1

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

@@ -41,8 +41,9 @@ public enum DriverTypeEnum {
 
     PLUG_PULL_DEVICE_SITE(15, "plug_pull_device_site", "插拔轴站点", "conveyor"),
 
-    SIEMENS_CONVEYOR_LABELING(16, "siemens_conveyor_labeling", "西门子-输送机驱动-贴标", "conveyor");
+    SIEMENS_CONVEYOR_LABELING(16, "siemens_conveyor_labeling", "西门子-输送机驱动-贴标", "conveyor"),
 
+    SIEMENS_CONVEYOR_CKK(17, "siemens_conveyor_ckk", "西门子-输送机驱动-出库口", "conveyor");
 
 
     //驱动索引

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

@@ -24,6 +24,7 @@ import org.nl.acs.device_driver.DeviceDriverDefination;
 import org.nl.acs.device_driver.ScannerDeviceDriver;
 import org.nl.acs.device_driver.basedriver.oven_manipulator.OvenGantryManipulatorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.siemens_conveyor_ckk.SiemensConveyorCkkDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor_labeling.SiemensConveyorLabelingDeviceDriver;
 import org.nl.acs.device_driver.basedriver.slit_two_manipulator.SlitTwoManipulatorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.StandardCoveyorControlWithScannerDeviceDriver;
@@ -949,6 +950,9 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
         } else if (device.getDeviceDriver() instanceof OvenGantryManipulatorDeviceDriver) {
             OvenGantryManipulatorDeviceDriver ovenGantryManipulatorDeviceDriver = (OvenGantryManipulatorDeviceDriver) device.getDeviceDriver();
             ovenGantryManipulatorDeviceDriver.setDeviceStatus(form);
+        } else if (device.getDeviceDriver() instanceof SiemensConveyorCkkDeviceDriver) {
+            SiemensConveyorCkkDeviceDriver siemensConveyorCkkDeviceDriver = (SiemensConveyorCkkDeviceDriver) device.getDeviceDriver();
+            siemensConveyorCkkDeviceDriver.setDeviceStatus(form);
         }
     }
 

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/ItemProtocol.java

@@ -0,0 +1,132 @@
+package org.nl.acs.device_driver.basedriver.siemens_conveyor_ckk;
+
+import cn.hutool.core.util.StrUtil;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+
+    //心跳
+    public static String item_heartbeat = "heartbeat";
+    //工作模式
+    public static String item_mode = "mode";
+    //光电信号
+    public static String item_move = "move";
+    //托盘方向
+    public static String item_carrier_direction = "carrier_direction";
+    //报警
+    public static String item_error = "error";
+    //任务号
+    public static String item_task = "task";
+
+    //下发命令
+    public static String item_to_command = "to_command";
+    //下发目标站
+    public static String item_to_target = "to_target";
+    //下发托盘类型
+    public static String item_to_container_type = "to_container_type";
+    //下发任务号
+    public static String item_to_task = "to_task";
+    //困扎次数
+    public static String item_to_strap_times = "to_strap_times";
+    //木箱长度
+    public static String item_to_length = "to_length";
+    //木箱宽度
+    public static String item_to_weight = "to_weight";
+    //木箱高度
+    public static String item_to_height = "to_height";
+
+
+    private SiemensConveyorCkkDeviceDriver driver;
+
+    public ItemProtocol(SiemensConveyorCkkDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getHeartbeat() {
+        return this.getOpcIntegerValue(item_heartbeat);
+    }
+
+    public int getMode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getMove() {
+        return this.getOpcIntegerValue(item_move);
+    }
+
+    public int getCarrier_direction() {
+        return this.getOpcIntegerValue(item_carrier_direction);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+
+    Boolean isonline;
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+
+    public String getOpcStringValue(String protocol) {
+        String value = this.driver.getStringValue(protocol);
+        if (StrUtil.isEmpty(value)) {
+
+        } else {
+            return value;
+        }
+        return "0";
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB600.B2"));
+        list.add(new ItemDto(item_move, "光电信号", "DB600.B3"));
+        list.add(new ItemDto(item_carrier_direction, "托盘方向", "DB600.B4"));
+        list.add(new ItemDto(item_error, "报警信号", "DB600.B6"));
+        list.add(new ItemDto(item_task, "任务号", "DB600.D10"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "下发命令", "DB601.W2"));
+        list.add(new ItemDto(item_to_target, "下发目标站", "DB601.W4"));
+        list.add(new ItemDto(item_to_container_type, "下发托盘类型", "DB601.W6"));
+        list.add(new ItemDto(item_to_task, "下发任务号", "DB601.D8"));
+        list.add(new ItemDto(item_to_strap_times, "困扎次数", "DB601.W12"));
+        list.add(new ItemDto(item_to_length, "木箱长度", "DB601.W14"));
+        list.add(new ItemDto(item_to_weight, "木箱宽度", "DB601.W16"));
+        list.add(new ItemDto(item_to_height, "木箱高度", "DB601.W18"));
+        return list;
+    }
+
+    @Override
+    public String toString() {
+        return "";
+    }
+
+}
+

