rev 内包间行架

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

@@ -57,7 +57,9 @@ public enum DriverTypeEnum {
 
     DEVICE_STATUS(23,"device_status","立库设备状态","conveyor"),
 
-    INDOOR_MANIPULATOR(24,"indoor_manipulator","内包间-行架机械手","station");
+    INDOOR_MANIPULATOR(24,"indoor_manipulator","内包间-行架机械手","station"),
+
+    PLUGGING_UNPLUGGING_MACHINE(25,"plugging_unplugging_machine","插拔轴机","station");
 
 
     //驱动索引

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java

@@ -18,6 +18,7 @@ import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.lamp_three_color.LampThreecolorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.photoelectric_inspection_site.PhotoelectricInspectionSiteDeviceDriver;
+import org.nl.acs.device_driver.basedriver.plugging_unplugging_machine.PluggingUnpluggingMachineDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
@@ -199,9 +200,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
             device_code = this.getDeviceCode();
             mode = this.itemProtocol.getMode();
             move = this.itemProtocol.getMove();
-            if(mode==2){
-                log.info("123");
-            }
             action = this.itemProtocol.getAction();
             walk_y = this.itemProtocol.getWalk_y();
             error = this.itemProtocol.getError();
@@ -312,10 +310,18 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 logServer.deviceItemValue(this.device_code, "inflatable_shaft_size", String.valueOf(inflatable_shaft_size));
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号inflatable_shaft_size：" + last_inflatable_shaft_size + "->" + inflatable_shaft_size);
             }
-            if (task > 0) {
+
+            if (task > 0 && getTo_task_type() == 1) {
                 update_instruction_status();
+            } else if (task > 0 && getTo_task_type() == 2) {//
+                update_instruction_status2();
+            } else if (task > 0 && getTo_task_type() == 6) {
+                update_instruction_status3();
+            } else if (task > 0 && getTo_task_type() == 7) {
+                update_instruction_status4();
             }
 
+
         } catch (Exception var17) {
             var17.printStackTrace();
             feedMessage = var17.getMessage();
@@ -367,10 +373,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     this.setNotCreateTaskMessage(remark);
                 }
             }
-            if (mode == 3 && !feedbackSucess && action > 0) {
-                apply_feedback();
-            }
-
         }
         last_mode = mode;
         last_move = move;
@@ -416,91 +418,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
         }
     }
 
-    public synchronized boolean apply_feedback() {
-        Date date = new Date();
-        if (date.getTime() - this.instruction_apply_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 {
-            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
-            ApplyManipulatorActionResponse applyManipulatorActionResponse;
-            if (action == 2) {
-                this.instruction_apply_time = date;
-                message = "完成反馈LMS...";
-                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");
-                }
-                applyManipulatorActionRequest.setDevice_code(start_point_code);
-                applyManipulatorActionRequest.setType("2");
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                logServer.deviceExecuteLog(this.device_code, "", "", "反馈请求参数:" + JSON.toJSONString(applyManipulatorActionRequest));
-                if (applyManipulatorActionResponse.getstatus() == 200) {
-                    requireSucess = true;
-                    message = "反馈LMS成功...";
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    String version = applyManipulatorActionResponse.getVersion();
-                    String bushing_num = applyManipulatorActionResponse.getBushing_num();
-                    String is_bushing = applyManipulatorActionResponse.getIs_bushing();
-                    String detail_type = applyManipulatorActionResponse.getDetail_type();
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "2");
-                    map.put("to_task_type", detail_type);
-                    map.put("inflatableShaftVersion", version);
-                    map.put("tube_num", bushing_num);
-                    map.put("is_wrapped", is_bushing);
-                    this.writing(map);
-                    this.setFeedbackSucess(true);
-                } else {
-                    requireSucess = true;
-                    message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                }
-
-            }
-            if (action == 3) {
-                applyManipulatorActionRequest.setType("3");
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                String detail_type = applyManipulatorActionResponse.getDetail_type();
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "3");
-                map.put("to_task_type", detail_type);
-                map.put("to_putpoint", put_device_code);
-                this.writing(map);
-                this.setFeedbackSucess(true);
-            }
-            if (action == 4) {
-                applyManipulatorActionRequest.setType("4");
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String get_device_code = applyManipulatorActionResponse.getGet_device_code();
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "4");
-                map.put("to_new_getpoint", get_device_code);
-                this.writing(map);
-                this.setFeedbackSucess(true);
-            }
-            if (action == 5) {
-                applyManipulatorActionRequest.setType("5");
-                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
-                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
-                String detail_type = applyManipulatorActionResponse.getDetail_type();
-                Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "5");
-                map.put("to_task_type", detail_type);
-                map.put("to_two_putpoint", put_device_code2);
-                this.writing(map);
-                this.setFeedbackSucess(true);
-            }
-            return true;
-        }
-    }
 
