rev：优化同步线程日志

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

@@ -0,0 +1,38 @@
+package org.nl.acs.agv.contorller;
+
+import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * 二楼AGV状态控制器
+ * 提供HTTP接口获取AGV状态信息
+ */
+@RestController
+@RequestMapping("/api/agv/two-floor")
+public class TwoFloorAgvController {
+
+    @Autowired
+    private TwoFloorAgvStatusService agvStatusService;
+
+    /**
+     * 获取所有二楼AGV状态
+     * @return 所有AGV状态列表
+     */
+    @GetMapping("/status")
+    public Object getAllAgvStatus() {
+        return agvStatusService.getAllAgvStatus();
+    }
+
+    /**
+     * 获取单个AGV状态
+     * @param vehicleCode AGV车辆代码
+     * @return AGV状态信息
+     */
+    @GetMapping("/status/{vehicleCode}")
+    public Object getAgvStatus(String vehicleCode) {
+        return agvStatusService.getAgvStatus(vehicleCode);
+    }
+}

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

@@ -0,0 +1,180 @@
+package org.nl.acs.agv.domain;
+
+import lombok.Data;
+
+/**
+ * 二楼AGV状态数据模型
+ * 用于存储和传输AGV的实时状态信息
+ */
+@Data
+public class TwoFloorAgvStatus {
+
+    /**
+     * AGV车辆代码
+     */
+    private String vehicle_code;
+
+    /**
+     * AGV状态
+     */
+    private String status;
+
+    /**
+     * AGV状态文本描述
+     */
+    private String status_text;
+
+    /**
+     * 当前任务代码
+     */
+    private String task_code;
+
+    /**
+     * 当前指令代码
+     */
+    private String inst_code;
+
+    /**
+     * 当前阶段值
+     */
+    private Integer phase;
+
+    /**
+     * 当前阶段名称
+     */
+    private String phase_name;
+
+    /**
+     * 当前位置
+     */
+    private String address;
+
+    /**
+     * 物料类型
+     */
+    private String material_type;
+
+    /**
+     * 物料数量
+     */
+    private Integer quantity;
+
+    /**
+     * 开始设备代码
+     */
+    private String start_device_code;
+
+    /**
+     * 下一个设备代码
+     */
+    private String next_device_code;
+
+    /**
+     * 是否有错误
+     */
+    private Boolean is_error;
+
+    /**
+     * 错误代码
+     */
+    private String error_code;
+
+    /**
+     * 错误信息
+     */
+    private String error_message;
+
+    /**
+     * 卡住的Action
+     */
+    private String error_action;
+
+    /**
+     * 卡住的Mode
+     */
+    private String error_mode;
+    /**
+     * 卡住的move
+     */
+    private String error_move;
+    /**
+     * 卡住的error
+     */
+    private String error_error;
+    /**
+     * 设备号
+     */
+    private String device_code;
+    /**
+     * 期望的Action
+     */
+    private String exp_action;
+
+    /**
+     * 卡住的Mode
+     */
+    private String exp_mode;
+    /**
+     * 卡住的move
+     */
+    private String exp_move;
+    /**
+     * 卡住的error
+     */
+    private String exp_error;
+
+    /**
+     * 实际Action
+     */
+    private String action;
+
+    /**
+     * 实际Mode
+     */
+    private String mode;
+    /**
+     * 实际move
+     */
+    private String move;
+    /**
+     * 实际error
+     */
+    private String error;
+
+    /**
+     * 电量
+     */
+    private Integer electric_qty;
+
+    private String driver;
+
+    /**
+     * X坐标
+     */
+    private Integer x;
+
+    /**
+     * Y坐标
+     */
+    private Integer y;
+
+    /**
+     * 角度
+     */
+    private Integer angle;
+
+    /**
+     * 区域
+     */
+    private Integer region;
+
+    /**
+     * 是否在线
+     */
+    private Boolean is_online;
+
+    /**
+     * 三色灯状态
+     */
+    private Integer status_light;
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/service/impl/TwoFloorAgvStatusService.java

