add:新增手持功能以及优化agv驱动代码

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

@@ -1,6 +1,7 @@
 package org.nl.acs.agv.server;
 
 import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.instruction.domain.InstructionMybatis;
 
 import java.util.Map;
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -24,6 +24,9 @@ import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.Manipulator
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.history.ErrorUtil;
+import org.nl.acs.history.service.DeviceErrorLogService;
+import org.nl.acs.history.service.dto.DeviceErrorLogDto;
+import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
@@ -57,6 +60,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
     DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
     DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
+    DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
     DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
     LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
     TwoAgvPhase twoAgvPhase = new TwoAgvPhase();
@@ -70,6 +74,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     int phase = 0;
     int region = 0;
     int error = 0;
+    int last_error = 0;
     private Instruction instruction;
     String message = null;
     int x = 0; //x坐标
@@ -218,10 +223,27 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
             if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
+                        && StrUtil.equals("true", device.getExtraValue().get("wait").toString())
+                        && StrUtil.equals(task.getTask_type(), "1")) {
+                    if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
+                        String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
+                        log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
+                        if (StrUtil.isEmpty(task_code) || !task_code.equals(task.getTask_code())) {
+                            log.info("等待LMS系统进行确认允许取货，设备号{},指令号{},任务号{}", device_code, ikey, task.getTask_code());
+                            message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
+                            logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
+                        } else {
                             data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                        }
-                standardOrdinarySiteDeviceDriver.setIndex(index);
+                    }else {
-                standardOrdinarySiteDeviceDriver.setInst(inst);
+                        log.info("等待LMS系统进行确认允许取货，设备号{},指令号{}", device_code, ikey);
+                        message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
+                        logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
+                    }
+                }else {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
 
@@ -340,10 +362,15 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
             if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                if (ObjectUtil.isNotEmpty(this.device.getExtraValue().get("wait"))
+                        && StrUtil.equals("true", this.device.getExtraValue().get("wait").toString())
+                        && StrUtil.equals(task.getTask_type(), "1")) {
+                    standardOrdinarySiteDeviceDriver.setOption(0);
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                }else {
-                standardOrdinarySiteDeviceDriver.setIndex(index);
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                standardOrdinarySiteDeviceDriver.setInst(inst);
+                }
+                this.setPhase(phase);
             } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                 manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
 
@@ -455,10 +482,30 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             if (StrUtil.equals(agv_inst_type, CommonFinalParam.ONE) || StrUtil.equals(agv_inst_type, "3")) {
                 if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                     standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
-                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                     standardOrdinarySiteDeviceDriver.setAgvphase(phase);
-                    standardOrdinarySiteDeviceDriver.setIndex(index);
+                    if (ObjectUtil.isNotEmpty(standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait"))
-                    standardOrdinarySiteDeviceDriver.setInst(inst);
+                            && StrUtil.equals("true", standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait").toString())
+                            && StrUtil.equals(task.getTask_type(), "1")) {
+                        if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
+                            standardOrdinarySiteDeviceDriver.setAgvphase(0);
+                            String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
+                            log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
+                            if (StrUtil.isEmpty(task_code) || !task_code.equals(task.getTask_code())) {
+                                log.info("等待LMS系统进行确认允许取货，设备号{},指令号{},任务号{}", device_code, ikey, task.getTask_code());
+                                message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
+                                logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
+                            } else {
+                                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                            }
+                        } else {
+                            log.info("等待LMS系统进行确认允许取货，设备号{},指令号{}", device_code, ikey);
+                            message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
+                            logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code());
+
+                        }
+                    }else {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    }
                 } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                     manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
 
