opt:内包间行架，输送线出口位驱动优化

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java

@@ -5,27 +5,18 @@ import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.nl.acs.AcsConfig;
 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_device.HongXiangConveyorDeviceDriver;
-import org.nl.acs.device_driver.basedriver.lamp_three_color.LampThreecolorDeviceDriver;
-import org.nl.acs.device_driver.basedriver.photoelectric_inspection_site.PhotoelectricInspectionSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.plugging_unplugging_machine.PluggingUnpluggingMachineDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
-import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
-import org.nl.acs.ext.wms.data.ApplyLabelingAndBindingRequest;
-import org.nl.acs.ext.wms.data.ApplyLabelingAndBindingResponse;
 import org.nl.acs.ext.wms.data.ApplyManipulatorActionRequest;
 import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
@@ -36,7 +27,6 @@ import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.DeviceExecuteLogService;
-import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
@@ -312,13 +302,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号inflatable_shaft_size：" + last_inflatable_shaft_size + "->" + inflatable_shaft_size);
             }
 
-            if (task > 0 && getTo_task_type() == 1) {
+            if (task > 0 && getTo_task_type() == 1 && !requireSucess) {
                 update_instruction_status();
-            } else if (task > 0 && getTo_task_type() == 2) {//
+            } else if (task > 0 && getTo_task_type() == 2 && !requireSucess) {
                 update_instruction_status2();
-            } else if (task > 0 && getTo_task_type() == 6) {
+            } else if (task > 0 && getTo_task_type() == 6 && !requireSucess) {
                 update_instruction_status3();
-            } else if (task > 0 && getTo_task_type() == 7) {
+            } else if (task > 0 && getTo_task_type() == 7 && !requireSucess) {
                 update_instruction_status4();
             }
 
@@ -426,503 +416,446 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
     }
 
     private synchronized void update_instruction_status() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
         Date date = new Date();
-        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+        Instruction inst1 = checkInst();
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+        if (inst1 != null) {
-
+            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
-        } else {
+                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
-            this.instruction_update_time = date;
+            } else {
-            //更改任务状态
+                this.instruction_update_time = date;
-            if (task > 0) {
+                //更改任务状态
-                //inst_message
+                if (task > 0) {
-                Instruction inst1 = checkInst();
+                    //inst_message
-                if (inst1 != null) {
+                    if (inst1 != null) {
-                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                        if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                        inst1.setInstruction_status("1");
+                            inst1.setInstruction_status("1");
-                        inst1.setExecute_device_code(this.device_code);
+                            inst1.setExecute_device_code(this.device_code);
-                        instructionService.update(inst1);
+                            instructionService.update(inst1);
+                        }
                     }
                 }
-            }
+                //反馈尺寸
-
+                if (action == 2) {
-            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+                    String task_code = inst1.getTask_code();
-            ApplyManipulatorActionResponse applyManipulatorActionResponse;
+                    applyManipulatorActionRequest.setType("2");
-            //反馈尺寸
+                    applyManipulatorActionRequest.setTask_code(task_code);
-            if (action == 2) {
+                    applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                Instruction inst2 = checkInst();
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String task_code = inst2.getTask_code();
+                    if (applyManipulatorActionResponse.getstatus() == 200) {
-                TaskDto taskDto = taskserver.findByCode(task_code);
+                        requireSucess = true;
-                String truss_type = taskDto.getTruss_type();
+                        message = "反馈LMS成功...";
-                applyManipulatorActionRequest.setType(truss_type);
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                applyManipulatorActionRequest.setTask_code(task_code);
+                        Map<String, Object> map = new LinkedHashMap<>();
-                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
+                        map.put("to_command", "2");
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                        this.writing(map);
-                if (applyManipulatorActionResponse.getstatus() == 200) {
+                    } else {
-                    requireSucess = true;
+                        requireSucess = false;
-                    message = "反馈LMS成功...";
+                        message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    String version = applyManipulatorActionResponse.getVersion();
+                    }
-                    String bushing_num = applyManipulatorActionResponse.getBushing_num();
-                    String is_bushing = applyManipulatorActionResponse.getIs_bushing();
-                    String detail_type = applyManipulatorActionResponse.getDetail_type();
-                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "2");
-                    map.put("inflatableShaftVersion", version);
-                    map.put("tube_num", bushing_num);
-                    map.put("is_wrapped", is_bushing);
-                    map.put("to_putpoint", put_device_code);
-                    this.writing(map);
-                } else {
-                    requireSucess = true;
-                    message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
                 }
-            }
 
