fix: rgv、标准版机械手、定时删除Lucene日志

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

@@ -152,7 +152,7 @@ public class AgvWaitUtil {
             param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString());
             LuceneLogDto logDto = LuceneLogDto.builder()
                     .device_code(inst.getCarno())
-                    .content("诺宝取货完成请求lms:" + inst.getTask_code() + "--" + ActionTypeEnum.IN_FINISHING.getCode().toString())
+                    .content("诺宝取货完成请求lms:" + inst.getTask_code() + "--" + ActionTypeEnum.IN_FINISHING.getStatus())
                     .build();
             logDto.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto);
@@ -168,7 +168,7 @@ public class AgvWaitUtil {
             } else {
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
                         .device_code(inst.getCarno())
-                        .content("追加动诺宝作块失败,返回参数:" + jo.getString("body"))
+                        .content("请求lms追加动诺宝作块失败,返回参数:" + jo.getString("body"))
                         .build();
                 logDto2.setLog_level(4);
                 luceneExecuteLogService.deviceExecuteLog(logDto2);

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

@@ -778,7 +778,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 //如果是放货二次分配，取放货二次分配需要重新追加动作块
                 if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
                     Integer actionType = ActionTypeEnum.OUT_STOCK.getCode();
-                    String newPointCode =  applyXGAgvTask(task_code, actionType, instructionDto);
+                    String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto);
 //                    sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), deviceCodeNow, instructionDto);
                     log.info("放货二次分配追加诺宝成功，新点位 - {}", newPointCode);
                     JSONObject map = new JSONObject();
@@ -823,14 +823,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             if (address.contains("GET")) {
                 //取货完成
                 JSONObject jsonObject = agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
-                if (StringUtil.equals("200",jsonObject.getString("status"))){
+                if (StringUtil.equals("200", jsonObject.getString("status"))) {
                     log.info("仙工AGV取货完成后离开，设备号 - {}", deviceCodeNow);
                     return jsonObject;
                 }
             } else if (address.contains("PUT")) {
                 //放货完成
                 JSONObject jsonObject = agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
-                if (StringUtil.equals("200",jsonObject.getString("status"))){
+                if (StringUtil.equals("200", jsonObject.getString("status"))) {
                     log.info("仙工AGV放货完成后离开，设备号 - {}", deviceCodeNow);
                     return jsonObject;
                 }
@@ -842,7 +842,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
 
     private String applyCCAgvTask(String task_code, Instruction instructionDto) {
-        try {
             JSONObject param = new JSONObject();
             param.put("task_code", task_code);
             LuceneLogDto logDto = LuceneLogDto.builder()
@@ -873,12 +872,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 luceneExecuteLogService.deviceExecuteLog(logDto2);
                 throw new BadRequestException("叉车二次分配请求lms返回失败");
             }
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-
-        return null;
-
     }
 
     private void sendAddSequencesToCCAgv(String instructionCode, String nextPoint, Instruction instructionDto) {
@@ -956,47 +949,44 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
 
     private String applyXGAgvTask(String task_code, Integer actionType, Instruction instructionDto) {
-        try {
-            JSONObject param = new JSONObject();
-            param.put("taskCode", task_code);
-            param.put("actionType", actionType.toString());
-            LuceneLogDto logDto = LuceneLogDto.builder()
-                    .device_code(instructionDto.getCarno())
-                    .content("二次分配请求lms,参数:" + task_code + "--" + AgvActionTypeEnum.getStatus(actionType) )
-                    .build();
-            logDto.setLog_level(4);
-            luceneExecuteLogService.deviceExecuteLog(logDto);
-            String response = acsToWmsService.secondaryAllocationPoint(param);
-            JSONObject jo = JSON.parseObject(response);
-            if (jo.getInteger("status") == 200) {
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code(instructionDto.getCarno())
-                        .content("二次分配请求lms,参数,接口返回:" + jo)
-                        .build();
-                logDto2.setLog_level(4);
-                //二次分配更新点位
-                updataTask(instructionDto, jo.getString("data"));
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
-                if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) {
-                    //请求成功调用诺宝追加动作块
-                    sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
-                }
-                return jo.getString("data");
 
-            } else {
+        JSONObject param = new JSONObject();
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
+        param.put("taskCode", task_code);
-                        .device_code(instructionDto.getCarno())
+        param.put("actionType", actionType.toString());
-                        .content("二次分配请求lms,返回参数:" + jo.getString("body"))
+        LuceneLogDto logDto = LuceneLogDto.builder()
-                        .build();
+                .device_code(instructionDto.getCarno())
-                logDto2.setLog_level(4);
+                .content("二次分配请求lms,参数:" + task_code + "--" + ActionTypeEnum.getStatus(actionType))
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
+                .build();
-                throw new BadRequestException("二次分配请求lms返回失败");
+        logDto.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto);
+        String response = acsToWmsService.secondaryAllocationPoint(param);
+        JSONObject jo = JSON.parseObject(response);
+        if (jo.getInteger("status") == 200) {
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
+                    .device_code(instructionDto.getCarno())
+                    .content("二次分配请求lms,参数,接口返回:" + jo)
+                    .build();
+            logDto2.setLog_level(4);
+            //二次分配更新点位
+            updataTask(instructionDto, jo.getString("data"));
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
+            if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) {
+                //请求成功调用诺宝追加动作块
+                sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
             }
-        } catch (Exception e) {
+            return jo.getString("data");
-            e.printStackTrace();
+
+        } else {
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
+                    .device_code(instructionDto.getCarno())
+                    .content("二次分配请求lms,返回参数:" + jo.getString("body"))
+                    .build();
+            logDto2.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
+            throw new BadRequestException("二次分配请求lms返回失败");
         }
 
