add:新增标准版行架机械手驱动

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

@@ -43,7 +43,10 @@ public enum DriverTypeEnum {
     DOUBLE_STATION_STACKER(16, "double_station_stacker", "标准版-双工位堆垛机", "double_station_stacker"),
 
     DOUBLE_BELT_CONVEYOR(17, "double_belt_conveyor", "双工位输送线", "conveyor"),
-    WITH_STATION_DEVICE_DRIVER(18, "with_station_device_driver", "输送线关联站点", "conveyor");
+
+    WITH_STATION_DEVICE_DRIVER(18, "with_station_device_driver", "输送线关联站点", "conveyor"),
+
+    STANDARD_MANIPULATOR(19, "standard_manipulator", "标准版-行架机械手", "station");
 
 
     /**

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/double_belt_conveyor/DoubleBeltConveyorDeviceDriver.java

@@ -402,14 +402,13 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                 if (ObjectUtil.isEmpty(inst)) {
                     return false;
                 }
-                Map map = new HashMap();
+                Map<String, Object> map = new LinkedHashMap<>();
                 map.put("to_target", next_addr);
                 map.put("to_task", inst.getInstruction_code());
                 map.put("to_command", "1");
                 map.put("to_container_type", "1");
                 map.put("to_container_no", "1");
-                list.add(map);
-                this.writing(list);
+                this.writing(map);
                 led_message = getLedMessage(inst);
                 requireSucess = true;
                 return true;
@@ -498,15 +497,14 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                     taskdto.setTask_status("1");
                     taskserver.update(taskdto);
                     requireSucess = true;
-                    Map map = new HashMap();
+                    Map<String, Object> map = new LinkedHashMap<>();
                     String next_addr = nextdevice.getExtraValue().get("address").toString();
                     map.put("to_target", next_addr);
                     map.put("to_task", instdto.getInstruction_code());
                     map.put("to_command", "1");
                     map.put("to_container_type", "1");
                     map.put("to_container_no", "1");
-                    list.add(map);
-                    this.writing(list);
+                    this.writing(map);
                     led_message = getLedMessage(instdto);
                     requireSucess = true;
                     return true;
@@ -525,6 +523,21 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
     }
 
 
+    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 void writing(String key, String param) {
 

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/double_station_stacker/DoubleStationStackerDeviceDriver.java

@@ -263,8 +263,7 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
         } else if (frontZerror != 0 || backZerror != 0) {
             message = "有报警";
         } else {
-            HashMap<String, Object> map = new HashMap<>();
-            List<Object> list = new ArrayList<>();
+            Map<String, Object> map = new LinkedHashMap<>();
             if (CommandEnum.STANDY.getStatus().equals(frontCommand) || backCommand.equals(CommandEnum.STANDY.getStatus())){
                 applyTask();
                 requireSucess = true;
@@ -350,8 +349,7 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
                 requireSucess = true;
             }
             if (ObjectUtil.isNotNull(map)) {
-                list.add(map);
-                this.writing(list);
+                this.writing(map);
             }
         }
         lastHeartbeat = heartbeat;
@@ -809,6 +807,20 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
         }
     }
 
+    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);
+        }
+    }
+
 
     /**
      * 将扩展表中的字符串数据转换成集合

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/ItemProtocol.java

@@ -0,0 +1,167 @@
+package org.nl.acs.device_driver.manipulator.standard_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";
+
+    //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";
+
+
+    private StandardManipulatorDeviceDriver driver;
+
+    public ItemProtocol(StandardManipulatorDeviceDriver 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 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);
+    }
+
+
+    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"));
+        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.D6"));
+        return list;
+    }
+
+    @Override
+    public String toString() {
+        return "";
+    }
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandardManipulatorDefination.java

@@ -0,0 +1,61 @@
+package org.nl.acs.device_driver.manipulator.standard_manipulator;
+
+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.nl.acs.device_driver.stacker.standard_stacker.StandardStackerDeviceDriver;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+@Service
+public class StandardManipulatorDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "standard_manipulator";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "标准版-行架机械手";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "标准版-行架机械手";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new StandardStackerDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return StandardManipulatorDeviceDriver.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();
+    }
+
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandardManipulatorDeviceDriver.java

