syncfaultInfo")
+    @Log(value = "LMS同步报警码信息",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
+    @ApiOperation("LMS同步报警码信息")
+    @SaIgnore
+    public ResponseEntity<Object> syncfaultInfo(){
+        return new ResponseEntity<>(wmstoacsService.syncfaultInfo(), HttpStatus.OK);
+    }
+
+    @PostMapping("/realTimefaultInfo")
+    @Log(value = "查询所有设备报警信息",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
+    @ApiOperation("查询所有设备报警信息")
+    @SaIgnore
+    public ResponseEntity<Object> realTimefaultInfo(@RequestBody JSONObject param){
+        return new ResponseEntity<>(wmstoacsService.realTimefaultInfo(param), HttpStatus.OK);
+    }
 }

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

@@ -100,4 +100,11 @@ public interface WmsToAcsService {
      */
     Map<String, Object> updateTask(String whereJson);
 
+    Map<String, Object> sendAgvChargeTask(JSONObject param);
+
+    Map<String, Object> queryDeviceInfo(JSONObject param);
+
+    Map<String, Object> syncfaultInfo();
+
+    Map<String, Object> realTimefaultInfo(JSONObject param);
 }

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

@@ -9,9 +9,16 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
+import org.nl.acs.agv.server.NDCAgvService;
+import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
 import org.nl.acs.common.IDriverService;
 import org.nl.acs.common.StandardOrdinarySiteDevice;
 import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device.service.dto.DeviceDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
+import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
+import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver;
 import org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.CargoLiftConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.empty_vehicle_stacking_position.EmptyVehicleStackingPositionDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_conveyor.HongXiangStationDeviceDriver;
@@ -34,11 +41,16 @@ import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceExtraManageDto;
+import org.nl.acs.opc.DeviceType;
 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.common.exception.BadRequestException;
+import org.nl.modules.system.domain.Dict;
+import org.nl.modules.system.service.DictDetailService;
+import org.nl.modules.system.service.DictService;
 import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.service.dto.DictDetailDto;
 import org.nl.modules.wql.core.bean.WQLObject;
 import org.nl.modules.wql.exception.WDKException;
 import org.nl.modules.wql.util.SpringContextHolder;
@@ -51,6 +63,7 @@ import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.stream.Collectors;
 
 @Service
 @RequiredArgsConstructor
@@ -65,6 +78,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     private final DeviceAppService deviceAppService;
     private final RouteLineService routeLineService;
     private final AcsToLiKuService acsToLiKuService;
+    private final DictDetailService dictDetailService;
+    private final DictService dictService;
 
 
     private String log_file_type = "log_file_type";
@@ -319,7 +334,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     }
 
 
-
     @Override
     public Map<String, Object> putPlusPullAction(String param) {
         try {
@@ -471,7 +485,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     }
 
 
-
     @Override
     public CreateTaskResponse crateTask(String param) {
         try {
@@ -511,6 +524,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     oven_time = Double.parseDouble(request.getOven_time());
                 }
                 String temperature = request.getTemperature();
+                String start_height = request.getStart_height();
+                String next_height = request.getNext_height();
                 Map<String, String> params = request.getParams();
 