-        return null;
+
     }
 
     private void updataTask(Instruction instructionDto, String newPoint) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java

@@ -196,7 +196,8 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             if (move != 0 && task > 0) {
                 if (null!=inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
-                }                update_instruction_status();
+                }
+                update_instruction_status();
             }
         } catch (Exception var17) {
             var17.printStackTrace();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java

@@ -358,7 +358,7 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr
             String response = acsToWmsService.deviceApplyTwo(param);
             JSONObject jo = JSON.parseObject(response);
             message = "申请捆扎,参数,接口返回:" + jo;
-            if (StrUtil.isNotEmpty(jo.getString("body")) || jo.getInteger("status") == 200) {
+            if ( jo.getInteger("status") == 200) {
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
                         .device_code(device_code)
                         .content("申请捆扎,参数,接口返回:" + jo)
@@ -376,6 +376,8 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr
                         .build();
                 logDto2.setLog_level(4);
                 luceneExecuteLogService.deviceExecuteLog(logDto2);
+                message = "申请捆扎报错,参数,接口返回:" + jo;
+
             }
 
         }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -444,6 +444,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     map2.put("value", 23);
                     list2.add(map2);
                     this.writing(list2);
+                    requireSucess = true;
                 } else {
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
@@ -451,6 +452,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                             .build();
                     logDto2.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto2);
+                    message = "申请高度等级报错,返回参数:" + jo;
                 }
             } catch (Exception e) {
                 e.printStackTrace();
@@ -511,6 +513,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                             .build();
                     logDto2.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto2);
+                    message = "申请退货入库报错,返回参数:" + jo;
                 }
             } catch (Exception e) {
                 e.printStackTrace();
@@ -677,6 +680,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     map.put("value", mode);
                     list1.add(map);
                     this.writing(list1);
+                    requireSucess = true;
                 } else {
                     this.iserror = false;
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
@@ -684,6 +688,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                             .content("木箱、子卷入库申请入库任务,返回参数:" + response)
                             .build();
                     logDto2.setLog_level(4);
+                    message = "木箱、子卷入库申请入库任务报错,返回参数:" + jo;
                     luceneExecuteLogService.deviceExecuteLog(logDto2);
                 }
             } catch (Exception e) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java

@@ -264,7 +264,7 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                             .build();
                     logDto2.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto2);
-
+                    requireSucess = true;
                     packagePLCData(jo);
                     String isUncap = jo.getString("isUncap");
                     if ("1".equals(isUncap)){

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

@@ -0,0 +1,113 @@
+package org.nl.acs.device_driver.one_manipulator.rgv;
+
+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";
+    //动作信号
+    public static String item_action = "action";
+    //行走列
+    public static String item_walk_y = "walk_y";
+    //任务号
+    public static String item_task = "task";
+    //报警
+    public static String item_error = "error";
+
+
+
+
+    private OneRgvDeviceDriver driver;
+
+    public ItemProtocol(OneRgvDeviceDriver 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 getAction() {
+        return this.getOpcIntegerValue(item_action);
+    }
+
+    public int getWalk_y() {
+        return this.getOpcIntegerValue(item_walk_y);
+    }
+
+    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.isBlank(value)) {
+
+        } else {
+            return value;
+        }
+        return "0";
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB1.B1"));
+        list.add(new ItemDto(item_move, "光电信号", "DB1.B2"));
+        list.add(new ItemDto(item_action, "动作信号", "DB1.B3"));
+        list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4"));
+        list.add(new ItemDto(item_error, "报警信号", "DB1.B5"));
+        list.add(new ItemDto(item_task, "任务号", "DB1.D6"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        return list;
+    }
+}

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

@@ -0,0 +1,57 @@
+package org.nl.acs.device_driver.one_manipulator.rgv;
+
+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 OneRgvDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "one_rgv";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "一楼rgv";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "一楼rgv";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new OneRgvDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return OneRgvDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.rgv);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+}

