From 9f25ba7b59fc3083cb4c6332d0ecbbee50ebd41b Mon Sep 17 00:00:00 2001
From: tuqiang <437016993@qq.com>
Date: Fri, 2 Feb 2024 15:17:31 +0800
Subject: [PATCH] =?UTF-8?q?add:=E6=96=B0=E5=A2=9E=E8=A1=8C=E6=9E=B6-agv?=
 =?UTF-8?q?=E5=AF=B9=E6=8E=A5=E4=BD=8D=E9=A9=B1=E5=8A=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../agv/ndctwo/AgvNdcTwoDeviceDriver.java     | 241 ++++++--
 .../PaperTubePickSiteDeviceDriver.java        |   2 +-
 .../manipulator_agv_station/ItemProtocol.java |  67 +++
 .../ManipulatorAgvStationDefination.java      |  57 ++
 .../ManipulatorAgvStationDeviceDriver.java    | 198 +++++++
 .../main/resources/config/application-dev.yml |   6 +-
 .../src/views/acs/device/config.vue           |   4 +-
 .../device/driver/manipulator_agv_station.vue | 539 ++++++++++++++++++
 8 files changed, 1068 insertions(+), 46 deletions(-)
 create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ItemProtocol.java
 create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDefination.java
 create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDeviceDriver.java
 create mode 100644 acs2/nladmin-ui/src/views/acs/device/driver/manipulator_agv_station.vue

diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index 894b0ed7b..c53147485 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -16,6 +16,7 @@ import org.nl.acs.device_driver.paper_tube_pick_site.PaperTubePickSiteDeviceDriv
 import org.nl.acs.device_driver.storage.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
 import org.nl.acs.device_driver.two_conveyor.hongxiang_conveyor.HongXiangStationDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.domain.Instruction;
@@ -131,7 +132,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
         StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
         //烘箱对接位
         HongXiangStationDeviceDriver hongXiangStationDeviceDriver;
-
+        //行架-agv对接位
+        ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
 
         if (phase == 0x02) {
             if (ObjectUtil.isEmpty(inst)) {
@@ -239,6 +241,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             , standardInspectSiteDeviceDriver.getError(), ikey);
                 }
             }
+            else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
+                try {
+                    manipulatorAgvStationDeviceDriver.writing(2);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                } else {
+                    message = "设备号:" + device_code +  ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                    log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                }
+            }
             else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -358,6 +375,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 }
             }
+            else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
+                try {
+                    manipulatorAgvStationDeviceDriver.writing(3);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                } else {
+                    message = "设备号:" + device_code +  ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                    log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                }
+            }
             else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -485,14 +517,30 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } else {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                     }
-                } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
-                    paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
+                }
+                else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                    manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
                     try {
-                        paperTubePickSiteDeviceDriver.writing(4);
+                        manipulatorAgvStationDeviceDriver.writing(2);
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if (paperTubePickSiteDeviceDriver.getMove() == 0) {
+                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    } else {
+                        message = "设备号:" + device_code +  ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                        log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                    }
+                }
+                else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
+                    paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
+                    try {
+                        paperTubePickSiteDeviceDriver.writing(2);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    if (paperTubePickSiteDeviceDriver.getMove() == 1) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                     } else {
                         message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
@@ -503,7 +551,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                     hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                     try {
-                        hongXiangStationDeviceDriver.writing(0);
+                        hongXiangStationDeviceDriver.writing(1);
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
@@ -608,29 +656,41 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                     .build();
                             luceneExecuteLogService.deviceExecuteLog(logDto);
                         }
-                    }
-                    else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
+                    } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                         hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                         try {
                             hongXiangStationDeviceDriver.writing(0);
                         } catch (Exception e) {
                             e.printStackTrace();
                         }
-                        if (hongXiangStationDeviceDriver.getMove() > 0) {
+                        if (hongXiangStationDeviceDriver.getMove() == 0) {
                             data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                         } else {
                             message = "设备号:" + device_code + "光电信号:" + hongXiangStationDeviceDriver.getMove() + ",动作信号:" + hongXiangStationDeviceDriver.getAction() + "报警信号:" + hongXiangStationDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                             log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, hongXiangStationDeviceDriver.getMove(), hongXiangStationDeviceDriver.getAction()
                                     , hongXiangStationDeviceDriver.getError(), ikey);
                         }
-                    }
-                    else {
+                    } else {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                     }