@@ -0,0 +1,146 @@
+package org.nl.acs.agv.service.impl;
+
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.domain.TwoFloorAgvStatus;
+import org.nl.acs.device_driver.agv.utils.TwoAgvPhase;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 二楼AGV状态管理服务
+ * 负责管理和更新AGV状态，通过HTTP接口提供状态查询
+ */
+@Slf4j
+@Service
+public class TwoFloorAgvStatusService {
+
+    @Autowired
+    private TwoAgvPhase twoAgvPhase;
+
+    /**
+     * 存储AGV状态信息，key为AGV车辆代码
+     */
+    private ConcurrentHashMap<String, TwoFloorAgvStatus> agvStatusMap = new ConcurrentHashMap<>();
+
+    /**
+     * 初始化AGV状态
+     */
+    public TwoFloorAgvStatusService() {
+        // 初始化二楼的4台AGV
+        for (int i = 1; i <= 4; i++) {
+            TwoFloorAgvStatus agvStatus = new TwoFloorAgvStatus();
+            String vehicleCode = String.format("AGV%02d", i);
+            agvStatus.setVehicle_code(vehicleCode);
+            agvStatus.setStatus("idle");
+            agvStatus.setStatus_text("空闲");
+            agvStatus.setIs_error(false);
+            agvStatus.setIs_online(true);
+            agvStatusMap.put(vehicleCode, agvStatus);
+        }
+    }
+
+    /**
+     * 更新AGV状态
+     * @param agvStatus AGV状态信息
+     */
+    public synchronized void updateAgvStatus(TwoFloorAgvStatus agvStatus) {
+        if (agvStatus == null || agvStatus.getVehicle_code() == null) {
+            return;
+        }
+
+        // 处理阶段名称
+        if (agvStatus.getPhase() != null) {
+            String phaseName = twoAgvPhase.getPhaseName(agvStatus.getPhase());
+            agvStatus.setPhase_name(phaseName);
+        }
+
+        // 处理状态文本
+        this.handleStatusText(agvStatus);
+
+        // 更新状态
+        agvStatusMap.put(agvStatus.getVehicle_code(), agvStatus);
+    }
+
+    /**
+     * 处理AGV状态文本
+     */
+    private void handleStatusText(TwoFloorAgvStatus agvStatus) {
+        switch (agvStatus.getStatus()) {
+            case "running":
+                agvStatus.setStatus_text("运行中");
+                break;
+            case "idle":
+                agvStatus.setStatus_text("空闲");
+                break;
+            case "error":
+                agvStatus.setStatus_text("异常");
+                agvStatus.setIs_error(true);
+                break;
+            case "charging":
+                agvStatus.setStatus_text("充电中");
+                break;
+            default:
+                agvStatus.setStatus_text("未知");
+                break;
+        }
+    }
+
+    /**
+     * 获取单个AGV状态
+     * @param vehicleCode AGV车辆代码
+     * @return AGV状态信息
+     */
+    public TwoFloorAgvStatus getAgvStatus(String vehicleCode) {
+        return agvStatusMap.get(vehicleCode);
+    }
+
+    /**
+     * 获取所有AGV状态
+     * @return 所有AGV状态列表
+     */
+    public List<TwoFloorAgvStatus> getAllAgvStatus() {
+        return new ArrayList<>(agvStatusMap.values());
+    }
+
+    /**
+     * 清除AGV错误信息
+     */
+    public void clearAgvError(int carno) {
+        try {
+            String vehicleCode = String.format("AGV%02d", carno);
+            TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
+            if (agvStatus != null) {
+                agvStatus.setIs_error(false);
+                agvStatus.setError_code(null);
+                agvStatus.setError_message(null);
+                agvStatus.setError_action(null);
+                agvStatus.setError_mode(null);
+                // 设置错误信息
+                agvStatus.setDriver(null);
+                agvStatus.setIs_error(false);
+                agvStatus.setError_message(null);
+                agvStatus.setDevice_code(null);
+                agvStatus.setError_action(null);
+                agvStatus.setError_mode(null);
+                agvStatus.setError_move(null);
+                agvStatus.setError_error(null);
+                agvStatus.setExp_action(null);
+                agvStatus.setExp_mode(null);
+                agvStatus.setExp_move(null);
+                agvStatus.setExp_error(null);
+                if ("error".equals(agvStatus.getStatus())) {
+                    agvStatus.setStatus("idle");
+                    agvStatus.setStatus_text("空闲");
+                }
+            }
+        } catch (Exception e){
+            log.error("清空agv异常状态有异常，异常原因={}",e.getMessage());
+        }
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -4,6 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
+import org.nl.acs.agv.domain.TwoFloorAgvStatus;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
@@ -17,6 +18,7 @@ import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
@@ -33,10 +35,7 @@ import java.io.DataOutputStream;
 import java.io.IOException;
 import java.net.InetSocketAddress;
 import java.net.Socket;
-import java.util.Arrays;
-import java.util.Date;
-import java.util.LinkedHashMap;
-import java.util.Map;
+import java.util.*;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ExecutorService;
@@ -80,6 +79,10 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
     AutoRunService autoRunService;
     @Autowired
     LuceneExecuteLogService luceneExecuteLogService;
+    /**
+     * 二楼AGV状态管理服务
+     */
+    private TwoFloorAgvStatusService agvStatusService;
     @Autowired
     ISysDictService dictService;
 
@@ -106,7 +109,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
         DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
         DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
         DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
-
+        // 初始化AGV状态管理服务
+        agvStatusService = SpringContextHolder.getBean(TwoFloorAgvStatusService.class);
         try {
             log.info("2楼1区域AGV系统链接开始");
             ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
@@ -341,29 +345,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             } else {
                                 log.info(device_code + "对应设备号为空!");
                             }
-                        } else if (phase == 0x64) {
-                            log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}", agvaddr, station);
-                            Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
-                            if (ObjectUtil.isNotEmpty(dict)) {
-                                dict.setValue("1");
-                                dict.setPara2(String.valueOf(agvaddr));
-                                dict.setPara3("下发成功");
-                                dictService.updateDetail(dict);
-                            }
-                            //充电成功
-                        } else if (phase == 0x65) {
-                            log.info("AGV车号{}反馈充电中，充电桩{}", agvaddr, station);
-                            //充电取消上报
-                        } else if (phase == 0x66) {
-                            log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}", agvaddr, station);
-                            Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
-                            if (ObjectUtil.isNotEmpty(dict)) {
-                                dict.setValue("0");
-                                dict.setPara2("");
-                                dict.setPara3("充电桩空闲");
-                                dictService.updateDetail(dict);
-                            }
-                        } else {
+                        }  else {
                             //上报异常信息
                             //（不需要WCS反馈）
 

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

@@ -163,8 +163,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     /**
      * 下发任务号
      */
-    String to_task = null;
-    String last_to_task = null;
+    int to_task = 0;
+    int last_to_task = 0;
     /**
      * 下发接纯数字托盘号
      */
@@ -510,7 +510,12 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         } else {
             this.instruction_require_time = date;
             //查找有没有对应的指令
-            Instruction inst = instructionService.findByStartCodeAndReady(this.device_code);
+            Instruction inst;
+            if ("RK1032".equals(this.device_code) || "RK1034".equals(this.device_code) || "RK1035".equals(this.device_code)) {
+                inst = instructionService.findByStartCodeAndReady2(this.device_code);
+            } else {
+                inst = instructionService.findByStartCodeAndReady(this.device_code);
+            }
             if (ObjectUtil.isNotNull(inst)) {
                 List<RouteLineDto> routeLineDtos = routeLineService.selectDeviceCodeList(this.device_code);
                 if (routeLineDtos.size() < 1) {
@@ -796,7 +801,15 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         List list = new ArrayList();
         writeData(next_addr, list, instdto, containerType);
 //                    led_message = getLedMessage(instdto);
-        requireSucess = true;
+        //写完信号to_task写成功后更新指令为执行中
+        inst = checkInst();
+        to_task = this.itemProtocol.getTo_task();
+        if (to_task > 0 && to_task == Integer.parseInt(inst.getInstruction_code())) {
+            inst.setInstruction_status(CommonFinalParam.ONE);
+            inst.setExecute_device_code(this.device_code);
+            instructionService.update(inst);
+            requireSucess = true;
+        }
         return true;
     }
 