-            //任务完成
+                //任务完成
-            if (action == 8) {
+                if (action == 8) {
-                Instruction inst2 = checkInst();
-                if (inst2 != null) {
                     try {
-                        finish_instruction(inst2);
+                        finish_instruction(inst1);
                         this.writing("to_command", "8");
+                        requireSucess = true;
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
                     feedMessage = "";
-                }
+                } else {
-            } else {
+                    feedMessage = "行架机械手:";
-                feedMessage = "行架机械手:";
+                    if (mode != 3) {
-                if (mode != 3) {
+                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
-                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                    }
-                }
+                    if (action != 8) {
-                if (action != 8) {
+                        feedMessage = feedMessage + "动作信号(action)不为完成状态,";
-                    feedMessage = feedMessage + "动作信号(action)不为完成状态,";
+                    }
-                }
+                    if (move != 0) {
-                if (move != 0) {
+                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
-                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                    }
-                }
+                    if (task == 0) {
-                if (task == 0) {
+                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
-                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                    }
                 }
             }
-
+        } else {
-
+            feedMessage = "";
         }
     }
 
     private synchronized void update_instruction_status2() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
         Date date = new Date();
-        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+        Instruction inst1 = checkInst();
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+        if (inst1 != null) {
+            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
 
-        } else {
-            this.instruction_update_time = date;
-            //更改任务状态
-            if (task > 0) {
-                //inst_message
-                Instruction inst1 = checkInst();
-                if (inst1 != null) {
-                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                        inst1.setInstruction_status("1");
-                        inst1.setExecute_device_code(this.device_code);
-                        instructionService.update(inst1);
-                    }
-                }
-            }
-
-            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
-            ApplyManipulatorActionResponse applyManipulatorActionResponse;
-            //反馈气胀轴尺寸
-            if (action == 2) {
-                Instruction inst2 = checkInst();
-                String task_code = inst2.getTask_code();
-                TaskDto taskDto = taskserver.findByCode(task_code);
-                String truss_type = taskDto.getTruss_type();
-                applyManipulatorActionRequest.setType(truss_type);
-                applyManipulatorActionRequest.setTask_code(task_code);
-                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                if (applyManipulatorActionResponse.getstatus() == 200) {
-                    requireSucess = true;
-                    message = "反馈LMS成功...";
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "2");
-                    map.put("to_task_type", "2");
-                    this.writing(map);
-                } else {
-                    requireSucess = true;
-                    message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                }
-            }
-
-            //申请放货点
-            if (action == 3) {
-                Instruction inst2 = checkInst();
-                String task_code = inst2.getTask_code();
-                TaskDto taskDto = taskserver.findByCode(task_code);
-                String truss_type = taskDto.getTruss_type();
-                applyManipulatorActionRequest.setType(truss_type);
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                String detail_type = applyManipulatorActionResponse.getDetail_type();
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "3");
-                map.put("to_putpoint", put_device_code);
-                this.writing(map);
-                requireSucess = true;
-            }
-
-            //任务完成
-            if (action == 8) {
-                Instruction inst2 = checkInst();
-                if (inst2 != null) {
-                    try {
-                        finish_instruction(inst2);
-                        this.writing("to_command", "8");
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                    feedMessage = "";
-                }
             } else {
-                feedMessage = "行架机械手:";
+                this.instruction_update_time = date;
-                if (mode != 3) {
+                //更改任务状态
-                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                if (task > 0) {
+                    //inst_message
+                    if (inst1 != null) {
+                        if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                            inst1.setInstruction_status("1");
+                            inst1.setExecute_device_code(this.device_code);
+                            instructionService.update(inst1);
+                        }
+                    }
                 }
-                if (action != 8) {
+
-                    feedMessage = feedMessage + "动作信号(action)不为完成状态,";
+                //反馈气胀轴尺寸
+                if (action == 2) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setType("2");
+                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                    if (applyManipulatorActionResponse.getstatus() == 200) {
+                        requireSucess = true;
+                        message = "反馈LMS成功...";
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                        Map<String, Object> map = new LinkedHashMap<>();
+                        map.put("to_command", "2");
+                        map.put("to_task_type", "2");
+                        this.writing(map);
+                    } else {
+                        requireSucess = false;
+                        message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                    }
                 }
-                if (move != 0) {
+
-                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                //申请放货点
+                if (action == 3) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setType("3");
+                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "3");
+                    map.put("to_putpoint", put_device_code);
+                    this.writing(map);
+                    requireSucess = true;
                 }
-                if (task == 0) {
+
-                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                //任务完成
+                if (action == 8) {
+                    if (inst1 != null) {
+                        try {
+                            requireSucess = true;
+                            finish_instruction(inst1);
+                            this.writing("to_command", "8");
+                        } catch (Exception e) {
+                            e.printStackTrace();
+                        }
+                        feedMessage = "";
+                    }
+                } else {
+                    feedMessage = "行架机械手:";
+                    if (mode != 3) {
+                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                    }
+                    if (action != 8) {
+                        feedMessage = feedMessage + "动作信号(action)不为完成状态,";
+                    }
+                    if (move != 0) {
+                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                    }
+                    if (task == 0) {
+                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                    }
                 }
             }
-
+        } else {
-
+            feedMessage = "";
         }
     }
 