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

@@ -0,0 +1,372 @@
+package org.nl.acs.device_driver.one_manipulator.rgv;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+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.ext.wms.data.ApplyManipulatorActionRequest;
+import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.history.ErrorUtil;
+import org.nl.acs.history.service.DeviceErrorLogService;
+import org.nl.acs.history.service.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.nl.config.language.LangProcess;
+import org.nl.config.lucene.service.LuceneExecuteLogService;
+import org.nl.config.lucene.service.dto.LuceneLogDto;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.Date;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * RGV
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class OneRgvDeviceDriver 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);
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
+    @Autowired
+    LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
+
+    //工作模式
+    int mode = 0;
+    int last_mode = 0;
+    //光电信号
+    int move = 0;
+    int last_move = 0;
+    //动作信号
+    int action = 0;
+    int last_action = 0;
+    //行走列
+    int walk_y = 0;
+    int last_walk_y = 0;
+    //报警信号
+    int error = 0;
+    int last_error = 0;
+    //任务号
+    int task = 0;
+    int last_task = 0;
+    //气涨轴条码
+    String barcode;
+    String last_barcode;
+
+
+    int heartbeat = 0;
+    int last_heartbeat = 0;
+
+
+
+    String to_sub_volume_no;
+    String last_to_sub_volume_no;
+
+    Boolean isonline = true;
+    int hasGoods = 0;
+    String message = null;
+    Boolean iserror = false;
+    private Date instruction_update_time = new Date();
+    private int instruction_update_time_out = 1000;
+    Integer heartbeat_tag;
+    private Date instruction_require_time = new Date();
+
+    private int instruction_require_time_out = 3000;
+    //行架机械手申请任务成功标识
+    boolean requireSucess = false;
+
+    private int instruction_finished_time_out;
+
+    int branchProtocol = 0;
+    private String error_type = "hxhj_error_type";
+
+    //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
+    int flag;
+
+    String device_code;
+
+    String left = "1";
+    String right = "2";
+
+    //当前指令
+    Instruction inst = null;
+
+    //0 无任务执行 1更新指令状态 2下发电气信号 3允许取货 允许放货 5放货完成
+    int now_steps_type = 0;
+    String notCreateTaskMessage = "";
+    String notCreateInstMessage = "";
+    String feedMessage = "";
+
+
+    List<String> getDeviceCodeList = null;
+
+    List<String> putDeviceCodeList = null;
+
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+    @Override
+    public void execute() {
+        String message = null;
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            move = this.itemProtocol.getMove();
+            action = this.itemProtocol.getAction();
+            walk_y = this.itemProtocol.getWalk_y();
+            error = this.itemProtocol.getError();
+            task = this.itemProtocol.getTask();
+            heartbeat = this.itemProtocol.getHeartbeat();
+
+
+            if (mode != last_mode) {
+                requireSucess = false;
+            }
+
+
+        } catch (Exception var17) {
+            var17.printStackTrace();
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+
+        }
+
+        if (mode == 0) {
+            this.setIsonline(false);
+            message = "universal_off-line";
+            //有报警
+        } else if (error != 0) {
+            this.setIserror(true);
+            message = "universal_message3";
+            //无报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+
+
+
+        }
+        last_mode = mode;
+        last_move = move;
+        last_action = action;
+        last_walk_y = walk_y;
+        last_error = error;
+        last_task = task;
+        last_heartbeat = heartbeat;
+        last_barcode = barcode;
+
+    }
+
+    /**
+     * //     * 申请任务
+     * //     *
+     * //     * @param
+     * //
+     */
+    public synchronized void applyTask() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        String direction = (String) this.getDevice().getExtraValue().get("direction");
+        applyManipulatorActionRequest.setDevice_code(device_code);
+        applyManipulatorActionRequest.setDirection(direction);//rgv申请位置
+        applyManipulatorActionRequest.setQzz_no(String.valueOf(barcode));//气涨轴编码
+        applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+        Map<String, Object> map = new LinkedHashMap<>();
+        if (applyManipulatorActionResponse.getstatus() == 200) {
+            Map<String, String> data = applyManipulatorActionResponse.getData();
+            String point_code2 = data.get("point_code2");//目标站点
+            Device deviceByCode = deviceAppService.findDeviceByCode(point_code2);
+            String address = deviceByCode.getExtraValue().get("address").toString();
+            String material_code = data.get("material_code");//子卷号
+            String to_is_labeling = data.get("to_is_labeling");//是否贴标
+            map.put("to_target", address);
+            map.put("to_sub_volume_no", material_code);
+            map.put("to_command", "1");
+            if (StrUtil.equals("1",to_is_labeling)){
+                map.put("to_is_labeling","1");
+            }else {
+                map.put("to_is_labeling","0");
+            }
+            this.writing(map);
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务,返回参数:" + applyManipulatorActionResponse);
+            message = "universal_message12";
+            requireSucess = true;
+        } else {
+            map.put("to_command", 99);
+            this.writing(map);
+            requireSucess = true;
+            message = "universal_message13";
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务反馈失败,返回参数:" + applyManipulatorActionResponse);
+        }
+    }
+
+    public void writing(Map<String, Object> map) {
+        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+        Map<String, Object> itemMap = new LinkedHashMap<>();
+        map.forEach((key, value) -> {
+            if (ObjectUtil.isNotEmpty(value)) {
+                itemMap.put(getToParam() + key, value);
+            }
+        });
+        if (ObjectUtil.isNotEmpty(itemMap)) {
+            this.control(itemMap);
+            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content("下发多个电气信号" + itemMap)
+                    .build();
+            logDto.setLog_level(3);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+        }
+    }
+
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        Map<String, Object> map = new LinkedHashMap<>();
+
+        String mode = "";
+        String move = "";
+        String action = "";
+        String walk_y = "";
+        if (this.getMode() == 0) {
+            mode = LangProcess.msg("universal_off-line");
+        } else if (this.getMode() == 1) {
+            mode = LangProcess.msg("universal_stand-alone");
+        } else if (this.getMode() == 2) {
+            mode = LangProcess.msg("universal_standby");
+        } else if (this.getMode() == 3) {
+            mode = LangProcess.msg("universal_operation");
+        }
+
+        if (this.getMove() == 0) {
+            move = LangProcess.msg("universal_no");
+            map.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = LangProcess.msg("universal_yes");
+            map.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = LangProcess.msg("universal_two_yes");
+            map.put("hasGoods", true);
+        }
+
+        String requireSucess = LangProcess.msg("universal_actionMessage4");
+        if (this.requireSucess) {
+            requireSucess = LangProcess.msg("universal_actionMessage5");
+        }
+        map.put("requireSucess", requireSucess);
+        if (this.getAction() == 1) {
+            action = LangProcess.msg("universal_delivery");
+        } else if (this.getAction() == 2) {
+            action = LangProcess.msg("universal_completed");
+        } else if (this.getAction() == 3) {
+            action = LangProcess.msg("universal_releasing");
+        } else if (this.getAction() == 4) {
+            action = LangProcess.msg("universal_releasing_completed");
+        }
+
+        map.put("device_name", this.getDevice().getDevice_name());
+        map.put("mode", mode);
+        map.put("move", move);
+        /*jo.put("action", action);*/
+        /*jo.put("task", task);*/
+        /*jo.put("walk_y", this.walk_y);*/
+        map.put("isOnline", this.getIsonline());
+        map.put("error", ErrorUtil.getDictDetail("error_type", String.valueOf(this.getError())));
+        map.put("isError", this.getIserror());
+        map.put("message", LangProcess.msg(message));
+        /*jo.put("notCreateTaskMessage", notCreateTaskMessage);
+        jo.put("notCreateInstMessage",notCreateInstMessage);*/
+        map.put("feedMessage", LangProcess.msg(feedMessage));
+        map.put("driver_type", "siemens_conveyor");
+        map.put("is_click", true);
+        JSONObject jo = new JSONObject(map);
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+        String requestSucess = data.getString("requireSucess");
+        if (StrUtil.equals(requestSucess, "0")) {
+            this.requireSucess = false;
+        } else if (StrUtil.equals(requestSucess, "1")) {
+            this.requireSucess = true;
+        }
+    }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", String.valueOf(error));
+        jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type", error_type);
+        return jo;
+    }
+
+
+    public Instruction checkInst() {
+        if (ObjectUtil.isNotEmpty(this.inst)) {
+            if (this.task > 0) {
+                if (this.inst.getInstruction_code().equals(String.valueOf(this.task))) {
+                    return this.inst;
+                } else {
+                    inst = instructionService.findByCodeFromCache(String.valueOf(task));
+                    return inst;
+                }
+            }
+        } else {
+            inst = instructionService.findByCodeFromCache(String.valueOf(task));
+            return inst;
+        }
+        return null;
+    }
+
+}

