From cf9213eab401341943e237fa40fb1ebcbd1857e9 Mon Sep 17 00:00:00 2001
From: tuqiang <437016993@qq.com>
Date: Tue, 7 Nov 2023 11:01:34 +0800
Subject: [PATCH] =?UTF-8?q?add:=E6=96=B0=E5=A2=9E=E5=86=85=E5=8C=85?=
 =?UTF-8?q?=E9=97=B4=E8=A1=8C=E6=9E=B6=E9=A9=B1=E5=8A=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../device/device_driver/DriverTypeEnum.java  |   5 +-
 .../java/org/nl/acs/device/wql/task_inst.xls  | Bin 196096 -> 167424 bytes
 .../IndoorManipulatorDefination.java          |  61 ++
 .../IndoorManipulatorDeviceDriver.java        | 842 ++++++++++++++++++
 .../indoor_manipulator/ItemProtocol.java      | 224 +++++
 .../data/ApplyManipulatorActionRequest.java   |  28 +
 .../data/ApplyManipulatorActionResponse.java  |  48 +
 .../acs/ext/wms/rest/AcsToWmsController.java  |   8 +
 .../acs/ext/wms/service/AcsToWmsService.java  |   2 +
 .../wms/service/impl/AcsToWmsServiceImpl.java |  34 +
 .../org/nl/acs/task/service/TaskService.java  |   8 +
 .../task/service/impl/TaskServiceImpl.java    |  14 +
 .../src/views/acs/device/config.vue           |   4 +-
 .../acs/device/driver/indoor_manipulator.vue  | 546 ++++++++++++
 14 files changed, 1822 insertions(+), 2 deletions(-)
 create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDefination.java
 create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
 create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/ItemProtocol.java
 create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java
 create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionResponse.java
 create mode 100644 acs/nladmin-ui/src/views/acs/device/driver/indoor_manipulator.vue

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
index 998f6f584..0fa6c196c 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
@@ -55,7 +55,10 @@ public enum DriverTypeEnum {
 
     PAPER_TUBE_DEVICE(22, "paper_tube_conveyor", "纸管库设备", "conveyor"),
 
-    DEVICE_STATUS(23,"device_status","立库设备状态","conveyor");
+    DEVICE_STATUS(23,"device_status","立库设备状态","conveyor"),
+
+    INDOOR_MANIPULATOR(24,"indoor_manipulator","内包间-行架机械手","station");
+
 
     //驱动索引
     private int index;
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/wql/task_inst.xls b/acs/nladmin-system/src/main/java/org/nl/acs/device/wql/task_inst.xls
index 5861314cf76cef243ebd2321d61f8f76f4e43634..7470984f1b975aa75f7771b3840aaf0f499a2cc4 100644
GIT binary patch
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diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDefination.java
new file mode 100644
index 000000000..16e1a20ec
--- /dev/null
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDefination.java
@@ -0,0 +1,61 @@
+package org.nl.acs.device_driver.basedriver.indoor_manipulator;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 内包间-行架机械手
+ *
+ */
+@Service
+public class IndoorManipulatorDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "indoor_manipulator";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "内包间-行架机械手";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "内包间-行架机械手";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new IndoorManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return IndoorManipulatorDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.station);
+        return types;
+    }
+
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+}
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
new file mode 100644
index 000000000..a94e8d44e
--- /dev/null
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
@@ -0,0 +1,842 @@
+package org.nl.acs.device_driver.basedriver.indoor_manipulator;
+
+import cn.hutool.core.date.DateUtil;
+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.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;
+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.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.common.exception.BadRequestException;
+import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.service.impl.ParamServiceImpl;
+import org.nl.modules.wql.core.bean.WQLObject;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.*;
+
+
+/**
+ * 内包间-行架机械手
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+    protected org.nl.acs.device_driver.basedriver.indoor_manipulator.ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
+    @Autowired
+    RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
+    @Autowired
+    DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+    @Autowired
+    DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
+    @Autowired
+    ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
+
+
+    //工作模式
+    int mode = 0;
+    int last_mode = 0;
+    //光电信号
+    int move = 0;
+    int last_move = 0;
+    //动作信号
+    int action = 0;
+    int last_action = 0;
+    //行走列
+    int walk_y = 0;
+    int last_walk_y = 0;
+    //报警信号
+    int error = 0;
+    int last_error = 0;
+    //任务号
+    int task = 0;
+    int last_task = 0;
+    // x坐标
+    float x_position = 0;
+    float last_x_position = 0;
+    // y坐标
+    float y_position = 0;
+    float last_y_position = 0;
+    //气胀轴尺寸
+    int inflatable_shaft_size = 0;
+    int last_inflatable_shaft_size = 0;
+
+    int heartbeat = 0;
+    int last_heartbeat = 0;
+    int to_command = 0;
+    int last_to_command = 0;
+
+    int to_target = 0;
+    int last_to_target = 0;
+
+    int to_task = 0;
+    int last_to_task = 0;
+
+    int to_onset = 0;
+    int last_to_onset = 0;
+
+    int to_putpoint = 0;
+    int last_to_putpoint = 0;
+
+    int to_new_getpoint = 0;
+    int last_to_new_getpoint = 0;
+
+    int to_two_putpoint = 0;
+    int last_to_two_putpoint = 0;
+
+    int to_task_type = 0;
+    int last_to_task_type = 0;
+
+    //气胀轴代数
+    int inflatableShaftVersion = 0;
+    int last_inflatableShaftVersion = 0;
+
+    //套管数量
+    int tube_num = 0;
+    int last_tube_num = 0;
+
+    //是否套轴
+    int is_wrapped = 0;
+    int last_is_wrapped = 0;
+
+    Boolean isonline = true;
+    int hasGoods = 0;
+    String message = null;
+    Boolean iserror = false;
+    private Date instruction_update_time = new Date();
+    private int instruction_update_time_out = 1000;
+    Integer heartbeat_tag;
+    private Date instruction_require_time = new Date();
+
+    private int instruction_require_time_out = 3000;
+    private Date instruction_apply_time = new Date();
+    //行架机械手申请任务成功标识
+    boolean requireSucess = false;
+    //反馈成功表示
+    boolean feedbackSucess = false;
+
+    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;
+
+    String device_code;
+
+    //当前指令
+    Instruction inst = null;
+
+    //0 无任务执行 1更新指令状态 2下发电气信号 3允许取货 允许放货 5放货完成
+    int now_steps_type = 0;
+    String notCreateTaskMessage = "";
+    String notCreateInstMessage = "";