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

@@ -110,8 +110,8 @@ public class    ItemProtocol {
         return this.getOpcIntegerValue(item_task);
     }
 
-    public String getTo_task() {
-        return this.getOpcStringValue(item_to_task);
+    public int getTo_task() {
+        return this.getOpcIntegerValue(item_to_task);
     }
 
 
@@ -151,7 +151,7 @@ public class    ItemProtocol {
         } else {
             return value;
         }
-        return "";
+        return "0";
     }
 
     public int[] getOpcArrayValue(String protocol) {

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

@@ -0,0 +1,88 @@
+package org.nl.acs.device_driver.conveyor.optoele_docking_station;
+
+import cn.hutool.core.util.StrUtil;
+import lombok.Getter;
+import lombok.Setter;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Getter
+@Setter
+public class ItemProtocol {
+
+    public static String item_heartbeat = "heartbeat";
+    public static String item_mode = "mode";
+    public static String item_move = "move";
+
+
+    Boolean isonline;
+
+    private OptoeleDockingStationDeviceDriver driver;
+
+    public ItemProtocol(OptoeleDockingStationDeviceDriver 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);
+    }
+
+    /**
+     * 是否有货
+     * @param move
+     * @return
+     */
+    public int hasGoods(int move) {
+        return move;
+    }
+
+
+    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.isBlank(value)) {
+//            log.error("读取错误!");
+        } else {
+            return value;
+        }
+        return "0";
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB81.B10"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB81.B1", Boolean.valueOf(true)));
+        list.add(new ItemDto(item_move, "光电开关信号", "DB81.B2"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        return list;
+    }
+
+}
+

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

@@ -0,0 +1,61 @@
+package org.nl.acs.device_driver.conveyor.optoele_docking_station;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.enums.DeviceType;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 普通光电对接点
+ */
+@Service
+public class OptoeleDockingStationDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "optoele_docking_station";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "标准版-普通光电对接点";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "标准版-普通光电对接点";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new OptoeleDockingStationDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return OptoeleDockingStationDeviceDriver.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();
+    }
+
+}

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

@@ -0,0 +1,63 @@
+package org.nl.acs.device_driver.conveyor.optoele_docking_station;
+
+import com.alibaba.fastjson.JSONObject;
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
+import lombok.Setter;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.StandardRequestMethod;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.monitor.DeviceStageMonitor;
+
+
+/**
+ * 标准版-普通光电对接点
+ */
+@Slf4j
+@Getter
+@Setter
+@RequiredArgsConstructor
+public class OptoeleDockingStationDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, StandardRequestMethod {
+
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+
+    String device_code;
+    int mode = 0;
+    int last_mode = 0;
+    int move = 0;
+    int last_move = 0;
+
+    Boolean isonline = true;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        device_code = this.getDeviceCode();
+        mode = this.itemProtocol.getMode();
+        move = this.itemProtocol.getMove();
+
+        last_mode = mode;
+        last_move = move;
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() throws Exception {
+        JSONObject jo = new JSONObject();
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -178,6 +178,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     private Date require_apply_zjrk_time = new Date();
     //退货入库申请时间
     private Date require_apply_thrk_time = new Date();
+    //入库申请时间
+    private Date require_apply_in_time = new Date();
+
     private int instruction_update_time_out = 1000;
     Integer heartbeat_tag;
     private Date instruction_require_time = new Date();
@@ -187,6 +190,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     private int require_apply_tprk_time_out = 4000;
     private int require_apply_zjrk_time_out = 4000;
     private int require_apply_thrk_time_out = 4000;
+    private int require_apply_in_time_out = 4000;
     //行架机械手申请任务成功标识
     boolean requireSucess = false;
 
@@ -694,6 +698,13 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     }
 
     private void applyIn(String type, int mode) {
+        Date date = new Date();
+        if (date.getTime() - this.require_apply_in_time.getTime()
+                < (long) this.require_apply_in_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.require_apply_in_time_out);
+            return;
+        }
+        this.require_apply_in_time = date;
         try {
             JSONObject param = new JSONObject();
             param.put("device_code", device_code);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java

@@ -5,6 +5,7 @@ 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 cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
@@ -22,6 +23,7 @@ import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceD
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.device_driver.one_conveyor.box_subvolumes_conveyor.BoxSubvolumesConveyorDeviceDriver;
+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.impl.DeviceErrorLogServiceImpl;
@@ -45,6 +47,8 @@ import org.nl.config.language.LangProcess;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 
+import java.math.BigDecimal;
+import java.math.RoundingMode;
 import java.util.*;
 import java.util.stream.Collectors;
 
@@ -72,6 +76,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
     LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
 
     int mode = 0;
     int last_mode = 0;
@@ -80,8 +85,11 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
     int last_action = 0;
     int error = 0;
     int task = 0;
+    String barcode = null;
+    float weight = 0.0f;
     int heartbeat = 0;
     int to_command = 0;
+    int last_to_command = 0;
     int to_target = 0;
     int to_onset = 0;
 
@@ -141,6 +149,10 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             mode = this.itemProtocol.getMode();
             move = this.itemProtocol.getMove();
             action = this.itemProtocol.getAction();
+            weight = new BigDecimal(Float.toString(this.itemProtocol.getWeight()))
+                    .setScale(1, RoundingMode.HALF_UP)
+                    .floatValue();
+            barcode = this.itemProtocol.getBarcode();
             error = this.itemProtocol.getError();
             task = this.itemProtocol.getTask();
             heartbeat = this.itemProtocol.getHeartbeat();
@@ -154,9 +166,31 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             if (mode != last_mode) {
                 requireSucess = false;
             }
-            if(action == last_action){
+            if(action != last_action){
                 requireActionSucess = false;
             }
+
+            //以防出现未知问题，桁架称重完成变成6后，给桁架反馈6
+            if (action == 6 && !this.requireActionSucess){
+                Map<String, Object> map1 = new HashMap<>();
+                List list = new ArrayList();
+                map1.put("code", "to_command");
+                map1.put("value", 6);
+                list.add(map1);
+                this.writing(list);
+                this.requireActionSucess = true;
+            }
+
+            //清除下发桁架的6
+            if (to_command != last_to_command && to_command == 6){
+                Map<String, Object> map1 = new HashMap<>();
+                List list = new ArrayList();
+                map1.put("code", "to_command");
+                map1.put("value", 0);
+                list.add(map1);
+                this.writing(list);
+            }
+
             // 更新指令状态
             if (mode == 3 && task > 0 && !requireActionSucess) {
                 updateInstructionStatus();
@@ -190,7 +224,6 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     }
                 } else {
                     String remark = "";
-                    ;
                     if (mode != 2) {
                         remark = "universal_remark2";
                     }
@@ -227,7 +260,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
         last_mode =mode;
         last_action = action;
-
+        last_to_command = to_command;
     }
 
     private void updateInstructionStatus() {
@@ -248,6 +281,24 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     }
                 }
 