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

@@ -0,0 +1,113 @@
+package org.nl.acs.device_driver.one_manipulator.standard_manipulator;
+
+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";
+    //动作信号
+    public static String item_action = "action";
+    //行走列
+    public static String item_walk_y = "walk_y";
+    //任务号
+    public static String item_task = "task";
+    //报警
+    public static String item_error = "error";
+
+
+
+
+    private StandardManipulatoDeviceDriver driver;
+
+    public ItemProtocol(StandardManipulatoDeviceDriver 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 getAction() {
+        return this.getOpcIntegerValue(item_action);
+    }
+
+    public int getWalk_y() {
+        return this.getOpcIntegerValue(item_walk_y);
+    }
+
+    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.isBlank(value)) {
+
+        } else {
+            return value;
+        }
+        return "0";
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB1.B1"));
+        list.add(new ItemDto(item_move, "光电信号", "DB1.B2"));
+        list.add(new ItemDto(item_action, "动作信号", "DB1.B3"));
+        list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4"));
+        list.add(new ItemDto(item_error, "报警信号", "DB1.B5"));
+        list.add(new ItemDto(item_task, "任务号", "DB1.D6"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        return list;
+    }
+}

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

@@ -0,0 +1,372 @@
+package org.nl.acs.device_driver.one_manipulator.standard_manipulator;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+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.ext.wms.data.ApplyManipulatorActionRequest;
+import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.history.ErrorUtil;
+import org.nl.acs.history.service.DeviceErrorLogService;
+import org.nl.acs.history.service.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.nl.config.language.LangProcess;
+import org.nl.config.lucene.service.LuceneExecuteLogService;
+import org.nl.config.lucene.service.dto.LuceneLogDto;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.Date;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * RGV
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class StandardManipulatoDeviceDriver 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);
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
+    @Autowired
+    LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
+
+    //工作模式
+    int mode = 0;
+    int last_mode = 0;
+    //光电信号
+    int move = 0;
+    int last_move = 0;
+    //动作信号
+    int action = 0;
+    int last_action = 0;
+    //行走列
+    int walk_y = 0;
+    int last_walk_y = 0;
+    //报警信号
+    int error = 0;
+    int last_error = 0;
+    //任务号
+    int task = 0;
+    int last_task = 0;
+    //气涨轴条码
+    String barcode;
+    String last_barcode;
+
+
+    int heartbeat = 0;
+    int last_heartbeat = 0;
+
+
+
+    String to_sub_volume_no;
+    String last_to_sub_volume_no;
+
+    Boolean isonline = true;
+    int hasGoods = 0;
+    String message = null;
+    Boolean iserror = false;
+    private Date instruction_update_time = new Date();
+    private int instruction_update_time_out = 1000;
+    Integer heartbeat_tag;
+    private Date instruction_require_time = new Date();
+
+    private int instruction_require_time_out = 3000;
+    //行架机械手申请任务成功标识
+    boolean requireSucess = false;
+
+    private int instruction_finished_time_out;
+
+    int branchProtocol = 0;
+    private String error_type = "hxhj_error_type";
+
+    //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
+    int flag;
+
+    String device_code;
+
+    String left = "1";
+    String right = "2";
+
+    //当前指令
+    Instruction inst = null;
+
+    //0 无任务执行 1更新指令状态 2下发电气信号 3允许取货 允许放货 5放货完成
+    int now_steps_type = 0;
+    String notCreateTaskMessage = "";
+    String notCreateInstMessage = "";
+    String feedMessage = "";
+
+
+    List<String> getDeviceCodeList = null;
+
+    List<String> putDeviceCodeList = null;
+
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+    @Override
+    public void execute() {
+        String message = null;
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            move = this.itemProtocol.getMove();
+            action = this.itemProtocol.getAction();
+            walk_y = this.itemProtocol.getWalk_y();
+            error = this.itemProtocol.getError();
+            task = this.itemProtocol.getTask();
+            heartbeat = this.itemProtocol.getHeartbeat();
+
+
+            if (mode != last_mode) {
+                requireSucess = false;
+            }
+
+
+        } catch (Exception var17) {
+            var17.printStackTrace();
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+
+        }
+
+        if (mode == 0) {
+            this.setIsonline(false);
+            message = "universal_off-line";
+            //有报警
+        } else if (error != 0) {
+            this.setIserror(true);
+            message = "universal_message3";
+            //无报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+
+
+
+        }
+        last_mode = mode;
+        last_move = move;
+        last_action = action;
+        last_walk_y = walk_y;
+        last_error = error;
+        last_task = task;
+        last_heartbeat = heartbeat;
+        last_barcode = barcode;
+
+    }
+
+    /**
+     * //     * 申请任务
+     * //     *
+     * //     * @param
+     * //
+     */
+    public synchronized void applyTask() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        String direction = (String) this.getDevice().getExtraValue().get("direction");
+        applyManipulatorActionRequest.setDevice_code(device_code);
+        applyManipulatorActionRequest.setDirection(direction);//rgv申请位置
+        applyManipulatorActionRequest.setQzz_no(String.valueOf(barcode));//气涨轴编码