@@ -568,6 +615,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             if (StrUtil.equals(agv_inst_type, CommonFinalParam.ONE) || StrUtil.equals(agv_inst_type, "3")) {
                 if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                     standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+                    if (ObjectUtil.isNotEmpty(standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait"))
+                            && StrUtil.equals("true", standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait").toString())
+                            && StrUtil.equals(task.getTask_type(), "1")) {
+                        standardOrdinarySiteDeviceDriver.setOption(0);
+                    }else {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    }
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                     standardOrdinarySiteDeviceDriver.setAgvphase(phase);
                     standardOrdinarySiteDeviceDriver.setIndex(index);
@@ -651,6 +705,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 weight = agvaddr;
                 inst.setWeight(String.valueOf(weight));
                 instructionService.update(inst);
+
+                if (ObjectUtil.isNotEmpty(task)) {
+                    logServer.deviceExecuteLog(this.device_code, "", "", "上报满卷重量,weight:" + weight);
+                    message = "上报满卷重量,weight:" + weight + ",指令号:" + ikey;
+                    task.setWeight(String.valueOf(weight));
+                    task.setCarno(this.device_code);
+                    taskService.update(task);
+                }
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)
@@ -817,9 +879,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 //                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
 //                }
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                this.setPhase(phase);
-                standardOrdinarySiteDeviceDriver.setIndex(index);
-                standardOrdinarySiteDeviceDriver.setInst(inst);
             } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                 manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
 
@@ -929,9 +989,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 //                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
 //                }
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                    standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                    this.setPhase(phase);
-                    standardOrdinarySiteDeviceDriver.setIndex(index);
-                    standardOrdinarySiteDeviceDriver.setInst(inst);
 
                 } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                     manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -1037,9 +1095,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 //                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
 //                }
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                    standardOrdinarySiteDeviceDriver.setAgvphase(phase);
+                    this.setPhase(phase);
-                    standardOrdinarySiteDeviceDriver.setIndex(index);
-                    standardOrdinarySiteDeviceDriver.setInst(inst);
 
                 } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                     manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -1130,32 +1186,10 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             last_status = status;
         }  //进入区域（phase值）
         else if (phase == 0x50) {
-            if (ObjectUtil.isEmpty(inst)) {
-                log.info("未找到指令号{}对应的指令", ikey);
-                return;
-            }
-            region = agvaddr;
-            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-            LuceneLogDto logDto = LuceneLogDto.builder()
-                    .device_code(device_code)
-                    .content("agvphase:" + phase + "反馈:" + data)
-                    .build();
-            luceneExecuteLogService.deviceExecuteLog(logDto);
 
         }
         //离开区域（phase值）
         else if (phase == 0x51) {
-            if (ObjectUtil.isEmpty(inst)) {
-                log.info("未找到指令号{}对应的指令", ikey);
-                return;
-            }
-            region = agvaddr;
-            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-            LuceneLogDto logDto = LuceneLogDto.builder()
-                    .device_code(device_code)
-                    .content("agvphase:" + phase + "反馈:" + data)
-                    .build();
-            luceneExecuteLogService.deviceExecuteLog(logDto);
 
         }
         //上报异常信息
@@ -1170,11 +1204,23 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 String info = error.get("info");
                 this.setErrorInfo(ikey, code, info);
             }
-            LuceneLogDto logDto = LuceneLogDto.builder()
+            if (error != last_error) {
-                    .device_code(device_code)
+                DeviceErrorLogDto dto = new DeviceErrorLogDto();
-                    .content("agvphase:" + phase + "反馈:" + data)
+                dto.setDevice_code(this.getDevice().getDevice_code());
-                    .build();
+                dto.setError_code(String.valueOf(error_code));
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+                dto.setError_info(error_message);
+                deviceErrorLogService.create(dto);
+
+                JSONObject param = new JSONObject();
+                param.put("device_code", this.device_code);
+                param.put("error", error);
+                param.put("error_msg", error == 0 ? "" : this.getError_message());
+                param.put("device_name", this.getDevice().getDevice_name());
+                param.put("device_type", "4");
+                param.put("product_area", ISysParamService.findByCode("productArea").getValue());
+                acsToWmsService.sendDeviceStatus(param);
+            }
+            last_error = error;
         }
         if (!ObjectUtil.isEmpty(data)) {
             LuceneLogDto logDto = LuceneLogDto.builder()
@@ -1183,11 +1229,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     .build();
             luceneExecuteLogService.deviceExecuteLog(logDto);
 //            if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
-            TwoNDCSocketConnectionAutoRun.write(data);
+//            TwoNDCSocketConnectionAutoRun.write(data);
 //            }
 //            else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
 //                TwoNDC2SocketConnectionAutoRun.write(data);
 //            }
+            if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
+                TwoNDCSocketConnectionAutoRun.write(data);
+            }
         }
     }
 

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

@@ -1,6 +1,7 @@
 package org.nl.acs.device_driver.conveyor.standard_ordinary_site;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -61,6 +62,9 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
     Boolean iserror = false;
     Boolean islock = false;
 