+                if (action == 2 && move == 1 && weight > 0){
+                    Map<String,Object> request = new HashMap<>();
+                    request.put("task_code",inst.getTask_code());
+                    request.put("barcode",barcode);
+//                    request.put("weight",weight);
+                    request.put("weight", String.format("%.1f", weight));
+                    HttpResponse resp = acsToWmsService.feedBoxWeight(request);
+                    if (resp != null && resp.getStatus() == 200){
+                        Map<String, Object> map1 = new HashMap<>();
+                        List list = new ArrayList();
+                        map1.put("code", "to_command");
+                        map1.put("value", 2);
+                        list.add(map1);
+                        this.writing(list);
+                        this.requireActionSucess = true;
+                    }
+                }
+
                 //任务完成
                 if (action == 5 && move == 0) {
                     if (inst != null) {
@@ -595,7 +646,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
         jo.put("isError", this.getIserror());
         jo.put("message", LangProcess.msg(message));
         jo.put("notCreateTaskMessage", notCreateTaskMessage);
-       jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
+        jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
         jo.put("feedMessage", LangProcess.msg(feedMessage));
         jo.put("driver_type", "box_storage_manipulator");
         jo.put("is_click", true);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/ItemProtocol.java

@@ -32,6 +32,14 @@ public class ItemProtocol {
      * 任务号
      */
     public static String item_task = "task";
+    /**
+     * 木箱重量
+     */
+    public static String item_weight = "weight";
+    /**
+     * 条码
+     */
+    public static String item_barcode = "barcode";
     /**
      * 报警
      */
@@ -146,6 +154,12 @@ public class ItemProtocol {
     public int getTask() {
         return this.getOpcIntegerValue(item_task);
     }
+    public Float getWeight() {
+        return this.getOpcFloatValue(item_weight);
+    }
+    public String getBarcode() {
+        return this.getOpcStringValue(item_barcode);
+    }
 
 
     public int getWalk_y() {
@@ -220,6 +234,8 @@ public class ItemProtocol {
         list.add(new ItemDto(item_action, "动作信号", "DB1.B3"));
         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_weight, "重量", "DB1.D6"));
+        list.add(new ItemDto(item_barcode, "条码", "DB1.D6"));
         list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4"));
         list.add(new ItemDto(item_x, "行走列号", "DB101.B10"));
         list.add(new ItemDto(item_y, "行走层号", "DB101.B11"));

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java

@@ -611,7 +611,6 @@ public class PlugPullDeviceSiteDeviceDriver extends AbstractOpcDeviceDriver impl
         Date date = new Date();
         if (date.getTime() - this.applyPullShaft_time.getTime() < (long) this.applyPullShaft_time_out) {
             log.trace("触发时间因为小于{}毫秒，而被无视", this.applyPullShaft_time_out);
-            return;
         } else {
             this.applyPullShaft_time = date;
             logServer.deviceExecuteLog(this.device_code, "", "", "申请拔轴");

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/pull_tail_manipulator/PullTailManipulatorDeviceDriver.java

@@ -132,8 +132,11 @@ public class PullTailManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
     private int instruction_update_time_out = 1000;
     Integer heartbeat_tag;
     private Date instruction_require_time = new Date();
+    private Date apply_feedback_require_time = new Date();
 
     private int instruction_require_time_out = 3000;
+    private int apply_feedback_require_time_out = 3000;
+
     //行架机械手申请任务成功标识
     boolean requireSucess = false;
 
@@ -230,6 +233,12 @@ public class PullTailManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
 
             //反馈重量
             if (mode == 3 && action == 5 && move == 0 && weight > 0 && StrUtil.isNotEmpty(sub_volume_no) && !requireSucess) {
+                Date date = new Date();
+                if (date.getTime() - this.apply_feedback_require_time.getTime() < (long) this.apply_feedback_require_time_out) {
+                    log.trace("触发时间因为小于{}毫秒，而被无视", this.apply_feedback_require_time_out);
+                    return ;
+                }
+                this.apply_feedback_require_time = date;
                 logServer.deviceExecuteLog(this.device_code, "", "", "反馈重量");
                 ApplyfeedbackSubVolumeWeightRequest applyfeedbackSubVolumeWeightRequest = new ApplyfeedbackSubVolumeWeightRequest();
                 ApplyfeedbackSubVolumeWeightResponse applyfeedbackSubVolumeWeightResponse;

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java

@@ -10,6 +10,8 @@ import org.nl.acs.ext.wms.data.one.ApplyLabelingAndBindingResponse;
 import org.nl.acs.ext.wms.data.one.BaseRequest;
 import org.nl.acs.instruction.domain.Instruction;
 
+import java.util.Map;
+
 public interface AcsToWmsService {
 
 
@@ -225,4 +227,6 @@ public interface AcsToWmsService {
      * @return
      */
     ManipulatorApplyPointResponse manipulatorApplyPointRequest(ManipulatorApplyPointRequest param);
+
+    HttpResponse feedBoxWeight(Map<String, Object> request);
 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java

@@ -818,6 +818,35 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         return manipulatorApplyPointResponse;
     }
 