+        applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+        Map<String, Object> map = new LinkedHashMap<>();
+        if (applyManipulatorActionResponse.getstatus() == 200) {
+            Map<String, String> data = applyManipulatorActionResponse.getData();
+            String point_code2 = data.get("point_code2");//目标站点
+            Device deviceByCode = deviceAppService.findDeviceByCode(point_code2);
+            String address = deviceByCode.getExtraValue().get("address").toString();
+            String material_code = data.get("material_code");//子卷号
+            String to_is_labeling = data.get("to_is_labeling");//是否贴标
+            map.put("to_target", address);
+            map.put("to_sub_volume_no", material_code);
+            map.put("to_command", "1");
+            if (StrUtil.equals("1",to_is_labeling)){
+                map.put("to_is_labeling","1");
+            }else {
+                map.put("to_is_labeling","0");
+            }
+            this.writing(map);
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务,返回参数:" + applyManipulatorActionResponse);
+            message = "universal_message12";
+            requireSucess = true;
+        } else {
+            map.put("to_command", 99);
+            this.writing(map);
+            requireSucess = true;
+            message = "universal_message13";
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务反馈失败,返回参数:" + applyManipulatorActionResponse);
+        }
+    }
+
+    public void writing(Map<String, Object> map) {
+        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+        Map<String, Object> itemMap = new LinkedHashMap<>();
+        map.forEach((key, value) -> {
+            if (ObjectUtil.isNotEmpty(value)) {
+                itemMap.put(getToParam() + key, value);
+            }
+        });
+        if (ObjectUtil.isNotEmpty(itemMap)) {
+            this.control(itemMap);
+            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content("下发多个电气信号" + itemMap)
+                    .build();
+            logDto.setLog_level(3);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+        }
+    }
+
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        Map<String, Object> map = new LinkedHashMap<>();
+
+        String mode = "";
+        String move = "";
+        String action = "";
+        String walk_y = "";
+        if (this.getMode() == 0) {
+            mode = LangProcess.msg("universal_off-line");
+        } else if (this.getMode() == 1) {
+            mode = LangProcess.msg("universal_stand-alone");
+        } else if (this.getMode() == 2) {
+            mode = LangProcess.msg("universal_standby");
+        } else if (this.getMode() == 3) {
+            mode = LangProcess.msg("universal_operation");
+        }
+
+        if (this.getMove() == 0) {
+            move = LangProcess.msg("universal_no");
+            map.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = LangProcess.msg("universal_yes");
+            map.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = LangProcess.msg("universal_two_yes");
+            map.put("hasGoods", true);
+        }
+
+        String requireSucess = LangProcess.msg("universal_actionMessage4");
+        if (this.requireSucess) {
+            requireSucess = LangProcess.msg("universal_actionMessage5");
+        }
+        map.put("requireSucess", requireSucess);
+        if (this.getAction() == 1) {
+            action = LangProcess.msg("universal_delivery");
+        } else if (this.getAction() == 2) {
+            action = LangProcess.msg("universal_completed");
+        } else if (this.getAction() == 3) {
+            action = LangProcess.msg("universal_releasing");
+        } else if (this.getAction() == 4) {
+            action = LangProcess.msg("universal_releasing_completed");
+        }
+
+        map.put("device_name", this.getDevice().getDevice_name());
+        map.put("mode", mode);
+        map.put("move", move);
+        /*jo.put("action", action);*/
+        /*jo.put("task", task);*/
+        /*jo.put("walk_y", this.walk_y);*/
+        map.put("isOnline", this.getIsonline());
+        map.put("error", ErrorUtil.getDictDetail("error_type", String.valueOf(this.getError())));
+        map.put("isError", this.getIserror());
+        map.put("message", LangProcess.msg(message));
+        /*jo.put("notCreateTaskMessage", notCreateTaskMessage);
+        jo.put("notCreateInstMessage",notCreateInstMessage);*/
+        map.put("feedMessage", LangProcess.msg(feedMessage));
+        map.put("driver_type", "siemens_conveyor");
+        map.put("is_click", true);
+        JSONObject jo = new JSONObject(map);
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+        String requestSucess = data.getString("requireSucess");
+        if (StrUtil.equals(requestSucess, "0")) {
+            this.requireSucess = false;
+        } else if (StrUtil.equals(requestSucess, "1")) {
+            this.requireSucess = true;
+        }
+    }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", String.valueOf(error));
+        jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError())));
+        jo.put("fault_type", error_type);
+        return jo;
+    }
+
+
+    public Instruction checkInst() {
+        if (ObjectUtil.isNotEmpty(this.inst)) {
+            if (this.task > 0) {
+                if (this.inst.getInstruction_code().equals(String.valueOf(this.task))) {
+                    return this.inst;
+                } else {
+                    inst = instructionService.findByCodeFromCache(String.valueOf(task));
+                    return inst;
+                }
+            }
+        } else {
+            inst = instructionService.findByCodeFromCache(String.valueOf(task));
+            return inst;
+        }
+        return null;
+    }
+
+}