+    // 1 上位系统允许进入 2 上位系统允许离开
+    int option = 0;
+
     int branchProtocol = 0;
     int last_branchProtocol = 0;
     /**
@@ -223,6 +227,14 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
         String mode = "";
         String action = "";
         String move = "";
+        String option = "";
+        if(this.getOption() == 0){
+            option ="禁止进出";
+        } else if(this.getOption() == 1){
+            option ="允许进入";
+        } else if(this.getOption() == 2){
+            option ="允许离开";
+        }
         if (this.getMode() == 0) {
             mode = LangProcess.msg("universal_off-line");
         } else if (this.getMode() == 1) {
@@ -252,13 +264,18 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
         jo.put("isOnline", true);
         jo.put("error", this.getError());
         jo.put("isError", this.getIserror());
+        jo.put("option", option);
+        jo.put("is_click", true);
         return jo;
     }
 
 
     @Override
     public void setDeviceStatus(JSONObject data) {
-
+        String flag = data.getString("option");
+        if(StrUtil.isNotEmpty(flag)){
+            option = Integer.parseInt(flag);
+        }
     }
 }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/dto/TaskDto.java

@@ -54,6 +54,11 @@ public class TaskDto implements Serializable {
      */
     private String task_status;
 
+    /**
+     * 车号
+     */
+    private String carno;
+
     /**
      * 复合任务
      */

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

@@ -1007,6 +1007,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             map.put("路由方案编码", acsTask.getRoute_plan_code());
             map.put("是否需要反馈上位系统", acsTask.getIs_needfeedback());
             map.put("备注", acsTask.getRemark());
+            map.put("agv车号", acsTask.getCarno());
             map.put("是否启用", acsTask.getIs_active());
             map.put("是否删除", acsTask.getIs_delete());
             map.put("创建者", acsTask.getCreate_by());
@@ -1588,6 +1589,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             feed_jo.put("task_id", entity.getExt_task_id());
             feed_jo.put("task_code", entity.getTask_code());
             feed_jo.put("task_status", entity.getTask_status());
+            if (ObjectUtil.isNotEmpty(entity.getWeight())) {
+                feed_jo.put("weight", entity.getWeight());
+            }
+            if (ObjectUtil.isNotEmpty(entity.getCarno())) {
+                feed_jo.put("car_no", entity.getCarno());
+            }
             JSONArray ja = new JSONArray();
             ja.add(feed_jo);
             //TODO 有需要根据上位系统反馈的信息再做进一步处理

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/dto/B2HeadDto.java

@@ -0,0 +1,37 @@
+package org.nl.hand.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Author : TuQiang
+ * @create 2024/4/15 13:59
+ */
+@Data
+public class B2HeadDto implements Serializable {
+    /**
+     * 起始设备编码1
+     */
+    private String start_device_code1;
+
+    /**
+     * 目标设备编码1
+     */
+    private String next_device_code1;
+
+    /**
+     * 起始设备编码2
+     */
+    private String start_device_code2;
+
+    /**
+     * 目标设备编码2
+     */
+    private String next_device_code2;
+
+    /**
+     * 任务类型
+     */
+    private String task_type;
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/dto/HeadDeviceDto.java

@@ -0,0 +1,26 @@
+package org.nl.hand.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Author : TuQiang
+ * @create 2024/4/15 15:04
+ */
+@Data
+public class HeadDeviceDto implements Serializable {
+    /**
+     * 设备号
+     */
+    private String device_code;
+
+    /**
+     * 操作类型
+     * 0-禁止进出；
+     * 1-允许取放
+     * 2-允许离开
+     *
+     */
+    private String option;
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/rest/B2HandController.java