+    @Override
+    public HttpResponse feedBoxWeight(Map<String, Object> request) {
+        try {
+            MDC.put(log_file_type, log_type);
+            String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+            HttpResponse result = null;
+            log.info("feedBoxWeight反馈LMS机械手重量-----请求参数{}", request.toString());
+            AddressDto addressDto = addressService.findByCode("feedBoxWeight");
+            String methods_url = addressDto.getMethods_url();
+            try {
+                result = HttpRequest.post(wmsurl + methods_url)
+                        .addInterceptor(tLogHutoolhttpInterceptor)
+                        .header(Header.USER_AGENT, "Hutool http")
+                        .header("Authorization", token)
+                        .body(JSON.toJSONString(request))
+                        .execute();
+                log.info("feedBoxWeight反馈LMS机械手重量-----输出参数{}", result);
+            } catch (Exception e) {
+                String msg = e.getMessage();
+                //网络不通
+//                //System.out.println(msg);
+                log.info("feedBoxWeight反馈LMS机械手重量-----输出参数{}", msg);
+            }
+        return result;
+        } finally {
+            MDC.remove(log_file_type);
+        }
+    }
+
     @Override
     public void actionFinishRequest2(JSONObject jsonObject) {
         HttpResponse execute = null;

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java

@@ -348,6 +348,14 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     Instruction findByStartCodeAndReady(String device_code);
 
+
+    /**
+     * 找最新的指令
+     * @param device_code
+     * @return
+     */
+    Instruction findByStartCodeAndReady2(String device_code);
+
     /**
      * 根据起点设备编号查询当前是否有运行的指令
      *

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -1935,6 +1935,15 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         return optionalInstruction.orElse(null);
     }
 
+
+    @Override
+    public Instruction findByStartCodeAndReady2(String device_code) {
+        Optional<Instruction> optionalInstruction = instructions.stream()
+                .filter(instruction -> StrUtil.equals(instruction.getStart_device_code(), device_code)
+                        && StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && !instruction.getInstruction_type().equals(TaskTypeEnum.Mxddhj_Task.getIndex())).max(Comparator.comparing(Instruction::getCreate_time));
+        return optionalInstruction.orElse(null);
+    }
+
     @Override
     public List<Instruction> findByDeviceCodes(Instruction instruction1, Boolean flay) {
         List<Instruction> instructionList = new ArrayList<>();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java

@@ -301,7 +301,7 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
 
                 String error_message = "设备信息同步异常";
                 if (!StrUtil.equals(this.message, error_message)) {
-                    log.warn(error_message, var27);
+                    log.warn(error_message, Arrays.toString(var27.getStackTrace()));
                 }
 
                 ThreadUtl.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000));

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java

@@ -29,10 +29,7 @@ import org.nl.common.utils.SecurityUtils;
 import org.nl.config.SpringContextHolder;
 import org.springframework.stereotype.Component;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
 
 @Slf4j
 @Component
@@ -116,6 +113,30 @@ public class CreateDDJInst {
 
                     String start_height = taskDto.getStart_height();
                     String next_height = taskDto.getNext_height();
+
+                    //如果是换标任务判断终点1003，和1002点位的有无货判断
+                    if (StrUtil.isNotEmpty(taskDto.getStorage_task_type())&& Objects.equals(taskDto.getStorage_task_type(), "1")){
+                        //关联站点判断
+                        BeltConveyorDeviceDriver beltConveyorDeviceDriver;
+                        if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                            beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+                            //判断对接位和关联站点光电信号
+                            List<String>   getDeviceCodeList = beltConveyorDeviceDriver.getExtraDeviceCodes("link_device_code");
+                            if (CollUtil.isNotEmpty(getDeviceCodeList)) {
+                                String linkDeviceCode = getDeviceCodeList.get(0);
+                                Device linkDevice = appService.findDeviceByCode(linkDeviceCode);
+                                BeltConveyorDeviceDriver linkDeviceDriver;
+                                if (linkDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                                    linkDeviceDriver = (BeltConveyorDeviceDriver) linkDevice.getDeviceDriver();
+                                    if ((beltConveyorDeviceDriver.getMode() == 0 || beltConveyorDeviceDriver.getMove() == 1) || (linkDeviceDriver.getMode() == 0 || linkDeviceDriver.getMove() == 1)) {
+                                        ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("无法创建堆垛机指令的原因：换标位" + next_device_code + "条件不满足！");
+                                       continue;
+                                    }
+                                }
+
+                            }
+                        }
+                    }
                     //同排的货位移库任务
                     if (StrUtil.equals(taskDto.getStart_device_code(), taskDto.getNext_device_code())) {
                         //通过起点找路由
@@ -385,33 +406,6 @@ public class CreateDDJInst {
                                     instdto.setTo_z(taskDto.getTo_z());
                                     instdto.setTo_y(taskDto.getTo_y());
                                 }
-                                //判断agv系统
-                                //1、1楼叉车系统
-                                //2、2楼1区域AGV系统
-                                //3、2楼2区域AGV系统 -已废弃
-                                if (!StrUtil.equals(agv_system_type, CommonFinalParam.ONE)) {
-                                    // task_type
-                                    //1、生箔； Itype=1:取空，取满，放空，放满；
-                                    //2、分切  Itype=3取满、取空、放满、放空；
-                                    //3、普通任务 Itype=2:取货、放货；
-                                    //4、叉车任务
-                                    //5、输送任务
-                                    //6、行架
-                                    //7、立库
-                                    if (StrUtil.equals(task_type, CommonFinalParam.ONE)) {
-                                        instdto.setAgv_inst_type(CommonFinalParam.ONE);
-                                    } else if (StrUtil.equals(task_type, "3")) {
-                                        instdto.setAgv_inst_type("2");
-                                    } else if (StrUtil.equals(task_type, "2")) {
-                                        instdto.setAgv_inst_type("3");
-                                    } else if (StrUtil.equals(task_type, "8")) {
-                                        instdto.setAgv_inst_type("2");
-                                    } else {
-                                        log.info("未找到对应的AGV指令类型，任务号:" + taskDto.getTask_code() + ",task_type:" + taskDto.getTask_type());
-                                    }
-                                } else {
-                                    instdto.setAgv_inst_type("4");
-                                }
                                 try {
                                     instructionService.create(instdto);
                                 } catch (Exception e) {

acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml

@@ -72,7 +72,7 @@ https://juejin.cn/post/6844903775631572999
 <!--            <appender-ref ref="asyncFileAppender"/>-->
             <appender-ref ref="CONSOLE"/>
         </root>
-     <!--   <logger name="jdbc" level="ERROR" additivity="true">
+        <logger name="jdbc" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
         </logger>
         <logger name="org.springframework" level="ERROR" additivity="true">
@@ -95,7 +95,10 @@ https://juejin.cn/post/6844903775631572999
         </logger>
         <logger name="org.jinterop" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
-        </logger>-->
+        </logger>
+        <logger name="org.openscada" level="ERROR" additivity="true">
+            <appender-ref ref="asyncFileAppender"/>
+        </logger>
     </springProfile>
 