+                } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                    manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
+                    try {
+                        manipulatorAgvStationDeviceDriver.writing(3);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    } else {
+                        message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                        log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                    }
                 } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                     paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                     try {
-                        paperTubePickSiteDeviceDriver.writing(5);
+                        paperTubePickSiteDeviceDriver.writing(3);
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
@@ -641,31 +701,30 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                         log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
                                 , paperTubePickSiteDeviceDriver.getError(), ikey);
                     }
-                }
-            } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
+                } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
 
-                try {
-                    standardInspectSiteDeviceDriver.writing(1);
-                } catch (Exception e) {
-                    e.printStackTrace();
-                }
-                if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1 && standardInspectSiteDeviceDriver.getError() == 0)) {
-                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    try {
+                        standardInspectSiteDeviceDriver.writing(1);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1 && standardInspectSiteDeviceDriver.getError() == 0)) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    } else {
+                        message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                        log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, standardInspectSiteDeviceDriver.getMove(), standardInspectSiteDeviceDriver.getAction()
+                                , standardInspectSiteDeviceDriver.getError(), ikey);
+                    }
                 } else {
-                    message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
-                    log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, standardInspectSiteDeviceDriver.getMove(), standardInspectSiteDeviceDriver.getAction()
-                            , standardInspectSiteDeviceDriver.getError(), ikey);
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("agvphase:" + phase + "反馈:" + data)
+                            .build();
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
                 }
-            } else {
-                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                LuceneLogDto logDto = LuceneLogDto.builder()
-                        .device_code(device_code)
-                        .content("agvphase:" + phase + "反馈:" + data)
-                        .build();
-                luceneExecuteLogService.deviceExecuteLog(logDto);
             }
-
         }
         //（Itype=1,上传称重数据）
         else if (phase == 0x64) {
@@ -737,17 +796,42 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
             } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                 paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
-                if (paperTubePickSiteDeviceDriver.getMove() == 0)
+                try {
+                    paperTubePickSiteDeviceDriver.writing(4);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                if (paperTubePickSiteDeviceDriver.getMove() == 0) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                } else {
+                    message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                    log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
+                            , paperTubePickSiteDeviceDriver.getError(), ikey);
+                }
+            }
+            else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
+                try {
+                    manipulatorAgvStationDeviceDriver.writing(4);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                } else {
+                    message = "设备号:" + device_code +  ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                    log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                }
             }
             else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
-                    hongXiangStationDeviceDriver.writing(0);
+                    hongXiangStationDeviceDriver.writing(1);
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (hongXiangStationDeviceDriver.getMove() > 0) {
+                if (hongXiangStationDeviceDriver.getMove() == 0) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 } else {
                     message = "设备号:" + device_code + "光电信号:" + hongXiangStationDeviceDriver.getMove() + ",动作信号:" + hongXiangStationDeviceDriver.getAction() + "报警信号:" + hongXiangStationDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
@@ -826,6 +910,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 this.setPhase(phase);
             }
+            else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
+                try {
+                    manipulatorAgvStationDeviceDriver.writing(5);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                } else {
+                    message = "设备号:" + device_code +  ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                    log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                }
+            }
             else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -841,6 +940,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             , hongXiangStationDeviceDriver.getError(), ikey);
                 }
             }
+            else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
+                paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
+                try {
+                    paperTubePickSiteDeviceDriver.writing(5);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                if (paperTubePickSiteDeviceDriver.getMove() > 0) {
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                } else {
+                    message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                    log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
+                            , paperTubePickSiteDeviceDriver.getError(), ikey);
+                }
+            }
             else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
                 standardInspectSiteDeviceDriver.writing(0);
@@ -911,14 +1025,29 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.setPhase(phase);
 