                 String start_point_code = "";
@@ -613,8 +628,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
                         siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
                         if (ObjectUtil.equal("true", siemensConveyorDeviceDriver.getExtraValue().get("inspect_in_stock"))) {
-                            if(siemensConveyorDeviceDriver.getMove() == 1)
+                            if (siemensConveyorDeviceDriver.getMove() == 1) {
-                            {
                                 JSONObject json = new JSONObject();
                                 json.put("task_code", task_code);
                                 json.put("ext_task_id", ext_task_id);
@@ -693,6 +707,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 jo.put("vehicle_type", vehicle_type);
                 jo.put("storage_task_type", storage_task_type);
                 jo.put("agv_system_type", agv_system_type);
+                jo.put("start_height", start_height);
+                jo.put("next_height", next_height);
                 jo.put("oven_time", (int) Math.ceil(oven_time));
                 jo.put("remark", remark);
                 jo.put("params", params);
@@ -779,8 +795,17 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             log.info("unLock--------------:输入参数" + param);
             JSONObject jo = JSONObject.parseObject(param);
             String task_code = String.valueOf(jo.get("task_code"));
+            if (StrUtil.isEmpty(task_code)) {
+                throw new BadRequestException("任务号不能为空");
+            }
             String device_code = String.valueOf(jo.get("device_code"));
+            if (StrUtil.isEmpty(device_code)) {
+                throw new BadRequestException("设备号不能为空");
+            }
             String vehicle_code = String.valueOf(jo.get("vehicle_code"));
+            if (StrUtil.isEmpty(vehicle_code)) {
+                throw new BadRequestException("载具号不能为空");
+            }
             OutConfirmRequest outConfirmRequest = new OutConfirmRequest();
             outConfirmRequest.setOutPortNo(device_code);
             outConfirmRequest.setPalletCode(vehicle_code);
@@ -790,11 +815,20 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 outConfirmRequest.setOrderId(task_code);
             }
             Resp<OutConfirmReportResponse> resp = acsToLiKuService.outConfirm(outConfirmRequest);
-
+            if (StrUtil.equals(resp.getResult(), "false")) {
-
+                JSONObject resultJson = new JSONObject();
+                resultJson.put("status", 400);
+                resultJson.put("message", resp.getComment());
+                log.info("unLock--------------:输出参数" + resultJson);
+                return resultJson;
+            }
         } catch (Exception e) {
             e.printStackTrace();
-            log.info("unLock--------------:输出参数" + e.getMessage());
+            JSONObject resultJson = new JSONObject();
+            resultJson.put("status", 400);
+            resultJson.put("message", e.getMessage());
+            log.info("unLock--------------:输出参数" + resultJson);
+            return resultJson;
         } finally {
             MDC.remove(log_file_type);
         }
@@ -846,4 +880,124 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
         return resultJson;
     }
 