+    String feedMessage = "";
+
+
+    List<String> getDeviceCodeList = null;
+
+    List<String> putDeviceCodeList = null;
+
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+    @Override
+    public void execute() {
+        String message = null;
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            move = this.itemProtocol.getMove();
+            if(mode==2){
+                log.info("123");
+            }
+            action = this.itemProtocol.getAction();
+            walk_y = this.itemProtocol.getWalk_y();
+            error = this.itemProtocol.getError();
+            task = this.itemProtocol.getTask();
+            heartbeat = this.itemProtocol.getHeartbeat();
+            to_command = this.itemProtocol.getTo_command();
+            to_target = this.itemProtocol.getTo_target();
+            to_task = this.itemProtocol.getTo_task();
+            to_onset = this.itemProtocol.getTo_onset();
+            x_position = this.itemProtocol.getX_position();
+            y_position = this.itemProtocol.getY_position();
+            inflatable_shaft_size = this.itemProtocol.getInflatable_shaft_size();
+            to_putpoint = this.itemProtocol.getTo_putpoint();
+            to_new_getpoint = this.itemProtocol.getTo_new_getpoint();
+            to_two_putpoint = this.itemProtocol.getTo_two_putpoint();
+            to_task_type = this.itemProtocol.getTo_task_type();
+            tube_num = this.itemProtocol.getTube_num();
+            inflatableShaftVersion = this.itemProtocol.getInflatableShaftVersion();
+            is_wrapped = this.itemProtocol.getIs_wrapped();
+
+            if (to_onset != last_to_onset) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + last_to_onset + "->" + to_onset);
+            }
+            if (to_command != last_to_command) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command);
+            }
+            if (to_target != last_to_target) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target);
+            }
+            if (to_task != last_to_task) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task);
+            }
+            if (mode != last_mode) {
+                JSONObject param = new JSONObject();
+                param.put("device_code", this.device_code);
+                param.put("mode", Math.min(mode, 3));
+                param.put("device_name", this.getDevice().getDevice_name());
+                param.put("device_type", "2");
+                param.put("product_area", paramService.findByCode("productArea").getValue());
+                acsToWmsService.sendDeviceStatus(param);
+
+                if (mode == 2) {
+                    logServer.deviceExecuteLog(this.device_code, "", "", "信号复位前requireSuccess：" + requireSucess);
+                    this.setRequireSucess(false);
+                    logServer.deviceExecuteLog(this.device_code, "", "", "信号复位后requireSuccess：" + requireSucess);
+//                    if (move == 0 && task == 0 && action == 0 && this.getNow_steps_type() != 0){
+//                        logServer.deviceExecuteLog(this.device_code, "", "", "当前执行步骤复位前:" + this.getNow_steps_type());
+//                        this.setNow_steps_type(0);
+//                        logServer.deviceExecuteLog(this.device_code, "", "", "当前执行步骤复位后:" + this.getNow_steps_type());
+//                    }
+                    feedMessage = "";
+                    notCreateInstMessage = "";
+                    notCreateTaskMessage = "";
+                    inst = null;
+                    message = null;
+                }
+                logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
+            }
+            if (move != last_move) {
+                logServer.deviceItemValue(this.device_code, "move", String.valueOf(move));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
+            }
+            if (action != last_action) {
+                this.setFeedbackSucess(false);
+                logServer.deviceItemValue(this.device_code, "action", String.valueOf(action));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action);
+            }
+            if (error != last_error) {
+                if (error != 0) {
+                    DeviceErrorLogDto dto = new DeviceErrorLogDto();
+                    dto.setDevice_code(device_code);
+                    dto.setError_code(String.valueOf(error));
+                    String errorInfo = ErrorUtil.getDictDetail("hxhj_error_type", String.valueOf(error));
+                    dto.setError_info(errorInfo);
+                    deviceErrorLogService.create(dto);
+                }
+
+                JSONObject param = new JSONObject();
+                param.put("device_code", this.device_code);
+                param.put("error", error);
+                param.put("error_msg", error == 0 ? "" : ErrorUtil.getDictDetail("hxhj_error_type", String.valueOf(error)));
+                param.put("device_name", this.getDevice().getDevice_name());
+                param.put("device_type", "2");
+                param.put("product_area", paramService.findByCode("productArea").getValue());
+                acsToWmsService.sendDeviceStatus(param);
+
+                logServer.deviceItemValue(this.device_code, "error", String.valueOf(error));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error);
+            }
+            if (walk_y != last_walk_y) {
+                logServer.deviceItemValue(this.device_code, "walk_y", String.valueOf(walk_y));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y);
+            }
+            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 (x_position != last_x_position) {
+                logServer.deviceItemValue(this.device_code, "x_position", String.valueOf(x_position));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号x_position：" + last_x_position + "->" + x_position);
+            }
+            if (y_position != last_y_position) {
+                logServer.deviceItemValue(this.device_code, "y_position", String.valueOf(y_position));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号y_position：" + last_y_position + "->" + y_position);
+            }
+            if (inflatable_shaft_size != last_inflatable_shaft_size) {
+                logServer.deviceItemValue(this.device_code, "inflatable_shaft_size", String.valueOf(inflatable_shaft_size));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号inflatable_shaft_size：" + last_inflatable_shaft_size + "->" + inflatable_shaft_size);
+            }
+            if (task > 0) {
+                update_instruction_status();
+            }
+
+        } catch (Exception var17) {
+            var17.printStackTrace();
+            feedMessage = var17.getMessage();