                 }
-                else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
-                    hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
+                else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                    manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
                     try {
-                        hongXiangStationDeviceDriver.writing(0);
+                        manipulatorAgvStationDeviceDriver.writing(4);
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if (hongXiangStationDeviceDriver.getMove() > 0) {
+                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    } else {
+                        message = "设备号:" + device_code +  ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                        log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                    }
+                }
+                else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
+                    hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
+                    try {
+                        hongXiangStationDeviceDriver.writing(1);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    if (hongXiangStationDeviceDriver.getMove() == 0) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                     } else {
                         message = "设备号:" + device_code + "光电信号:" + hongXiangStationDeviceDriver.getMove() + ",动作信号:" + hongXiangStationDeviceDriver.getAction() + "报警信号:" + hongXiangStationDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
@@ -926,6 +1055,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 , hongXiangStationDeviceDriver.getError(), ikey);
                     }
                 }
+                else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
+                    paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
+                    try {
+                        paperTubePickSiteDeviceDriver.writing(4);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    if (paperTubePickSiteDeviceDriver.getMove() == 0) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    } else {
+                        message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                        log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
+                                , paperTubePickSiteDeviceDriver.getError(), ikey);
+                    }
+                }
                 else {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 }
@@ -991,10 +1135,25 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.setPhase(phase);
 
                 }
+                else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+                    manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+
+                    try {
+                        manipulatorAgvStationDeviceDriver.writing(5);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    } else {
+                        message = "设备号:" + device_code +  ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
+                        log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
+                    }
+                }
                 else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                     paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                     try {
-                        paperTubePickSiteDeviceDriver.writing(0);
+                        paperTubePickSiteDeviceDriver.writing(5);
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/paper_tube_pick_site/PaperTubePickSiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/paper_tube_pick_site/PaperTubePickSiteDeviceDriver.java
index cd0105ac6..91a18ba9d 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/paper_tube_pick_site/PaperTubePickSiteDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/paper_tube_pick_site/PaperTubePickSiteDeviceDriver.java
@@ -31,7 +31,7 @@ import java.util.List;
 import java.util.Map;
 
 /**
- *
+ * 纸管抓取位
  */
 @Slf4j
 @Data
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ItemProtocol.java
new file mode 100644
index 000000000..311cf9a33
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ItemProtocol.java
@@ -0,0 +1,67 @@
+package org.nl.acs.device_driver.two_conveyor.manipulator_agv_station;
+
+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 {
+    public static String item_heartbeat = "heartbeat";
+    public static String item_mode = "mode";
+    public static String item_action = "action";
+
+    public static String item_to_command = "to_command";
+
+    private ManipulatorAgvStationDeviceDriver driver;
+
+    public ItemProtocol(ManipulatorAgvStationDeviceDriver driver){
+        this.driver=driver;
+    }
+
+    public int getItem_heartbeat(){
+        return this.getOpcIntegerValue(item_heartbeat);
+    } ;
+    public int getItem_mode(){
+        return this.getOpcIntegerValue(item_mode);
+    }
+    public int getItem_action(){
+        return this.getOpcIntegerValue(item_action);
+    }
+
+    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 list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB19.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB19.B1"));
+        list.add(new ItemDto(item_action, "取放信号", "DB19.B3"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "下发命令", "DB20.W0"));
+        return list;
+    }
+
+    @Override
+    public String toString() {
+        return "";
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDefination.java
new file mode 100644
index 000000000..a6605ec17
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDefination.java
@@ -0,0 +1,57 @@
+package org.nl.acs.device_driver.two_conveyor.manipulator_agv_station;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.enums.DeviceType;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.springframework.stereotype.Service;
+
+
+import java.util.LinkedList;
+import java.util.List;
+
+@Service
+public class ManipulatorAgvStationDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "manipulator_agv_station";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "行架-agv对接位";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "行架-agv对接位";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new ManipulatorAgvStationDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return ManipulatorAgvStationDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDeviceDriver.java
new file mode 100644
index 000000000..ea0fcff4b
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDeviceDriver.java
@@ -0,0 +1,198 @@
+package org.nl.acs.device_driver.two_conveyor.manipulator_agv_station;
+
+import com.alibaba.fastjson.JSONObject;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.service.DeviceExtraService;
+import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.history.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.service.TaskService;