     public synchronized boolean finish_instruction(Instruction inst) throws Exception {
         instructionService.finish(inst);
@@ -515,7 +432,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
         } else {
             this.instruction_update_time = date;
             //更改任务状态
-            if (task > 0 && action == 2) {
+            if (task > 0) {
                 //inst_message
                 Instruction inst1 = checkInst();
                 if (inst1 != null) {
@@ -527,50 +444,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 }
             }
 
-            if (task > 0 && action == 3) {
+            //任务完成
-                //inst_message
+            if (action == 8) {
-                Instruction inst1 = checkInst();
-                if (inst1 != null) {
-                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                        inst1.setInstruction_status("1");
-                        inst1.setExecute_device_code(this.device_code);
-                        instructionService.update(inst1);
-                    }
-                }
-            }
-
-            if (task > 0 && action == 4) {
-                //inst_message
-                Instruction inst1 = checkInst();
-                if (inst1 != null) {
-                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                        inst1.setInstruction_status("1");
-                        inst1.setExecute_device_code(this.device_code);
-                        instructionService.update(inst1);
-                    }
-                }
-            }
-
-            if (task > 0 && action == 5) {
-                //inst_message
-                Instruction inst1 = checkInst();
-                if (inst1 != null) {
-                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                        inst1.setInstruction_status("1");
-                        inst1.setExecute_device_code(this.device_code);
-                        instructionService.update(inst1);
-                    }
-                }
-            }
-
-
-            //放货完成
-            if (mode == 3 && action == 6 && move == 0 && task > 0) {
                 Instruction inst2 = checkInst();
                 if (inst2 != null) {
                     try {
                         finish_instruction(inst2);
-                        this.writing("to_command", "6");
+                        this.writing("to_command", "8");
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
@@ -596,6 +476,300 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
         }
     }
 
