更新

acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java

@@ -22,6 +22,7 @@ import org.nl.acs.device.service.*;
 import org.nl.acs.device.service.dto.*;
 import org.nl.acs.device_driver.DeviceDriverDefination;
 import org.nl.acs.device_driver.ScannerDeviceDriver;
+import org.nl.acs.device_driver.basedriver.slit_two_manipulator.SlitTwoManipulatorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.StandardCoveyorControlWithScannerDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
@@ -868,6 +869,7 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
             throw new BadRequestException("未找到对应设备:" + device_code);
         }
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+        SlitTwoManipulatorDeviceDriver slitTwoManipulatorDeviceDriver;
         //检测站点
         StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
         if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
@@ -926,6 +928,9 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
             standardInspectSiteDeviceDriver.setBatch(batch);
             device.setMaterial_type(material_type);
             device.setBatch(batch);
+        } else if (device.getDeviceDriver() instanceof SlitTwoManipulatorDeviceDriver){
+            slitTwoManipulatorDeviceDriver = (SlitTwoManipulatorDeviceDriver) device.getDeviceDriver();
+            slitTwoManipulatorDeviceDriver.setDeviceStatus(form);
         }
     }
 

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java

@@ -99,6 +99,12 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     String device_code;
 
+    //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 = "";
+
 
     @Override
     public Device getDevice() {
@@ -180,11 +186,40 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         hongXiangConveyorDeviceDriver.writing("to_open_door", "1");
                         if (hongXiangConveyorDeviceDriver.getDoor() == 1 && hongXiangConveyorDeviceDriver.getAction() == 1 && hongXiangConveyorDeviceDriver.getError1() == 0) {
                             this.writing("to_command", "2");
+                            this.setNow_steps_type(3);
+                        }else {
+                            if (this.getNow_steps_type() == 2){
+                                feedMessage = "请检查烘箱：door=1&&action==1&&error1=0";
+                            }
                         }
                     } else {
                         this.writing("to_command", "2");
+                        this.setNow_steps_type(3);
                     }
                 }
+            } else {
+                if (this.getNow_steps_type() == 2){
+                    feedMessage = "请检查：mode == 3 && action == 1 && move == 0 && task > 0";
+                }
+            }
+
+            //取货完成关闭烘箱门
+            if (mode == 3 && action == 2 && move == 1 && task > 0){
+                Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task));
+                if (ObjectUtil.isNotEmpty(inst2)) {
+                    String start_device_code = inst2.getStart_device_code();
+                    Device device = deviceAppService.findDeviceByCode(start_device_code);
+                    HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
+                    if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
+                        hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver();
+                        hongXiangConveyorDeviceDriver.writing("to_close_door", "1");
+                    }
+                    this.setNow_steps_type(4);
+                }
+            }else {
+                if (this.getNow_steps_type() == 3){
+                    feedMessage = "请检查：mode == 3 && action == 2 && move == 1 && task > 0";
+                }
             }
 
             //申请放货
@@ -198,9 +233,17 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     hongXiangConveyorDeviceDriver.writing("to_open_door", "1");
                     if (hongXiangConveyorDeviceDriver.getDoor() == 1 && hongXiangConveyorDeviceDriver.getAction() == 1 && hongXiangConveyorDeviceDriver.getError1() == 0) {
                         this.writing("to_command", "3");
+                        this.setNow_steps_type(5);
+                    }else {
+                        feedMessage = "请检查烘箱：door=1&&action==1&&error1=0";
                     }
                 } else {
                     this.writing("to_command", "3");
+                    this.setNow_steps_type(5);
+                }
+            }else {
+                if (this.getNow_steps_type() == 4){
+                    feedMessage = "请检查：mode == 3 && action == 3 && move == 1 && task > 0";
                 }
             }
 
@@ -226,24 +269,31 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                             }
                         }
                         String next_device_code = taskDto.getNext_device_code();
-                        String start_device_code = taskDto.getStart_device_code();
+                        //String start_device_code = taskDto.getStart_device_code();
-                        Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
+                        //Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
                         Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
                         HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
-                        if (startDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
+//                        if (startDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
-                            hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startDevice.getDeviceDriver();
+//                            hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startDevice.getDeviceDriver();
-                            hongXiangConveyorDeviceDriver.writing("to_close_door", "1");
+//                            hongXiangConveyorDeviceDriver.writing("to_close_door", "1");
-                        }
+//                        }
                         if (nextDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                             hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextDevice.getDeviceDriver();
                             hongXiangConveyorDeviceDriver.writing("to_close_door", "1");
                         }
-                        this.writing("to_command", "0");
+                        this.writing("to_command", "4");
-                        this.writing("to_onset", "0");
+                        this.setNow_steps_type(6);
-                        this.writing("to_target", "0");
+                        this.setNow_steps_type(0);
-                        this.writing("to_task", "0");
+                        feedMessage = "";
+//                        this.writing("to_onset", "0");
+//                        this.writing("to_target", "0");
+//                        this.writing("to_task", "0");
                     }
                 }
+            }else {
+                if (this.getNow_steps_type() == 5){
+                    feedMessage = "请检查：mode == 3 && action == 4 && move == 0 && task > 0";
+                }
             }
 
         } catch (Exception var17) {
@@ -275,6 +325,20 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             //行架机械手申请任务
             if (mode == 2 && move == 0 && task == 0 && !requireSucess) {
                 applyTask();
+            }else {
+                if (!requireSucess) {
+                    String remark = "";
+                    if (mode != 2) {
+                        remark = remark + "mode不为2,";
+                    }
+                    if (move != 0) {
+                        remark = remark + "move不为0,";
+                    }
+                    if (task != 0) {
+                        remark = remark + "task不为0,";
+                    }
+                    this.setNotCreateTaskMessage(remark);
+                }
             }
 