@@ -0,0 +1,396 @@
+package org.nl.acs.device_driver.manipulator.standard_manipulator;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.common.base.CommonFinalParam;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.service.DeviceExtraService;
+import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+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.domain.Instruction;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.route.service.impl.RouteLineServiceImpl;
+import org.nl.acs.task.service.TaskService;
+import org.nl.config.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 标准版-行架机械手
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class StandardManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+    @Autowired
+    RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
+    @Autowired
+    DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class);
+    @Autowired
+    DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.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;
+
+    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;
+
+    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;
+    //行架机械手申请任务成功标识
+    boolean requireSucess = 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();
+            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();
+
+            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) {
+                requireSucess = false;
+                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) {
+                logServer.deviceItemValue(this.device_code, "action", String.valueOf(action));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action);
+            }
+            if (error != last_error) {
+                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);
+            }
+
+            // 更新指令状态
+            if (mode == 3 && task > 0) {
+                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;
+                    //更改指令状态
+                    if (task > 0) {
+                        Instruction inst = checkInst();
+                        if (inst != null) {
+                            if (StrUtil.equals(inst.getInstruction_status(), "0")) {
+                                inst.setInstruction_status(CommonFinalParam.ONE);
+                                inst.setExecute_device_code(this.device_code);
+                                instructionService.update(inst);
+                            }
+                        }
+                    }
+                }
+            }
+
+        } 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 && task == 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);
+                    //}
+                }
+            }
+
+        }
+        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;
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String move = "";
+        String action = "";
+        String walk_y = "";
+        if (this.getMode() == 0) {
+            mode = "脱机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "待机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+        } else if (this.getMove() == 1) {
+            move = "有货";
+        }
+
+        String requireSucess = "0";
+        if (this.requireSucess) {
+            requireSucess = "1";
+        }
+        jo.put("requireSucess", requireSucess);
+        if (this.getAction() == 1) {
+            action = "取货中";
+        } else if (this.getAction() == 2) {
+            action = "取货完成";
+        } else if (this.getAction() == 3) {
+            action = "放货中";
+        } else if (this.getAction() == 4) {
+            action = "放货完成";
+        }
+
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("task", task);
+        jo.put("walk_y", walk_y);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", ErrorUtil.getDictDetail("hxhj_error_type", String.valueOf(this.getError())));
+        jo.put("isError", this.getIserror());
+        jo.put("message", this.getMessage());
+        jo.put("notCreateTaskMessage", notCreateTaskMessage);
+        jo.put("notCreateInstMessage", notCreateInstMessage);
+        jo.put("feedMessage", feedMessage);
+        jo.put("driver_type", "siemens_conveyor");
+        jo.put("is_click", true);
+        jo.put("x", x_position);
+        jo.put("y", y_position);
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+        String requestSucess = data.getString("requireSucess");
+        if (StrUtil.equals(requestSucess, "0")) {
+            this.requireSucess = false;
+        } else if (StrUtil.equals(requestSucess, "1")) {
+            this.requireSucess = true;
+        }
+    }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", String.valueOf(error));
+        jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type", error_type);
+        return jo;
+    }
+
+
+
+    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;
+    }
+}

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

@@ -103,6 +103,7 @@ import led_screen from './driver/led_screen'
 import standard_station from '@/views/acs/device/driver/standard_station'
 import double_belt_conveyor from '@/views/acs/device/driver/double_belt_conveyor.vue'
 import with_station_device from '@/views/acs/device/driver/with_station_device.vue'
+import standard_manipulator from '@/views/acs/device/driver/standard_manipulator.vue'
 export default {
   name: 'DeviceConfig',
   components: {
@@ -135,7 +136,8 @@ export default {
     plug_pull_device_site,
     slit_two_manipulator,
     double_belt_conveyor,
-    with_station_device
+    with_station_device,
+    standard_manipulator
 
   },
   dicts: ['device_type'],

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

@@ -0,0 +1,546 @@
+<template>
+  <!--标准版行架机械手-->
+  <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.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'StandardManipulator',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      require: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      load_device_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        link_three_lamp: '',
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true,
+        link_device_code: [],
+        get_device_code: [],
+        put_device_code: []
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$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>