+    private synchronized void update_instruction_status2() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+
+        } else {
+            this.instruction_update_time = date;
+            //更改任务状态
+            if (task > 0) {
+                //inst_message
+                Instruction inst1 = checkInst();
+                if (inst1 != null) {
+                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                        inst1.setInstruction_status("1");
+                        inst1.setExecute_device_code(this.device_code);
+                        instructionService.update(inst1);
+                    }
+                }
+            }
+
+            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+            ApplyManipulatorActionResponse applyManipulatorActionResponse;
+            //反馈气胀轴尺寸
+            if (mode == 3) {
+                Instruction inst2 = checkInst();
+                String task_code = inst2.getTask_code();
+                TaskDto taskDto = taskserver.findByCode(task_code);
+                String truss_type = taskDto.getTruss_type();
+                applyManipulatorActionRequest.setType(truss_type);
+                applyManipulatorActionRequest.setTask_code(task_code);
+                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                if (applyManipulatorActionResponse.getstatus() == 200) {
+                    requireSucess = true;
+                    message = "反馈LMS成功...";
+                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "2");
+                    map.put("to_task_type", "2");
+                    this.writing(map);
+                    this.setFeedbackSucess(true);
+                } else {
+                    requireSucess = true;
+                    message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
+                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                }
+            }
+
+            //申请放货点
+            if (action == 3) {
+                Instruction inst2 = checkInst();
+                String task_code = inst2.getTask_code();
+                TaskDto taskDto = taskserver.findByCode(task_code);
+                String truss_type = taskDto.getTruss_type();
+                applyManipulatorActionRequest.setType(truss_type);
+                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                String put_device_code = applyManipulatorActionResponse.getPut_device_code();
+                String detail_type = applyManipulatorActionResponse.getDetail_type();
+                Map<String, Object> map = new LinkedHashMap<>();
+                map.put("to_command", "3");
+                map.put("to_putpoint", put_device_code);
+                this.writing(map);
+                this.setFeedbackSucess(true);
+            }
+
+            //任务完成
+            if (action == 8) {
+                Instruction inst2 = checkInst();
+                if (inst2 != null) {
+                    try {
+                        finish_instruction(inst2);
+                        this.writing("to_command", "8");
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    feedMessage = "";
+                }
+            } else {
+                feedMessage = "行架机械手:";
+                if (mode != 3) {
+                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                }
+                if (action != 6) {
+                    feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
+                }
+                if (move != 0) {
+                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                }
+                if (task == 0) {
+                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                }
+            }
+
+
+        }
+    }
+
+    private synchronized void update_instruction_status3() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+
+        } else {
+            this.instruction_update_time = date;
+            //更改任务状态
+            if (task > 0) {
+                //inst_message
+                Instruction inst1 = checkInst();
+                if (inst1 != null) {
+                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                        inst1.setInstruction_status("1");
+                        inst1.setExecute_device_code(this.device_code);
+                        instructionService.update(inst1);
+                    }
+                }
+            }
+
+
+
+
+            //任务完成
+            if (action == 8) {
+                Instruction inst2 = checkInst();
+                if (inst2 != null) {
+                    try {
+                        String task_code = inst2.getTask_code();
+                        TaskDto taskDto = taskserver.findByCode(task_code);
+                        String truss_type = taskDto.getTruss_type();
+                            finish_instruction(inst2);
+                            this.writing("to_command", "8");
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    feedMessage = "";
+                }
+            } else {
+                feedMessage = "行架机械手:";
+                if (mode != 3) {
+                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                }
+                if (action != 8) {
+                    feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
+                }
+                if (move != 0) {
+                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                }
+                if (task == 0) {
+                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                }
+            }
+
+
+        }
+    }
+
+    private synchronized void update_instruction_status4() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+
+        } else {
+            this.instruction_update_time = date;
+            //更改任务状态
+            if (task > 0) {
+                //inst_message
+                Instruction inst1 = checkInst();
+                if (inst1 != null) {
+                    if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
+                        inst1.setInstruction_status("1");
+                        inst1.setExecute_device_code(this.device_code);
+                        instructionService.update(inst1);
+                    }
+                }
+            }
+
+            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+            ApplyManipulatorActionResponse applyManipulatorActionResponse;
+            //反馈尺寸
+            if (action == 2) {
+                Instruction inst2 = checkInst();
+                String task_code = inst2.getTask_code();
+                TaskDto taskDto = taskserver.findByCode(task_code);
+                String truss_type = taskDto.getTruss_type();
+                applyManipulatorActionRequest.setType(truss_type);
+                applyManipulatorActionRequest.setTask_code(task_code);
+                applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                if (applyManipulatorActionResponse.getstatus() == 200) {
+                    requireSucess = true;
+                    message = "反馈LMS成功...";
+                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                    String version = applyManipulatorActionResponse.getVersion();
+                    String bushing_num = applyManipulatorActionResponse.getBushing_num();
+                    String is_bushing = applyManipulatorActionResponse.getIs_bushing();
+                    String detail_type = applyManipulatorActionResponse.getDetail_type();
+                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", "2");
+                    map.put("inflatableShaftVersion", version);
+                    map.put("tube_num", bushing_num);
+                    map.put("is_wrapped", is_bushing);
+                    map.put("to_putpoint", put_device_code);
+                    this.writing(map);
+                    this.setFeedbackSucess(true);
+                } else {
+                    requireSucess = true;
+                    message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
+                    logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                }
+            }
+
+            if (action == 3) {
+                Instruction inst2 = checkInst();
+                String task_code = inst2.getTask_code();
+                TaskDto taskDto = taskserver.findByCode(task_code);
+                String truss_type = taskDto.getTruss_type();
+                applyManipulatorActionRequest.setType(truss_type);
+                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                String put_device_code = applyManipulatorActionResponse.getPut_device_code();
+                String detail_type = applyManipulatorActionResponse.getDetail_type();
+                Map<String, Object> map = new LinkedHashMap<>();
+                map.put("to_command", "3");
+                map.put("to_task_type", detail_type);
+                map.put("to_putpoint", put_device_code);
+                this.writing(map);
+                this.setFeedbackSucess(true);
+            }
+            if (mode == 3 && action == 4 && task > 0) {
+                applyManipulatorActionRequest.setType("4");
+                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                String get_device_code = applyManipulatorActionResponse.getGet_device_code();
+                String put_device_code = applyManipulatorActionResponse.getPut_device_code();
+                Map<String, Object> map = new LinkedHashMap<>();
+                map.put("to_command", "4");
+                map.put("to_new_getpoint", get_device_code);
+                map.put("to_putpoint", put_device_code);
+                this.writing(map);
+                this.setFeedbackSucess(true);
+            }
+            if (action == 5) {
+                applyManipulatorActionRequest.setType("5");
+                applyManipulatorActionRequest.setTask_code(String.valueOf(task));
+                applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+                String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
+                String detail_type = applyManipulatorActionResponse.getDetail_type();
+                String get_device_code = applyManipulatorActionResponse.getGet_device_code();
+                Map<String, Object> map = new LinkedHashMap<>();
+                map.put("to_command", "5");
+                map.put("to_task_type", detail_type);
+                map.put("to_two_putpoint", put_device_code2);
+                map.put("to_new_getpoint", get_device_code);
+                this.writing(map);
+                this.setFeedbackSucess(true);
+            }
+
+
+            //放货完成
+            if (action == 8) {
+                Instruction inst2 = checkInst();
+                if (inst2 != null) {
+                    try {
+                        String task_code = inst2.getTask_code();
+                        TaskDto taskDto = taskserver.findByCode(task_code);
+                        String truss_type = taskDto.getTruss_type();
+                            finish_instruction(inst2);
+                            this.writing("to_command", "8");
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    feedMessage = "";
+                }
+            } else {
+                feedMessage = "行架机械手:";
+                if (mode != 3) {
+                    feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                }
+                if (action != 8) {
+                    feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
+                }
+                if (move != 0) {
+                    feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                }
+                if (task == 0) {
+                    feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                }
+            }
+
+
+        }
+    }
+
     public Instruction checkInst() {
         if (ObjectUtil.isNotEmpty(this.inst)) {
             if (this.task > 0) {
@@ -693,7 +867,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
             TaskDto task = null;
             for (int i = 0; i < getDeviceCodeList.size(); i++) {
                 String startDeviceCode = getDeviceCodeList.get(i);
-                List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
+                List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode);
                 if (ObjectUtil.isNotEmpty(taskDtos)) {
                     //按照优先级排序 优先级相等按照创建时间排序
                     taskDtos = this.sortTask(taskDtos);
@@ -734,13 +908,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
 