         }
@@ -318,15 +382,13 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 String startDeviceCode = getDeviceCodeList.get(i);
                 List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
                 if (ObjectUtil.isNotEmpty(taskDtos)) {
+                    //按照优先级排序 优先级相等按照创建时间排序
+                    taskDtos = this.sortTask(taskDtos);
                     TaskDto taskDto = taskDtos.get(0);
                     Instruction instruction = instructionService.findByTaskcode(taskDto.getTask_code());
                     instruction.setInstruction_status("1");
                     instruction.setUpdate_time(DateUtil.now());
                     instructionService.update(instruction);
-//                    int start_addrIndex = getDeviceCodeList.indexOf(instruction.getStart_device_code());
-//                    int next_addrIndex = putDeviceCodeList.indexOf(instruction.getNext_device_code());
-//                    writing("to_onset", String.valueOf(start_addrIndex + 1));
-//                    writing("to_target", String.valueOf(next_addrIndex + 1));
                     Device startDevice = deviceAppService.findDeviceByCode(instruction.getStart_device_code());
                     Device nextDevice = deviceAppService.findDeviceByCode(instruction.getNext_device_code());
                     if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))){
@@ -341,11 +403,14 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     this.writing("to_target", next_addr);
                     this.writing("to_task", instruction.getInstruction_code());
                     this.writing("to_command", "1");
+                    this.setNow_steps_type(2);
                     this.setRequireSucess(true);
                     return true;
                 } else {
                     List<TaskDto> taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode);
                     if (ObjectUtil.isNotEmpty(taskDtoList)) {
+                        //按照优先级排序 优先级相等按照创建时间排序
+                        taskDtoList = this.sortTask(taskDtoList);
                         task = taskDtoList.get(0);
                     }
                     if (ObjectUtil.isNotEmpty(task)) break;
@@ -385,23 +450,22 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 try {
                     instructionService.create(instdto);
                 } catch (Exception e) {
+                    notCreateInstMessage = e.getMessage();
                     e.printStackTrace();
+                    return false;
                 }
                 //创建指令后修改任务状态
                 task.setTask_status("1");
                 task.setUpdate_time(DateUtil.now());
                 taskserver.update(task);
-                //根据获取托盘信息返回的结果 得到对应抓取工位/放货工位设备编码所在的索引位置
-//                int start_addrIndex = getDeviceCodeList.indexOf(start_device_code);
-//                int next_addrIndex = putDeviceCodeList.indexOf(next_device_code);
-//                writing("to_onset", String.valueOf(start_addrIndex + 1));
-//                writing("to_target", String.valueOf(next_addrIndex + 1));
                 Device startDevice = deviceAppService.findDeviceByCode(instdto.getStart_device_code());
                 Device nextDevice = deviceAppService.findDeviceByCode(instdto.getNext_device_code());
                 if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))){
+                    notCreateInstMessage = "设备：" + startDevice.getDevice_code() + "未设置电气调度号！";
                     throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
                 }
                 if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))){
+                    notCreateInstMessage = "设备：" + nextDevice.getDevice_code() + "未设置电气调度号！";
                     throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
                 }
                 String start_addr = startDevice.getExtraValue().get("address").toString();
@@ -410,7 +474,12 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 this.writing("to_target", next_addr);
                 this.writing("to_task", instdto.getInstruction_code());
                 this.writing("to_command", "1");
+                this.setNow_steps_type(2);
                 this.setRequireSucess(true);
+                notCreateInstMessage = "";
+                notCreateTaskMessage = "";
+            } else {
+                notCreateInstMessage = "未找到关联设备的任务，指令无法创建";
             }
             return true;
         }
@@ -464,6 +533,23 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
         return devicesList;
     }
 
+    public List<TaskDto> sortTask(List<TaskDto> taskDtos){
+        Collections.sort(taskDtos, new Comparator<TaskDto>() {
+            @Override
+            public int compare(TaskDto t1, TaskDto t2) {
+                //优先级从大到小
+                int i = t2.getPriority().compareTo(t1.getPriority());
+                //如果优先级相等
+                if (i == 0){
+                    //时间从早到晚
+                    i = t1.getCreate_time().compareTo(t2.getCreate_time());
+                }
+                return i;
+            }
+        });
+        return taskDtos;
+    }
+
 
     @Override
     public JSONObject getDeviceStatusName() {

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java

@@ -58,6 +58,9 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
 
     DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
 
+    //分切行架机械手是否禁用 0否 1是
+    private int is_disable = 0;
+
     //工作模式
     int mode = 0;
     int last_mode = 0;
@@ -103,16 +106,33 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
     //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;
 
+    //前工位任务执行当前步骤
+    //0未执行 1更改指令状态 2下发电气任务信息 3前工位允许取货 4前工位允许放货 5放货完成
+    int now_steps_type1 = 0;
+    //后工位当前执行步骤
+    //0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货 4后工位允许放货 5放货完成
+    int now_steps_type2 = 0;
+    //双工位任务当前执行步骤
+    //0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货 4前工位允许取货 5后工位允许放货 6后工位放货完成 7前工位允许放货 8前工位放货完成
+    int now_steps_type3 = 0;
+
     String device_code;
 
+
     //请求超时时间
     private int instruction_require_time_out = 3000;
 
+
     //后工位申请任务请求时间
     private Date instruction_require_time = new Date();
     //前工位申请任务请求时间
     private Date instruction_head_time = new Date();
 
+    String notCreateTaskMessage = "";
+    String notCreateInstMessage = "";
+    String feedMessage = "";
+
+
     @Override
     public Device getDevice() {
         return this.device;
@@ -189,6 +209,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
                 if (inst1 != null) {
                     if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                        //当前执行步骤为更新任务状态
                         inst1.setInstruction_status("1");
                         instructionService.update(inst1);
                         TaskDto taskDto = taskserver.findByCodeFromCache(inst1.getTask_code());
@@ -203,6 +224,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                             }
                         }
                         ;
+                        //this.setNow_steps_type1(1);
                     }
                 }
             }
@@ -213,6 +235,8 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task2));
                 if (inst2 != null) {
                     if (StrUtil.equals(inst2.getInstruction_status(), "0")) {
+                        //当前指令更新状态
+                        now_steps_type2 = 1;
                         inst2.setInstruction_status("1");
                         instructionService.update(inst2);
                         TaskDto taskDto = taskserver.findByCodeFromCache(inst2.getTask_code());
@@ -227,6 +251,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                             }
                         }
                         ;
+                       // this.setNow_steps_type2(1);
                     }
                 }
             }
@@ -237,6 +262,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task1));
                 if (inst2 != null) {
                     if (StrUtil.equals(inst2.getInstruction_status(), "0")) {
+                        //当前指令更新状态
                         inst2.setInstruction_status("1");
                         instructionService.update(inst2);
                         TaskDto taskDto = taskserver.findByCodeFromCache(inst2.getTask_code());
@@ -251,6 +277,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                             }
                         }
                         ;
+                       // this.setNow_steps_type3(1);
                     }
                 }
             }
@@ -275,12 +302,18 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                         }
                         ;
                         this.writing("to_command1", "4");
+                        this.setNow_steps_type1(5);
+                        this.setNow_steps_type1(0);
 //                        this.writing("to_onset1", "0");
 //                        this.writing("to_target1", "0");
 //                        this.writing("to_task1", "0");
 //                        this.writing("to_type", "0");
                     }
                 }
+            } else {
+                if (this.getNow_steps_type1() == 4) {
+                    feedMessage = "请检查:mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1";
+                }
             }
 
