更新

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

@@ -13,6 +13,7 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.AgvUtil;
 import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.device_driver.RouteUtil;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.LokiLog;
@@ -22,12 +23,10 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
-import java.util.Arrays;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
 
 @Slf4j
 @Service
@@ -38,6 +37,9 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     private final AcsToWmsService acsToWmsService;
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
+    @Value("${agvToAcs.addr}")
+    private String addr;
+
     @LokiLog(type = LokiLogType.AGV)
     @Override
     public String waitPointRequest(String param) {
@@ -236,17 +238,157 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     @Override
     public JSONArray createBlocksData(Instruction inst) {
         JSONArray ja = new JSONArray();
+        //取货前等待
         JSONObject jo = new JSONObject();
         jo.put("blockId", IdUtil.simpleUUID());
-        jo.put("location",inst.getStart_point_code());
-        jo.put("operation","JackLoad");
+        jo.put("location", inst.getStart_point_code() + "INGET");
+        jo.put("operation", "script");
+        jo.put("id", inst.getStart_point_code() + "INGET");
+        jo.put("script_name", "userpy/interact.py");
+        JSONObject script_args = new JSONObject();
+        script_args.put("addr", addr);
+        JSONObject data = new JSONObject();
+        JSONObject reach = new JSONObject();
+        reach.put("task_code", inst.getInstruction_code());
+        reach.put("address", inst.getStart_point_code() + "INGET");
+        data.put("reach", reach);
+        script_args.put("data", data);
+        script_args.put("protocol", "HTTP");
+        jo.put("script_args", script_args);
         ja.add(jo);
+
         JSONObject jo1 = new JSONObject();
-        jo1.put("blockId",IdUtil.simpleUUID());
-        jo1.put("location",inst.getNext_point_code());
-        jo1.put("operation","JackUnload");
+        jo1.put("blockId", IdUtil.simpleUUID());
+        jo1.put("location", inst.getStart_point_code());
+        jo1.put("operation", "Jackload");
         ja.add(jo1);
-        return  ja;
+
+        //取货完成等待
+        JSONObject jo2 = new JSONObject();
+        jo2.put("blockId", IdUtil.simpleUUID());
+        jo2.put("location", inst.getStart_point_code() + "OUTGET");
+        jo2.put("operation", "script");
+        jo2.put("id", inst.getStart_point_code() + "OUTGET");
+        jo2.put("script_name", "userpy/interact.py");
+        JSONObject script_args2 = new JSONObject();
+        script_args2.put("addr", addr);
+        JSONObject data2 = new JSONObject();
+        JSONObject reach2 = new JSONObject();
+        reach2.put("task_code", inst.getInstruction_code());
+        reach2.put("address", inst.getStart_point_code() + "OUTGET");
+        data2.put("reach", reach2);
+        script_args2.put("data", data2);
+        script_args2.put("protocol", "HTTP");
+        jo2.put("script_args", script_args2);
+        ja.add(jo2);
+
+        //放货前等待
+        JSONObject jo3 = new JSONObject();
+        jo3.put("blockId", IdUtil.simpleUUID());
+        jo3.put("location", inst.getNext_point_code() + "INPUT");
+        jo3.put("operation", "script");
+        jo3.put("id", inst.getNext_point_code() + "INPUT");
+        jo3.put("script_name", "userpy/interact.py");
+        JSONObject script_args3 = new JSONObject();
+        script_args3.put("addr", addr);
+        JSONObject data3 = new JSONObject();
+        JSONObject reach3 = new JSONObject();
+        reach3.put("task_code", inst.getInstruction_code());
+        reach3.put("address", inst.getNext_point_code() + "INPUT");
+        data3.put("reach", reach3);
+        script_args3.put("data", data3);
+        script_args3.put("protocol", "HTTP");
+        jo3.put("script_args", script_args3);
+        ja.add(jo3);
+
+        JSONObject jo4 = new JSONObject();
+        jo4.put("blockId", IdUtil.simpleUUID());
+        jo4.put("location", inst.getNext_point_code());
+        jo4.put("operation", "JackUnload");
+        ja.add(jo4);
+
+        //放货完成等待
+        JSONObject jo5 = new JSONObject();
+        jo5.put("blockId", IdUtil.simpleUUID());
+        jo5.put("location", inst.getNext_point_code() + "OUTPUT");
+        jo5.put("operation", "script");
+        jo5.put("id", inst.getNext_point_code() + "OUTPUT");
+        jo5.put("script_name", "userpy/interact.py");
+        JSONObject script_args5 = new JSONObject();
+        script_args5.put("addr", addr);
+        JSONObject data5 = new JSONObject();
+        JSONObject reach5 = new JSONObject();
+        reach5.put("task_code", inst.getInstruction_code());
+        reach5.put("address", inst.getNext_point_code() + "OUTPUT");
+        data5.put("reach", reach5);
+        script_args5.put("data", data5);
+        script_args5.put("protocol", "HTTP");
+        jo5.put("script_args", script_args5);
+        ja.add(jo5);
+
+        //根据任务起点终点获取后续的路线
+        List<String> routeList = RouteUtil.getRouteList(inst.getStart_device_code(), inst.getNext_device_code());
+        if (ObjectUtil.isNotEmpty(routeList)) {
+            for (int i = 0; i < routeList.size(); i++) {
+                String loadStyle = "";
+                String getOrPut = "";
+                if (i % 2 == 0) {
+                    //取货
+                    loadStyle = "JackLoad";
+                    getOrPut = "GET";
+                } else {
+                    //放货
+                    loadStyle = "JackUnload";
+                    getOrPut = "PUT";
+                }
+
+                //取/放货前等待
+                JSONObject joi1 = new JSONObject();
+                joi1.put("blockId", IdUtil.simpleUUID());
+                joi1.put("location", routeList.get(i) + "IN" + getOrPut);
+                joi1.put("operation", "script");
+                joi1.put("id", routeList.get(i) + "IN" + getOrPut);
+                joi1.put("script_name", "userpy/interact.py");
+                JSONObject script_argsi1 = new JSONObject();
+                script_argsi1.put("addr", addr);
+                JSONObject datai1 = new JSONObject();
+                JSONObject reachi1 = new JSONObject();
+                reachi1.put("task_code", inst.getInstruction_code());
+                reachi1.put("address", routeList.get(i) + "IN" + getOrPut);
+                data.put("reach", reachi1);
+                script_argsi1.put("data", datai1);
+                script_argsi1.put("protocol", "HTTP");
+                joi1.put("script_args", script_argsi1);
+                ja.add(joi1);
+
+                JSONObject joi2 = new JSONObject();
+                joi2.put("blockId", IdUtil.simpleUUID());
+                joi2.put("location", routeList.get(i));
+                joi2.put("operation", loadStyle);
+                ja.add(joi2);
+
+                //取/放货后等待
+                JSONObject joi3 = new JSONObject();
+                joi3.put("blockId", IdUtil.simpleUUID());
+                joi3.put("location", routeList.get(i) + "OUT" + getOrPut);
+                joi3.put("operation", "script");
+                joi3.put("id", routeList.get(i) + "OUT" + getOrPut);
+                joi3.put("script_name", "userpy/interact.py");
+                JSONObject script_argsi3 = new JSONObject();
+                script_argsi3.put("addr", addr);
+                JSONObject datai3 = new JSONObject();
+                JSONObject reachi3 = new JSONObject();
+                reachi3.put("task_code", inst.getInstruction_code());
+                reachi3.put("address", routeList.get(i) + "OUT" + getOrPut);
+                datai3.put("reach", reachi3);
+                script_argsi3.put("data", datai3);
+                script_argsi3.put("protocol", "HTTP");
+                joi3.put("script_args", script_argsi3);
+                ja.add(joi3);
+            }
+        }
+        System.out.println(ja.toString());
+        return ja;
     }
 