@@ -0,0 +1,83 @@
+package org.nl.hand.rest;
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.common.logging.annotation.Log;
+import org.nl.hand.dto.B2HeadDto;
+import org.nl.hand.dto.HeadDeviceDto;
+import org.nl.hand.dto.RegionDto;
+import org.nl.hand.service.B2HandService;
+import org.nl.hand.service.HandService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * @Author : TuQiang
+ * @create 2024/4/15 13:50
+ */
+@RestController
+@RequiredArgsConstructor
+@Api(tags = "手持接口")
+@RequestMapping("api/hands")
+@Slf4j
+public class B2HandController {
+    @Autowired
+    private B2HandService b2HandService;
+
+    @Autowired
+    private HandService handService;
+
+    @PostMapping("/queryArea")
+    @Log("查询区域")
+    @ApiOperation("查询区域")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> queryArea() {
+        return new ResponseEntity<>(handService.queryArea(), HttpStatus.OK);
+    }
+
+    @PostMapping("/queryPointByArea")
+    @Log("根据区域编码查点位")
+    @ApiOperation("根据区域编码查点位")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> queryPointByArea(@RequestBody RegionDto dto) {
+        String region_code = dto.getRegion_code();
+        return new ResponseEntity<>(handService.queryPointByArea(region_code), HttpStatus.OK);
+    }
+
+    @PostMapping("/callTask")
+    @Log("手持创建任务")
+    @ApiOperation("手持创建任务")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> callTask(@RequestBody B2HeadDto dto) {
+        return new ResponseEntity<>(b2HandService.callTask(dto), HttpStatus.OK);
+    }
+
+    @PostMapping("/queryDevices")
+    @Log("查询所有设备")
+    @ApiOperation("查询所有设备")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> queryDevices() {
+        return new ResponseEntity<>(b2HandService.queryDevices(), HttpStatus.OK);
+    }
+
+    @PostMapping("/updateDeviceStatus")
+    @Log("更新设备状态")
+    @ApiOperation("更新设备状态")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> updateDeviceStatus(@RequestBody HeadDeviceDto dto) {
+        return new ResponseEntity<>(b2HandService.updateDeviceStatus(dto), HttpStatus.OK);
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/B2HandService.java

@@ -0,0 +1,25 @@
+package org.nl.hand.service;
+
+import org.nl.hand.dto.B2HeadDto;
+import org.nl.hand.dto.HeadDeviceDto;
+
+import java.util.Map;
+
+/**
+ * @Author : TuQiang
+ * @create 2024/4/15 13:52
+ */
+public interface B2HandService {
+
+    /**
+     * 手持创建任务
+     *
+     * @param dto
+     * @return
+     */
+    Map<String, Object> callTask(B2HeadDto dto);
+
+    Map<String, Object> queryDevices();
+
+    Map<String, Object> updateDeviceStatus(HeadDeviceDto dto);
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/B2HandServiceImpl.java