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDefination.java

@@ -0,0 +1,64 @@
+package org.nl.acs.device_driver.basedriver.siemens_conveyor_ckk;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 西门子-输送机驱动
+ *
+ */
+@Service
+public class SiemensConveyorCkkDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "siemens_conveyor_ckk";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "西门子-输送机驱动-出库口";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "西门子-输送机驱动-出库口";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new SiemensConveyorCkkDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return SiemensConveyorCkkDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.station);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java

@@ -0,0 +1,912 @@
+package org.nl.acs.device_driver.basedriver.siemens_conveyor_ckk;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.ObjectUtils;
+import org.nl.acs.AcsConfig;
+import org.nl.acs.agv.server.NDCAgvService;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.DeviceDriver;
+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.ext.wms.data.ApplyLabelingAndBindingRequest;
+import org.nl.acs.ext.wms.data.ApplyLabelingAndBindingResponse;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.route.service.dto.RouteLineDto;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.system.service.ParamService;
+import org.nl.modules.wql.core.bean.WQLObject;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.openscada.opc.lib.da.Server;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.*;
+
+/**
+ * 西门子-输送机驱动-出库口
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean(DeviceService.class);
+    @Autowired
+    RouteLineService routelineserver = SpringContextHolder.getBean(RouteLineService.class);
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
+    @Autowired
+    DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
+    @Autowired
+    RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
+    @Autowired
+    ParamService paramService = SpringContextHolder.getBean(ParamService.class);
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+    @Autowired
+    NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
+    //当前指令
+    Instruction inst = null;
+
+    //工作模式
+    int mode = 0;
+    int last_mode = 0;
+    //光电信号
+    int move = 0;
+    int last_move = 0;
+    //托盘方向
+    int carrier_direction = 0;
+    int last_carrier_direction = 0;
+    //报警信号
+    int error = 0;
+    int last_error = 0;
+    //任务号
+    int task = 0;
+    int last_task = 0;
+    int agvphase = 0;
+    String task_code = null;
+
+    int phase = 0;
+    int index = 0;
+    Boolean isonline = true;
+    int hasGoods = 0;
+    String message = null;
+    Boolean iserror = false;
+
+    Integer heartbeat_tag;
+    private Date instruction_require_time = new Date();
+    private Date require_apply_labeling_time = new Date();
+    private Date require_apply_strangulation_time = new Date();
+    private Date require_empty_in_time = new Date();
+    private Date require_empty_out_time = new Date();
+
+    private int instruction_require_time_out = 3000;
+    //行架机械手申请任务成功标识
+    boolean requireSucess = false;
+    boolean requireApplyLabelingSuccess = false;
+    boolean requireApplyLaStrangulationSuccess = false;
+    boolean requireEmptyInSuccess = false;
+    boolean requireEmptyOutSuccess = false;
+    boolean requiresShipDeviceUpdate = true;
+    private int instruction_finished_time_out;
+
+    int branchProtocol = 0;
+    String inst_message;
+    String last_inst_message;
+
+    //当前指令
+
+    //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
+    int flag;
+
+    String device_code;
+
+    String vehicle_code;
+    String last_vehicle_code;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            move = this.itemProtocol.getMove();
+            carrier_direction = this.itemProtocol.getCarrier_direction();
+            error = this.itemProtocol.getError();
+            task = this.itemProtocol.getTask();
+            if (mode != last_mode) {
+                if (mode == 2) {
+                    requireSucess = false;
+                    requireApplyLabelingSuccess = false;
+                    requireApplyLaStrangulationSuccess = false;
+                    requireEmptyInSuccess = false;
+                    requireEmptyOutSuccess = false;
+                    logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记");
+                }
+                logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
+            }
+            if (move != last_move) {
+                message = null;
+                if (move == 0 ) {
+                    inst_message = null;
+                    requireSucess = false;
+                    this.clearWrite();
+                }
+                logServer.deviceItemValue(this.device_code, "move", String.valueOf(move));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
+            }
+            if (carrier_direction != last_carrier_direction) {
+                logServer.deviceItemValue(this.device_code, "carrier_direction", String.valueOf(carrier_direction));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号carrier_direction：" + last_carrier_direction + "->" + carrier_direction);
+            }
+            if (error != last_error) {
+                logServer.deviceItemValue(this.device_code, "error", String.valueOf(error));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error);
+            }
+            if (task != last_task) {
+                logServer.deviceItemValue(this.device_code, "task", String.valueOf(task));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task);
+            }
+