     private synchronized void update_instruction_status3() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
         Date date = new Date();
-        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+        Instruction inst1 = checkInst();
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+        if (inst1 != null) {
+            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
 
-        } else {
+            } else {
-            this.instruction_update_time = date;
+                this.instruction_update_time = date;
-            //更改任务状态
+                //更改任务状态
-            if (task > 0) {
+                if (task > 0) {
-                //inst_message
+                    //inst_message
-                Instruction inst1 = checkInst();
+                    if (inst1 != null) {
-                if (inst1 != null) {
+                        if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                            inst1.setInstruction_status("1");
-                        inst1.setInstruction_status("1");
+                            inst1.setExecute_device_code(this.device_code);
-                        inst1.setExecute_device_code(this.device_code);
+                            instructionService.update(inst1);
-                        instructionService.update(inst1);
-                    }
-                }
-            }
-
-            //从拔轴机取货的新行架任务
-            if (mode == 3 && action == 1 && move == 0 && task > 0) {
-                Instruction inst2 = checkInst();
-                if (ObjectUtil.isNotEmpty(inst2)) {
-                    String start_device_code = inst2.getStart_device_code();
-                    Device device = deviceAppService.findDeviceByCode(start_device_code);
-                    PluggingUnpluggingMachineDeviceDriver pluggingUnpluggingMachineDeviceDriver;
-                    if (device.getDeviceDriver() instanceof PluggingUnpluggingMachineDeviceDriver) {
-                        pluggingUnpluggingMachineDeviceDriver = (PluggingUnpluggingMachineDeviceDriver) device.getDeviceDriver();
-                        int mode = pluggingUnpluggingMachineDeviceDriver.getMode();
-                        int error1 = pluggingUnpluggingMachineDeviceDriver.getError();
-                        int move = pluggingUnpluggingMachineDeviceDriver.getMove();
-                        if (mode == 2 && error1 == 0 && move == 1) {
-                            Map<String, Object> map = new LinkedHashMap<>();
-                            map.put("to_command", "1");
-                            this.writing(map);
-                            this.setFeedbackSucess(true);
                         }
                     }
                 }
-            } else {
-                feedMessage = "行架机械手:";
-                if (mode != 3) {
-                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
-                }
-                if (action != 1) {
-                    feedMessage = feedMessage + "动作信号(action)不为取货中状态,";
-                }
-                if (move != 0) {
-                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
-                }
-                if (task == 0) {
-                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
-                }
-            }
 