     @LokiLog(type = LokiLogType.AGV)

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

@@ -21,18 +21,7 @@ public enum DriverTypeEnum {
 
     INSPECT_CONVEYOR_MONITOR(6, "standard_conveyor_monitor", "标准版-输送机-监控点", "conveyor"),
 
-    HAILIANG_SMART_PLC_TEST(7, "hailiang_smart_plc_test", "永裕共挤线-西门子SMART200PLC", "conveyor"),
-
-    EMPTY_VEHICLE_STACKING_POSITION(8, "empty_vehicle_stacking_position", "永裕叠盘位-西门子SMART200PLC", "conveyor"),
-
-    CARGO_LIFT_CONVEYOR(9, "cargo_lift_conveyor", "货梯对接线", "conveyor"),
-
-    INSPECT_CONVEYOR_CONTROL_WITH_SCANNER(10, "standard_conveyor_control_with_scanner", "货梯对接线-关联扫码", "conveyor"),
-
-    HAOKAI_AUTO_CONVEYOR(11, "haokai_auto_conveyor", "豪恺自动线对接位", "conveyor"),
-
-    PAINT_CONVEYOR(12, "paint_conveyor", "油漆线", "conveyor");
-
+    MAGANG_CONVEYOR_CONTROL(7, "magang_conveyor_control", "马钢-输送机", "conveyor");
 
     //驱动索引
     private int index;