+            if (move != 0 && task > 0) {
+                inst = instructionService.findByCodeFromCache(String.valueOf(task));
+                if (inst != null) {
+                    inst_message = "当前指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + "  载具号：" + inst.getVehicle_code();
+                    vehicle_code = inst.getVehicle_code();
+                    task_code = inst.getTask_code();
+                    if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {
+                        inst.setInstruction_status("1");
+                        inst.setExecute_device_code(this.device_code);
+                        instructionService.update(inst);
+                        logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈执行中状态,反馈成功,指令号:" + task);
+                    }
+                    if (StrUtil.equals(inst.getInstruction_status(), "1")) {
+                        if (!StrUtil.equals(inst.getExecute_code(), this.device_code)) {
+                            inst.setExecute_device_code(this.device_code);
+                            instructionService.update(inst);
+                        }
+                    }
+                } else {
+//                    logServer.deviceExecuteLog(device_code, "", "", "输送线任务开始反馈任务状态,反馈失败,查询不到指令号:" + task);
+                    message = "输送线任务反馈状态,查询不到指令号:" + task +"指令已完成";
+                    inst_message = null;
+                }
+            }
+
+        } catch (Exception var17) {
+            inst_message = var17.getMessage();
+            logServer.deviceExecuteLog(this.getDevice_code(), "", "", "读取信号值时出现异常:" + var17.getMessage());
+        }
+
+//        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 if (error != 0) {
+//            this.setIsonline(false);
+//            this.setIserror(true);
+//            message = "有报警";
+//            //无报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            Instruction instruction = null;
+            List toInstructions;
+
+
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    break;
+                case 2:
+                    //申请任务
+                    if (move > 0 && !requireSucess) {
+                       try {
+                           instruction_require();
+                       } catch (Exception e) {
+                           e.printStackTrace();
+                       }
+                    }
+                    break;
+                case 4:
+                    break;
+                case 5:
+                    break;
+                case 6:
+                    break;
+                case 7:
+                    break;
+                case 8:
+                    break;
+            }
+        }
+        last_mode = mode;
+        last_move = move;
+        last_carrier_direction = carrier_direction;
+        last_error = error;
+        last_task = task;
+    }
+
+    private void shipDeviceUpdate() {
+        JSONObject param = new JSONObject() {{
+            put("device_code", device_code);
+        }};
+
+        HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
+        if (response == null || response.getStatus() == 200) {
+            this.requiresShipDeviceUpdate = true;
+        }
+    }
+
+
+    public boolean exe_error() {
+        if (this.error == 0) {
+            return true;
+        } else {
+            log.debug("设备报警");
+            return false;
+        }
+    }
+
+    public void clearWrite() {
+
+        List list = new ArrayList();
+        Map map = new HashMap();
+        map.put("code", "to_target");
+        map.put("value", "0");
+        list.add(map);
+        Map map2 = new HashMap();
+        map2.put("code", "to_task");
+        map2.put("value", "0");
+        list.add(map2);
+        Map map3 = new HashMap();
+        map3.put("code", "to_command");
+        map3.put("value", "0");
+        list.add(map3);
+        Map map4 = new HashMap();
+        map4.put("code", "to_strap_times");
+        map4.put("value", "0");
+        list.add(map4);
+        Map map5 = new HashMap();
+        map5.put("code", "to_length");
+        map5.put("value", "0");
+        list.add(map5);
+        Map map6 = new HashMap();
+        map6.put("code", "to_weight");
+        map6.put("value", "0");
+        list.add(map6);
+        Map map7 = new HashMap();
+        map7.put("code", "to_height");
+        map7.put("value", "0");
+        list.add(map7);
+        this.writing(list);
+        message = null;
+        vehicle_code = null;
+    }
+
+    public boolean exe_business() {
+        return true;
+    }
+
+    public synchronized boolean finish_instruction() throws Exception {
+        instructionService.finish(inst);
+//        requireSucess = false;
+        return true;
+    }
+
+
+    protected void thingToNothing() throws Exception {
+        requireSucess = false;
+    }
+
+
+    public void writing(String param, String value) {
+
+        String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + param;
+        //String opcservcerid = this.getDevice().getOpc_server_id();
+//Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+
+        itemMap.put(to_param, Integer.parseInt(value));
+//            itemMap.put(to_param, Integer.parseInt(value));
+        this.control(itemMap);
+        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号设备号:" + device_code + ",下发电气:" + to_param + ",下发电气值:" + value);
+    }
+
+    public void executing(Server server, Map<String, Object> itemMap) {
+        this.control(itemMap);
+    }
+
+    public void writing(int command) {
+
+        //String opcservcerid = this.getDevice().getOpc_server_id();
+//Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        this.control(itemMap);
+