-            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+                //反馈尺寸
-            ApplyManipulatorActionResponse applyManipulatorActionResponse;
+                if (action == 2) {
-            //反馈尺寸
+                    String task_code = inst1.getTask_code();
-            if (action == 2) {
+                    applyManipulatorActionRequest.setType("2");
-                Instruction inst2 = checkInst();
+                    applyManipulatorActionRequest.setTask_code(task_code);
-                String task_code = inst2.getTask_code();
+                    applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                TaskDto taskDto = taskserver.findByCode(task_code);
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String truss_type = taskDto.getTruss_type();
+                    if (applyManipulatorActionResponse.getstatus() == 200) {
-                applyManipulatorActionRequest.setType(truss_type);
+                        requireSucess = true;
-                applyManipulatorActionRequest.setTask_code(task_code);
+                        message = "反馈LMS成功...";
-                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                        Map<String, Object> map = new LinkedHashMap<>();
-                if (applyManipulatorActionResponse.getstatus() == 200) {
+                        map.put("to_command", "2");
-                    requireSucess = true;
+                        this.writing(map);
-                    message = "反馈LMS成功...";
+                    } else {
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                        requireSucess = false;
-                    String version = applyManipulatorActionResponse.getVersion();
+                        message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                    String bushing_num = applyManipulatorActionResponse.getBushing_num();
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    String is_bushing = applyManipulatorActionResponse.getIs_bushing();
+                    }
-                    String detail_type = applyManipulatorActionResponse.getDetail_type();
+                }
+
+                //从拔轴机取货的新行架任务
+                if (mode == 3 && action == 1 && move == 0 && task > 0) {
+                    if (ObjectUtil.isNotEmpty(inst1)) {
+                        String start_device_code = inst1.getStart_device_code();
+                        Device device = deviceAppService.findDeviceByCode(start_device_code);
+                        PluggingUnpluggingMachineDeviceDriver pluggingUnpluggingMachineDeviceDriver;
+                        if (device.getDeviceDriver() instanceof PluggingUnpluggingMachineDeviceDriver) {
+                            pluggingUnpluggingMachineDeviceDriver = (PluggingUnpluggingMachineDeviceDriver) device.getDeviceDriver();
+                            int mode = pluggingUnpluggingMachineDeviceDriver.getMode();
+                            int error1 = pluggingUnpluggingMachineDeviceDriver.getError();
+                            int move = pluggingUnpluggingMachineDeviceDriver.getMove();
+                            if (mode == 2 && error1 == 0 && move == 1) {
+                                Map<String, Object> map = new LinkedHashMap<>();
+                                map.put("to_command", "1");
+                                this.writing(map);
+                                requireSucess = true;
+                            }
+                        }
+                    }
+                } else {
+                    feedMessage = "行架机械手:";
+                    if (mode != 3) {
+                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                    }
+                    if (action != 1) {
+                        feedMessage = feedMessage + "动作信号(action)不为取货中状态,";
+                    }
+                    if (move != 0) {
+                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                    }
+                    if (task == 0) {
+                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                    }
+                }
+
+
+                //申请放货点
+                if (action == 3) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setType("3");
+                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
                     String put_device_code = applyManipulatorActionResponse.getPut_device_code();
                     Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "2");
+                    map.put("to_command", "3");
-                    map.put("inflatableShaftVersion", version);
-                    map.put("tube_num", bushing_num);
-                    map.put("is_wrapped", is_bushing);
                     map.put("to_putpoint", put_device_code);
                     this.writing(map);
-                } else {
                     requireSucess = true;
-                    message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
                 }
-            }
-
-            //申请放货点
-            if (action == 3) {
-                Instruction inst2 = checkInst();
-                String task_code = inst2.getTask_code();
-                TaskDto taskDto = taskserver.findByCode(task_code);
-                String truss_type = taskDto.getTruss_type();
-                applyManipulatorActionRequest.setType(truss_type);
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                String detail_type = applyManipulatorActionResponse.getDetail_type();
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "3");
-                map.put("to_putpoint", put_device_code);
-                this.writing(map);
-                this.setFeedbackSucess(true);
-            }
 