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

@@ -0,0 +1,56 @@
+package org.nl.acs.device_driver.one_manipulator.standard_manipulator;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.enums.DeviceType;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+@Service
+public class StandardManipulatorDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "standard_manipulator";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "标准版机械手";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "标准版机械手";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new StandardManipulatoDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return StandardManipulatoDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.robot);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+}

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

@@ -23,6 +23,8 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.device_driver.one_conveyor.manipulator_cache.ManipulatorCacheDeviceDriver;
 import org.nl.acs.device_driver.one_manipulator.trapped_manipulator.InteractionJsonDTO;
 import org.nl.acs.enums.VolumeTwoTypeEnum;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.history.ErrorUtil;
 import org.nl.acs.history.service.DeviceErrorLogService;
 import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
@@ -34,6 +36,7 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.impl.RouteLineServiceImpl;
+import org.nl.acs.task.enums.ActionTypeEnum;
 import org.nl.acs.task.enums.TaskStatusEnum;
 import org.nl.acs.task.enums.TaskTypeEnum;
 import org.nl.acs.task.service.TaskService;
@@ -44,12 +47,13 @@ import org.nl.config.SpringContextHolder;
 import org.nl.config.language.LangProcess;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
+import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.*;
 import java.util.stream.Collectors;
 
 /**
- * 捆扎智能行架
+ * 子卷下线行架
  */
 @Slf4j
 @Data
@@ -58,6 +62,8 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
 
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
 
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);;
+
     DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
 
     TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
@@ -192,6 +198,10 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
                 }
                 updateInstructionStatus();
             }
+            //四个点行架任务，满轴放货完成后调lms生成rgv任务
+            if (action == 6 && task > 0 ){
+                creatAGV();
+            }
 
         } catch (Exception var17) {
             var17.printStackTrace();
@@ -264,6 +274,45 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
         last_to_type = to_type;
     }
 
+    private void creatAGV() {
+        Instruction instruction = checkInst();
+        JSONObject param = new JSONObject();
+        param.put("taskCode", instruction.getTask_code());
+        param.put("actionType",ActionTypeEnum.RELEASE_FINISHING.getCode() );
+        LuceneLogDto logDto = LuceneLogDto.builder()
+                .device_code(device_code)
+                .content("满轴放货完成请求lms,参数:" + task + "--" +ActionTypeEnum.RELEASE_FINISHING.getStatus())
+                .build();
+        logDto.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto);
+        String response = acsToWmsService.secondaryAllocationPoint(param);
+        JSONObject jo = JSON.parseObject(response);
+        if (jo.getInteger("status") == 200) {
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content("满轴放货完成请求lms,参数,接口返回:" + jo)
+                    .build();
+            logDto2.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
+            Map<String, Object> map1 = new HashMap<>();
+            List list = new ArrayList();
+            map1.put("code", "to_command");
+            map1.put("value", 6);
+            list.add(map1);
+            this.writing(list);
+
+        } else {
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content("满轴放货完成请求lms,返回参数:" + jo)
+                    .build();
+            logDto2.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
+            throw new BadRequestException("满轴放货完成请求lms返回失败");
+        }
+
+    }
+
     private void updateInstructionStatus() {
         Date date = new Date();
         if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java

@@ -294,6 +294,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
 
     Boolean iserror = false;
 
+    String inst_message;
+
 
     @Override
     public Device getDevice() {
@@ -334,6 +336,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
 
             // 更新指令状态
             if (mode == 3 && task > 0 && command == 1 && error == 0) {
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }
                 Date date = new Date();
                 if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
                     log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
@@ -1240,6 +1245,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         jo.put("isOnline", this.getIsonline());
         jo.put("isError", this.getIserror());
         jo.put("notCreateInstMessage", notCreateInstMessage);
+        jo.put("inst_message", this.inst_message);
         return jo;
     }
 