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String move = "";
+        String carrier_direction = "";
+        if (this.getMode() == 0) {
+            mode = "脱机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "待机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        } else if (this.getMode() == 4) {
+            mode = "申请捆扎中";
+        } else if (this.getMode() == 5) {
+            mode = "申请贴标中";
+        } else if (this.getMode() == 6) {
+            mode = "申请空盘入库中";
+        } else if (this.getMode() == 7) {
+            mode = "申请空盘出库中";
+        } else if (this.getMode() == 8) {
+            mode = "申请AGV任务中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+
+        if (this.carrier_direction == 1) {
+            carrier_direction = "正转";
+        } else if (this.carrier_direction == 2) {
+            carrier_direction = "反转";
+        }
+        String requireSucess = "0";
+        if (this.requireSucess) {
+            requireSucess = "1";
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("carrier_direction", carrier_direction);
+        jo.put("task", task);
+        jo.put("last_task", last_task);
+        jo.put("task_code", task_code);
+
+//        jo.put("barcode", barcode);
+//        jo.put("last_task", last_task);
+        jo.put("inst_message", this.inst_message);
+        jo.put("last_inst_message", this.last_inst_message);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("message", this.getMessage());
+        jo.put("is_click", true);
+        jo.put("requireSucess", requireSucess);
+        jo.put("driver_type", "siemens_conveyor");
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+        String requestSucess = data.getString("requireSucess");
+        if (StrUtil.equals(requestSucess, "0")) {
+            this.requireSucess = false;
+        } else if (StrUtil.equals(requestSucess, "1")) {
+            this.requireSucess = true;
+        }
+    }
+
+    public void writing(List list) {
+
+//        String opcservcerid = this.getDevice().getOpc_server_id();
+//        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        for (int i = 0; i < list.size(); i++) {
+            Object ob = list.get(i);
+            JSONObject json = (JSONObject) JSONObject.toJSON(ob);
+            if (!StrUtil.isEmpty(json.getString("value"))) {
+                String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                        + "." + json.getString("code");
+                itemMap.put(to_param, json.getString("value"));
+            }
+        }
+        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号:" + itemMap);
+        this.control(itemMap);
+
+    }
+
+
+    /**
+     * 请求指令
+     */
+    public synchronized boolean instruction_require() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return false;
+        } else {
+            this.instruction_require_time = date;
+            if (task > 0) {
+                Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(task));
+                if (ObjectUtil.isEmpty(instruction)) {
+                    instruction = instructionService.findByCode(String.valueOf(task));
+                }
+                if(StrUtil.equals(instruction.getInstruction_status(),"1")){
+                    if (StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) {
+                        vehicle_code = inst.getVehicle_code();
+                        inst.setExecute_device_code(this.device_code);
+                        try {
+                            finish_instruction();
+                        } catch (Exception e) {
+                            e.printStackTrace();
+                        }
+                        logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈完成状态,反馈成功,指令号:" + task);
+                    }
+                }
+            } else {
+                logServer.deviceExecuteLog(device_code, "", "", "申请输送任务电气设备任务号:" + task + "异常");
+                message = "申请输送任务电气设备任务号:" + task + "异常";
+                return false;
+            }
+
+            //判断是否存在起点相同 任务状态就绪的任务
+            TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
+            if (!ObjectUtil.isEmpty(taskdto)) {
+//                if (!ObjectUtils.isEmpty(instructionService.findByBarcodeFromCache(container_code))) {
+//                    return false;
+//                }
+                //需要判断当前设备是否已经存在就绪的指令  如果存在就直接下发  不存在则创建
+                Instruction inst = instructionService.findByTaskcodeAndStatus(taskdto.getTask_code());
+                if (ObjectUtil.isNotEmpty(inst)) {
+                    List list = new ArrayList();
+                    Map map = new HashMap();
+
+                    if (StrUtil.isNotEmpty(taskdto.getTo_z())) {
+                        if (StrUtil.equals(taskdto.getTo_z(), "01")) {
+                            map.put("code", "to_target");
+                            map.put("value", "102");
+                        } else if (StrUtil.equals(taskdto.getTo_z(), "02")) {
+                            map.put("code", "to_target");
+                            map.put("value", "201");
+                        } else if (StrUtil.equals(taskdto.getTo_z(), "03")) {
+                            map.put("code", "to_target");
+                            map.put("value", "301");
+                        }
+                    }
+                    list.add(map);
+                    Map map2 = new HashMap();
+                    map2.put("code", "to_task");
+                    map2.put("value", inst.getInstruction_code());
+                    list.add(map2);
+                    Map map3 = new HashMap();
+                    map3.put("code", "to_command");
+                    map3.put("value", "1");