 
-            //任务完成
+                //任务完成
-            if (action == 8) {
+                if (action == 8) {
-                Instruction inst2 = checkInst();
-                if (inst2 != null) {
                     try {
-                        String task_code = inst2.getTask_code();
+                        requireSucess = true;
-                        TaskDto taskDto = taskserver.findByCode(task_code);
+                        finish_instruction(inst1);
-                        String truss_type = taskDto.getTruss_type();
-                        finish_instruction(inst2);
                         this.writing("to_command", "8");
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
                     feedMessage = "";
-                }
+                } else {
-            } else {
+                    feedMessage = "行架机械手:";
-                feedMessage = "行架机械手:";
+                    if (mode != 3) {
-                if (mode != 3) {
+                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
-                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                    }
-                }
+                    if (action != 8) {
-                if (action != 8) {
+                        feedMessage = feedMessage + "动作信号(action)不为完成状态,";
-                    feedMessage = feedMessage + "动作信号(action)不为完成状态,";
+                    }
-                }
+                    if (move != 0) {
-                if (move != 0) {
+                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
-                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                    }
-                }
+                    if (task == 0) {
-                if (task == 0) {
+                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
-                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                    }
                 }
             }
-
+        } else {
-
+            feedMessage = "";
         }
     }
 
     private synchronized void update_instruction_status4() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
         Date date = new Date();
-        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+        Instruction inst1 = checkInst();
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+        if (inst1 != null) {
+            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
 