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

@@ -15,11 +15,16 @@ public enum ActionTypeEnum {
     /**
      * 防货二次分配
      */
-    OUT_STOCK(2, "防货二次分配"),
+    OUT_STOCK(2, "放货二次分配"),
     /**
      * 取货完成
      */
-    IN_FINISHING(3, "取货完成");
+    IN_FINISHING(3, "取货完成"),
+
+    /**
+     * 行架四个点任务放满轴完成
+     */
+    RELEASE_FINISHING(4, "满轴放货完成");
 
     Integer code;
     String status;

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

@@ -25,6 +25,8 @@ public enum AgvActionTypeEnum {
      */
     IN_OUT_STOCK(4, "取放货二次分配");
 
+
+
     Integer code;
     String status;
 

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

@@ -972,34 +972,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         instdto.setAgv_system_type(agv_system_type);
         instdto.setStart_height(start_height);
         instdto.setNext_height(next_height);
-
+        instdto.setAgv_action_type(acsTask.getAgv_action_type());
-        //判断agv系统
-        //1、1楼叉车系统
-        //2、2楼1区域AGV系统
-        //3、2楼2区域AGV系统 -已废弃
-        if (StrUtil.equals(agv_system_type, CommonFinalParam.TWO)) {
-            // task_type
-            //1、生箔； Itype=1:取空，取满，放空，放满；
-            //2、分切  Itype=3取满、取空、放满、放空；
-            //3、普通任务 Itype=2:取货、放货；
-            //4、叉车任务
-            //5、输送任务
-            //6、行架
-            //7、立库
-            if (StrUtil.equals(task_type, CommonFinalParam.ONE)) {
-                instdto.setAgv_inst_type(CommonFinalParam.ONE);
-            } else if (StrUtil.equals(task_type, "3")) {
-                instdto.setAgv_inst_type("2");
-            } else if (StrUtil.equals(task_type, "2")) {
-                instdto.setAgv_inst_type("3");
-            } else if (StrUtil.equals(task_type, "8")) {
-                instdto.setAgv_inst_type("2");
-            } else {
-                log.info("未找到对应的AGV指令类型，任务号:" + acsTask.getTask_code() + ",task_type:" + acsTask.getTask_type());
-            }
-        } else {
-            instdto.setAgv_inst_type("4");
-        }
         instructionservice.create2(instdto);
         acsTask.setTask_status(CommonFinalParam.ONE);
         this.update(acsTask);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java

@@ -57,6 +57,9 @@ public class AutoCreateInst {
             if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.AGV_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) {
                 continue;
             }
+            if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.Truss_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) {
+                continue;
+            }
             String taskid = acsTask.getTask_id();
             String taskcode = acsTask.getTask_code();
             String task_type = acsTask.getTask_type();

acs2/nladmin-ui/src/views/acs/device/config.vue

@@ -104,7 +104,6 @@ import led_screen from './driver/led_screen'
 import standard_station from '@/views/acs/device/driver/standard_station'
 import double_belt_conveyor from '@/views/acs/device/driver/double_belt_conveyor.vue'
 import with_station_device from '@/views/acs/device/driver/with_station_device.vue'
-import standard_manipulator from '@/views/acs/device/driver/standard_manipulator.vue'
 import box_manipulator from '@/views/acs/device/driver/box_manipulator.vue'
 import conveyor_with_scanner_weight from '@/views/acs/device/driver/conveyor_with_scanner_weight.vue'
 import box_manipulator_site from '@/views/acs/device/driver/box_manipulator_site.vue'
@@ -134,6 +133,8 @@ import scanner_weight_conveyor from '@/views/acs/device/driver/one_conveyor/scan
 import un_box_lable_conveyor from '@/views/acs/device/driver/one_conveyor/un_box_lable_conveyor.vue'
 import xg_agv_car from '@/views/acs/device/driver/agv/xg_agv_car.vue'
 import oven_inspect_site from '@/views/acs/device/driver/oven_inspect_site.vue'
+import one_rgv from '@/views/acs/device/driver/one_manipulator/one_rgv.vue'
+import standard_manipulator from '@/views/acs/device/driver/one_manipulator/standard_manipulator.vue'
 export default {
   name: 'DeviceConfig',
   components: {
@@ -194,7 +195,8 @@ export default {
     manipulator_agv_station,
     volume_two_manipulator,
     manipulator_cache,
-    paper_tube_pick_size
+    paper_tube_pick_size,
+    one_rgv
   },
   dicts: ['device_type'],
   mixins: [crud],

acs2/nladmin-ui/src/views/acs/device/driver/one_manipulator/one_rgv.vue

@@ -1,5 +1,5 @@
 <template>
-  <!--标准版行架机械手-->
+  <!--一楼RGV-->
   <div>
     <el-card class="box-card" shadow="never">
       <div slot="header" class="clearfix">
@@ -52,132 +52,12 @@
         <el-row>
           <el-col :span="8">
             <el-form-item label="电气调度号" label-width="150px">
-              <el-input v-model="form.OPCServer" />
+              <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="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="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
-                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="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="取货点" prop="device_code">
-              <el-select
-                v-model="form.get_device_code"
-                multiple
-                filterable
-                reserve-keyword
-                placeholder="请选择"
-              >
-                <el-option
-                  v-for="item in deviceList"
-                  :key="item.device_code"
-                  :label="item.device_code"
-                  :value="item.device_code"
-                />
-              </el-select>
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="放货点" prop="device_code" label-width="100px">
-              <el-select
-                v-model="form.put_device_code"
-                filterable
-                reserve-keyword
-                multiple
-                placeholder="请选择"
-              >
-                <el-option
-                  v-for="item in deviceList"
-                  :key="item.device_code"
-                  :label="item.device_name"
-                  :value="item.device_code"
-                />
-              </el-select>
-            </el-form-item>
-          </el-col>
-        </el-row>
-      </el-form>
-    </el-card>
-
     <el-card class="box-card" shadow="never">
       <div slot="header" class="clearfix">
         <span class="role-span">AGV相关：</span>
@@ -234,52 +114,6 @@
         </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" />
@@ -313,7 +147,7 @@ import crud from '@/mixins/crud'
 import deviceCrud from '@/api/acs/device/device'
 