+                    list.add(map3);
+                    this.writing(list);
+                    if (task != Integer.parseInt(inst.getInstruction_code())) {
+                        this.writing(list);
+                        message = "重新下发电气信号";
+                        logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+                    }
+                    message = "下发电气任务号成功";
+                    requireSucess = true;
+                    return true;
+                }
+
+                // type 5 输送任务
+                if (!StrUtil.equals(taskdto.getTask_type(), "5")) {
+                    return false;
+                }
+                String taskid = taskdto.getTask_id();
+                String taskcode = taskdto.getTask_code();
+                String vehiclecode = taskdto.getVehicle_code();
+                String priority = taskdto.getPriority();
+                String start_point_code = taskdto.getStart_point_code();
+                String start_device_code = taskdto.getStart_device_code();
+                String route_plan_code = taskdto.getRoute_plan_code();
+                String next_device_code = "";
+
+                /**
+                 * 开始平均分配
+                 */
+                String this_coevice_code = taskserver.queryAssignedByDevice(device_code, taskdto.getNext_device_code());
+                if (StrUtil.isEmpty(this_coevice_code)) {
+                    List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, taskdto.getNext_device_code(), route_plan_code);
+                    RouteLineDto routeLineDto = shortPathsList.get(0);
+
+                    String path = routeLineDto.getPath();
+                    String type = routeLineDto.getType();
+                    String[] str = path.split("->");
+
+                    List<String> pathlist = Arrays.asList(str);
+                    int index = 0;
+                    for (int m = 0; m < pathlist.size(); m++) {
+                        if (pathlist.get(m).equals(start_device_code)) {
+                            index = m + 1;
+                            break;
+                        }
+                    }
+                    next_device_code = pathlist.get(index);
+                } else {
+                    next_device_code = this_coevice_code;
+                }
+                //校验路由关系
+                List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+                if (ObjectUtils.isEmpty(shortPathsList)) {
+                    throw new RuntimeException("路由不通!");
+                }
+
+                Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
+                Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
+                String next_point_code;
+                if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
+                    next_point_code = taskdto.getTo_x() + "-" + taskdto.getTo_y() + "-" + taskdto.getTo_z();
+                } else {
+                    next_point_code = next_device_code;
+                }
+                Instruction instdto = new Instruction();
+                instdto.setInstruction_id(IdUtil.simpleUUID());
+                instdto.setRoute_plan_code(route_plan_code);
+                instdto.setRemark(taskdto.getRemark());
+                instdto.setMaterial(taskdto.getMaterial());
+                instdto.setQuantity(taskdto.getQuantity());
+                instdto.setTask_id(taskid);
+                instdto.setTask_code(taskcode);
+                instdto.setVehicle_code(vehiclecode);
+                String now = DateUtil.now();
+                instdto.setCreate_time(now);
+                instdto.setCreate_by("auto");
+                instdto.setStart_device_code(start_device_code);
+                instdto.setNext_device_code(next_device_code);
+                instdto.setStart_point_code(start_point_code);
+                instdto.setNext_point_code(next_point_code);
+                instdto.setPriority(priority);
+                instdto.setInstruction_status("0");
+                instdto.setExecute_device_code(start_point_code);
+                try {
+                    instructionService.create(instdto);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("指令创建失败!",e.getMessage());
+                    return  false;
+                }
+                //创建指令后修改任务状态
+                taskdto.setTask_status("1");
+                taskserver.update(taskdto);
+                requireSucess = true;
+                String next_addr = nextdevice.getExtraValue().get("address").toString();
+
+                List list = new ArrayList();
+                Map map = new HashMap();
+                map.put("code", "to_target");
+                map.put("value", next_addr);
+                list.add(map);
+                Map map2 = new HashMap();
+                map2.put("code", "to_task");
+                map2.put("value", instdto.getInstruction_code());
+                list.add(map2);
+                Map map3 = new HashMap();
+                map3.put("code", "to_command");
+                map3.put("value", "1");
+                list.add(map3);
+                this.writing(list);
+                if (task != Integer.parseInt(inst.getInstruction_code())) {
+                    this.writing(list);
+                    message = "重新下发电气信号";
+                    logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+                }
+            } else {
+                //如果不存在则直接找对应指令
+                Instruction inst = instructionService.findByDeviceCodeFromCache(this.device_code);
+                if (ObjectUtil.isEmpty(inst)) {
+                    return false;
+                }
+
+                Device nextdevice = deviceAppservice.findDeviceByCode(inst.getNext_device_code());