             //单任务 后工位放货完成 任务完成
@@ -303,17 +336,28 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                         }
                         ;
                         this.writing("to_command2", "4");
-                        this.writing("to_onset2", "0");
+                        this.setNow_steps_type2(5);
-                        this.writing("to_target2", "0");
+                        this.setNow_steps_type2(0);
-                        this.writing("to_task2", "0");
+//                        this.writing("to_onset2", "0");
-                        this.writing("to_type", "0");
+//                        this.writing("to_target2", "0");
+//                        this.writing("to_task2", "0");
+//                        this.writing("to_type", "0");
                     }
                 }
+            } else {
+                if (this.getNow_steps_type2() == 4) {
+                    feedMessage = "请检查:mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2";
+                }
             }
 
             //双任务后工位反馈4
-            if (mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3 ){
+            if (mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3) {
                 this.writing("to_command2", "4");
+                this.setNow_steps_type3(6);
+            } else {
+                if (this.getNow_steps_type3() == 5) {
+                    feedMessage = "请检查：mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3";
+                }
             }
 
             //双工位  任务完成 前工位反馈4
@@ -333,8 +377,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                                 array.add(map);
                                 acsToWmsService.feedbackTaskStatusToWms(array);
                             }
-                        };
+                        }
+                        ;
                         this.writing("to_command1", "4");
+                        this.setNow_steps_type3(8);
+                        this.setNow_steps_type3(0);
 //                        this.writing("to_onset1", "0");
 //                        this.writing("to_target1", "0");
 //                        this.writing("to_task1", "0");
@@ -344,6 +391,10 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
 //                        this.writing("to_type", "0");
                     }
                 }
+            } else {
+                if (this.getNow_steps_type3() == 7) {
+                    feedMessage = "请检查：mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3";
+                }
             }
 
 
@@ -351,10 +402,10 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             if (mode == 3 && action2 == 1 && move2 == 0 && task2 > 0) {
                 Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
                 String start_device_code = "";
-                if (type == 2){
+                if (type == 2) {
                     start_device_code = inst1.getStart_device_code();
                 }
-                if (type == 3){
+                if (type == 3) {
                     start_device_code = inst1.getStart_device_code2();
                 }
                 Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
@@ -365,20 +416,50 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                     int mode = siemensConveyorDeviceDriver.getMode();
                     if (mode == 2 && move == 1) {
                         this.writing("to_command2", "2");
+                        if (type == 2) {
+                            this.setNow_steps_type2(3);
+                        } else if (type == 3) {
+                            this.setNow_steps_type3(3);
+                        }
                     } else {
                         log.warn("前工位取货位无货,取货位:{},mode:{},move:{}", start_device_code, mode, move);
+                        if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) {
+                            feedMessage = "请检查输送线：mode == 2 && move == 1";
+                        }
                     }
                 }
+            } else {
+                if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) {
+                    feedMessage = "请检查：mode == 3 && action2 == 1 && move2 == 0 && task2 > 0";
+                }
             }
 
             //后工位允许放货
             if (mode == 3 && action2 == 3 && move2 == 1 && task2 > 0) {
                 this.writing("to_command2", "3");
+                if (type == 2) {
+                    this.setNow_steps_type2(4);
+                } else if (type == 3) {
+                    this.setNow_steps_type3(5);
+                }
+            } else {
+                if (this.getNow_steps_type2() == 3 || this.getNow_steps_type3() == 4) {
+                    feedMessage = "请检查：mode == 3 && action2 == 3 && move2 == 1 && task2 > 0";
+                }
             }
 
             //前工位允许取货
             if (mode == 3 && action1 == 1 && move1 == 0 && task1 > 0) {
                 this.writing("to_command1", "2");
+                if (type == 1) {
+                    this.setNow_steps_type1(3);
+                } else if (type == 2) {
+                    this.setNow_steps_type3(4);
+                }
+            } else {
+                if (this.getNow_steps_type1() == 2 || this.getNow_steps_type3() == 3) {
+                    feedMessage = "请检查mode == 3 && action1 == 1 && move1 == 0 && task1 > 0";
+                }
             }
 
             //前工位放货时判断放货位光电信号
@@ -393,10 +474,22 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                     int mode = siemensConveyorDeviceDriver.getMode();
                     if (move == 0 && mode == 2) {
                         this.writing("to_command1", "3");
+                        if (type == 1) {
+                            this.setNow_steps_type1(4);
+                        } else if (type == 2) {
+                            this.setNow_steps_type3(7);
+                        }
                     } else {
                         log.warn("后工位放货位有货,放货位:{},mode:{},move:{}", next_device_code, mode, move);
+                        if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 6) {
+                            feedMessage = "请检查输送线：move == 0 && mode == 2";
+                        }
                     }
                 }
+            } else {
+                if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 6) {
+                    feedMessage = "请检查：mode == 3 && action1 == 3 && move1 == 1 && task1 > 0";
+                }
             }
 
         } catch (Exception var17) {
@@ -428,8 +521,58 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 case 2:
                     //申请任务
                     if (mode == 2 && move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && !requireSucess) {
+                        //获取关联设备驱动信息 判断关联设备是否禁用
+                        Device device = deviceAppservice.findDeviceByCode(device_code);
+                        SlitTwoManipulatorDeviceDriver slitTwoManipulatorDeviceDriver;
+                        if (device.getDeviceDriver() instanceof SlitTwoManipulatorDeviceDriver) {
+                            slitTwoManipulatorDeviceDriver = (SlitTwoManipulatorDeviceDriver) device.getDeviceDriver();
+                            //如果禁用
+                            if (slitTwoManipulatorDeviceDriver.getIs_disable() == 1) {
+                                boolean flag = false;
+                                try {
+                                    //就去走关联设备异常取放货工位的任务 任务生成成功返回true 就不会走下面正常生成任务的逻辑
+                                    flag = instruction_require2();
+                                } catch (Exception e) {
+                                    flag = false;
+                                }
+                                if (flag) {
+                                    break;
+                                }
+                            }
+                        }
+                        //没有生成异常取放货工位的任务 就生成正常关联取放货工位的任务
                         instruction_require();
+                        feedMessage = "";
                         logServer.deviceExecuteLog(device_code, "", String.valueOf(task1), "move2:" + move2 + ",action2:" + action2 + ",move1:" + move1 + ",action1:" + action1 + ",requireSucess:" + requireSucess);
+                    } else {
+//                        if (!requireSucess) {
+//                            remark = remark + "请求标记为true,请检查mode是否由其他值变为2！";
+//                        }
+                        if (!requireSucess) {
+                            String remark = "";
+                            if (mode != 2) {
+                                remark = remark + "mode不为2,";
+                            }
+                            if (move1 != 0) {
+                                remark = remark + "move1不为0,";
+                            }
+                            if (move2 != 0) {
+                                remark = remark + "move2不为0,";
+                            }
+                            if (action1 != 0) {
+                                remark = remark + "action1不为0,";
+                            }
+                            if (action2 != 0) {
+                                remark = remark + "action2不为0,";
+                            }
+                            if (task1 != 0) {
+                                remark = remark + "task1不为0,";
+                            }
+                            if (task2 != 0) {
+                                remark = remark + "task2不为0,";
+                            }
+                            this.setNotCreateTaskMessage(remark);
+                        }
                     }
                     break;
                 case 3:
@@ -450,8 +593,82 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         last_task2 = task2;
     }
 