 export default {
-  name: 'StandardManipulator',
+  name: 'Rgv',
   mixins: [crud],
   props: {
     parentForm: {
@@ -329,7 +163,14 @@ export default {
       plc_code: '',
       opc_id: '',
       opc_code: '',
-      load_device_code: '',
+      address: '',
+      directions: [{
+        key: '1',
+        label: '左边'
+      }, {
+        key: '2',
+        label: '右边'
+      }],
       configLoading: false,
       dataOpcservers: [],
       dataOpcPlcs: [],
@@ -342,12 +183,11 @@ export default {
         ignore_release_check: true,
         apply_task: true,
         link_three_lamp: '',
+        link_scanner: '',
         manual_create_task: true,
         is_pickup: true,
         is_release: true,
-        link_device_code: [],
+        link_device_code: []
-        get_device_code: [],
-        put_device_code: []
       },
       rules: {}
     }
@@ -397,29 +237,25 @@ export default {
     finishReadEdit(data) {
       // 编辑的是code列,并且值包含mode
       if (data.code.indexOf('mode') !== -1) {
-        debugger
         const dbValue = data.db
         // .之前的字符串
-        // const beforeStr = dbValue.match(/(\S*)\./)[1]
+        const beforeStr = dbValue.substring(0, 2)
         // .之后的字符串
-        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        const afterStr = dbValue.substring(2)
-        // 取最后数字
+        for (const val in this.data1) {
-        const endNumber = afterStr.substring(1)
+          if (this.data1[val].code.indexOf('move') !== -1) {
-        // 最后为非数字
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 2)
-        if (isNaN(parseInt(endNumber))) {
+          }
-          return
+          if (this.data1[val].code.indexOf('action') !== -1) {
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 4)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 6)
+          }
+          if (this.data1[val].code.indexOf('task') !== -1) {
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 8)
+          }
         }
-        // for (const val in this.data1) {
-        //   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('error') !== -1) {
-        //     this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 5)
-        //   }
-        //   if (this.data1[val].code.indexOf('task') !== -1) {
-        //     this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 7)
-        //   }
-        // }
       }
     },
     finishWriteEdit(data) {
@@ -427,23 +263,17 @@ export default {
       if (data.code.indexOf('to_command') !== -1) {
         const dbValue = data.db
         // .之前的字符串
-        // const beforeStr = dbValue.match(/(\S*)\./)[1]
+        const beforeStr = dbValue.substring(0, 2)
         // .之后的字符串
-        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        const afterStr = dbValue.substring(2)
-        // 取最后数字
+        for (const val in this.data2) {
-        const endNumber = afterStr.substring(1)
+          if (this.data2[val].code.indexOf('to_target') !== -1) {
-        // 最后为非数字
+            this.data2[val].db = beforeStr + (parseInt(afterStr) + 2)
-        if (isNaN(parseInt(endNumber))) {
+          }
-          return
+          if (this.data2[val].code.indexOf('to_task') !== -1) {
+            this.data2[val].db = beforeStr + (parseInt(afterStr) + 4)
+          }
         }
-        // for (const val in this.data2) {
-        //   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_task') !== -1) {
-        //     this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 6)
-        //   }
-        // }
       }
     },
     changeOpc(val) {

acs2/nladmin-ui/src/views/acs/device/driver/one_manipulator/standard_manipulator.vue

@@ -0,0 +1,351 @@
+<template>
+  <!--标准版机械手-->
+  <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">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.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'StandardManipulator',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      required: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      address: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        link_three_lamp: '',
+        link_scanner: '',
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true,
+        link_device_code: []
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$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.substring(0, 2)
+        // .之后的字符串
+        const afterStr = dbValue.substring(2)
+        for (const val in this.data1) {
+          if (this.data1[val].code.indexOf('move') !== -1) {
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 2)
+          }
+          if (this.data1[val].code.indexOf('action') !== -1) {
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 4)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 6)
+          }
+          if (this.data1[val].code.indexOf('task') !== -1) {
+            this.data1[val].db = beforeStr + (parseInt(afterStr) + 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.substring(0, 2)
+        // .之后的字符串
+        const afterStr = dbValue.substring(2)
+        for (const val in this.data2) {
+          if (this.data2[val].code.indexOf('to_target') !== -1) {
+            this.data2[val].db = beforeStr + (parseInt(afterStr) + 2)
+          }
+          if (this.data2[val].code.indexOf('to_task') !== -1) {
+            this.data2[val].db = beforeStr + (parseInt(afterStr) + 4)
+          }
+        }
+      }
+    },
+    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
+        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)
+      })
+    },
+    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)
+      })
+    },
+    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>