+                String next_addr = nextdevice.getExtraValue().get("address").toString();
+
+                List list = new ArrayList();
+                Map map = new HashMap();
+                map.put("code", "to_target");
+                map.put("value", next_addr);
+                list.add(map);
+                Map map2 = new HashMap();
+                map2.put("code", "to_task");
+                map2.put("value", inst.getInstruction_code());
+                list.add(map2);
+                Map map3 = new HashMap();
+                map3.put("code", "to_command");
+                map3.put("value", "1");
+                list.add(map3);
+                this.writing(list);
+                if (task != Integer.parseInt(inst.getInstruction_code())) {
+                    this.writing(list);
+                    logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+                }
+                requireSucess = true;
+            }
+            return true;
+        }
+    }
+
+    //申请贴标
+    public synchronized void applyLabeling() {
+        Date date = new Date();
+        if (date.getTime() - this.require_apply_labeling_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            this.require_apply_labeling_time = date;
+            String vehicle_code = "";
+            if (task > 0) {
+                Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(task));
+                vehicle_code = instruction.getVehicle_code();
+            } else {
+                logServer.deviceExecuteLog(device_code, "", "", "申请贴标电气设备任务号:" + task + "异常");
+                message = "申请贴标电气设备任务号:" + task + "异常";
+                throw new RuntimeException("任务号为空!");
+            }
+            if (StrUtil.isEmpty(vehicle_code)) {
+                logServer.deviceExecuteLog(device_code, "", "", "申请贴标电气设备任务号:" + task + "未找到载具号");
+                message = "申请贴标电气设备任务号:" + task + "未找到载具号";
+                throw new RuntimeException("载具号为空!");
+            }
+            ApplyLabelingAndBindingRequest applyLabelingAndBindingRequest =
+                    new ApplyLabelingAndBindingRequest();
+            JSONObject device_json = WQLObject.getWQLObject("acs_storage_cell").query("storage_code ='" + this.device_code + "'").uniqueResult(0);
+            String start_point_code = null;
+            if (!ObjectUtil.isEmpty(device_json)) {
+                start_point_code = (String) device_json.get("parent_storage_code") == null ? this.device_code : (String) device_json.get("parent_storage_code");
+            }
+            applyLabelingAndBindingRequest.setDevice_code(start_point_code);
+            applyLabelingAndBindingRequest.setType("1");
+            applyLabelingAndBindingRequest.setVehicle_code(vehicle_code);
+            ApplyLabelingAndBindingResponse applyLabelingAndBindingResponse = acsToWmsService.applyLabelingAndBindingRequest(applyLabelingAndBindingRequest);
+
+            if (applyLabelingAndBindingResponse.getstatus() == 200) {
+                message = "申请贴标成功";
+                List list = new ArrayList();
+                Map map = new HashMap();
+                map.put("code", "to_command");
+                map.put("value", "5");
+                list.add(map);
+                this.writing(list);
+                this.writing(list);
+                message = "申请贴标下发电气信号成功";
+                requireApplyLabelingSuccess = true;
+            } else {
+                message = "申请贴标失败," + applyLabelingAndBindingResponse.getMessage();
+            }
+        }
+    }
+
+    //申请捆扎
+    @SneakyThrows
+    public synchronized void applyLaStrangulation() {
+        Date date = new Date();
+        if (date.getTime() - this.require_apply_strangulation_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            this.require_apply_strangulation_time = date;
+            String vehicle_code = "";
+            if (task > 0) {
+                Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(task));
+                if(ObjectUtil.isEmpty(instruction)){
+                    message = "申请捆扎电气设备任务号:" + task + "未找到对应指令";
+                    throw new RuntimeException("该电气任务号未找到对应指令!");
+                }
+                vehicle_code = instruction.getVehicle_code();
+            } else {
+                logServer.deviceExecuteLog(device_code, "", "", "申请捆扎电气设备任务号:" + task + "异常");
+                message = "申请捆扎电气设备任务号:" + task + "异常";
+                throw new RuntimeException("任务号为空!");
+            }
+            if (StrUtil.isEmpty(vehicle_code)) {
+                logServer.deviceExecuteLog(device_code, "", "", "申请捆扎电气设备任务号:" + task + "未找到载具号");
+                message = "申请捆扎电气设备任务号:" + task + "未找到载具号";
+                throw new RuntimeException("载具号为空!");
+            }
+            ApplyLabelingAndBindingRequest applyLabelingAndBindingRequest =
+                    new ApplyLabelingAndBindingRequest();
+            JSONObject device_json = WQLObject.getWQLObject("acs_storage_cell").query("storage_code ='" + this.device_code + "'").uniqueResult(0);
+            String start_point_code = null;
+            if (!ObjectUtil.isEmpty(device_json)) {
+                start_point_code = (String) device_json.get("parent_storage_code") == null ? this.device_code : (String) device_json.get("parent_storage_code");
+            }
+            applyLabelingAndBindingRequest.setDevice_code(start_point_code);
+            applyLabelingAndBindingRequest.setType("2");
+            applyLabelingAndBindingRequest.setVehicle_code(vehicle_code);
+            ApplyLabelingAndBindingResponse applyLabelingAndBindingResponse = acsToWmsService.applyLabelingAndBindingRequest(applyLabelingAndBindingRequest);