+    @Override
+    public Map<String, Object> sendAgvChargeTask(JSONObject param) {
+        log.info("sendAgvChargeTask--------------:输入参数" + param.toString());
+        String agv_system = param.getString("agv_system");
+        String car_no = param.getString("car_no");
+        if (StrUtil.isEmpty(agv_system)) {
+            throw new BadRequestException("AGV系统类型不能为空");
+        }
+        if (StrUtil.isEmpty(car_no)) {
+            throw new BadRequestException("AGV车号不能为空");
+        }
+        Device device = deviceAppService.findDeviceByCode(car_no);
+        if (device == null) {
+            throw new BadRequestException("agv车号在ACS系统中不存在!");
+        }
+        NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
+        agvService.createChargingTaskToNDC(agv_system, car_no);
+        JSONObject resp = new JSONObject();
+        resp.put("status", 200);
+        resp.put("message", "操作成功");
+        return resp;
+    }
+
+    @Override
+    public Map<String, Object> queryDeviceInfo(JSONObject param) {
+        log.info("queryDeviceInfo--------------:输入参数" + param.toString());
+        String region_code = param.getString("region_code");
+        if (StrUtil.isEmpty(region_code)) {
+            throw new BadRequestException("区域编码不能为空");
+        }
+        AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
+        AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
+        List<Device> devices = deviceAppService.findDevice(DeviceType.agv);
+        JSONArray data = new JSONArray();
+        if (ObjectUtil.isNotEmpty(devices)) {
+            for (int i = 0; i < devices.size(); i++) {
+                Device device = devices.get(i);
+                Device agvDevice = deviceAppService.findDeviceByCode(device.getDevice_code());
+                if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
+                    if (StrUtil.equals(region_code, "1")) {
+                        agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver();
+                        JSONObject jo = agvNdcTwoDeviceDriver.getDeviceStatusName();
+                        data.add(jo);
+                    }
+                }
+                if (agvDevice.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+                    if (StrUtil.equals(region_code, "5")) {
+                        agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) agvDevice.getDeviceDriver();
+                        JSONObject jo = agvNdcOneDeviceDriver.getDeviceStatusName();
+                        data.add(jo);
+                    }
+                }
+            }
+        }
+        JSONObject resp = new JSONObject();
+        resp.put("status", 200);
+        resp.put("message", "操作成功");
+        resp.put("data", data);
+        return resp;
+    }
+
+    @Override
+    public Map<String, Object> syncfaultInfo() {
+        log.info("syncfaultInfo--------------:输入参数");
+        JSONArray data = new JSONArray();
+        List<Dict> dicts = dictService.queryAll();
+        if (ObjectUtil.isNotEmpty(dicts)) {
+            List<Dict> error_dists = dicts
+                    .stream()
+                    .filter(dict -> dict.getName().contains("error_type"))
+                    .collect(Collectors.toList());
+            if (ObjectUtil.isNotEmpty(error_dists)) {
+                for (int i = 0; i < error_dists.size(); i++) {
+                    Dict dict = error_dists.get(i);
+                    String dictName = dict.getName();
+                    List<DictDetailDto> dictDetailDtos = dictDetailService.getDictByName(dictName);
+                    for (DictDetailDto dictDetailDto : dictDetailDtos) {
+                        JSONObject faultInfo = new JSONObject();
+                        faultInfo.put("fault_type", dictName);
+                        faultInfo.put("fault_code", dictDetailDto.getValue());
+                        faultInfo.put("fault_info", dictDetailDto.getLabel());
+                        data.add(faultInfo);
+                    }
+                }
+            }
+        }
+        JSONObject resp = new JSONObject();
+        resp.put("status", 200);
+        resp.put("message", "操作成功");
+        resp.put("data", data);
+        return resp;
+    }
+
+    @Override
+    public Map<String, Object> realTimefaultInfo(JSONObject param) {
+        log.info("realTimefaultInfo--------------:输入参数" + param.toString());
+        String device_code = param.getString("device_code");
+        JSONArray data = new JSONArray();
+        if (StrUtil.isNotEmpty(device_code)) {
+            String[] devices = device_code.split(",");
+            Device device = null;
+            for (String deviceCode : devices) {
+                device = deviceAppService.findDeviceByCode(deviceCode);
+                if (device == null) {
+                    continue;
+                }
+                if (device.getDeviceDriver() instanceof FeedLmsRealFailed) {
+                    FeedLmsRealFailed feedLmsRealFailed = (FeedLmsRealFailed) device.getDeviceDriver();
+                    JSONObject jsonObject = feedLmsRealFailed.feedLmsRealFailedInfo();
+                    data.add(jsonObject);
+                }
+            }
+        }
+        JSONObject resp = new JSONObject();
+        resp.put("status", 200);
+        resp.put("message", "操作成功");
+        resp.put("data", data);
+        return resp;
+    }
+
 }

acs/nladmin-system/src/main/java/org/nl/acs/history/ErrorUtil.java

@@ -10,9 +10,13 @@ import org.nl.modules.system.service.impl.DictDetailServiceImpl;
 import org.nl.modules.system.service.impl.DictServiceImpl;
 import org.nl.modules.wql.util.SpringContextHolder;
 
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
+import java.util.Set;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.function.Function;
+import java.util.stream.Collectors;
 
 /**
  * @author: geng by
@@ -41,6 +45,21 @@ public class ErrorUtil {
         return detail == null ? "字典表未配置对应的报警信息" : detail;
     }
 