                     Map<String, Object> map = new LinkedHashMap<>();
                     map.put("to_command", "1");
-                    if (action==2) {
+                    if (action == 2) {
                         map.put("inflatableShaftVersion", version);
                         map.put("tube_num", bushing_num);
                         map.put("is_wrapped", is_bushing);
                     }
-                    if (action==1||action==5){
+                    if (taskDto.getTruss_type() == "1" || taskDto.getTruss_type() == "5") {
-                        map.put("to_task_type", String.valueOf(action));
+                        map.put("to_task_type", taskDto.getTruss_type());
                     }
                     map.put("to_onset", start_addr);
                     map.put("to_task", instruction.getInstruction_code());
@@ -756,7 +930,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                             taskDtoList = this.sortTask(taskDtoList);
                             task = taskDtoList.get(j);
                             // 9 行架任务
-                            if (!StrUtil.equals(task.getTask_type(), "9")) {
+                            if (!StrUtil.equals(task.getTruss_type(), "9")) {
                                 task = null;
                                 continue;
                             }
@@ -841,13 +1015,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 String bushing_num = task.getBushing_num();
                 Map<String, Object> map = new LinkedHashMap<>();
                 map.put("to_command", "1");
-                if (action==2) {
+                if (action == 2) {
                     map.put("inflatableShaftVersion", version);
                     map.put("tube_num", bushing_num);
                     map.put("is_wrapped", is_bushing);
                 }
-                if (action==1||action==5){
+                if (task.getTruss_type() == "1" || task.getTruss_type() == "5") {
-                    map.put("to_task_type", String.valueOf(action));
+                    map.put("to_task_type", task.getTruss_type());
                 }
                 map.put("to_onset", start_addr);
                 map.put("to_task", instdto.getInstruction_code());

