add : 下料行架开发

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

@@ -0,0 +1,209 @@
+package org.nl.acs.device_driver.one_manipulator.volume_two_manipulator;
+
+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";
+
+    /**
+     * 任务号
+     */
+    public static String item_task = "task";
+    /**
+     * 报警
+     */
+    public static String item_error = "error";
+
+    /**
+     * 行走列
+     */
+    public static String item_walk_y = "walk_y";
+
+    /**
+     * 行走列
+     */
+    public static String item_x = "x";
+
+    /**
+     * 行走层号
+     */
+    public static String item_y = "y";
+
+
+
+    /**
+     * 下发命令
+     */
+    public static String item_to_command = "to_command";
+    /**
+     * 下发起始站
+     */
+    public static String item_to_onset1 = "to_onset1";
+    /**
+     * 下发目标站
+     */
+    public static String item_to_target1 = "to_target1";
+
+
+    /**
+     * 下发起始站
+     */
+    public static String item_to_onset2 = "to_onset2";
+    /**
+     * 下发目标站
+     */
+    public static String item_to_target2 = "to_target2";
+    /**
+     * 下发任务号
+     */
+    public static String item_to_task = "to_task";
+
+
+    /**
+     * 下发任务类型
+     */
+    public static String item_to_type = "to_type";
+
+
+
+
+
+
+
+    private VolumeTwoManipulatorManipulatorDeviceDriver driver;
+
+    public ItemProtocol(VolumeTwoManipulatorManipulatorDeviceDriver driver){
+        this.driver=driver;
+    }
+
+    public int getTo_onset1() {
+        return this.getOpcIntegerValue(item_to_onset1);
+    }
+    public int getTo_target1() {
+        return this.getOpcIntegerValue(item_to_target1);
+    }
+    public int getTo_onset2() {
+        return this.getOpcIntegerValue(item_to_onset2);
+    }
+    public int getTo_target2() {
+        return this.getOpcIntegerValue(item_to_target2);
+    }
+
+    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 getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getWalk_y() {
+        return this.getOpcIntegerValue(item_walk_y);
+    }
+    public Integer getItem_x() {
+        return this.getOpcIntegerValue(item_x);
+    }
+
+    public Integer getItem_y() {
+        return this.getOpcIntegerValue(item_y);
+    }
+
+
+
+
+
+    public int getTo_task() {
+        return this.getOpcIntegerValue(item_to_task);
+    }
+
+    public int getTo_type() {
+        return this.getOpcIntegerValue(item_to_type);
+    }
+
+
+    public int getTo_command() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+
+
+
+
+    Boolean isonline;
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            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_error, "报警信号", "DB1.B5"));
+        list.add(new ItemDto(item_task, "任务号", "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"));
+        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_target1, "下发目标站1", "DB2.W4"));
+        list.add(new ItemDto(item_to_onset1, "下发起始站1", "DB2.W2"));
+        list.add(new ItemDto(item_to_target2, "下发目标站2", "DB2.W14"));
+        list.add(new ItemDto(item_to_onset2, "下发起始站2", "DB2.W12"));
+        list.add(new ItemDto(item_to_task, "下发任务号", "DB2.D6"));
+        list.add(new ItemDto(item_to_type, "木箱长度", "DB601.W10"));
+
+        return list;
+    }
+}

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

@@ -0,0 +1,56 @@
+package org.nl.acs.device_driver.one_manipulator.volume_two_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.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+@Service
+public class VolumeTwoManipulatorDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "trapped_manipulator";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "堆叠行架";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "堆叠行架";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new VolumeTwoManipulatorManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return VolumeTwoManipulatorManipulatorDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.robot);
+        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/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java