-    //申请任务
+    //关联设备异常申请任务
+    public synchronized boolean instruction_require2() {
+        Boolean flag = false;
+        Date date = new Date();
+        if (date.getTime() - this.instruction_head_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_head_time);
+            return false;
+        } else {
+            this.instruction_head_time = date;
+            //前工位取货关联设备
+            List<String> getDeviceCodeList = this.getExtraDeviceCodes("error_head_get_device_code");
+            //后工位取货关联设备
+            List<String> backGetDeviceCodeList = this.getExtraDeviceCodes("error_back_get_device_code");
+            TaskDto taskDto = null;
+            //遍历前工位取货点设备
+            for (String getDeviceCode : getDeviceCodeList) {
+                //去任务表中查询是否有前工位关联设备的重新创建指令的任务
+                List<TaskDto> taskDtos = taskserver.queryTaskByStartAndIntStatus(getDeviceCode);
+                //如果有
+                if (ObjectUtil.isNotEmpty(taskDtos)) {
+                    //按照优先级排序 优先级相等按照创建时间排序
+                    taskDtos = this.sortTask(taskDtos);
+                    taskDto = taskDtos.get(0);
+                    flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
+                    return flag;
+                } else {
+                    //去任务表中查询是否有前工位关联设备的就绪状态下的任务
+                    taskDtos = taskserver.queryTaskByStartDeviceCode(getDeviceCode);
+                    if (ObjectUtil.isNotEmpty(taskDtos)) {
+                        //按照优先级排序 优先级相等按照创建时间排序
+                        taskDtos = this.sortTask(taskDtos);
+                        taskDto = taskDtos.get(0);
+                        break;
+                    }
+                }
+            }
+            //如果任务表中起点1或起点2中 无前工位取货点关联设备
+            //就去查询任务表中查找起点1或起点2为后工位取货点关联设备的任务
+            if (ObjectUtil.isEmpty(taskDto)) {
+                for (String backGetDeviceCode : backGetDeviceCodeList) {
+                    //去任务表中查询是否有前工位关联设备的重新创建指令的任务
+                    List<TaskDto> taskDtos = taskserver.queryTaskByNextAndIntStatus(backGetDeviceCode);
+                    if (ObjectUtil.isNotEmpty(taskDtos)) {
+                        //按照优先级排序 优先级相等按照创建时间排序
+                        taskDtos = this.sortTask(taskDtos);
+                        taskDto = taskDtos.get(0);
+                        flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
+                        return flag;
+                    } else {
+                        //去任务表中查询是否有后工位关联设备的就绪状态下的任务
+                        taskDtos = taskserver.queryTaskByStartDeviceCode(backGetDeviceCode);
+                        if (ObjectUtil.isNotEmpty(taskDtos)) {
+                            //按照优先级排序 优先级相等按照创建时间排序
+                            taskDtos = this.sortTask(taskDtos);
+                            taskDto = taskDtos.get(0);
+                            break;
+                        }
+                    }
+                }
+            }
+            if (!ObjectUtil.isEmpty(taskDto)) {
+                flag = this.executeReadyBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
+                if (flag) {
+                    notCreateInstMessage = "";
+                }
+            } else {
+                notCreateTaskMessage = "";
+                notCreateInstMessage = "未找到关联设备禁用的任务!";
+            }
+        }
+        return flag;
+    }
+
+    //正常申请任务
     public synchronized boolean instruction_require() {
+        boolean flag = false;
         Date date = new Date();
         if (date.getTime() - this.instruction_head_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_head_time);
@@ -469,13 +686,17 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 List<TaskDto> taskDtos = taskserver.queryTaskByStartAndIntStatus(getDeviceCode);
                 //如果有
                 if (ObjectUtil.isNotEmpty(taskDtos)) {
+                    //按照优先级排序 优先级相等按照创建时间排序
+                    taskDtos = this.sortTask(taskDtos);
                     taskDto = taskDtos.get(0);
-                    this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
+                    flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
-                    return true;
+                    return flag;
                 } else {
                     //去任务表中查询是否有前工位关联设备的就绪状态下的任务
                     taskDtos = taskserver.queryTaskByStartDeviceCode(getDeviceCode);
                     if (ObjectUtil.isNotEmpty(taskDtos)) {
+                        //按照优先级排序 优先级相等按照创建时间排序
+                        taskDtos = this.sortTask(taskDtos);
                         taskDto = taskDtos.get(0);
                         break;
                     }
@@ -488,28 +709,40 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                     //去任务表中查询是否有前工位关联设备的重新创建指令的任务
                     List<TaskDto> taskDtos = taskserver.queryTaskByNextAndIntStatus(backGetDeviceCode);
                     if (ObjectUtil.isNotEmpty(taskDtos)) {
+                        //按照优先级排序 优先级相等按照创建时间排序
+                        taskDtos = this.sortTask(taskDtos);
                         taskDto = taskDtos.get(0);
-                        this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
+                        flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
-                        return true;
+                        return flag;
                     } else {
                         //去任务表中查询是否有后工位关联设备的就绪状态下的任务
                         taskDtos = taskserver.queryTaskByStartDeviceCode(backGetDeviceCode);
                         if (ObjectUtil.isNotEmpty(taskDtos)) {
+                            //按照优先级排序 优先级相等按照创建时间排序
+                            taskDtos = this.sortTask(taskDtos);
                             taskDto = taskDtos.get(0);
                             break;
                         }
                     }
                 }
             }
+
             if (!ObjectUtil.isEmpty(taskDto)) {
-                this.executeReadyBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
+                flag = this.executeReadyBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList);
+                if (flag) {
+                    notCreateInstMessage = "";
+                }
+            } else {
+                notCreateTaskMessage = "";
+                notCreateInstMessage = "未找到正常关联设备的任务!";
             }
         }
-        return true;
+        return flag;
     }
 