+    public static Map<Integer, String> getDictDetailByName(String type) {
+        getDict();
+        List<DictDetailDto> dictDetailDtos = dictMap.get(type);
+        Map<Integer, String> map = new HashMap<>();
+        if (ObjectUtil.isNotEmpty(dictDetailDtos)) {
+            List<DictDetailDto> dtos = dictDetailDtos
+                    .stream()
+                    .filter(dictDetailDto -> !dictDetailDto.getValue().equals("0"))
+                    .filter(dictDetailDto -> !dictDetailDto.getValue().equals("-1"))
+                    .collect(Collectors.toList());
+            dtos.forEach(dictDetailDto -> map.put(Integer.parseInt(dictDetailDto.getValue()), dictDetailDto.getLabel()));
+        }
+        return map;
+    }
+
 
     public static void getDict() {
         if (ObjectUtil.isEmpty(dictMap)) {
@@ -60,4 +79,46 @@ public class ErrorUtil {
         return f.apply(name);
     }
 
+    public static Map<String, String> getAgvErrorMsg(Integer ageErrorNum) {
+        Map<Integer, String> agvMap = getDictDetailByName("agv_error_type");
+        Integer[] keys = agvMap.keySet().toArray(new Integer[0]);
+        String message = "";
+        String code = "";
+        out:
+        for (int i = 1; i < 1 << keys.length; i++) {
+            int sum = 0;
+            StringBuffer sb = new StringBuffer();
+            StringBuffer sbCode = new StringBuffer();
+            inner:
+            for (int j = 0; j < keys.length; j++) {
+                if ((i & 1 << j) != 0) {
+                    sum += keys[j];
+                    sb.append(agvMap.get(keys[j])).append(",");
+                    sbCode.append(keys[j]).append(",");
+                }
+            }
+            if (sum == ageErrorNum) {
+                code = sbCode.toString();
+                message = sb.toString();
+                break out;
+            }
+        }
+        Map<String, String> map = new HashMap<>();
+        String info = replace(message);
+        code = replace(code);
+        map.put("code", StrUtil.isEmpty(code) ? "-1" : code);
+        map.put("info", StrUtil.isEmpty(info) ? "AGV上报报警代码有误" : info);
+        return map;
+    }
+
+    public static String replace(String message) {
+        if (StrUtil.isEmpty(message)) {
+            return null;
+        }
+        if (message.endsWith(",")) {
+            return message.substring(0, message.length() - 1);
+        }
+        return message;
+    }
+
 }

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java

@@ -348,4 +348,15 @@ public class InstructionDto implements Serializable {
      */
     private String agv_system_type;
 
+    /**
+     * agv取货高度
+     */
+    private String start_height = "0";
+
+
+    /**
+     * agv放货高度
+     */
+    private String next_height = "0";
+
 }

acs/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java

@@ -296,4 +296,15 @@ public class TaskDto implements Serializable {
      */
     private String carno;
 
+    /**
+     * agv取货高度
+     */
+    private String start_height = "0";
+
+
+    /**
+     * agv放货高度
+     */
+    private String next_height = "0";
+
 }

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

@@ -70,16 +70,26 @@ import java.util.stream.Collectors;
 public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     List<TaskDto> tasks = new CopyOnWriteArrayList<>();
 
-  @Autowired DeviceAppService deviceAppService;
+    @Autowired
-  @Autowired RouteLineService routelineserver;
+    DeviceAppService deviceAppService;
-  @Autowired AcsToWmsService acstowmsService;
+    @Autowired
-  @Autowired TaskFeedbackService taskFeedbackService;
+    RouteLineService routelineserver;
-  @Autowired ParamService paramService;
+    @Autowired
-  @Autowired XianGongAgvService agvService;
+    AcsToWmsService acstowmsService;
-  @Autowired RouteLineService routeLineService;
+    @Autowired
-  @Autowired DeviceAssignedService deviceAssignedService;
+    TaskFeedbackService taskFeedbackService;
-  @Autowired InstructionService instructionService;
+    @Autowired
-  @Autowired StorageCellService storageCellService;
+    ParamService paramService;
+    @Autowired
+    XianGongAgvService agvService;
+    @Autowired
+    RouteLineService routeLineService;
+    @Autowired
+    DeviceAssignedService deviceAssignedService;
+    @Autowired
+    InstructionService instructionService;
+    @Autowired
+    StorageCellService storageCellService;
 