-        } else {
-            this.instruction_update_time = date;
-            //更改任务状态
-            if (task > 0) {
-                //inst_message
-                Instruction inst1 = checkInst();
-                if (inst1 != null) {
-                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                        inst1.setInstruction_status("1");
-                        inst1.setExecute_device_code(this.device_code);
-                        instructionService.update(inst1);
-                    }
-                }
-            }
-
-            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
-            ApplyManipulatorActionResponse applyManipulatorActionResponse;
-            //反馈尺寸
-            if (action == 2) {
-                Instruction inst2 = checkInst();
-                String task_code = inst2.getTask_code();
-                TaskDto taskDto = taskserver.findByCode(task_code);
-                String truss_type = taskDto.getTruss_type();
-                applyManipulatorActionRequest.setType(truss_type);
-                applyManipulatorActionRequest.setTask_code(task_code);
-                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                if (applyManipulatorActionResponse.getstatus() == 200) {
-                    requireSucess = true;
-                    message = "反馈LMS成功...";
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    String version = applyManipulatorActionResponse.getVersion();
-                    String bushing_num = applyManipulatorActionResponse.getBushing_num();
-                    String is_bushing = applyManipulatorActionResponse.getIs_bushing();
-                    String detail_type = applyManipulatorActionResponse.getDetail_type();
-                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "2");
-                    map.put("inflatableShaftVersion", version);
-                    map.put("tube_num", bushing_num);
-                    map.put("is_wrapped", is_bushing);
-                    map.put("to_putpoint", put_device_code);
-                    this.writing(map);
-                } else {
-                    requireSucess = true;
-                    message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                }
-            }
-
-            //申请放货点
-            if (action == 3) {
-                Instruction inst2 = checkInst();
-                String task_code = inst2.getTask_code();
-                TaskDto taskDto = taskserver.findByCode(task_code);
-                String truss_type = taskDto.getTruss_type();
-                applyManipulatorActionRequest.setType(truss_type);
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                String detail_type = applyManipulatorActionResponse.getDetail_type();
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "3");
-                map.put("to_task_type", detail_type);
-                map.put("to_putpoint", put_device_code);
-                this.writing(map);
-                this.setFeedbackSucess(true);
-            }
-
-            //申请新取货点
-            if (action == 4) {
-                applyManipulatorActionRequest.setType("4");
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                if (applyManipulatorActionResponse.getstatus() == 200) {
-                    String get_device_code = applyManipulatorActionResponse.getGet_device_code();
-                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "4");
-                    map.put("to_new_getpoint", get_device_code);
-                    map.put("to_putpoint", put_device_code);
-                    this.writing(map);
-                    requireSucess = true;
-                    logServer.deviceExecuteLog(this.device_code, "", "", "申请新取货点,返回参数:" + applyManipulatorActionResponse);
-                    message = "申请新取货点成功";
-                } else {
-                    requireSucess = true;
-                    message = "申请失败";
-                    logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
-                }
-            }
-
-            //申请二次放货点
-            if (action == 5) {
-                applyManipulatorActionRequest.setType("5");
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                if (applyManipulatorActionResponse.getstatus() == 200) {
-                    String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
-                    String detail_type = applyManipulatorActionResponse.getDetail_type();
-                    String get_device_code = applyManipulatorActionResponse.getGet_device_code();
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "5");
-                    map.put("to_task_type", detail_type);
-                    map.put("to_two_putpoint", put_device_code2);
-                    map.put("to_new_getpoint", get_device_code);
-                    this.writing(map);
-                    requireSucess = true;
-                    logServer.deviceExecuteLog(this.device_code, "", "", "申请二次放货点,返回参数:" + applyManipulatorActionResponse);
-                    message = "申请二次放货点成功";
-                } else {
-                    requireSucess = true;
-                    message = "申请失败";
-                    logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
-                }
-            }
-
-            //缓存库取货完成
-            if (action == 6) {
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "6");
-                requireSucess = true;
-            }
-
-            //缓存库放货完成
-            if (action == 7) {
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "7");
-                requireSucess = true;
-            }
-
-
-            //放货完成
-            if (action == 8) {
-                Instruction inst2 = checkInst();
-                if (inst2 != null) {
-                    try {
-                        String task_code = inst2.getTask_code();
-                        TaskDto taskDto = taskserver.findByCode(task_code);
-                        String truss_type = taskDto.getTruss_type();
-                        finish_instruction(inst2);
-                        this.writing("to_command", "8");
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                    feedMessage = "";
-                }
             } else {
-                feedMessage = "行架机械手:";
+                this.instruction_update_time = date;
-                if (mode != 3) {
+                //更改任务状态
-                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                if (task > 0) {
+                    //inst_message
+                    if (inst1 != null) {
+                        if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                            inst1.setInstruction_status("1");
+                            inst1.setExecute_device_code(this.device_code);
+                            instructionService.update(inst1);
+                        }
+                    }
                 }
-                if (action != 8) {
+
-                    feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
+
+                //反馈尺寸
+                if (action == 2) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setType("2");
+                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                    if (applyManipulatorActionResponse.getstatus() == 200) {
+                        requireSucess = true;
+                        message = "反馈LMS成功...";
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                        Map<String, Object> map = new LinkedHashMap<>();
+                        map.put("to_command", "2");
+                        this.writing(map);
+                    } else {
+                        requireSucess = false;
+                        message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
+                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                    }
                 }
-                if (move != 0) {
+
-                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                //申请放货点
+                if (action == 3) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setType("3");
+                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "3");
+                    map.put("to_putpoint", put_device_code);
+                    this.writing(map);
+                    requireSucess = true;
                 }
-                if (task == 0) {
+
-                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                //申请新取货点
+                if (action == 4) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setType("4");
+                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                    if (applyManipulatorActionResponse.getstatus() == 200) {
+                        String get_device_code = applyManipulatorActionResponse.getGet_device_code();
+                        Map<String, Object> map = new LinkedHashMap<>();
+                        map.put("to_command", "4");
+                        map.put("to_new_getpoint", get_device_code);
+                        this.writing(map);
+                        requireSucess = true;
+                        logServer.deviceExecuteLog(this.device_code, "", "", "申请新取货点,返回参数:" + applyManipulatorActionResponse);
+                        message = "申请新取货点成功";
+                    } else {
+                        requireSucess = false;
+                        message = "申请失败";
+                        logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
+                    }
                 }
+
+                //申请二次放货点
+                if (action == 5) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setType("5");
+                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                    if (applyManipulatorActionResponse.getstatus() == 200) {
+                        String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
+                        Map<String, Object> map = new LinkedHashMap<>();
+                        map.put("to_command", "5");
+                        map.put("to_two_putpoint", put_device_code2);
+                        this.writing(map);
+                        requireSucess = true;
+                        logServer.deviceExecuteLog(this.device_code, "", "", "申请二次放货点,返回参数:" + applyManipulatorActionResponse);
+                        message = "申请二次放货点成功";
+                    } else {
+                        requireSucess = false;
+                        message = "申请失败";
+                        logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
+                    }
+                }
+
+                //缓存库取货完成
+                if (action == 6) {
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "6");
+                    requireSucess = true;
+                }
+
+                //缓存库放货完成
+                if (action == 7) {
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "7");
+                    requireSucess = true;
+                }
+
+
+                //放货完成
+                if (action == 8) {
+                    if (inst1 != null) {
+                        try {
+                            requireSucess = true;
+                            finish_instruction(inst1);
+                            this.writing("to_command", "8");
+                        } catch (Exception e) {
+                            e.printStackTrace();
+                        }
+                        feedMessage = "";
+                    }
+                } else {
+                    feedMessage = "行架机械手:";
+                    if (mode != 3) {
+                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                    }
+                    if (action != 8) {
+                        feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
+                    }
+                    if (move != 0) {
+                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                    }
+                    if (task == 0) {
+                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                    }
+                }
+
+
             }
-
+        } else {
-
+            feedMessage = "";
         }
     }
 