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+
+        }
+        if (mode == 0) {
+            this.setIsonline(false);
+            message = "未联机";
+            //有报警
+        } else if (error != 0) {
+            this.setIserror(true);
+            message = "有报警";
+            //无报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+
+            //行架机械手申请任务
+            if (mode == 2 && move == 0 && !requireSucess) {
+                boolean res = applyTask();
+                if (res) {
+                    notCreateInstMessage = "";
+                    notCreateTaskMessage = "";
+                    feedMessage = "";
+                }
+            } else {
+                if (mode == 2) {
+                    //if (!requireSucess) {
+                    String remark = "未查找任务原因为:";
+                    if (mode != 2) {
+                        remark = remark + "工作模式(mode)不是待机状态,";
+                    }
+                    if (move != 0) {
+                        remark = remark + "光电信号(move)为有货状态,";
+                    }
+                    if (task != 0) {
+                        remark = remark + "当前上报任务号(task)应该为0,";
+                        if (ObjectUtil.isNotEmpty(this.inst)) {
+                            this.inst = null;
+                        }
+                    }
+                    if (requireSucess) {
+                        remark = remark + "请右击该图标,将请求任务复位标记(requireSucess)改为否。";
+                    }
+                    this.setNotCreateTaskMessage(remark);
+                }
+            }
+            if (mode == 3 && !feedbackSucess && action > 0) {
+                apply_feedback();
+            }
+
+        }
+        last_mode = mode;
+        last_move = move;
+        last_action = action;
+        last_walk_y = walk_y;
+        last_error = error;
+        last_task = task;
+        last_heartbeat = heartbeat;
+        last_to_task = to_task;
+        last_to_command = to_command;
+        last_to_target = to_target;
+        last_to_onset = to_onset;
+        last_x_position = x_position;
+        last_y_position = y_position;
+        last_inflatable_shaft_size = inflatable_shaft_size;
+    }
+
+    /**
+     * 抽取统一下发电气信号前缀
+     *
+     * @return
+     */
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
+
+    /**
+     * 多个信号一起下发电气
+     *
+     * @param map
+     */
+    public void writing(Map<String, Object> map) {
+        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+        Map<String, Object> itemMap = new LinkedHashMap<>();
+        map.forEach((key, value) -> {
+            if (ObjectUtil.isNotEmpty(value)) {
+                itemMap.put(getToParam() + key, value);
+            }
+        });
+        if (ObjectUtil.isNotEmpty(itemMap)) {
+            this.control(itemMap);
+            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
+        }
+    }
+
+    public synchronized boolean apply_feedback() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_apply_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);
+            return false;
+        } else {
+            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+            ApplyManipulatorActionResponse applyManipulatorActionResponse;
+            if (action == 2) {
+                this.instruction_apply_time = date;
+                message = "完成反馈LMS...";
+                JSONObject device_json = WQLObject.getWQLObject("acs_storage_cell").query("storage_code ='" + this.device_code + "'").uniqueResult(0);
+                String start_point_code = null;
+                if (!ObjectUtil.isEmpty(device_json)) {
+                    start_point_code = (String) device_json.get("parent_storage_code") == null ? this.device_code : (String) device_json.get("parent_storage_code");
+                }
+                applyManipulatorActionRequest.setDevice_code(start_point_code);
+                applyManipulatorActionRequest.setType("2");
+                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
+                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                logServer.deviceExecuteLog(this.device_code, "", "", "反馈请求参数:" + JSON.toJSONString(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();
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "2");
+                    map.put("to_task_type", detail_type);
+                    map.put("inflatableShaftVersion", version);
+                    map.put("tube_num", bushing_num);
+                    map.put("is_wrapped", is_bushing);
+                    this.writing(map);
+                    this.setFeedbackSucess(true);
+                } 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));
+                }
+
+            }
+            if (action == 3) {
+                applyManipulatorActionRequest.setType("3");
+                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);
+            }
+            if (action == 4) {
+                applyManipulatorActionRequest.setType("4");
+                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                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);
+                this.setFeedbackSucess(true);
+            }
+            if (action == 5) {
+                applyManipulatorActionRequest.setType("5");
+                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
+                String detail_type = applyManipulatorActionResponse.getDetail_type();
+                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);
+                this.writing(map);
+                this.setFeedbackSucess(true);
+            }
+            return true;
+        }
+    }
+
+    public synchronized boolean finish_instruction(Instruction inst) throws Exception {
+        instructionService.finish(inst);
+        return true;
+    }
+
+    private synchronized void update_instruction_status() {
+        Date date = new Date();
+        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 && action == 2) {
+                //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);
+                    }
+                }
+            }
+
+            if (task > 0 && action == 3) {
+                //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);
+                    }
+                }
+            }
+
+            if (task > 0 && action == 4) {
+                //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);
+                    }
+                }
+            }
+
+            if (task > 0 && action == 5) {
+                //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);
+                    }
+                }
+            }
+
+
+            //放货完成