     @Override
     public void autoInitial() throws Exception {
@@ -368,8 +378,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                     list.add(task);
                 }
             } else {
-          if(StrUtil.equals(task.getTask_type(),"8") && StrUtil.isNotEmpty(task.getPut_device_code()))
+                if (StrUtil.equals(task.getTask_type(), "8") && StrUtil.isNotEmpty(task.getPut_device_code())) {
-          {
 //            if(task.getNext_device_code().equals(device_code)
 //                    && StrUtil.equals(task.getTask_status(), "1")){
 //              Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code());
@@ -498,9 +507,11 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         dto.setMaterial(startdevice.getMaterial_type());
         if (StrUtil.equals(createTaskCheck, "1")) {
             // 判断起点为输送设备
-      if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {}
+            if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
+            }
 
-      if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {}
+            if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
+            }
         } else {
             // 判断起点为输送设备
 
@@ -1102,6 +1113,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         String next_point_code2 = acsTask.getNext_point_code2();
         String agv_system_type = acsTask.getAgv_system_type();
         String task_type = acsTask.getTask_type();
+        String start_height = acsTask.getStart_height();
+        String next_height = acsTask.getNext_height();
         /** 开始平均分解校验 */
         String this_device_code =
                 this.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
@@ -1158,6 +1171,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         instdto.setNext_device_code2(next_point_code2);
         instdto.setNext_point_code2(next_point_code2);
         instdto.setAgv_system_type(agv_system_type);
+        instdto.setNext_height(next_height);
+        instdto.setStart_height(start_height);
         // 判断agv系统
         // 1、1楼叉车系统
         // 2、2楼1区域AGV系统
@@ -1260,7 +1275,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     }
 
     @Override
-  public void createTaskByClick(JSONObject json) {}
+    public void createTaskByClick(JSONObject json) {
+    }
 
     @Override
     public int checkAllowCreate(String devicecode) {

acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java

@@ -69,6 +69,9 @@ public class AutoCreateInst {
             String vehicleType = acsTask.getVehicle_type();
             String agv_system_type = acsTask.getAgv_system_type();
 
+            String start_height = acsTask.getStart_height();
+            String next_height = acsTask.getNext_height();
+
 
             if (StrUtil.equals(is_send, "0")) {
                 continue;
@@ -138,6 +141,8 @@ public class AutoCreateInst {
             instdto.setExecute_device_code(start_point_code);
             instdto.setVehicle_type(vehicleType);
             instdto.setAgv_system_type(agv_system_type);
+            instdto.setStart_height(start_height);
+            instdto.setNext_height(next_height);
             //判断agv系统
             //1、1楼叉车系统
             //2、2楼1区域AGV系统

acs/nladmin-ui/src/views/acs/instruction/index.vue

@@ -153,8 +153,9 @@
         <el-table-column prop="weight" label="重量" />
         <el-table-column prop="agv_jobno" label="AGV任务号" />
         <el-table-column prop="agv_inst_type" label="AGV任务类型" />
-        <el-table-column prop="agv_system_type" label="AGV系统类型" >
+        <el-table-column prop="agv_system_type" label="AGV系统类型" />
-        </el-table-column>
+        <el-table-column prop="start_height" label="取货高度" />
+        <el-table-column prop="next_height" label="放货高度" />
         <el-table-column prop="remark" label="描述" />
         <el-table-column prop="create_by" label="创建者" />
         <el-table-column prop="create_time" label="创建时间" width="135" />