     <!--测试环境:打印控制台-->

acs2/nladmin-ui/.env.development

@@ -1,7 +1,7 @@
 ENV = 'development'
 
 # 接口地址
-VUE_APP_BASE_API  = 'http://localhost:8011'
+VUE_APP_BASE_API  = 'http://127.0.0.1:8011'
 VUE_APP_WS_API = 'ws://localhost:8011'
 
 # 是否启用 babel-plugin-dynamic-import-node插件

acs2/nladmin-ui/.env.production

@@ -2,6 +2,6 @@ ENV = 'production'
 
 # 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置
 # 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http
-VUE_APP_BASE_API  = 'http://10.1.3.97:8011'
+VUE_APP_BASE_API  = 'http://10.1.3.96:8011'
 # 如果接口是 http 形式， wss 需要改为 ws
-VUE_APP_WS_API = 'ws://10.1.3.97:8011'
+VUE_APP_WS_API = 'ws://10.1.3.96:8011'

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

@@ -108,6 +108,7 @@ import box_manipulator from '@/views/acs/device/driver/box_manipulator.vue'
 import conveyor_with_scanner_weight from '@/views/acs/device/driver/conveyor_with_scanner_weight.vue'
 import box_manipulator_site from '@/views/acs/device/driver/box_manipulator_site.vue'
 import rgv from '@/views/acs/device/driver/rgv.vue'
+import optoele_docking_station from '@/views/acs/device/driver/optoele_docking_station.vue'
 import dry_manipulator from '@/views/acs/device/driver/dry_manipulator.vue'
 import blanking_button from '@/views/acs/device/driver/blanking_button.vue'
 import pull_head_manipulator from '@/views/acs/device/driver/pull_head_manipulator.vue'
@@ -200,7 +201,8 @@ export default {
     paper_tube_pick_size,
     one_rgv,
     die_manipulator,
-    raster
+    raster,
+    optoele_docking_station
   },
   dicts: ['device_type'],
   mixins: [crud],

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

@@ -0,0 +1,539 @@
+<template>
+  <!--标准版-输送机-控制点-->
+  <div>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-row>
+        <el-col :span="12">
+          OpcServer:
+          <el-select
+            v-model="opc_id"
+            placeholder="无"
+            clearable
+            filterable
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">输送系统：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-input v-model="form.address" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">指令相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="检验有货">
+              <el-switch v-model="form.inspect_in_stocck" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="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="放货校验" label-width="150px">
+              <el-switch v-model="form.ignore_release_check" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="呼叫">
+              <el-switch v-model="form.apply_task" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="响应" label-width="150px">
+              <el-switch v-model="form.manual_create_task" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备" prop="device_code">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                multiple
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="关联三色灯" prop="device_code" label-width="100px">
+              <el-select
+                v-model="form.link_three_lamp"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="是否输入物料" label-width="150px">
+              <el-switch v-model="form.input_material" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="是否需要反馈光电" label-width="150px">
+              <el-switch v-model="form.ship_device_update" />
+            </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.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'StandardConveyorControl',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      required: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      address: '',
+      opc_id: '',
+      opc_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        link_three_lamp: '',
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true,
+        link_device_code: [],
+        ship_device_update: true
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$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) {
+        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('mode') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 0)
+          }
+          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('carrier_direction') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 4)
+          }
+          if (this.data1[val].code.indexOf('task') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 8)
+          }
+        }
+      }
+    },
+    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
+        }
+        console.log(endNumber)
+        for (const val in this.data2) {
+          if (this.data2[val].code.indexOf('to_command') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 0)
+          }
+          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_container_type') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 4)
+          }
+          if (this.data2[val].code.indexOf('to_task') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 6)
+          }
+          if (this.data2[val].code.indexOf('to_strap_times') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 10)
+          }
+          if (this.data2[val].code.indexOf('to_length') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 12)
+          }
+          if (this.data2[val].code.indexOf('to_weight') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 14)
+          }
+          if (this.data2[val].code.indexOf('to_height') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 16)
+          }
+        }
+      }
+    },
+    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
+        console.log(this.data1)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_write1() {
+      testwrite(this.data2, this.opc_id).then(data => {
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_read2() {
+      testRead(this.data2, this.opc_id).then(data => {
+        this.data2 = data
+        console.log(this.data2)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    doSubmit() {
+      this.$refs['form'].validate((valid) => {
+        if (valid) {
+          this.configLoading = true
+          // 根据驱动类型判断是否为路由设备
+          const parentForm = this.parentForm
+          parentForm.is_route = true
+          parentForm.plc_id = this.plc_id
+          parentForm.opc_id = this.opc_id
+          updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
+            this.notify('保存成功', 'success')
+            this.configLoading = false
+          }).catch(err => {
+            this.configLoading = false
+            console.log(err.response.data.message)
+          })
+        }
+      })
+    },
+    sliceItem() { // 拼接DB的Item值
+      this.data1.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+      this.data2.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+    }
+  }
+}
+</script>
+
+<style scoped>
+
+</style>

acs2/nladmin-ui/src/views/acs/history/instRecord/index.vue

@@ -172,6 +172,7 @@
         <el-table-column prop="start_point_code" :label="$t('task.select.Start_point')" :min-width="flexWidth('start_point_code',crud.data,$t('task.select.Start_point'))" />
         <el-table-column prop="next_point_code" :label="$t('task.select.Destination')" :min-width="flexWidth('next_point_code',crud.data,$t('task.select.Destination'))" />
         <el-table-column prop="matarial" :label="$t('TaskRecord.table.Material')" :min-width="flexWidth('matarial',crud.data,$t('TaskRecord.table.Material'))" />
+        <el-table-column prop="carno" :label="$t('Inst.table.carno')" :min-width="flexWidth('carno',crud.data,$t('Inst.table.carno'))"/>
         <el-table-column prop="quantity" :label="$t('TaskRecord.table.Quantity')" :min-width="flexWidth('quantity',crud.data,$t('TaskRecord.table.Quantity'))" />
         <el-table-column prop="weight" label="重量" :min-width="flexWidth('weight',crud.data,'重量')" />
         <el-table-column prop="remark" :label="$t('task.select.Remark')" :min-width="flexWidth('remark',crud.data,$t('task.select.Remark'))" />