+            if (mode == 3 && action == 6 && move == 0 && task > 0) {
+                Instruction inst2 = checkInst();
+                if (inst2 != null) {
+                    try {
+                        finish_instruction(inst2);
+                        this.writing("to_command", "6");
+                    } 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 != 6) {
+                    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。";
+                }
+            }
+
+
+        }
+    }
+
+    public Instruction checkInst() {
+        if (ObjectUtil.isNotEmpty(this.inst)) {
+            if (this.task > 0) {
+                if (this.inst.getInstruction_code().equals(String.valueOf(this.task))) {
+                    return this.inst;
+                } else {
+                    inst = instructionService.findByCodeFromCache(String.valueOf(task));
+                    return inst;
+                }
+            }
+        } else {
+            inst = instructionService.findByCodeFromCache(String.valueOf(task));
+            return inst;
+        }
+        return null;
+    }
+
+
+    public boolean exe_error() {
+        if (this.error == 0) {
+            return true;
+        } else {
+            log.debug("设备报警");
+            return false;
+        }
+    }
+
+    //将扩展表中的字符串数据转换成集合
+    public List<String> getExtraDeviceCodes(String extraName) {
+        String extraValue = (String) this.getDevice().getExtraValue().get(extraName);
+        if (StrUtil.isEmpty(extraValue)) {
+            return new ArrayList<>();
+        }
+        String devicesString = extraValue.substring(1, extraValue.length() - 1);
+        List<String> devicesList = new ArrayList<>();
+        String[] devices = devicesString.split(",");
+        for (int i = 0; i < devices.length; i++) {
+            String s = devices[i].replace("\"", "").replace("\"", "");
+            devicesList.add(s);
+        }
+        return devicesList;
+    }
+
+    public List<TaskDto> sortTask(List<TaskDto> taskDtos) {
+        Collections.sort(taskDtos, new Comparator<TaskDto>() {
+            @Override
+            public int compare(TaskDto t1, TaskDto t2) {
+                //优先级从大到小
+                int i = t2.getPriority().compareTo(t1.getPriority());
+                //如果优先级相等
+                if (i == 0) {
+                    //时间从早到晚
+                    i = t1.getCreate_time().compareTo(t2.getCreate_time());
+                }
+                return i;
+            }
+        });
+        return taskDtos;
+    }
+
+    public void writing(String param, String value) {
+
+        String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + param;
+        //String opcservcerid = this.getDevice().getOpc_server_id();
+//Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+
+        itemMap.put(to_param, Integer.parseInt(value));
+//            itemMap.put(to_param, Integer.parseInt(value));
+        this.control(itemMap);
+        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号设备号:" + device_code + ",下发电气:" + to_param + ",下发电气值:" + value);
+    }
+
+    /**
+     * 申请任务
+     *
+     * @param
+     */
+    public synchronized boolean applyTask() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_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);
+            return false;
+        } else {
+            this.instruction_require_time = date;
+            //抓取工位
+            if (ObjectUtil.isEmpty(getDeviceCodeList)) {
+                getDeviceCodeList = this.getExtraDeviceCodes("get_device_code");
+            }
+            //放货工位
+            if (ObjectUtil.isEmpty(putDeviceCodeList)) {
+                putDeviceCodeList = this.getExtraDeviceCodes("put_device_code");
+            }
+            TaskDto task = null;
+            for (int i = 0; i < getDeviceCodeList.size(); i++) {
+                String startDeviceCode = getDeviceCodeList.get(i);
+                List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
+                if (ObjectUtil.isNotEmpty(taskDtos)) {
+                    //按照优先级排序 优先级相等按照创建时间排序
+                    taskDtos = this.sortTask(taskDtos);
+                    TaskDto taskDto = taskDtos.get(0);
+
+                    //存在行架->暂存的AGV任务 需要过滤
+                    // 9 行架任务
+                    if (!StrUtil.equals(taskDto.getTask_type(), "9")) {
+                        taskDto = null;
+                        continue;
+                    }
+                    Instruction instruction = instructionService.findByTaskcodeAndStatus(taskDto.getTask_code());
+                    String start_device_code = instruction.getStart_device_code();
+                    String next_device_code = instruction.getNext_device_code();
+                    Device nextdevice = deviceAppService.findDeviceByCode(next_device_code);
+                    Device startdevice = deviceAppService.findDeviceByCode(start_device_code);
+                    SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
+                    StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+                    instruction.setInstruction_status("1");
+                    instruction.setUpdate_time(DateUtil.now());
+                    instructionService.update(instruction);
+                    Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
+                    Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
+                    if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) {
+                        throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
+                    }
+                    if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))) {
+                        throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
+                    }
+                    String start_addr = startDevice.getExtraValue().get("address").toString();
+                    String next_addr = nextDevice.getExtraValue().get("address").toString();
+                    logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
+                            + instruction.getInstruction_code() + ",指令起点:" + instruction.getStart_device_code()
+                            + ",指令终点:" + instruction.getNext_device_code());
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "1");
+                    map.put("to_onset", start_addr);
+                    map.put("to_task", instruction.getInstruction_code());
+                    map.put("to_target", next_addr);
+                    this.writing(map);
+                    this.setRequireSucess(true);
+                    return true;
+                } else {
+                    List<TaskDto> taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode);