@@ -0,0 +1,569 @@
+package org.nl.acs.device_driver.one_manipulator.volume_two_manipulator;
+
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.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.device_driver.one_manipulator.trapped_manipulator.InteractionJsonDTO;
+import org.nl.acs.enums.VolumeTwoTypeEnum;
+import org.nl.acs.history.ErrorUtil;
+import org.nl.acs.history.service.DeviceErrorLogService;
+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.enums.TaskTypeEnum;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.config.SpringContextHolder;
+
+import java.util.*;
+
+/**
+ * 捆扎智能行架
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
+
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+
+    DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+
+    RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
+
+    DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class);
+
+    DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
+
+
+    int mode = 0;
+    int last_mode = 0;
+    int move = 0;
+    int last_move = 0;
+    int action = 0;
+    int last_action = 0;
+    int error = 0;
+    int last_error = 0;
+    int task = 0;
+    int last_task = 0;
+
+    int walk_y = 0;
+    int last_walk_y = 0;
+    int heartbeat = 0;
+    int last_heartbeat = 0;
+    int to_command = 0;
+    int last_to_command = 0;
+
+    int to_target1 = 0;
+    int last_to_target1 = 0;
+
+    int to_onset1 = 0;
+    int last_to_onset1 = 0;
+
+    int to_target2 = 0;
+    int last_to_target2 = 0;
+
+    int to_onset2 = 0;
+    int last_to_onset2 = 0;
+    int to_type = 0;
+    int last_to_type = 0;
+    /**
+     * 行走列
+     */
+    Integer x = null;
+    Integer last_x = null;
+    /**
+     * 行走层号
+     */
+    Integer y = 0;
+    Integer last_y = 0;
+
+    int to_task = 0;
+    int last_to_task = 0;
+    int to_layer = 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;
+
+
+    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();
+            error = this.itemProtocol.getError();
+            task = this.itemProtocol.getTask();
+            heartbeat = this.itemProtocol.getHeartbeat();
+            x = this.itemProtocol.getItem_x();
+            y = this.itemProtocol.getItem_y();
+            to_command = this.itemProtocol.getTo_command();
+            to_target1 = this.itemProtocol.getTo_target1();
+            to_onset1 = this.itemProtocol.getTo_onset1();
+            to_target2 = this.itemProtocol.getTo_target2();
+            to_onset2 = this.itemProtocol.getTo_onset2();
+            to_task = this.itemProtocol.getTo_task();
+            to_type = this.itemProtocol.getTo_type();
+
+            // 更新指令状态
+            if (mode == 3 && task > 0) {
+                updateInstructionStatus();
+            }
+
+        } 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 {
+                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_error = error;
+        last_task = task;
+        last_heartbeat = heartbeat;
+        last_walk_y = walk_y;
+        last_x = x;
+        last_y = y;
+        last_to_task = to_task;
+        last_to_command = to_command;
+        last_to_target1 = to_target1;
+        last_to_onset1 = to_onset1;
+        last_to_target2 = to_target2;
+        last_to_onset2 = to_onset2;
+        last_to_type = to_type;
+    }
+
+    private void updateInstructionStatus() {
+        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);
+                    }
+                }
+            }
+
+            //放货完成
+            if ( action == 4 && move == 0) {
+                if (inst != null) {
+                    try {
+                        logServer.deviceExecuteLog(this.device_code,"","","放货完成");
+                        finish_instruction(inst);
+                        Map<String, Object> map1 = new HashMap<>();
+                        List list = new ArrayList();
+                        map1.put("code", "to_command");
+                        map1.put("value", 5);
+                        list.add(map1);
+                        this.writing(list);
+                        message = "放货完成";
+                    } catch (Exception e) {
+                        message = "放货失败";
+                        e.printStackTrace();
+                    }
+                    feedMessage = "";
+                }else {
+                    feedMessage = "行架机械手:";
+                    if (mode != 3) {
+                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                    }
+                    if (action != 8) {
+                        feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
+                    }
+                    if (move != 0) {
+                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                    }
+                    if (task == 0) {
+                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                    }
+                }
+            }
+        }
+    }
+
+    public synchronized boolean applyTask() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return false;
+        } else {
+            this.instruction_require_time = date;
+            //抓取工位
+            if (ObjectUtil.isEmpty(getDeviceCodeList)) {
+                getDeviceCodeList = this.getExtraDeviceCodes("get_device_code");
+            }
+            //放货工位
+            if (ObjectUtil.isEmpty(putDeviceCodeList)) {
+                putDeviceCodeList = this.getExtraDeviceCodes("put_device_code");
+            }
+            //找终点为入库输送线工位任务类型为行架的任务
+            for (int i = 0; i < getDeviceCodeList.size(); i++) {
+                String startDeviceCode = getDeviceCodeList.get(i);
+                TaskDto taskDto = taskserver.findByStartCodeAndReady(startDeviceCode);
+                if (ObjectUtil.isNotEmpty(taskDto) && TaskTypeEnum.Truss_Task.getIndex().equals(taskDto.getTask_type())) {
+                    String start_device_code = taskDto.getStart_device_code();
+                    String next_device_code = taskDto.getNext_device_code();
+                    String start_device_code2 = taskDto.getStart_device_code2();
+                    String next_device_code2 = taskDto.getNext_device_code2();
+                    Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
+                    Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
+                    String start_addr = startDevice.getExtraValue().get("address").toString();
+                    String next_addr = nextDevice.getExtraValue().get("address").toString();
+
+                    String taskid = taskDto.getTask_id();
+                    String taskcode = taskDto.getTask_code();
+                    String start_point_code = taskDto.getStart_point_code();
+                    String next_point_code = taskDto.getNext_point_code();