acs2/nladmin-ui/src/views/screen/twoFloorAgvScreen.vue

@@ -0,0 +1,395 @@
+<template>
+  <div class="two-floor-agv-screen">
+    <div class="header">
+      <h1>二楼AGV监控看板</h1>
+      <div class="time-info">
+        <span>{{ getTime }}</span>
+        <span>{{ getDate }}</span>
+      </div>
+    </div>
+
+    <div class="agv-list">
+      <div
+        v-for="agv in agvList"
+        :key="agv.vehicle_code"
+        class="agv-item"
+        :class="{ 'agv-error': agv.is_error }"
+        @click="showAgvDetail(agv)"
+      >
+        <div class="agv-header">
+          <div class="agv-basic-info">
+            <h3>{{ agv.vehicle_code }}</h3>
+            <span class="status" :class="agv.status">{{ agv.status_text }}</span>
+          </div>
+          <div class="agv-phase">
+            <span class="label">当前阶段：</span>
+            <span class="phase-value">{{ agv.phase_name || '无' }}</span>
+          </div>
+        </div>
+
+        <div class="agv-task-info">
+          <div class="task-item">
+            <span class="label">任务代码：</span>
+            <span>{{ agv.task_code || '无' }}</span>
+          </div>
+          <div class="task-item">
+            <span class="label">指令代码：</span>
+            <span>{{ agv.inst_code || '无' }}</span>
+          </div>
+          <div class="task-item">
+            <span class="label">当前位置：</span>
+            <span>{{ agv.address || '未知' }}</span>
+          </div>
+        </div>
+
+        <div v-if="agv.is_error" class="agv-error-info">
+          <h4>任务卡住原因：</h4>
+          <div v-if="agv.error_action" class="error-item">
+            <span class="label">Action不满足：</span>
+            <span>{{ agv.error_action }}</span>
+          </div>
+          <div v-if="agv.error_mode" class="error-item">
+            <span class="label">Mode不满足：</span>
+            <span>{{ agv.error_mode }}</span>
+          </div>
+          <div v-if="agv.error_error" class="error-item">
+            <span class="label">Error不满足：</span>
+            <span>{{ agv.error_error }}</span>
+          </div>
+          <div v-if="agv.error_move" class="error-item">
+            <span class="label">Move不满足：</span>
+            <span>{{ agv.error_move }}</span>
+          </div>
+          <div v-if="agv.error_message" class="error-item">
+            <span class="label">错误信息：</span>
+            <span>{{ agv.error_message }}</span>
+          </div>
+        </div>
+
+        <div v-else-if="agv.phase_name" class="agv-normal-info">
+          <h4>当前任务进度：</h4>
+          <div v-for="(step, index) in agv.phase_steps" :key="index" class="progress-item">
+            <span class="step-name">{{ step.name }}</span>
+            <el-progress
+              :percentage="step.completed ? 100 : 0"
+              :color="step.completed ? '#67C23A' : '#E6A23C'"
+              :stroke-width="6"
+            />
+          </div>
+        </div>
+      </div>
+    </div>
+
+    <!-- AGV详情弹窗 -->
+    <el-dialog
+      title="AGV详情"
+      :visible.sync="dialogVisible"
+      width="50%"
+    >
+      <div v-if="currentAgv" class="agv-detail">
+        <el-descriptions :column="1" border>
+          <el-descriptions-item label="AGV编号">{{ currentAgv.vehicle_code }}</el-descriptions-item>
+          <el-descriptions-item label="当前状态">{{ currentAgv.status_text }}</el-descriptions-item>
+          <el-descriptions-item label="当前阶段">{{ currentAgv.phase_name || '无' }}</el-descriptions-item>
+          <el-descriptions-item label="任务代码">{{ currentAgv.task_code || '无' }}</el-descriptions-item>
+          <el-descriptions-item label="指令代码">{{ currentAgv.inst_code || '无' }}</el-descriptions-item>
+          <el-descriptions-item label="当前位置">{{ currentAgv.address || '未知' }}</el-descriptions-item>
+          <el-descriptions-item v-if="currentAgv.is_error" label="错误信息">
+            <div v-if="currentAgv.error_action">Action不满足：{{ currentAgv.error_action }}</div>
+            <div v-if="currentAgv.error_mode">Mode不满足：{{ currentAgv.error_mode }}</div>
+            <div v-if="currentAgv.error_action">Move不满足：{{ currentAgv.error_move }}</div>
+            <div v-if="currentAgv.error_error">Error不满足：{{ currentAgv.error_error }}</div>
+            <div v-if="currentAgv.error_message">{{ currentAgv.error_message }}</div>
+          </el-descriptions-item>
+        </el-descriptions>
+      </div>
+    </el-dialog>
+  </div>
+</template>
+
+<script>
+import Background from '@/assets/images/bigScreen.png'
+
+export default {
+  data() {
+    return {
+      Background: Background,
+      agvList: [
+        { vehicle_code: 'AGV01', status: 'running', status_text: '运行中', is_error: false },
+        { vehicle_code: 'AGV02', status: 'idle', status_text: '空闲', is_error: false },
+        { vehicle_code: 'AGV03', status: 'error', status_text: '异常', is_error: true },
+        { vehicle_code: 'AGV04', status: 'charging', status_text: '充电中', is_error: false }
+      ],
+      getTime: '',
+      getDate: '',
+      dialogVisible: false,
+      currentAgv: null
+    }
+  },
+  mounted() {
+    this.init()
+    // 定时器，每秒更新一次数据
+    const timer = setInterval(() => {
+      this.settime()
+      this.getMessage()
+    }, 1000)
+
+    // 销毁定时器
+    this.$once('hook:beforeDestroy', () => {