+                    if (ObjectUtil.isNotEmpty(taskDtoList)) {
+                        for (int j = 0; j < taskDtoList.size(); j++) {
+                            //按照优先级排序 优先级相等按照创建时间排序
+                            taskDtoList = this.sortTask(taskDtoList);
+                            task = taskDtoList.get(j);
+                            // 9 行架任务
+                            if (!StrUtil.equals(task.getTask_type(), "9")) {
+                                task = null;
+                                continue;
+                            }
+                            if (ObjectUtil.isNotEmpty(task)) break;
+                        }
+                    }
+                }
+            }
+            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();
+                    if (siemensConveyorDeviceDriver.getMove() != 1) {
+                        notCreateInstMessage = "就绪任务未创建指令原因->取货位-分切输送线出口:" + siemensConveyorDeviceDriver.getDevice_code() + "光电无货,无法生成指令!";
+                        return false;
+                    }
+                }
+                String taskid = task.getTask_id();
+                String taskcode = task.getTask_code();
+                String vehiclecode = task.getVehicle_code();
+                String priority = task.getPriority();
+                String start_point_code = task.getStart_point_code();
+                String start_device_code = task.getStart_device_code();
+                String route_plan_code = task.getRoute_plan_code();
+                String next_point_code = task.getNext_point_code();
+                String next_device_code = task.getNext_device_code();
+
+                Instruction instdto = new Instruction();
+                instdto.setInstruction_id(IdUtil.simpleUUID());
+                instdto.setRoute_plan_code(route_plan_code);
+                instdto.setRemark(task.getRemark());
+                instdto.setMaterial(task.getMaterial());
+                instdto.setQuantity(task.getQuantity());
+                instdto.setTask_id(taskid);
+                instdto.setTask_code(taskcode);
+                instdto.setVehicle_code(vehiclecode);
+                String now = DateUtil.now();
+                instdto.setCreate_time(now);
+                instdto.setCreate_by("auto");
+                instdto.setStart_device_code(start_device_code);
+                instdto.setNext_device_code(next_device_code);
+                instdto.setStart_point_code(start_point_code);
+                instdto.setNext_point_code(next_point_code);
+                instdto.setPriority(priority);
+                instdto.setInstruction_status("0");
+                instdto.setExecute_device_code(start_point_code);
+
+                try {
+                    instructionService.create(instdto);
+                } catch (Exception e) {
+                    notCreateInstMessage = e.getMessage();
+                    logServer.deviceExecuteLog(this.getDevice_code(), "", "", "创建指令时出现异常:" + e.getMessage());
+                    return false;
+                }
+                //创建指令后修改任务状态
+                task.setTask_status("1");
+                task.setUpdate_time(DateUtil.now());
+                taskserver.update(task);
+
+                Device startDevice = deviceAppService.findDeviceByCode(instdto.getStart_device_code());
+                Device nextDevice = deviceAppService.findDeviceByCode(instdto.getNext_device_code());
+                if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) {
+                    notCreateInstMessage = "设备：" + startDevice.getDevice_code() + "未设置电气调度号！";
+                    logServer.deviceExecuteLog(this.getDevice_code(), "", "", "设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
+                    throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
+                }
+                if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))) {
+                    notCreateInstMessage = "设备：" + nextDevice.getDevice_code() + "未设置电气调度号！";
+                    logServer.deviceExecuteLog(this.getDevice_code(), "", "", "设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
+                    throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
+                }
+                String start_addr = startDevice.getExtraValue().get("address").toString();
+                String next_addr = nextDevice.getExtraValue().get("address").toString();
+                logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
+                        + instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
+                        + ",指令终点:" + instdto.getNext_device_code());
+                this.writing("to_command", "1");
+                this.writing("to_onset", start_addr);
+                this.writing("to_target", next_addr);
+                this.writing("to_task", instdto.getInstruction_code());
+                this.writing("to_task_type", "1");
+                this.setRequireSucess(true);
+                notCreateInstMessage = "";
+                notCreateTaskMessage = "";
+            } else {
+                notCreateInstMessage = "未找到关联设备的任务，指令无法创建";
+            }
+            return true;
+        }
+    }
+}
+
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/ItemProtocol.java
new file mode 100644
index 000000000..ed425f955
--- /dev/null
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/ItemProtocol.java
@@ -0,0 +1,224 @@
+package org.nl.acs.device_driver.basedriver.indoor_manipulator;
+
+import cn.hutool.core.util.StrUtil;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+    //心跳
+    public static String item_heartbeat = "heartbeat";
+    //工作模式
+    public static String item_mode = "mode";
+    //光电信号
+    public static String item_move = "move";
+    //动作信号
+    public static String item_action = "action";
+    //行走列
+    public static String item_walk_y = "walk_y";
+    //任务号
+    public static String item_task = "task";
+    //报警
+    public static String item_error = "error";
+    //x轴坐标
+    public static String item_x_position = "x_position";
+    //y轴坐标
+    public static String item_y_position = "y_position";
+    //气胀轴尺寸
+    public static String item_inflatable_shaft_size = "inflatable_shaft_size";
+
+    //下发命令
+    public static String item_to_command = "to_command";
+    //下发起始站
+    public static String item_to_onset = "to_onset";
+    //下发目标站
+    public static String item_to_target = "to_target";
+    //下发任务号
+    public static String item_to_task = "to_task";
+    //反馈放货点
+    public static String item_to_putpoint = "to_putpoint";
+    //反馈新取货点
+    public static String item_to_new_getpoint = "to_new_getpoint";
+    //反馈二次放货点