     //执行重新生成指令的任务
-    public void executeBusiness(TaskDto taskDto, List<String> getDeviceCodeList, List<String> backGetDeviceCodeList) {
+    public synchronized boolean executeBusiness(TaskDto taskDto, List<String> getDeviceCodeList, List<String> backGetDeviceCodeList) {
+        boolean flag = false;
         //任务类型 1.前工位任务 2.后工位任务 3.双工位任务
         String type = "";
         //获取指令信息
@@ -552,17 +785,33 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         //修改指令状态
         instructionDto.setInstruction_status("1");
         instructionDto.setUpdate_time(DateUtil.now());
-        instructionService.update(instructionDto);
+        try {
+            instructionService.update(instructionDto);
+            if (StrUtil.equals(type, "1")) {
+                this.setNow_steps_type1(1);
+            }
+            if (StrUtil.equals(type, "2")) {
+                this.setNow_steps_type2(1);
+            }
+            if (StrUtil.equals(type, "3")) {
+                this.setNow_steps_type3(1);
+            }
+            flag = true;
+        } catch (Exception e) {
+            logServer.deviceExecuteLog(device_code, "", instructionDto.getInstruction_code(), "执行重新生成指令的任务失败，原因->" + e.getMessage());
+        }
 
         //下发电气信号
         this.sendSignalType(instructionDto, type);
 
         //请求任务成功
         this.setRequireSucess(true);
+        return flag;
     }
 
     //执行就绪状态下的任务
-    public void executeReadyBusiness(TaskDto taskDto, List<String> getDeviceCodeList, List<String> backGetDeviceCodeList) {
+    public synchronized boolean executeReadyBusiness(TaskDto taskDto, List<String> getDeviceCodeList, List<String> backGetDeviceCodeList) {
+        boolean flag = false;
         //任务类型 1.前工位任务 2.后工位任务 3.双工位任务
         String type = "";
         //获取任务表中的取货点1
@@ -639,8 +888,9 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
 
         try {
             instructionService.create(instdto);
+            flag = true;
         } catch (Exception e) {
-            e.printStackTrace();
+            notCreateInstMessage = e.getMessage();
             logServer.deviceExecuteLog(device_code, "", instdto.getInstruction_code(), "指令创建失败，原因->" + e.getMessage());
         }
 
@@ -654,10 +904,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
 
         //请求任务成功
         this.setRequireSucess(true);
+        return flag;
     }
 
     //下发电气信号
-    public void sendSignalType(Instruction dto, String type) {
+    public synchronized void sendSignalType(Instruction dto, String type) {
         String start_device_code = dto.getStart_device_code();
         String next_device_code = dto.getNext_device_code();
         Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
@@ -670,12 +921,14 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             this.writing("to_task1", dto.getInstruction_code());
             this.writing("to_command1", "1");
             this.writing("to_type", "1");
+            this.setNow_steps_type1(2);
         } else if (StrUtil.equals(type, "2")) {
             this.writing("to_onset2", start_addr);
             this.writing("to_target2", next_addr);
             this.writing("to_task2", dto.getInstruction_code());
             this.writing("to_command2", "1");
             this.writing("to_type", "2");
+            this.setNow_steps_type2(2);
         } else if (StrUtil.equals(type, "3")) {
             String start_device_code2 = dto.getStart_device_code2();
             String next_device_code2 = dto.getNext_device_code2();
@@ -692,6 +945,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             this.writing("to_task2", dto.getInstruction_code());
             this.writing("to_command2", "1");
             this.writing("to_type", "3");
+            this.setNow_steps_type3(2);
         }
     }
 
@@ -699,6 +953,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
     public void isSetAddress(Device device) {
         if (ObjectUtil.isEmpty(device.getExtraValue().get("address"))) {
             logServer.deviceExecuteLog(device_code, "", "task1:" + task1 + ",task2:" + task2, "设备：" + device.getDevice_code() + "未设置电气调度号！");
+            notCreateInstMessage = "设备：" + device.getDevice_code() + "未设置电气调度号！";
             throw new BadRequestException("设备：" + device.getDevice_code() + "未设置电气调度号！");
         }
     }
@@ -795,16 +1050,35 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         return devicesList;
     }
 
+    public List<TaskDto> sortTask(List<TaskDto> taskDtos){
+        Collections.sort(taskDtos, new Comparator<TaskDto>() {
+            @Override
+            public int compare(TaskDto t1, TaskDto t2) {
+                //优先级从大到小
+                int i = t2.getPriority().compareTo(t1.getPriority());
+                //如果优先级相等
+                if (i == 0){
+                    //时间从早到晚
+                    i = t1.getCreate_time().compareTo(t2.getCreate_time());
+                }
+                return i;
+            }
+        });
+        return taskDtos;
+    }
+
     @Override
     public JSONObject getDeviceStatusName() {
         JSONObject jo = new JSONObject();
-        String move1 = "";
+        String move_1 = "";
-        String move2 = "";
+        String move_2 = "";
         String action1 = "";
         String action2 = "";
         String walk_y = "";
         String mode = "";
         String status = "";
+        String is_disable = "";
+
 
         if (this.getMode() == 0) {
             mode = "脱机";
@@ -816,7 +1090,9 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             mode = "运行中";
         }
 
-        if (this.getStatus() == 1) {
+        if (this.getStatus() == 0) {
+            status = "0";
+        } else if (this.getStatus() == 1) {
             status = "待机";
         } else if (this.getStatus() == 2) {
             status = "生产中";
@@ -825,15 +1101,15 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         }
 
         if (this.getMove1() == 0) {
-            move1 = "无货";
+            move_1 = "无货";
         } else if (this.getMove1() == 1) {
-            move1 = "有货";
+            move_1 = "有货";
         }
 
         if (this.getMove2() == 0) {
-            move2 = "无货";
+            move_2 = "无货";
         } else if (this.getMove2() == 1) {
-            move2 = "有货";
+            move_2 = "有货";
         }
 
         if (this.getAction1() == 1) {
@@ -862,25 +1138,41 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             walk_y = "非原位";
         }
 
+        if (this.getIs_disable() == 0) {
+            is_disable = "正常";
+        } else if (this.getIs_disable() == 1) {
+            is_disable = "禁用";
+        }
+
         jo.put("device_name", this.getDevice().getDevice_name());
         jo.put("mode", mode);
         jo.put("status", status);
-        jo.put("move1", move1);
+        jo.put("move_1", move_1);
-        jo.put("move2", move2);
+        jo.put("move_2", move_2);
-        jo.put("action1", action1);
+        jo.put("action_1", action1);
-        jo.put("action2", action2);
+        jo.put("action_2", action2);
         jo.put("walk_y", walk_y);
         jo.put("error", this.getError());
         jo.put("task1", this.getTask1());
         jo.put("task2", this.getTask2());
         jo.put("isOnline", this.getIsonline());
         jo.put("isError", this.getIserror());
+        jo.put("is_disable1", this.getIs_disable());
+        jo.put("is_disable", is_disable);
         jo.put("message", this.getMessage());
+        jo.put("is_click", true);
+        jo.put("driver_type", "slit_two_manipulator");
+        jo.put("notCreateTaskMessage", notCreateTaskMessage);
+        jo.put("notCreateInstMessage", notCreateInstMessage);
+        jo.put("feedMessage", feedMessage);
         return jo;
     }
 