+import org.nl.config.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.Date;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+/**
+ * 行架-agv对接位
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class ManipulatorAgvStationDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+    @Autowired
+    RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
+    @Autowired
+    DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class);
+    @Autowired
+    DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
+
+    private Date instruction_require_time = new Date();
+    private Date instruction_finished_time = new Date();
+    private Date instruction_apply_time = new Date();
+    private int instruction_require_time_out = 3000;
+
+    //工作模式
+    int mode = 0;
+    int last_mode = 0;
+    //动作信号
+    int action = 0;
+    int last_action = 0;
+    int heartbeat = 0;
+    int last_heartbeat = 0;
+
+
+    int to_command = 0;
+    int last_to_command = 0;
+
+
+    Boolean isonline = true;
+
+    Boolean iserror = false;
+
+    /**
+     * 1-执行任务；2-取货完成；3-放货完成；
+     */
+    int flag;
+
+    String device_code;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+    /**
+     * 请求成功标记
+     */
+    Boolean requireSucess = false;
+
+    @Override
+    public void execute() {
+        String message = null;
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getItem_mode();
+            action = this.itemProtocol.getItem_action();
+            if (mode != last_mode) {
+                this.setRequireSucess(false);
+                if (mode == 2) {
+                    this.writing(0);
+                }
+            }
+        } catch (Exception var17) {
+            return;
+        }
+
+        if (!this.itemProtocol.getIsonline()) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "信号量同步异常";
+            //未联机
+        } else if (mode == 0) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "未联机";
+            //有报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    return;
+                case 2:
+                    break;
+                case 3:
+                    break;
+                default:
+                    break;
+            }
+
+            switch (flag) {
+                //取货完成
+                case 1:
+                    writing(3);
+                    return;
+                //放货完成
+                case 2:
+                    writing(5);
+                    return;
+                default:
+                    break;
+            }
+
+        }
+        last_mode = mode;
+        last_action = action;
+        last_heartbeat = heartbeat;
+        last_to_command = to_command;
+
+    }
+
+    protected void thingToNothing() {
+        this.setRequireSucess(false);
+    }
+
+    public void writing(int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + org.nl.acs.device_driver.two_conveyor.hongxiang_conveyor.ItemProtocol.item_to_command;
+        //String opcservcerid = this.getDevice().getOpc_server_id();
+//Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, command);
+        this.control(itemMap);
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", "联机");
+        jo.put("action", action);
+        jo.put("isOnline", true);
+        jo.put("isError", this.getIserror());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        return null;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
index 372569df2..ae420fba8 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
@@ -9,11 +9,11 @@ spring:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
 #      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:stand_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-#      url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+#      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
 #      password: ${DB_PWD:Root.123456}
-      password: ${DB_PWD:root}
+      password: ${DB_PWD:p@ssw0rd}
       # 初始连接数
       initial-size: 5
       # 最小连接数
diff --git a/acs2/nladmin-ui/src/views/acs/device/config.vue b/acs2/nladmin-ui/src/views/acs/device/config.vue
index 31c7a4d3d..8248b018d 100644
--- a/acs2/nladmin-ui/src/views/acs/device/config.vue
+++ b/acs2/nladmin-ui/src/views/acs/device/config.vue
@@ -114,6 +114,7 @@ import pull_head_manipulator from '@/views/acs/device/driver/pull_head_manipulat
 import pull_tail_manipulator from '@/views/acs/device/driver/pull_tail_manipulator.vue'
 import green_foil_machine_button from '@/views/acs/device/driver/green_foil_machine_button.vue'
 import inflatable_shaft_library from '@/views/acs/device/driver/inflatable_shaft_library.vue'
+import manipulator_agv_station from '@/views/acs/device/driver/manipulator_agv_station.vue'
 import subvolume_weighing_station from '@/views/acs/device/driver/subvolume_weighing_station.vue'
 import waste_foil_weighing_station from '@/views/acs/device/driver/waste_foil_weighing_station.vue'
 import blank_manipulator from '@/views/acs/device/driver/blank_manipulator.vue'
@@ -184,7 +185,8 @@ export default {
     inflatable_shaft_library,
     green_foil_machine_button,
     xg_agv_car,
-    oven_inspect_site
+    oven_inspect_site,
+    manipulator_agv_station
   },
   dicts: ['device_type'],
   mixins: [crud],
diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/manipulator_agv_station.vue b/acs2/nladmin-ui/src/views/acs/device/driver/manipulator_agv_station.vue
new file mode 100644
index 000000000..b807fccae
--- /dev/null
+++ b/acs2/nladmin-ui/src/views/acs/device/driver/manipulator_agv_station.vue
@@ -0,0 +1,539 @@
+<template>
+  <!--标准版-输送机-控制点-->
+  <div>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-row>
+        <el-col :span="12">
+          OpcServer:
+          <el-select
+            v-model="opc_id"
+            placeholder="无"
+            clearable
+            filterable
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">输送系统：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-input v-model="form.address" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">指令相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="检验有货">
+              <el-switch v-model="form.inspect_in_stocck" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视取货校验" label-width="150px">
+              <el-switch v-model="form.ignore_pickup_check" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视放货校验" label-width="150px">
+              <el-switch v-model="form.ignore_release_check" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="呼叫">
+              <el-switch v-model="form.apply_task" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="响应" label-width="150px">
+              <el-switch v-model="form.manual_create_task" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备" prop="device_code">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                multiple
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="关联三色灯" prop="device_code" label-width="100px">
+              <el-select