+    public static String item_to_two_putpoint = "to_two_putpoint";
+    //下发任务类型
+    public static String item_to_task_type = "to_task_type";
+    //气胀轴代数
+    public static String item_inflatableShaftVersion = "inflatableShaftVersion";
+    //套管数量
+    public static String item_tube_num = "tube_num";
+    //是否套轴
+    public static String item_is_wrapped = "is_wrapped";
+
+
+    private IndoorManipulatorDeviceDriver driver;
+
+    public ItemProtocol(IndoorManipulatorDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getHeartbeat() {
+        return this.getOpcIntegerValue(item_heartbeat);
+    }
+
+    public int getMode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getMove() {
+        return this.getOpcIntegerValue(item_move);
+    }
+
+    public int getAction() {
+        return this.getOpcIntegerValue(item_action);
+    }
+
+    public int getWalk_y() {
+        return this.getOpcIntegerValue(item_walk_y);
+    }
+
+    public int getInflatable_shaft_size() {
+        return this.getOpcIntegerValue(item_inflatable_shaft_size);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getTo_command() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+    public int getTo_target() {
+        return this.getOpcIntegerValue(item_to_target);
+    }
+
+    public int getTo_task() {
+        return this.getOpcIntegerValue(item_to_task);
+    }
+
+    public int getTo_onset() {
+        return this.getOpcIntegerValue(item_to_onset);
+    }
+
+    public float getX_position() {
+        return this.getOpcFloatValue(item_x_position);
+    }
+
+    public float getY_position() {
+        return this.getOpcFloatValue(item_y_position);
+    }
+
+    public int getTo_putpoint() {
+        return this.getOpcIntegerValue(item_to_putpoint);
+    }
+
+    public int getTo_new_getpoint() {
+        return (int) this.getOpcIntegerValue(item_to_new_getpoint);
+    }
+
+    public int getTo_two_putpoint() {
+        return this.getOpcIntegerValue(item_to_two_putpoint);
+    }
+
+    public int getTo_task_type() {
+        return this.getOpcIntegerValue(item_to_task_type);
+    }
+
+    public int getTube_num() {
+        return this.getOpcIntegerValue(item_tube_num);
+    }
+
+    public int getInflatableShaftVersion() {
+        return this.getOpcIntegerValue(item_inflatableShaftVersion);
+    }
+
+    public int getIs_wrapped() {
+        return this.getOpcIntegerValue(item_is_wrapped);
+    }
+
+
+    Boolean isonline;
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+    public String getOpcStringValue(String protocol) {
+        String value = this.driver.getStringValue(protocol);
+        if (StrUtil.isEmpty(value)) {
+
+        } else {
+            return value;
+        }
+        return "0";
+    }
+
+    public float getOpcFloatValue(String protocol) {
+        Float value = this.driver.getDoubleValue(protocol);
+        if (value == null) {
+            // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB1.B1"));
+        list.add(new ItemDto(item_move, "光电信号", "DB1.B2"));
+        list.add(new ItemDto(item_action, "动作信号", "DB1.B3"));
+        list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4"));
+        list.add(new ItemDto(item_error, "报警信号", "DB1.B5"));
+        list.add(new ItemDto(item_task, "任务号", "DB1.D6"));
+        list.add(new ItemDto(item_x_position, "x坐标", "DB1.REAL10"));
+        list.add(new ItemDto(item_y_position, "y坐标", "DB1.REAL14"));
+        list.add(new ItemDto(item_inflatable_shaft_size, "气胀轴尺寸", "DB1.C1"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_to_command, "下发命令", "DB2.W0"));
+        list.add(new ItemDto(item_to_onset, "下发起始站", "DB2.W2"));
+        list.add(new ItemDto(item_to_target, "下发目标站", "DB2.W4"));
+        list.add(new ItemDto(item_to_task, "下发任务号", "DB2.D1"));
+        list.add(new ItemDto(item_to_putpoint, "反馈放货点", "DB2.D2"));
+        list.add(new ItemDto(item_to_new_getpoint, "反馈新取货点", "DB2.D3"));
+        list.add(new ItemDto(item_to_two_putpoint, "反馈二次放货点", "DB2.D4"));
+        list.add(new ItemDto(item_to_task_type, "下发任务类型", "DB2.D5"));
+        list.add(new ItemDto(item_inflatableShaftVersion, "气胀轴代数", "DB2.D6"));
+        list.add(new ItemDto(item_tube_num, "套管数量", "DB2.D7"));
+        list.add(new ItemDto(item_is_wrapped, "是否套轴", "DB2.D8"));
+        return list;
+    }
+
+    @Override
+    public String toString() {
+        return "";
+    }
+
+}
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java
new file mode 100644
index 000000000..9ee34077f
--- /dev/null
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java
@@ -0,0 +1,28 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class ApplyManipulatorActionRequest extends BaseRequest  {
+    private String vehicle_code;
+    private String device_code;
+    /**
+     * 2-尺寸交互反馈，反馈任务类型
+     * 3-反馈新放货点
+     * 4-反馈新取货点
+     * 5-反馈二次放货点
+     */
+    private String type;
+
+    /**
+     * 任务号
+     */
+    private String task_code;
+
+    /**
+     * 气胀轴尺寸 3/6寸
+     */
+    private String size;
+
+
+}
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionResponse.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionResponse.java
new file mode 100644
index 000000000..be4283be7
--- /dev/null
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionResponse.java
@@ -0,0 +1,48 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+import java.util.HashMap;
+import java.util.Map;
+
+@Data
+public class ApplyManipulatorActionResponse extends BaseResponse {
+
+    private Map<String, String> data = new HashMap();
+
+    /**
+     * 放货点
+     */
+   private String put_device_code;
+
+    /**
+     * 取货点
+     */
+    private String get_device_code;
+
+    /**
+     * 二次放货点
+     */
+    private String put_device_code2;
+
+    /**
+     * 下发的指令类型
+     */
+    private String detail_type;
+
+    /**
+     * 气胀轴代数
+     */
+    private String version;
+
+    /**
+     * 套管数量
+     */
+    private String bushing_num;
+
+    /**
+     * 是否套管
+     */
+    private String is_bushing;
+
+}
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
index 35965e4a6..41b51958b 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
@@ -9,6 +9,7 @@ import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.ext.wms.data.ApplyLabelingAndBindingRequest;
+import org.nl.acs.ext.wms.data.ApplyManipulatorActionRequest;
 import org.nl.acs.ext.wms.data.LiKuApplyTaskRequest;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.modules.logging.InterfaceLogType;
@@ -99,6 +100,13 @@ public class AcsToWmsController {
         return new ResponseEntity<>(acstowmsService.applyLabelingAndBindingRequest(param), HttpStatus.OK);
     }
 
+    @PostMapping("/applyManipulatorActionRequest")