     @Override
     public void setDeviceStatus(JSONObject data) {
-
+        String is_disable = data.getString("is_disable");
+        if (StrUtil.isNotEmpty(is_disable)) {
+            this.setIs_disable(Integer.parseInt(is_disable));
+        }
     }
 }

acs/nladmin-ui/.env.production

@@ -2,6 +2,6 @@ ENV = 'production'
 
 # 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置
 # 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http
-VUE_APP_BASE_API  = 'http://47.97.157.227:8010'
+VUE_APP_BASE_API  = 'http://127.0.0.1:8010'
 # 如果接口是 http 形式， wss 需要改为 ws
-VUE_APP_WS_API = 'ws://47.97.157.227:8010'
+VUE_APP_WS_API = 'ws://127.0.0.1:8010'

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

@@ -101,7 +101,6 @@
               <el-select
                 v-model="form.link_device_code"
                 filterable
-                multiple
                 placeholder="请选择"
               >
                 <el-option
@@ -174,7 +173,6 @@
           </el-col>
         </el-row>
         <el-row>
-
           <el-col :span="8">
             <el-form-item label="后工位取货点" prop="device_code" label-width="200">
               <el-select
@@ -211,6 +209,82 @@
             </el-form-item>
           </el-col>
         </el-row>
+
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备异常时前工位取货点" prop="device_code" label-width="200">
+              <el-select
+                v-model="form.error_head_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="关联设备异常时前工位放货点" prop="device_code" label-width="200">
+              <el-select
+                v-model="form.error_head_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-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备异常时后工位取货点" prop="device_code" label-width="200">
+              <el-select
+                v-model="form.error_back_get_device_code"
+                filterable
+                reserve-keyword
+                multiple
+                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="关联设备异常时后工位放货点" prop="device_code" label-width="200">
+              <el-select
+                v-model="form.error_back_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>
 
@@ -377,7 +451,11 @@ export default {
         head_get_device_code: [],
         back_get_device_code: [],
         head_put_device_code: [],
-        back_put_device_code: []
+        back_put_device_code: [],
+        error_head_get_device_code: [],
+        error_back_get_device_code: [],
+        error_head_put_device_code: [],
+        error_back_put_device_code: []
       },
       rules: {}
     }

acs/nladmin-ui/src/views/acs/monitor/device/index.vue

@@ -485,6 +485,9 @@ export default {
           } else if (val === 'error_num') {
             const obj = { name: '故障次数', value: data[val] }
             arr.push(obj)
+          } else if (val === 'is_disable') {
+            const obj = { name: '是否禁用', value: data[val] }
+            arr.push(obj)
           }
         }
         return arr

acs/nladmin-ui/src/views/acs/monitor/device/index2.vue

@@ -485,6 +485,9 @@ export default {
           } else if (val === 'error_num') {
             const obj = { name: '故障次数', value: data[val] }
             arr.push(obj)
+          } else if (val === 'is_disable') {
+            const obj = { name: '是否禁用', value: data[val] }
+            arr.push(obj)
           }
         }
         return arr

acs/nladmin-ui/src/views/system/monitor/device/index.vue

@@ -1,7 +1,7 @@
 <template>
   <div style="overflow: hidden">
     <el-row>
-      <div id="container" className="container" style="min-height: 100%" />
+      <div id="container" className="container" style="min-height: 100%"/>
     </el-row>
     <!--点击设备显示信息-->
     <el-dialog
@@ -33,7 +33,7 @@
     <el-dialog title="设备设置" :visible.sync="dialogFormVisible" width="35%">
       <el-form :model="form" size="small">
         <el-form-item label="设备编号" prop="device_code" label-width="80px">
-          <el-input v-model="form.device_code" :disabled="true" />
+          <el-input v-model="form.device_code" :disabled="true"/>
         </el-form-item>
 
         <el-form-item label="设备状态" label-width="80px">
@@ -54,7 +54,7 @@
     <el-dialog title="设备设置" :visible.sync="dialogFormVisible3" width="35%">
       <el-form :model="form" size="small">
         <el-form-item label="设备编号" prop="device_code" label-width="80px">
-          <el-input v-model="form.device_code" :disabled="true" />
+          <el-input v-model="form.device_code" :disabled="true"/>
         </el-form-item>
         <el-form-item label="设备状态" label-width="80px">
           <el-radio-group v-model="form.hasGoodStatus">
@@ -64,7 +64,7 @@
           </el-radio-group>
         </el-form-item>
         <el-form-item label="物料编码" prop="material_type" label-width="80px">
-          <el-input v-model="form.material_type" />
+          <el-input v-model="form.material_type"/>
         </el-form-item>
       </el-form>
       <div slot="footer" class="dialog-footer">
@@ -77,18 +77,12 @@
     <el-dialog title="设备设置" :visible.sync="dialogFormVisible4" width="35%">
       <el-form :model="form" size="small">
         <el-form-item label="设备编号" prop="device_code" label-width="120px">
-          <el-input v-model="form.device_code" :disabled="true" />
+          <el-input v-model="form.device_code" :disabled="true"/>
         </el-form-item>
-        <el-form-item label="缺料请求成功" prop="requireSucess" label-width="120px">
+        <el-form-item label="禁用机械手" prop="is_disable" label-width="120px">
-          <el-radio-group v-model="form.requireSucess">
+          <el-radio-group v-model="form.is_disable">
-            <el-radio-button :label="0">否</el-radio-button>
+            <el-radio-button :label="0">正常</el-radio-button>
-            <el-radio-button :label="1">是</el-radio-button>
+            <el-radio-button :label="1">禁用</el-radio-button>
-          </el-radio-group>
-        </el-form-item>
-        <el-form-item label="空想请求成功" prop="fullrequireSucess" label-width="120px">
-          <el-radio-group v-model="form.fullrequireSucess">
-            <el-radio-button :label="0">否</el-radio-button>
-            <el-radio-button :label="1">是</el-radio-button>
           </el-radio-group>
         </el-form-item>
       </el-form>
@@ -102,11 +96,11 @@
     <el-dialog title="设备设置" :visible.sync="dialogFormVisible1" width="35%">
       <el-form :model="form" size="small">
         <el-form-item label="设备编号" prop="device_code" label-width="80px">
-          <el-input v-model="form.device_code" :disabled="true" />
+          <el-input v-model="form.device_code" :disabled="true"/>
         </el-form-item>
 