@@ -0,0 +1,191 @@
+package org.nl.hand.service.impl;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+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.DeviceService;
+import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
+import org.nl.acs.instruction.domain.Instruction;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.common.exception.BadRequestException;
+import org.nl.hand.dto.B2HeadDto;
+import org.nl.hand.dto.HeadDeviceDto;
+import org.nl.hand.service.B2HandService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.math.BigDecimal;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * @Author : TuQiang
+ * @create 2024/4/15 13:52
+ */
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class B2HandServiceImpl implements B2HandService {
+    @Autowired
+    private TaskService taskserver;
+    @Autowired
+    private DeviceService deviceService;
+    @Autowired
+    private DeviceAppService deviceAppService;
+    @Autowired
+    private InstructionService instructionService;
+
+    @Override
+    public Map<String, Object> callTask(B2HeadDto dto) {
+        JSONArray errArr = new JSONArray();
+        String start_device_code = dto.getStart_device_code1();
+        String next_device_code = dto.getNext_device_code1();
+        String start_device_code2 = dto.getStart_device_code2();
+        String next_device_code2 = dto.getNext_device_code2();
+        String task_type = dto.getTask_type();
+
+        if (StrUtil.isEmpty(start_device_code)) {
+            JSONObject json = new JSONObject();
+            json.put("message", "起点1不能为空");
+            errArr.add(json);
+        }
+        if (StrUtil.isEmpty(next_device_code)) {
+            JSONObject json = new JSONObject();
+            json.put("message", "终点1不能为空");
+            errArr.add(json);
+        }
+        if (StrUtil.isEmpty(task_type)) {
+            JSONObject json = new JSONObject();
+            json.put("message", "任务类型不能为空");
+            errArr.add(json);
+        }
+
+        JSONObject jo = new JSONObject();
+        if (StrUtil.equals(task_type, CommonFinalParam.TYPE_ONE)) {
+            jo.put("start_device_code2", start_device_code2);
+            jo.put("next_device_code2", next_device_code2);
+            jo.put("start_point_code2", start_device_code2);
+            jo.put("next_point_code2", next_device_code2);
+        } else if (StrUtil.equals(task_type, CommonFinalParam.TYPE_TWO)) {
+            jo.put("start_device_code2", start_device_code2);
+            jo.put("next_device_code2", next_device_code2);
+            jo.put("start_point_code2", start_device_code2);
+            jo.put("next_point_code2", next_device_code2);
+        }
+        jo.put("start_device_code", start_device_code);
+        jo.put("next_device_code", next_device_code);
+        jo.put("start_point_code", start_device_code);
+        jo.put("next_point_code", next_device_code);
+        jo.put("start_device_code2", start_device_code2);
+        jo.put("next_device_code2", next_device_code2);
+        jo.put("start_point_code2", start_device_code2);
+        jo.put("next_point_code2", next_device_code2);
+        jo.put("task_type", task_type);
+        jo.put("agv_system_type", "2");
+        jo.put("priority", "1");
+
+        TaskDto task_dto = jo.toJavaObject(TaskDto.class);
+        try {
+            taskserver.create(task_dto);
+        } catch (Exception e) {
+//                    e.printStackTrace();
+            JSONObject json = new JSONObject();
+            json.put("message", e.getMessage());
+            errArr.add(json);
+        }
+        JSONArray data = new JSONArray();
+        JSONObject resultJson = new JSONObject();
+        if (ObjectUtil.isEmpty(errArr)) {
+            resultJson.put("message", "操作成功");
+            resultJson.put("data", data);
+        } else {
+            resultJson.put("message", "操作失败");
+            resultJson.put("data", data);
+        }
+        return resultJson;
+    }
+
+    @Override
+    public Map<String, Object> queryDevices() {
+        JSONArray data = new JSONArray();
+        //查询所有生箔区的设备
+        List<Device> list = deviceService.lambdaQuery()
+                .eq(Device::getRegion, "2")
+                .list();
+        if (CollectionUtil.isEmpty(list)) {
+            throw new BadRequestException("未查到该区域的设备！");
+        }
+
+        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+        for (int i = 0; i < list.size(); i++) {
+            JSONObject jo = new JSONObject();
+            Device device = list.get(i);
+            String device_id = device.getDevice_id();
+            String device_code = device.getDevice_code();
+            Device deviceCode = deviceAppService.findDeviceByCode(device_code);
+            int option = 0;
+            if (deviceCode.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) deviceCode.getDeviceDriver();
+                option = standardOrdinarySiteDeviceDriver.getOption();
+            }
+            String device_name = device.getDevice_name();
+            BigDecimal seq_num = device.getSeq_num();
+            jo.put("device_id", device_id);
+            jo.put("device_code", device_code);
+            jo.put("device_name", device_name);
+            jo.put("seq_num", seq_num);
+            jo.put("option", option);
+            data.add(jo);
+        }
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("message", "操作成功");
+        resultJson.put("data", data);
+        return resultJson;
+    }
+
+    @Override
+    public Map<String, Object> updateDeviceStatus(HeadDeviceDto dto) {
+        JSONArray errArr = new JSONArray();
+        String device_code = dto.getDevice_code();
+        String option = dto.getOption();
+        if (StrUtil.isEmpty(device_code)) {
+            JSONObject json = new JSONObject();
+            json.put("message", "设备号不能为空");
+            errArr.add(json);
+        }
+        if (StrUtil.isEmpty(option)) {
+            JSONObject json = new JSONObject();
+            json.put("message", "操作不能为空");
+            errArr.add(json);
+        }
+        if (device_code.contains("K")&&(!"1".equals(option))){
+                throw new BadRequestException("该设备为空轴位,不能进行该操作");
+        }
+        if (device_code.contains("M")&&(!"2".equals(option))){
+                throw new BadRequestException("该设备为满轴位,不能进行该操作");
+        }
+        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+        Device device = deviceAppService.findDeviceByCode(device_code);
+        standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+        standardOrdinarySiteDeviceDriver.setOption(Integer.parseInt(option));
+        JSONArray data = new JSONArray();
+        JSONObject resultJson = new JSONObject();
+        if (ObjectUtil.isEmpty(errArr)) {
+            resultJson.put("message", "操作成功");
+            resultJson.put("data", data);
+        } else {
+            resultJson.put("message", "操作失败");
+            resultJson.put("data", data);
+        }
+        return resultJson;
+    }
+}