+    @Log(value = "申请行架任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.ACS_TO_LMS)
+    @ApiOperation("申请行架任务")
+    public ResponseEntity<Object> applyManipulatorActionRequest(@RequestBody ApplyManipulatorActionRequest param) {
+        return new ResponseEntity<>(acstowmsService.applyManipulatorActionRequest(param), HttpStatus.OK);
+    }
+
     @PostMapping("/liKuApplyTaskRequest")
     @Log(value = "立库申请任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.ACS_TO_LMS)
     @ApiOperation("立库申请任务")
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
index 8fab0c4a7..b5ec1fee7 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
@@ -106,4 +106,6 @@ public interface AcsToWmsService {
     HttpResponse shipDeviceUpdate(JSONObject param);
 
     void sendDeviceStatus(JSONObject param);
+
+    ApplyManipulatorActionResponse applyManipulatorActionRequest(ApplyManipulatorActionRequest param);
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index 69a717c7f..129e2bee9 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -414,6 +414,40 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         return null;
     }
 
+    @Override
+    public ApplyManipulatorActionResponse applyManipulatorActionRequest(ApplyManipulatorActionRequest param) {
+        try {
+            MDC.put(log_file_type, log_type);
+            ApplyManipulatorActionResponse applyManipulatorActionResponse = new ApplyManipulatorActionResponse();
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+                AddressDto addressDto = addressService.findByCode("applyLabelingAndBinding");
+                String methods_url = addressDto.getMethods_url();
+                String url = wmsUrl + methods_url;
+                log.info("ApplyManipulatorActionRequest----请求参数{}", param);
+                try {
+//                    String result = "";
+                    String result = HttpRequest.post(url)
+                            .body(JSON.toJSONString(param))
+                            .execute().body();
+                    JSONObject jsonObject = JSONObject.parseObject(result);
+                    log.info("ApplyManipulatorActionResponse----返回参数{}", result);
+                    applyManipulatorActionResponse = JSONObject.toJavaObject(jsonObject, ApplyManipulatorActionResponse.class);
+                } catch (Exception e) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 400);
+                    map.put("message", e.getMessage());
+                    return JSONObject.toJavaObject(map, ApplyManipulatorActionResponse.class);
+                }
+            }
+            return applyManipulatorActionResponse;
+        } finally {
+            MDC.remove(log_file_type);
+        }
+
+
+    }
+
     @Override
     public ApplyLabelingAndBindingResponse applyLabelingAndBindingRequest(ApplyLabelingAndBindingRequest param) {
         try {
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java
index e8d5b91fa..70e9b8981 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java
@@ -127,6 +127,14 @@ public interface TaskService {
      */
     List<TaskDto> queryTaskByDeviceCodeAndStatus(String device_code);
 
+    /**
+     * 根据任务类型查询
+     * @param task_type
+     * @return
+     */
+    List<TaskDto> queryTaskByType(String task_type);
+
+
     /**
      * 根据前工位取货点查找执行中的任务
      * @param head_start_device_code
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index e23b40625..d8d4e1284 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -402,6 +402,20 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return list;
     }
 
+    @Override
+    public List<TaskDto> queryTaskByType(String task_type) {
+        List<TaskDto> list = new ArrayList<>();
+        Iterator<TaskDto> iterator = tasks.iterator();
+        while (iterator.hasNext()) {
+            TaskDto task = iterator.next();
+            if (!StrUtil.equals(task.getTask_type(), task_type)) {
+                continue;
+            }
+            list.add(task);
+        }
+        return list;
+    }
+
     public List<TaskDto> queryTaskByStartAndIntStatus(String head_start_device_code) {
         List<TaskDto> list = new ArrayList<>();
         Iterator<TaskDto> iterator = tasks.iterator();
diff --git a/acs/nladmin-ui/src/views/acs/device/config.vue b/acs/nladmin-ui/src/views/acs/device/config.vue
index 8ccbaac84..11759bbb1 100644
--- a/acs/nladmin-ui/src/views/acs/device/config.vue
+++ b/acs/nladmin-ui/src/views/acs/device/config.vue
@@ -101,6 +101,7 @@ import standard_autodoor from '@/views/acs/device/driver/standard_autodoor'
 import lamp_three_color from '@/views/acs/device/driver/lamp_three_color'
 import paper_tube_conveyor from '@/views/acs/device/driver/paper_tube_conveyor'
 import device_status from '@/views/acs/device/driver/device_status'
+import indoor_manipulator from '@/views/acs/device/driver/indoor_manipulator'
 
 export default {
   name: 'DeviceConfig',
@@ -132,7 +133,8 @@ export default {
     standard_autodoor,
     lamp_three_color,
     paper_tube_conveyor,
-    device_status
+    device_status,
+    indoor_manipulator
   },
   dicts: ['device_type'],
   mixins: [crud],
diff --git a/acs/nladmin-ui/src/views/acs/device/driver/indoor_manipulator.vue b/acs/nladmin-ui/src/views/acs/device/driver/indoor_manipulator.vue
new file mode 100644
index 000000000..f4fde1d6a
--- /dev/null
+++ b/acs/nladmin-ui/src/views/acs/device/driver/indoor_manipulator.vue
@@ -0,0 +1,546 @@
+<template>
+  <!--内包间行架机械手-->
+  <div>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-row>
+        <el-col :span="12">
+          OpcServer:
+          <el-select
+            v-model="opc_id"
+            placeholder="无"
+            clearable
+            filterable
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">输送系统：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-input v-model="form.OPCServer" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">指令相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="检验有货">
+              <el-switch v-model="form.inspect_in_stocck" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视取货校验" label-width="150px">
+              <el-switch v-model="form.ignore_pickup_check" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视放货校验" label-width="150px">
+              <el-switch v-model="form.ignore_release_check" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="呼叫">
+              <el-switch v-model="form.apply_task" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="响应" label-width="150px">
+              <el-switch v-model="form.manual_create_task" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备" prop="device_code">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                multiple