         <el-form-item label="条码" label-width="80px">
-          <el-input v-model="form.barcode" :disabled="false" />
+          <el-input v-model="form.barcode" :disabled="false"/>
         </el-form-item>
       </el-form>
       <div slot="footer" class="dialog-footer">
@@ -121,12 +115,13 @@
 import crudStage from '@/api/logicflow/stage'
 import paramCrud from '@/api/system/param'
 import deviceCrud from '@/api/acs/device/device'
-import { getDeviceByCodes } from '@/api/acs/device/deviceStageMonitor'
+import {getDeviceByCodes} from '@/api/acs/device/deviceStageMonitor'
 import '@logicflow/core/dist/style/index.css'
 import '@logicflow/extension/lib/style/index.css'
 
-import { LogicFlow } from '@logicflow/core'
+import {LogicFlow} from '@logicflow/core'
-import { registerCustomElement } from '@/views/system/logicflow/editor/components/node'
+import {registerCustomElement} from '@/views/system/logicflow/editor/components/node'
+
 let data = {}
 let lf = ''
 export default {
@@ -152,7 +147,8 @@ export default {
         suspended: null,
         material_type: '',
         requireSucess: '',
-        fullrequireSucess: ''
+        fullrequireSucess: '',
+        is_disable: ''
       },
       allDeviceMsg: [],
       msgTop: '200px',
@@ -197,10 +193,10 @@ export default {
       })
       lf.setTheme(
         {
-          baseEdge: { strokeWidth: 1 },
+          baseEdge: {strokeWidth: 1},
-          baseNode: { strokeWidth: 1 },
+          baseNode: {strokeWidth: 1},
-          nodeText: { overflowMode: 'autoWrap', lineHeight: 1.5 },
+          nodeText: {overflowMode: 'autoWrap', lineHeight: 1.5},
-          edgeText: { overflowMode: 'autoWrap', lineHeight: 1.5 }
+          edgeText: {overflowMode: 'autoWrap', lineHeight: 1.5}
         }
       )
       // 注册自定义元素
@@ -280,6 +276,8 @@ export default {
           this.dialogFormVisible4 = true
         } else if (clickObj.data.driver_type === 'hailiang_xj_plc_test') {
           this.$refs.child1.setForm(clickObj)
+        } else if (clickObj.data.driver_type === 'slit_two_manipulator') {
+          this.dialogFormVisible4 = true
         } else {
           this.dialogFormVisible = true
         }
@@ -291,6 +289,7 @@ export default {
       this.form.material_type = clickObj.data.material_type
       this.form.requireSucess = clickObj.data.requireSucess
       this.form.fullrequireSucess = clickObj.data.fullrequireSucess
+      this.form.is_disable = clickObj.data.is_disable1
     },
     moveShow(nodeData) { // 点击之后显示出来的数据----只需要设备信息
       let item = ''
@@ -304,8 +303,8 @@ export default {
       if (item.device_code && item.data) {
         // console.log('item', item)
         this.arr = [
-          { name: '设备编号', value: item.device_code },
+          {name: '设备编号', value: item.device_code},
-          { name: '设备名称', value: item.device_name }
+          {name: '设备名称', value: item.device_name}
         ]
         const data = item.data
         for (const val in data) {
@@ -313,197 +312,209 @@ export default {
             continue
           }
           if (val === 'message' && data.isError === true) {
-            const obj = { name: '设备信息', value: data[val] }
+            const obj = {name: '设备信息', value: data[val]}
             this.arr.push(obj)
           }
 
           if (val === 'message' && data.isError === 'false') {
-            const obj = { name: '异常信息', value: data[val] }
+            const obj = {name: '异常信息', value: data[val]}
             this.arr.push(obj)
           }
 