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

@@ -0,0 +1,88 @@
+package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine;
+
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+
+    public static String item_heartbeat = "heartbeat";
+    public static String item_mode = "mode";
+    public static String item_move = "move";
+    public static String item_error = "error";
+    public static String item_task = "task";
+    public static String item_to_command = "to_command";
+
+    private PluggingUnpluggingMachineDeviceDriver driver;
+
+    public ItemProtocol(PluggingUnpluggingMachineDeviceDriver 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 getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getToCommand() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+
+    //是否有货
+    public int hasGoods(int move) {
+        return move;
+    }
+
+    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 static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
+        list.add(new ItemDto(item_mode, "工作状态", "DB600.B2"));
+        list.add(new ItemDto(item_move, "光电开关信号", "DB600.B3"));
+        list.add(new ItemDto(item_error, "报警信号", "DB600.B5"));
+        list.add(new ItemDto(item_task, "任务号", "DB600.D6"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "作业命令", "DB601.W2"));
+        return list;
+    }
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java

@@ -0,0 +1,61 @@
+package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_inspect_site.ItemProtocol;
+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;
+
+/**
+ * 插拔轴机驱动定义
+ * 说明：该站点为插拔轴机
+ */
+@Service
+public class PluggingUnpluggingMachineDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "plugging_unplugging_machine";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "插拔轴机";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "插拔轴机";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new PluggingUnpluggingMachineDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return PluggingUnpluggingMachineDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return org.nl.acs.device_driver.basedriver.standard_inspect_site.ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java