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="关联三色灯" prop="device_code" label-width="100px">
+              <el-select
+                v-model="form.link_three_lamp"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="是否输入物料" label-width="150px">
+              <el-switch v-model="form.input_material" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="取货点" prop="device_code">
+              <el-select
+                v-model="form.get_device_code"
+                multiple
+                filterable
+                reserve-keyword
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="放货点" prop="device_code" label-width="100px">
+              <el-select
+                v-model="form.put_device_code"
+                filterable
+                reserve-keyword
+                multiple
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">AGV相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="取货">
+              <el-switch v-model="form.is_pickup" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="放货">
+              <el-switch v-model="form.is_release" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC读取字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data1"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data1[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishReadEdit(data1[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC写入字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data2"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data2[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishWriteEdit(data2[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value2">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read2()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbw_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'IndoorManipulator',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      require: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      load_device_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        link_three_lamp: '',
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true,
+        link_device_code: [],
+        get_device_code: [],
+        put_device_code: []
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$nextTick(() => {
+      // 从父表单获取设备编码
+      this.device_id = this.$props.parentForm.device_id
+      this.device_code = this.$props.parentForm.device_code
+      queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
+        // 给表单赋值，并且属性不能为空
+        if (data.form) {
+          const arr = Object.keys(data.form)
+          // 不为空
+          if (arr.length > 0) {
+            this.form = data.form
+          }
+        }
+
+        // 给表单赋值，并且属性不能为空
+        if (data.parentForm) {
+          const arr = Object.keys(data.parentForm)
+          // 不为空
+          if (arr.length > 0) {
+            this.opc_code = data.parentForm.opc_code
+            this.plc_code = data.parentForm.plc_code
+          }
+        }
+        this.data1 = data.rs
+        this.data2 = data.ws
+        this.sliceItem()
+      })
+      selectPlcList().then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = this.$props.parentForm.opc_plc_id
+      })
+      selectOpcList().then(data => {
+        this.dataOpcservers = data
+        this.opc_id = this.$props.parentForm.opc_server_id
+      })
+      deviceCrud.selectDeviceList().then(data => {
+        this.deviceList = data
+      })
+    })
+  },
+  methods: {
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        debugger
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        // for (const val in this.data1) {
+        //   if (this.data1[val].code.indexOf('move') !== -1) {
+        //     this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 1)
+        //   }
+        //   if (this.data1[val].code.indexOf('error') !== -1) {
+        //     this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 5)
+        //   }
+        //   if (this.data1[val].code.indexOf('task') !== -1) {
+        //     this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 7)
+        //   }
+        // }
+      }
+    },
+    finishWriteEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('to_command') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        // for (const val in this.data2) {
+        //   if (this.data2[val].code.indexOf('to_target') !== -1) {
+        //     this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+        //   }
+        //   if (this.data2[val].code.indexOf('to_task') !== -1) {
+        //     this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 6)
+        //   }
+        // }
+      }
+    },
+    changeOpc(val) {
+      this.dataOpcservers.forEach(item => {
+        if (item.opc_id === val) {
+          this.opc_code = item.opc_code
+        }
+      })
+
+      selectListByOpcID(val).then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = ''
+        this.plc_code = ''
+        if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
+          this.plc_id = this.dataOpcPlcs[0].plc_id
+          this.plc_code = this.dataOpcPlcs[0].plc_code
+        }
+        this.sliceItem()
+      })
+    },
+    changePlc(val) {
+      this.dataOpcPlcs.forEach(item => {
+        if (item.plc_id === val) {
+          this.plc_code = item.plc_code
+          this.sliceItem()
+          return
+        }
+      })
+    },
+    test_read1() {
+      testRead(this.data1, this.opc_id).then(data => {
+        this.data1 = data
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_read2() {
+      testRead(this.data2, this.opc_id).then(data => {
+        this.data2 = data
+        console.log(this.data2)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_write1() {
+      testwrite(this.data2, this.opc_id).then(data => {
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    doSubmit() {
+      this.$refs['form'].validate((valid) => {
+        if (valid) {
+          this.configLoading = true
+          // 根据驱动类型判断是否为路由设备
+          const parentForm = this.parentForm
+          parentForm.is_route = true
+          parentForm.plc_id = this.plc_id
+          parentForm.opc_id = this.opc_id
+          updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
+            this.notify('保存成功', 'success')
+            this.configLoading = false
+          }).catch(err => {
+            this.configLoading = false
+            console.log(err.response.data.message)
+          })
+        }
+      })
+    },
+    sliceItem() { // 拼接DB的Item值
+      this.data1.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+      this.data2.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+    }
+  }
+}
+</script>
+
+<style scoped>
+
+</style>