+                v-model="form.link_three_lamp"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="是否输入物料" label-width="150px">
+              <el-switch v-model="form.input_material" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="是否需要反馈光电" label-width="150px">
+              <el-switch v-model="form.ship_device_update" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">AGV相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="取货">
+              <el-switch v-model="form.is_pickup" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="放货">
+              <el-switch v-model="form.is_release" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC读取字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data1"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data1[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishReadEdit(data1[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC写入字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data2"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data2[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishWriteEdit(data2[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value2">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read2()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbw_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'ManipulatorAgvStation',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      require: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      address: '',
+      opc_id: '',
+      opc_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        link_three_lamp: '',
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true,
+        link_device_code: [],
+        ship_device_update: true
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$nextTick(() => {
+      // 从父表单获取设备编码
+      this.device_id = this.$props.parentForm.device_id
+      this.device_code = this.$props.parentForm.device_code
+      queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
+        // 给表单赋值，并且属性不能为空
+        if (data.form) {
+          const arr = Object.keys(data.form)
+          // 不为空
+          if (arr.length > 0) {
+            this.form = data.form
+          }
+        }
+
+        // 给表单赋值，并且属性不能为空
+        if (data.parentForm) {
+          const arr = Object.keys(data.parentForm)
+          // 不为空
+          if (arr.length > 0) {
+            this.opc_code = data.parentForm.opc_code
+            this.plc_code = data.parentForm.plc_code
+          }
+        }
+        this.data1 = data.rs
+        this.data2 = data.ws
+        this.sliceItem()
+      })
+      selectPlcList().then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = this.$props.parentForm.opc_plc_id
+      })
+      selectOpcList().then(data => {
+        this.dataOpcservers = data
+        this.opc_id = this.$props.parentForm.opc_server_id
+      })
+      deviceCrud.selectDeviceList().then(data => {
+        this.deviceList = data
+      })
+    })
+  },
+  methods: {
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        for (const val in this.data1) {
+          if (this.data1[val].code.indexOf('mode') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 0)
+          }
+          if (this.data1[val].code.indexOf('move') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 1)
+          }
+          if (this.data1[val].code.indexOf('carrier_direction') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 4)
+          }
+          if (this.data1[val].code.indexOf('task') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 8)
+          }
+        }
+      }
+    },
+    finishWriteEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('to_command') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        console.log(endNumber)
+        for (const val in this.data2) {
+          if (this.data2[val].code.indexOf('to_command') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 0)
+          }
+          if (this.data2[val].code.indexOf('to_target') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+          if (this.data2[val].code.indexOf('to_container_type') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 4)
+          }
+          if (this.data2[val].code.indexOf('to_task') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 6)
+          }
+          if (this.data2[val].code.indexOf('to_strap_times') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 10)
+          }
+          if (this.data2[val].code.indexOf('to_length') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 12)
+          }
+          if (this.data2[val].code.indexOf('to_weight') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 14)
+          }
+          if (this.data2[val].code.indexOf('to_height') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 16)
+          }
+        }
+      }
+    },
+    changeOpc(val) {
+      this.dataOpcservers.forEach(item => {
+        if (item.opc_id === val) {
+          this.opc_code = item.opc_code
+        }
+      })
+
+      selectListByOpcID(val).then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = ''
+        this.plc_code = ''
+        if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
+          this.plc_id = this.dataOpcPlcs[0].plc_id
+          this.plc_code = this.dataOpcPlcs[0].plc_code
+        }
+        this.sliceItem()
+      })
+    },
+    changePlc(val) {
+      this.dataOpcPlcs.forEach(item => {
+        if (item.plc_id === val) {
+          this.plc_code = item.plc_code
+          this.sliceItem()
+          return
+        }
+      })
+    },
+    test_read1() {
+      testRead(this.data1, this.opc_id).then(data => {
+        this.data1 = data
+        console.log(this.data1)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_write1() {
+      testwrite(this.data2, this.opc_id).then(data => {
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_read2() {
+      testRead(this.data2, this.opc_id).then(data => {
+        this.data2 = data
+        console.log(this.data2)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    doSubmit() {
+      this.$refs['form'].validate((valid) => {
+        if (valid) {
+          this.configLoading = true
+          // 根据驱动类型判断是否为路由设备
+          const parentForm = this.parentForm
+          parentForm.is_route = true
+          parentForm.plc_id = this.plc_id
+          parentForm.opc_id = this.opc_id
+          updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
+            this.notify('保存成功', 'success')
+            this.configLoading = false
+          }).catch(err => {
+            this.configLoading = false
+            console.log(err.response.data.message)
+          })
+        }
+      })
+    },
+    sliceItem() { // 拼接DB的Item值
+      this.data1.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+      this.data2.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+    }
+  }
+}
+</script>
+
+<style scoped>
+
+</style>