@@ -0,0 +1,280 @@
+package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine;
+
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.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.ApplyManipulatorActionRequest;
+import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.history.service.DeviceErrorLogService;
+import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
+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.opc.DeviceAppServiceImpl;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.service.impl.ParamServiceImpl;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.*;
+
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
+    @Autowired
+    RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
+    @Autowired
+    DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+    @Autowired
+    DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
+    @Autowired
+    ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
+
+
+    int mode = 0;
+    int error = 0;
+    int move = 0;
+    int task = 0;
+    int last_mode = 0;
+    int last_error = 0;
+    int last_move = 0;
+    int last_task = 0;
+    Boolean isonline = true;
+
+    Boolean iserror = false;
+    //行架机械手申请任务成功标识
+    boolean requireSucess = false;
+
+    //1-执行任务；2-取货完成；3-放货完成；
+    int flag;
+
+    String device_code;
+
+    String message = null;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+    @Override
+    public void execute() {
+        String message = null;
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            error = this.itemProtocol.getError();
+            move = this.itemProtocol.getMove();
+            task = this.itemProtocol.getTask();
+
+            if (mode != last_mode) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记");
+            }
+            if (move != last_move) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
+            }
+
+        } catch (Exception var17) {
+
+
+        }
+
+        if (mode == 0) {
+            this.setIsonline(false);
+            message = "未联机";
+            //有报警
+
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            if (error != 0) {
+                this.setIserror(true);
+                message = "有报警";
+            }
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    return;
+                case 2:
+                    break;
+                case 3:
+                    break;
+                case 4:
+                    if (!requireSucess) {
+                        feedback();
+                    }
+                    break;
+                case 5:
+                    if (!requireSucess) {
+                        feedback1();
+                    }
+                    break;
+            }
+
+        }
+        last_mode = mode;
+        last_error = error;
+        last_move = move;
+        last_task = task;
+    }
+
+    private synchronized void feedback1() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        applyManipulatorActionRequest.setType("7");
+        applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+        if (applyManipulatorActionResponse.getstatus() == 200) {
+
+            Map<String, Object> map = new LinkedHashMap<>();
+            map.put("to_command", "5");
+            requireSucess = true;
+        } else {
+            requireSucess = true;
+            message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
+            logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+        }
+    }
+
+    private synchronized void feedback() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        applyManipulatorActionRequest.setType("6");
+        applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
+        if (applyManipulatorActionResponse.getstatus() == 200) {
+
+            Map<String, Object> map = new LinkedHashMap<>();
+            map.put("to_command", "4");
+            requireSucess = true;
+        } else {
+            requireSucess = true;
+            message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
+            logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+        }
+    }
+
+    public boolean exe_error() {
+        if (this.error == 0) {
+            return true;
+        } else {
+            log.debug("设备报警");
+            return false;
+        }
+    }
+
+    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);
+    }
+
+    //将扩展表中的字符串数据转换成集合
+    public List<String> getExtraDeviceCodes(String extraName) {
+        String extraValue = (String) this.getDevice().getExtraValue().get(extraName);
+        if (StrUtil.isEmpty(extraValue)) {
+            return new ArrayList<>();
+        }
+        String devicesString = extraValue.substring(1, extraValue.length() - 1);
+        List<String> devicesList = new ArrayList<>();
+        String[] devices = devicesString.split(",");
+        for (int i = 0; i < devices.length; i++) {
+            String s = devices[i].replace("\"", "").replace("\"", "");
+            devicesList.add(s);
+        }
+        return devicesList;
+    }
+
+
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        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);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("isError", this.getIserror());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
+    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;
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        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);
+    }
+
+
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java

@@ -11,6 +11,8 @@ public class ApplyManipulatorActionRequest extends BaseRequest  {
      * 3-反馈新放货点
      * 4-反馈新取货点
      * 5-反馈二次放货点
+     * 6-套轴申请
+     * 7-套轴完成
      */
     private String type;
 

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

@@ -421,7 +421,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             ApplyManipulatorActionResponse applyManipulatorActionResponse = new ApplyManipulatorActionResponse();
             if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
                 String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
-                AddressDto addressDto = addressService.findByCode("applyLabelingAndBinding");
+                AddressDto addressDto = addressService.findByCode("applyManipulatorAction");
                 String methods_url = addressDto.getMethods_url();
                 String url = wmsUrl + methods_url;
                 log.info("ApplyManipulatorActionRequest----请求参数{}", param);

acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java

@@ -127,6 +127,13 @@ public interface TaskService {
      */
     List<TaskDto> queryTaskByDeviceCodeAndStatus(String device_code);
 
+    /**
+     * 根据设备号和任务状态查询
+     * @param device_code
+     * @return
+     */
+    List<TaskDto> queryTaskByDeviceCodeAndStatus2(String device_code);
+
     /**
      * 根据任务类型查询
      * @param task_type

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

@@ -402,6 +402,39 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return list;
     }
 