+                    String start_point_code2 = taskDto.getStart_point_code2();
+                    String next_point_code2 = taskDto.getNext_point_code2();
+                    String route_plan_code = taskDto.getRoute_plan_code();
+                    Instruction instdto = new Instruction();
+                    instdto.setInstruction_id(IdUtil.simpleUUID());
+                    instdto.setRoute_plan_code(route_plan_code);
+                    instdto.setTask_id(taskid);
+                    instdto.setTask_code(taskcode);
+                    instdto.setCreate_by("auto");
+                    instdto.setStart_device_code(start_device_code);
+                    instdto.setNext_device_code(next_device_code);
+                    instdto.setStart_point_code(start_point_code);
+                    instdto.setNext_point_code(next_point_code);
+                    instdto.setStart_device_code2(start_device_code2);
+                    instdto.setNext_device_code2(next_device_code2);
+                    instdto.setStart_point_code2(start_point_code2);
+                    instdto.setNext_point_code2(next_point_code2);
+                    instdto.setInstruction_status("0");
+                    instdto.setExecute_device_code(device_code);
+
+                    try {
+                        instructionService.create(instdto);
+                    } catch (Exception e) {
+                        notCreateInstMessage = e.getMessage();
+                        logServer.deviceExecuteLog(this.getDevice_code(), "", "", "创建指令时出现异常:" + e.getMessage());
+                        return false;
+                    }
+                    logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
+                            + instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
+                            + ",指令终点:" + instdto.getNext_device_code() );
+                    //创建指令后修改任务状态
+                    taskDto.setTask_status("1");
+                    taskserver.update(taskDto);
+                    requireSucess = true;
+
+                    Map<String, Object> map1 = new HashMap<>();
+                    List list = new ArrayList();
+                    map1.put("code", "to_command");
+                    map1.put("value", 1);
+                    list.add(map1);
+                    Map<String, Object> map2 = new HashMap<>();
+                    map2.put("code", "to_target");
+                    map2.put("value", next_addr);
+                    list.add(map2);
+                    Map<String, Object> map3 = new HashMap<>();
+                    map3.put("code", "to_onset");
+                    map3.put("value", start_addr);
+                    list.add(map3);
+                    Map<String, Object> map4 = new HashMap<>();
+                    map4.put("code", "to_task");
+                    map4.put("value",  instdto.getInstruction_code());
+                    list.add(map4);
+                    String toType = VolumeTwoTypeEnum.TOW.getType();
+                    if (StrUtil.isNotEmpty(start_device_code2)) {
+                        toType = VolumeTwoTypeEnum.FOUR.getType();
+                        Device startDevice2 = deviceAppService.findDeviceByCode(start_device_code2);
+                        Device nextDevice2 = deviceAppService.findDeviceByCode(next_device_code2);
+                        String start_addr2 = startDevice2.getExtraValue().get("address").toString();
+                        String next_addr2 = nextDevice2.getExtraValue().get("address").toString();
+                        Map<String, Object> map5 = new HashMap<>();
+                        map5.put("code", "to_target2");
+                        map5.put("value", next_addr2);
+                        list.add(map5);
+                        Map<String, Object> map6 = new HashMap<>();
+                        map6.put("code", "to_onset2");
+                        map6.put("value", start_addr2);
+                        list.add(map6);
+                    }
+                    Map<String, Object> map7 = new HashMap<>();
+                    map7.put("code", "to_type");
+                    map7.put("value",  toType);
+                    list.add(map7);
+                    try {
+                        this.writing(list);
+                    } catch (Exception e) {
+                        logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
+                                + instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
+                                + ",指令终点:" + instdto.getNext_device_code() +  ",指令执行失败:" + e.getMessage());
+                    }
+                    this.setRequireSucess(true);
+                    return true;
+                }else{
+                    notCreateInstMessage = "未找到关联设备的任务，指令无法创建";
+                }
+            }
+            return true;
+        }
+
+    }
+
+    /**
+     * 完成指令
+     * @param inst
+     * @return
+     * @throws Exception
+     */
+    public synchronized boolean finish_instruction(Instruction inst) throws Exception {
+        instructionService.finish(inst);
+        return true;
+    }
+
+    /**
+     * 下发信号
+     * @param list
+     */
+    public void writing(List list) {
+
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        for (int i = 0; i < list.size(); i++) {
+            Object ob = list.get(i);
+            JSONObject json = (JSONObject) JSONObject.toJSON(ob);
+            if (!StrUtil.isEmpty(json.getString("value"))) {
+                String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                        + "." + json.getString("code");
+                itemMap.put(to_param, json.getString("value"));
+            }
+        }
+        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号:" + itemMap);
+        try {
+            this.checkcontrol(itemMap);
+        } catch (Exception e) {
+            e.printStackTrace();
+            try {
+                this.checkcontrol(itemMap);
+            } catch (Exception e1) {
+                e1.printStackTrace();
+            }
+        }
+
+    }
+
+    /**
+     * 抽取统一下发电气信号前缀
+     *
+     * @return
+     */
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
+    @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("isOnline", this.getIsonline());
+        jo.put("error", 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);
+        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;
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/enums/VolumeTwoTypeEnum.java

@@ -0,0 +1,21 @@
+package org.nl.acs.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum VolumeTwoTypeEnum {
+
+    TOW("1",  "2点取放任务"),
+
+    FOUR("2", "4点任务，取放满卷后取放空架子任务");
+    /**
+     * 索引
+     */
+    private String type;
+    /**
+     * 编码
+     */
+    private String value;
+}