@@ -1086,7 +1019,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                             taskDtoList = this.sortTask(taskDtoList);
                             task = taskDtoList.get(j);
                             // 9 行架任务
-                            if (!StrUtil.equals(task.getTruss_type(), "9")) {
+                            if (!StrUtil.equals(task.getTask_type(), "9")) {
                                 task = null;
                                 continue;
                             }
@@ -1098,7 +1031,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
             if (!ObjectUtil.isEmpty(task)) {
                 Device nextdevice = deviceAppService.findDeviceByCode(task.getNext_device_code());
                 Device startdevice = deviceAppService.findDeviceByCode(task.getStart_device_code());
-                StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
                 SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
                 if (startdevice.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
                     siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) startdevice.getDeviceDriver();

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

@@ -303,8 +303,10 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
             if (task != last_task) {
                 logServer.deviceItemValue(this.device_code, "task", String.valueOf(task));
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task);
+                if ("true".equals(this.device.getExtraValue().get("task_update"))) {
+                    taskDeviceUpdate();
+                }
             }
-
             if (move != 0 && task > 0) {
 //                logServer.deviceExecuteLog(device_code, "", "", "输送线任务开始反馈任务状态,指令号:" + task);
                 //inst_message
@@ -431,6 +433,22 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
     }
 
 
+    private void taskDeviceUpdate() {
+        Instruction  inst = checkInst();
+        JSONObject param = new JSONObject() {{
+            put("device_code", device_code);
+            put("task_code", inst.getTask_code());
+
+        }};
+        logServer.deviceExecuteLog(this.device_code, "", "", "task变化请求LMS,参数:" + param);
+        HttpResponse response = acsToWmsService.taskDeviceUpdate(param);
+        if (response == null || response.getStatus() == 200) {
+            logServer.deviceExecuteLog(this.device_code, "", "", "task变化请求LMS,接口返回:" + response.body());
+        }
+    }
+
+
+
     public boolean exe_error() {
         if (this.error == 0) {
             return true;

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

@@ -112,6 +112,8 @@ public interface AcsToWmsService {
     // 输送线有货变成无货时向lms请求
     HttpResponse shipDeviceUpdate(JSONObject param);
 
+    HttpResponse taskDeviceUpdate(JSONObject param);
+
     void sendDeviceStatus(JSONObject param);
 
     ApplyManipulatorActionResponse applyManipulatorActionRequest(ApplyManipulatorActionRequest param);

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

@@ -608,6 +608,29 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         return null;
     }
 
+    @Override
+    public HttpResponse taskDeviceUpdate(JSONObject param) {
+        try {
+            MDC.put(log_file_type, log_type);
+//            log.info("shipDeviceUpdate-----输入参数{}", param);
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+                AddressDto addressDto = addressService.findByCode("taskDeviceUpdate");
+                String methods_url = addressDto.getMethods_url();
+                String url = wmsUrl + methods_url;
+                return HttpRequest
+                        .post(url)
+                        .body(param.toString())
+                        .execute();
+            }
+        } catch (Throwable ignored) {
+
+        } finally {
+            MDC.remove(log_file_type);
+        }
+        return null;
+    }
+
     @Override
     public void sendDeviceStatus(JSONObject param) {
         try {

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

@@ -153,6 +153,13 @@
             </el-form-item>
           </el-col>
         </el-row>
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="反馈任务号" label-width="150px">
+              <el-switch v-model="form.task_update" />
+            </el-form-item>
+          </el-col>
+        </el-row>
       </el-form>
     </el-card>
 
@@ -326,7 +333,8 @@ export default {
         link_device_code: [],
         ship_device_update: true,
         special_flag: true,
-        sendDeviceStatus: true
+        sendDeviceStatus: true,
+        task_update: true
       },
       rules: {}
     }