acs/nladmin-ui/src/views/acs/task/index.vue

@@ -300,6 +300,12 @@
           <el-form-item label="载具号">
             <el-input v-model="form.vehicle_code" style="width: 370px;" @change="isDisabled=false" />
           </el-form-item>
+          <el-form-item v-if="form.task_type === '4'" label="取货高度" prop="start_height">
+            <el-input v-model="form.start_height" style="width: 370px;" @change="isDisabled=false" />
+          </el-form-item>
+          <el-form-item v-if="form.task_type === '4'" label="放货高度" prop="next_height">
+            <el-input v-model="form.next_height" style="width: 370px;" @change="isDisabled=false" />
+          </el-form-item>
           <el-form-item label="描述信息" prop="description">
             <el-input v-model="form.remark" style="width: 380px;" rows="5" type="textarea" @change="isDisabled=false" />
           </el-form-item>
@@ -310,7 +316,14 @@
         </div>
       </el-dialog>
       <!--表格渲染-->
-      <el-table ref="table" v-loading="crud.loading" :data="crud.data" size="small" style="width: 100%;" @selection-change="crud.selectionChangeHandler">
+      <el-table
+        ref="table"
+        v-loading="crud.loading"
+        :data="crud.data"
+        size="small"
+        style="width: 100%;"
+        @selection-change="crud.selectionChangeHandler"
+      >
         <el-table-column type="selection" width="25" />
         <el-table-column v-if="false" prop="task_id" label="任务标识" />
         <el-table-column prop="task_code" label="任务号" width="100" />
@@ -343,10 +356,18 @@
             {{ dict.label.storage_task_type[scope.row.storage_task_type] }}
           </template>
         </el-table-column>
+        <el-table-column prop="start_height" label="取货高度" />
+        <el-table-column prop="next_height" label="放货高度" />
         <el-table-column prop="remark" label="备注" />
         <el-table-column prop="create_by" label="创建者" />
         <el-table-column prop="create_time" label="创建时间" width="135" />
-        <el-table-column v-permission="['admin','task:edit','task:del']" fixed="left" label="操作" width="50px" align="center">
+        <el-table-column
+          v-permission="['admin','task:edit','task:del']"
+          fixed="left"
+          label="操作"
+          width="50px"
+          align="center"
+        >
           <template slot-scope="scope">
             <el-dropdown trigger="click" @command="handleCommand">
               <span class="el-dropdown-link">
@@ -382,7 +403,8 @@ export default {
   dicts: ['task_status', 'task_type', 'agv_system_type', 'storage_task_type'],
   mixins: [presenter(), header(), crud()],
   cruds() {
-    return CRUD({ title: '任务', url: 'api/task', idField: 'task_id', sort: 'task_id,desc',
+    return CRUD({
+      title: '任务', url: 'api/task', idField: 'task_id', sort: 'task_id,desc',
       optShow: {
         add: false,
         edit: true,
@@ -390,7 +412,8 @@ export default {
         reset: false,
         download: true
       },
-      crudMethod: { ...crudTask }})
+      crudMethod: { ...crudTask }
+    })
   },
   data() {
     const checkFromY = (rule, value, callback) => {
@@ -480,9 +503,17 @@ export default {
         to_x: null,
         to_y: null,
         to_z: null,
-        agv_system_type: ''
+        agv_system_type: '',
+        next_height: '0',
+        start_height: '0'
       },
       rules: {
+        start_height: [
+          { required: true, message: '起点高度不能为空', trigger: 'change' }
+        ],
+        next_height: [
+          { required: true, message: '终点高度不能为空', trigger: 'change' }
+        ],
         start_point_code: [
           { required: true, message: '起点不能为空', trigger: 'change' }
         ],
@@ -517,11 +548,15 @@ export default {
   },
   methods: {
     saveBtn() {
+      this.$refs.form.validate((valid) => {
+        if (valid) {
           crudTask.add(this.form).then(res => {
             this.crud.toQuery()
             this.formDia = false
             this.isDisabled = true
           })
+        }
+      })
     },
     // 钩子：在获取表格数据之前执行，false 则代表不获取数据
     [CRUD.HOOK.beforeRefresh]() {
@@ -684,6 +719,7 @@ export default {
   cursor: pointer;
   color: #409EFF;
 }
+
 .el-icon-arrow-down {
   font-size: 12px;
 }