           if (val === 'move') {
-            const obj = { name: '光电信号', value: data[val] }
+            const obj = {name: '光电信号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'mode') {
-            const obj = { name: '模式', value: data[val] }
+            const obj = {name: '模式', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'error') {
-            const obj = { name: '报警', value: data[val] }
+            const obj = {name: '报警', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'ip') {
-            const obj = { name: 'IP地址', value: data[val] }
+            const obj = {name: 'IP地址', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'number') {
-            const obj = { name: '托盘数量', value: data[val] }
+            const obj = {name: '托盘数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'instruction_message') {
-            const obj = { name: '指令信息', value: data[val] }
+            const obj = {name: '指令信息', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'last_instruction_message') {
-            const obj = { name: '上次指令信息', value: data[val] }
+            const obj = {name: '上次指令信息', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'container') {
-            const obj = { name: '载具号', value: data[val] }
+            const obj = {name: '载具号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'last_container') {
-            const obj = { name: '上次载具号', value: data[val] }
+            const obj = {name: '上次载具号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'instruction_code') {
-            const obj = { name: '指令号', value: data[val] }
+            const obj = {name: '指令号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'last_instruction_code') {
-            const obj = { name: '上次指令号', value: data[val] }
+            const obj = {name: '上次指令号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'action') {
-            const obj = { name: '动作信号', value: data[val] }
+            const obj = {name: '动作信号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'io_action') {
-            const obj = { name: '允许进出信号', value: data[val] }
+            const obj = {name: '允许进出信号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'material') {
-            const obj = { name: '物料', value: data[val] }
+            const obj = {name: '物料', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'batch') {
-            const obj = { name: '批次', value: data[val] }
+            const obj = {name: '批次', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'requestSucess') {
-            const obj = { name: '是否请求任务', value: data[val] }
+            const obj = {name: '是否请求任务', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'applySucess') {
-            const obj = { name: '是否申请指令', value: data[val] }
+            const obj = {name: '是否申请指令', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'message') {
-            const obj = { name: '说明', value: data[val] }
+            const obj = {name: '说明', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'status') {
-            const obj = { name: '设备状态', value: data[val] }
+            const obj = {name: '设备状态', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'open_time') {
-            const obj = { name: '开机时间', value: data[val] }
+            const obj = {name: '开机时间', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'close_time') {
-            const obj = { name: '关机时间', value: data[val] }
+            const obj = {name: '关机时间', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'standby_time') {
-            const obj = { name: '待机时间', value: data[val] }
+            const obj = {name: '待机时间', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'production_time') {
-            const obj = { name: '生产时间', value: data[val] }
+            const obj = {name: '生产时间', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'error_time') {
-            const obj = { name: '故障时间', value: data[val] }
+            const obj = {name: '故障时间', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'weight') {
-            const obj = { name: '生产重量', value: data[val] }
+            const obj = {name: '生产重量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'order_No') {
-            const obj = { name: '工单号', value: data[val] }
+            const obj = {name: '工单号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'mix_num') {
-            const obj = { name: '碾次', value: data[val] }
+            const obj = {name: '碾次', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'barcode') {
-            const obj = { name: '条码', value: data[val] }
+            const obj = {name: '条码', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'qualified') {
-            const obj = { name: '合格数量', value: data[val] }
+            const obj = {name: '合格数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'unqualified') {
-            const obj = { name: '不合格数量', value: data[val] }
+            const obj = {name: '不合格数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'put_station') {
-            const obj = { name: '当前码盘工位', value: data[val] }
+            const obj = {name: '当前码盘工位', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'encoder_qty') {
-            const obj = { name: '码盘数量', value: data[val] }
+            const obj = {name: '码盘数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'outKiln_move') {
-            const obj = { name: '出窑光电', value: data[val] }
+            const obj = {name: '出窑光电', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'outKiln_barcode') {
-            const obj = { name: '出窑条码', value: data[val] }
+            const obj = {name: '出窑条码', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'outKiln_device') {
-            const obj = { name: '出窑设备', value: data[val] }
+            const obj = {name: '出窑设备', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'car_sum') {
-            const obj = { name: '窑车总数', value: data[val] }
+            const obj = {name: '窑车总数', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'nullCar_qty') {
-            const obj = { name: '空窑车数', value: data[val] }
+            const obj = {name: '空窑车数', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'burning_car_qty') {
-            const obj = { name: '在烧窑车数', value: data[val] }
+            const obj = {name: '在烧窑车数', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'container_qty') {
-            const obj = { name: '托盘数', value: data[val] }
+            const obj = {name: '托盘数', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'tray_crib_qty') {
-            const obj = { name: '托盘垛数', value: data[val] }
+            const obj = {name: '托盘垛数', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'total_container') {
-            const obj = { name: '托盘总数量', value: data[val] }
+            const obj = {name: '托盘总数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'total_split') {
-            const obj = { name: '累计拆垛数量', value: data[val] }
+            const obj = {name: '累计拆垛数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'getStation') {
-            const obj = { name: '当前抓取工位', value: data[val] }
+            const obj = {name: '当前抓取工位', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'putStation') {
-            const obj = { name: '当前码盘工位', value: data[val] }
+            const obj = {name: '当前码盘工位', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'move_1') {
-            const obj = { name: '前工位光电信号', value: data[val] }
+            const obj = {name: '前工位光电信号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'move_2') {
-            const obj = { name: '后工位光电信号', value: data[val] }
+            const obj = {name: '后工位光电信号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'action_1') {
-            const obj = { name: '前工位动作信号', value: data[val] }
+            const obj = {name: '前工位动作信号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'action_2') {
-            const obj = { name: '后工位动作信号', value: data[val] }
+            const obj = {name: '后工位动作信号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'walk_y') {
-            const obj = { name: '行走列', value: data[val] }
+            const obj = {name: '行走列', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'task1') {
-            const obj = { name: '前工位任务号', value: data[val] }
+            const obj = {name: '前工位任务号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'task2') {
-            const obj = { name: '后工位任务号', value: data[val] }
+            const obj = {name: '后工位任务号', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'labeling_qty') {
-            const obj = { name: '贴标数量', value: data[val] }
+            const obj = {name: '贴标数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'container_type') {
-            const obj = { name: '托盘类型', value: data[val] }
+            const obj = {name: '托盘类型', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'specifications') {
-            const obj = { name: '规格', value: data[val] }
+            const obj = {name: '规格', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'onoff_status') {
-            const obj = { name: '开关机状态', value: data[val] }
+            const obj = {name: '开关机状态', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'task_qty') {
-            const obj = { name: '当前任务数量', value: data[val] }
+            const obj = {name: '当前任务数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'finishTask_qty') {
-            const obj = { name: '完成任务数量', value: data[val] }
+            const obj = {name: '完成任务数量', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'AlongSide') {
-            const obj = { name: 'A长边', value: data[val] }
+            const obj = {name: 'A长边', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'BshortSide') {
-            const obj = { name: 'B短边', value: data[val] }
+            const obj = {name: 'B短边', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'Htrapezoidal') {
-            const obj = { name: 'H梯形高', value: data[val] }
+            const obj = {name: 'H梯形高', value: data[val]}
             this.arr.push(obj)
           } else if (val === 'Wthickness') {
-            const obj = { name: 'W厚度', value: data[val] }
+            const obj = {name: 'W厚度', value: data[val]}
+            this.arr.push(obj)
+          } else if (val === 'is_disable') {
+            const obj = {name: '是否禁用', value: data[val]}
+            this.arr.push(obj)
+          } else if (val === 'notCreateTaskMessage') {
+            const obj = {name: '任务创建失败原因', value: data[val]}
+            this.arr.push(obj)
+          } else if (val === 'notCreateInstMessage') {
+            const obj = {name: '指令创建失败原因', value: data[val]}
+            this.arr.push(obj)
+          } else if (val === 'feedMessage') {
+            const obj = {name: '未反馈电气信号原因', value: data[val]}
             this.arr.push(obj)
           }
         }
@@ -512,7 +523,7 @@ export default {
     },
     initStatus() { // 初始化所有节点的设备信息，通过节点id对应设备编号
       let resion = {}
-      resion = lf.getGraphData().nodes.map(item => ({ id: item.id, device_code: item.properties.device }))
+      resion = lf.getGraphData().nodes.map(item => ({id: item.id, device_code: item.properties.device}))
       getDeviceByCodes(resion).then(res => {
         console.log(res)
         this.allDeviceMsg = res // 拿到所有节点的设备数据
@@ -538,7 +549,7 @@ export default {
           }
         }
         // 设置动态实时显示设备信息
-        const { nodes } = lf.getSelectElements() // 获取选中的节点
+        const {nodes} = lf.getSelectElements() // 获取选中的节点
         // console.log(nodes)
         if (nodes.length === 1) { // 因为是定时器，没有选中则不用实时更新显示数据
           this.moveShow(nodes[0]) // 监控模式下不可能托选，因此就只有一个数据
@@ -547,7 +558,7 @@ export default {
     },
     dialogSave() {
       deviceCrud.changeDeviceStatus(this.form).then(res => {
-        this.$notify({ title: '操作成功', message: '', type: 'success' })
+        this.$notify({title: '操作成功', message: '', type: 'success'})
         this.dialogFormVisible = false
         this.dialogFormVisible3 = false
         this.dialogFormVisible4 = false
@@ -588,12 +599,15 @@ body {
   background-color: #f8f9fa;
   height: 100%;
 }
+
 .newDialog /deep/ .el-dialog__header {
   padding: 1vh 1vw 0 1vw;
 }
+
 .newDialog /deep/ .el-dialog__body {
   padding: 1vh 1vw;
 }
+
 .toolbar-sty {
   position: absolute;
   margin-top: 5px;