+            if (applyLabelingAndBindingResponse.getstatus() == 200) {
+                if (ObjectUtil.isNotEmpty(applyLabelingAndBindingResponse.getData())) {
+                    Map datas = applyLabelingAndBindingResponse.getData();
+                    String length = datas.get("box_length").toString();
+                    String width = datas.get("box_width").toString();
+                    String box_high = datas.get("box_high").toString();
+                    String bundle_times = datas.get("bundle_times").toString();
+
+                    List list = new ArrayList();
+                    Map map = new HashMap();
+                    map.put("code", "to_length");
+                    map.put("value", length);
+                    list.add(map);
+                    Map map2 = new HashMap();
+                    map2.put("code", "to_weight");
+                    map2.put("value", width);
+                    list.add(map2);
+                    Map map3 = new HashMap();
+                    map3.put("code", "to_height");
+                    map3.put("value", box_high);
+                    list.add(map3);
+                    Map map4 = new HashMap();
+                    map4.put("code", "to_strap_times");
+                    map4.put("value", bundle_times);
+                    list.add(map4);
+                    Map map5 = new HashMap();
+                    map5.put("code", "to_command");
+                    map5.put("value", "4");
+                    list.add(map5);
+                    this.writing(list);
+//                    this.writing(list);
+
+                    message = "申请捆扎成功";
+                    requireSucess = true;
+                } else {
+                    message = "未返回尺寸信息";
+                }
+
+            } else {
+                message = applyLabelingAndBindingResponse.getMessage();
+            }
+
+        }
+    }
+
+    public synchronized void emptyIn() {
+        Date date = new Date();
+        if (date.getTime() - this.require_empty_in_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            this.require_empty_in_time = date;
+
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                message = "申请空盘入库任务中...";
+                JSONObject apply = new JSONObject();
+                apply.put("device_code", device_code);
+                apply.put("type", "2");
+                String str = acsToWmsService.applyTaskToWms(apply);
+                JSONObject jo = JSON.parseObject(str);
+                if (ObjectUtil.isEmpty(jo)) {
+                    message = "申请空盘入库接口不通";
+                    requireEmptyInSuccess = true;
+                } else {
+                    if (jo.getInteger("status") == 200) {
+                        message = "申请空盘入库成功";
+                        requireEmptyInSuccess = true;
+                    } else {
+                        requireEmptyInSuccess = true;
+                        message = "申请空盘入库失败，" + jo.get("message").toString();
+                    }
+                }
+
+            }
+        }
+    }
+
+    public synchronized void applyAgvTask() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            this.instruction_require_time = date;
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                Instruction instruction = instructionService.findByCode(String.valueOf(task));
+                if(ObjectUtil.isEmpty(instruction)){
+                    message = "指令号"+task+"未找到对应指令";
+                    return;
+                }
+                message = "申请AGV搬运任务中...";
+                JSONObject apply = new JSONObject();
+                apply.put("device_code", device_code);
+                apply.put("type", "4");
+                apply.put("vehicle_code", instruction.getVehicle_code());
+                String str = acsToWmsService.applyTaskToWms(apply);
+                JSONObject jo = JSON.parseObject(str);
+                if (ObjectUtil.isEmpty(jo)) {
+                    message = "申请AGV搬运任务接口不通";
+                    requireSucess = true;
+                } else {
+                    if (jo.getInteger("status") == 200) {
+                        message = "申请AGV搬运任务成功";
+                        requireSucess = true;
+                    } else {
+                        requireSucess = true;
+                        message = "申请AGV搬运任务失败," + jo.get("message").toString();
+                    }
+                }
+
+            }
+        }
+    }
+
+    public synchronized void emptyOut() {
+        Date date = new Date();
+        if (date.getTime() - this.require_empty_out_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            this.require_empty_out_time = date;
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                message = "申请空盘出库任务中...";
+                JSONObject apply = new JSONObject();
+                apply.put("device_code", device_code);
+                apply.put("type", "3");
+                String str = acsToWmsService.applyTaskToWms(apply);
+                JSONObject jo = JSON.parseObject(str);
+                if (ObjectUtil.isEmpty(jo)) {
+                    message = "申请空盘出库接口不通";
+                    requireSucess = true;
+                } else {
+                    if (jo.getInteger("status") == 200) {
+                        message = "申请空盘出库成功";
+                        requireSucess = true;
+                    } else {
+                        requireSucess = true;
+                        message = "申请空盘出库失败," + jo.get("message").toString();
+                    }
+                }
+
+            }
+        }
+    }
+
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/ExecutableDeviceDriver.java