+      clearInterval(timer)
+    })
+  },
+  methods: {
+    init() {
+      // 初始化数据
+      this.settime()
+      // 获取AGV状态数据
+      this.getMessage()
+    },
+    settime() {
+      const yy = new Date().getFullYear()
+      const mm = new Date().getMonth() + 1
+      const dd = new Date().getDate()
+      const hh = new Date().getHours()
+      const mf = new Date().getMinutes() < 10 ? '0' + new Date().getMinutes() : new Date().getMinutes()
+      const ss = new Date().getSeconds() < 10 ? '0' + new Date().getSeconds() : new Date().getSeconds()
+      this.getDate = yy + '年' + mm + '月' + dd + '日 ' + '星期' + '日一二三四五六'.charAt(new Date().getDay())
+      this.getTime = hh + ':' + mf + ':' + ss
+    },
+    getMessage() {
+      // 通过HTTP接口获取AGV状态数据
+      this.$axios.get('/api/agv/two-floor/status')
+        .then(response => {
+          if (response) {
+            this.updateAgvData(response)
+          }
+        })
+        .catch(error => {
+          console.error('获取AGV状态数据失败:', error)
+        })
+    },
+    updateAgvData(agvDataList) {
+      // 更新AGV数据
+      agvDataList.forEach(data => {
+        const agvIndex = this.agvList.findIndex(agv => agv.vehicle_code === data.vehicle_code)
+        if (agvIndex !== -1) {
+          // 处理AGV状态
+          const statusMap = {
+            'running': { text: '运行中', class: 'running' },
+            'idle': { text: '空闲', class: 'idle' },
+            'error': { text: '异常', class: 'error' },
+            'charging': { text: '充电中', class: 'charging' }
+          }
+
+          // 根据数据状态判断AGV是否处于错误状态
+          const isError = !!(data.is_error || (data.error_action || data.error_mode || data.error_error || data.error_move || data.error_message))
+
+          // 设置状态信息
+          const statusInfo = statusMap[data.status] || { text: '未知', class: 'unknown' }
+          if (isError) {
+            statusInfo.text = '异常'
+            statusInfo.class = 'error'
+          }
+
+          // 更新AGV数据
+          this.agvList[agvIndex] = {
+            ...this.agvList[agvIndex],
+            ...data,
+            status_text: statusInfo.text,
+            status: statusInfo.class,
+            is_error: isError,
+            phase_name: data.phase_name,
+            error_action: data.error_action,
+            error_mode: data.error_mode,
+            error_move: data.error_move,
+            error_error: data.error_error,
+            error_message: data.error_message
+          }
+        }
+      })
+    },
+    showAgvDetail(agv) {
+      this.currentAgv = agv
+      this.dialogVisible = true
+    }
+  }
+}
+</script>
+
+<style scoped>
+.two-floor-agv-screen {
+  width: 100%;
+  height: 100vh;
+  background-color: #f0f2f5;
+  font-family: Arial, sans-serif;
+  overflow: auto;
+}
+
+.header {
+  background-color: #2c3e50;
+  color: white;
+  padding: 20px;
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.1);
+}
+
+.header h1 {
+  margin: 0;
+  font-size: 28px;
+}
+
+.time-info {
+  text-align: right;
+}
+
+.time-info span {
+  display: block;
+  margin: 5px 0;
+}
+
+.agv-list {
+  padding: 20px;
+  display: grid;
+  grid-template-columns: repeat(auto-fit, minmax(400px, 1fr));
+  gap: 20px;
+}
+
+.agv-item {
+  background-color: white;
+  border-radius: 8px;
+  padding: 20px;
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.1);
+  cursor: pointer;
+  transition: all 0.3s ease;
+  border-left: 5px solid #409eff;
+}
+
+.agv-item:hover {
+  transform: translateY(-5px);
+  box-shadow: 0 5px 20px rgba(0, 0, 0, 0.15);
+}
+
+.agv-item.agv-error {
+  border-left-color: #f56c6c;
+}
+
+.agv-header {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  margin-bottom: 15px;
+  padding-bottom: 10px;
+  border-bottom: 1px solid #eee;
+}
+
+.agv-basic-info h3 {
+  margin: 0;
+  font-size: 20px;
+  color: #333;
+}
+
+.status {
+  display: inline-block;
+  padding: 4px 12px;
+  border-radius: 12px;
+  font-size: 12px;
+  font-weight: bold;
+  margin-left: 10px;
+}
+
+.status.running {
+  background-color: #67c23a;
+  color: white;
+}
+
+.status.idle {
+  background-color: #909399;
+  color: white;
+}
+
+.status.error {
+  background-color: #f56c6c;
+  color: white;
+}
+
+.status.charging {
+  background-color: #e6a23c;
+  color: white;
+}
+
+.status.unknown {
+  background-color: #909399;
+  color: white;
+}
+
+.agv-phase {
+  text-align: right;
+}
+
+.label {
+  font-weight: bold;
+  color: #666;
+  margin-right: 5px;
+}
+
+.phase-value {
+  font-size: 16px;
+  color: #409eff;
+  font-weight: bold;
+}
+
+.agv-task-info {
+  margin-bottom: 15px;
+}
+
+.task-item {
+  margin: 8px 0;
+  font-size: 14px;
+}
+
+.agv-error-info {
+  background-color: #fef0f0;
+  border: 1px solid #fbc4ab;
+  border-radius: 4px;
+  padding: 15px;
+  margin-top: 15px;
+}
+
+.agv-error-info h4 {
+  margin-top: 0;
+  color: #f56c6c;
+  font-size: 16px;
+}
+
+.error-item {
+  margin: 8px 0;
+  font-size: 14px;
+}
+
+.agv-normal-info {
+  margin-top: 15px;
+}
+
+.agv-normal-info h4 {
+  margin-top: 0;
+  color: #67c23a;
+  font-size: 16px;
+}
+
+.progress-item {
+  margin: 10px 0;
+}
+
+.step-name {
+  display: block;
+  margin-bottom: 5px;
+  font-size: 14px;
+  color: #666;
+}
+
+.agv-detail {
+  padding: 10px 0;
+}
+</style>