+    @Override
+    public List<TaskDto> queryTaskByDeviceCodeAndStatus2(String device_code) {
+        List<TaskDto> list = new ArrayList<>();
+        Iterator<TaskDto> iterator = tasks.iterator();
+        while (iterator.hasNext()) {
+            TaskDto task = iterator.next();
+            if (task.getStart_device_code().equals(device_code)
+                    && StrUtil.equals(task.getTask_status(), "1")) {
+                Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code());
+                if (ObjectUtil.isNotEmpty(instruction)) {
+                    list.add(task);
+                }
+            } else {
+                if (StrUtil.equals(task.getTask_type(), "9") && StrUtil.isNotEmpty(task.getPut_device_code())) {
+//            if(task.getNext_device_code().equals(device_code)
+//                    && StrUtil.equals(task.getTask_status(), "1")){
+//              Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code());
+//              if (ObjectUtil.isNotEmpty(instruction)) {
+//                list.add(task);
+//              }
+//            }
+                    Instruction instruction = instructionService.findByDeviceCodeFromCache(task.getNext_device_code());
+                    if (ObjectUtil.isNotEmpty(instruction)) {
+                        if (StrUtil.equals(instruction.getStart_device_code(), device_code)) {
+                            list.add(task);
+                        }
+                    }
+                }
+            }
+        }
+        return list;
+    }
+
     @Override
     public List<TaskDto> queryTaskByType(String task_type) {
         List<TaskDto> list = new ArrayList<>();

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

@@ -102,6 +102,7 @@ import lamp_three_color from '@/views/acs/device/driver/lamp_three_color'
 import paper_tube_conveyor from '@/views/acs/device/driver/paper_tube_conveyor'
 import device_status from '@/views/acs/device/driver/device_status'
 import indoor_manipulator from '@/views/acs/device/driver/indoor_manipulator'
+import plugging_unplugging_machine from '@/views/acs/device/driver/plugging_unplugging_machine'
 
 export default {
   name: 'DeviceConfig',
@@ -134,7 +135,8 @@ export default {
     lamp_three_color,
     paper_tube_conveyor,
     device_status,
-    indoor_manipulator
+    indoor_manipulator,
+    plugging_unplugging_machine
   },
   dicts: ['device_type'],
   mixins: [crud],

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

@@ -0,0 +1,507 @@
+<template>
+  <!--插拔轴站点-->
+  <div>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-row>
+        <el-col :span="12">
+          OpcServer:
+          <el-select
+            v-model="opc_id"
+            placeholder="无"
+            clearable
+            filterable
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            filterable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">输送系统：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-input v-model="form.address" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">指令相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="检验有货">
+              <el-switch v-model="form.inspect_in_stocck" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视取货校验" label-width="150px">
+              <el-switch v-model="form.ignore_pickup_check" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="忽视放货校验" label-width="150px">
+              <el-switch v-model="form.ignore_release_check" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="呼叫">
+              <el-switch v-model="form.apply_task" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="响应" label-width="150px">
+              <el-switch v-model="form.manual_create_task" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="关联设备" prop="device_code">
+              <el-select
+                v-model="form.link_device_code"
+                filterable
+                multiple
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="关联三色灯" prop="device_code" label-width="100px">
+              <el-select
+                v-model="form.link_three_lamp"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in deviceList"
+                  :key="item.device_code"
+                  :label="item.device_name"
+                  :value="item.device_code"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="是否输入物料" label-width="150px">
+              <el-switch v-model="form.input_material" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">AGV相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="取货">
+              <el-switch v-model="form.is_pickup" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="放货">
+              <el-switch v-model="form.is_release" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC读取字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data1"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data1[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishReadEdit(data1[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC写入字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data2"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data2[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishWriteEdit(data2[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value2">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read2()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbw_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'PluggingUnpluggingMachine',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      require: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        link_three_lamp: '',
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true,
+        link_device_code: [],
+        address: ''
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$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) {
+        debugger
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        for (const val in this.data1) {
+          if (this.data1[val].code.indexOf('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) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('to_command') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        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) {
+      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>