@@ -5,16 +5,16 @@ import org.nl.acs.device_driver.DeviceDriver;
 
 public interface ExecutableDeviceDriver extends DeviceDriver {
   default void executeAuto() {
-//    try {
-//      this.execute();
-//    } catch (Throwable var6) {
-//      String message = "线程调用异常:" + var6.getMessage();
-//      Log.error(message);
-//    } finally {
-//    }
+    try {
       this.execute();
+    } catch (Throwable var6) {
+      String message = "线程调用异常:" + var6.getMessage();
+      Log.error(message);
+    } finally {
+    }
+//      this.execute();
 
   }
 
-  void execute();
+  void execute() throws Exception;
 }

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/LiKuToAcsServiceImpl.java

@@ -118,8 +118,8 @@ public class LiKuToAcsServiceImpl implements LiKuToAcsService {
                 inst.setCarno(carNo);
                 instructionService.update(inst);
             } else if(StrUtil.equals(status,"3")){
-                inst.setInstruction_status("2");
-                instructionService.finish(inst.getInstruction_id());
+//                inst.setInstruction_status("1");
+//                instructionService.finish(inst.getInstruction_id());
 
             } else if(StrUtil.equals(status,"4")){
                 //5 取消指令

acs/nladmin-system/src/main/java/org/nl/acs/instruction/common/InstructStatusEnum.java

@@ -1,4 +1,6 @@
 package org.nl.acs.instruction.common;
 
 public class InstructStatusEnum {
+
+
 }

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -789,7 +789,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             deviceService.changeDeviceStatus(jo1);
 
             removeByCodeFromCache(dto.getInstruction_code());
-            this.reload();
+//            this.reload();
         }
     }