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

@@ -0,0 +1,69 @@
+package org.nl.acs.device_driver;
+
+import cn.hutool.core.util.StrUtil;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * @author: geng by
+ * @createDate: 2022/11/17
+ */
+public class RouteUtil {
+
+    public static List<String> getRouteList(String start_device_code, String next_device_code) {
+        Map<String, List<String>> listMap = getRouteByCode(start_device_code, next_device_code);
+        return listMap.get(start_device_code);
+    }
+
+    public static Map<String, List<String>> getRouteByCode(String start_device_code, String next_device_code) {
+        String first_device_code = start_device_code.substring(0, 1);
+        Map<String, List<String>> map = new HashMap<>();
+        List<String> list = new ArrayList<>();
+        if (!StrUtil.equals(first_device_code, "D")) {
+            list.add(first_device_code + "03");
+            list.add(first_device_code + "04");
+            list.add(first_device_code + "02");
+            list.add(first_device_code + "03");
+            list.add(first_device_code + "04");
+            list.add(first_device_code + "01");
+            map.put(first_device_code + "01", list);
+            list = new ArrayList<>();
+            list.add(first_device_code + "02");
+            list.add(first_device_code + "03");
+            list.add(first_device_code + "04");
+            list.add(first_device_code + "01");
+            map.put(first_device_code + "03", list);
+            list = new ArrayList<>();
+            list.add(first_device_code + "04");
+            list.add(first_device_code + "01");
+            map.put(first_device_code + "02", list);
+        } else {
+            if (StrUtil.equals(next_device_code, "D02")) {
+                list = new ArrayList<>();
+                list.add(first_device_code + "03");
+                list.add(first_device_code + "01");
+                map.put(first_device_code + "01", list);
+            } else if (StrUtil.equals(next_device_code, "D03")) {
+                list = new ArrayList<>();
+                list.add(first_device_code + "02");
+                list.add(first_device_code + "01");
+                map.put(first_device_code + "01", list);
+            }
+        }
+        return map;
+    }
+
+    public static String getDeviceCode(String address) {
+        String device_code = "";
+        if (address.contains("INGET") || address.contains("INPUT")) {
+            device_code = address.substring(0, address.length() - 5);
+        } else if (address.contains("OUTGET") || address.contains("OUTPUT")) {
+            device_code = address.substring(0, address.length() - 6);
+        }
+        return device_code;
+    }
+
+}

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

@@ -0,0 +1,82 @@
+package org.nl.acs.device_driver.maGang;
+
+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_action = "action";
+    public static String item_error = "error";
+
+
+    public static String item_to_command = "to_command";
+
+
+    private MaGangConveyorDeviceDriver driver;
+
+    public ItemProtocol(MaGangConveyorDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getItem_heartbeat() {
+        return this.getOpcIntegerValue(item_heartbeat);
+    }
+
+    public int getItem_mode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getItem_move() {
+        return this.getOpcIntegerValue(item_move);
+    }
+
+    public int getItem_error() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getItem_action() {
+        return this.getOpcIntegerValue(item_action);
+    }
+
+    Boolean isonline;
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB600.B2"));
+        list.add(new ItemDto(item_move, "光电信号", "DB600.B3"));
+        list.add(new ItemDto(item_action, "取放信号", "DB600.B4"));
+        list.add(new ItemDto(item_error, "故障", "DB600.B5"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "下发命令", "DB601.W2"));
+        return list;
+    }
+
+
+}
+

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/maGang/MaGangConveyorDefination.java

@@ -0,0 +1,60 @@
+package org.nl.acs.device_driver.maGang;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 马钢输送站点
+ */
+@Service
+public class MaGangConveyorDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "magang_conveyor_control";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "马钢输送站点";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "马钢输送站点";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new MaGangConveyorDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return MaGangConveyorDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/maGang/MaGangConveyorDeviceDriver.java

@@ -0,0 +1,305 @@
+package org.nl.acs.device_driver.maGang;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+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.agv.server.AgvService;
+import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
+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.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.util.CodeUtil;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.openscada.opc.lib.da.Server;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.*;
+
+/**
+ * 马钢输送站点
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class MaGangConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean(DeviceService.class);
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
+    @Autowired
+    RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
+    @Autowired
+    ParamService paramService = SpringContextHolder.getBean(ParamService.class);
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
+    @Autowired
+    AgvService agvService = SpringContextHolder.getBean(AgvService.class);
+
+    private Date instruction_require_time = new Date();
+    private Date instruction_finished_time = new Date();
+    private Date instruction_apply_time = new Date();
+    private int instruction_require_time_out = 3000;
+
+    int heartbeat = 0;
+    //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;
+
+    //报警信号
+    int error = 0;
+    int last_error = 0;
+
+    Boolean isonline = true;
+    Boolean iserror = false;
+
+    //1-执行任务；2-取货完成；3-放货完成；
+    int flag;
+
+
+
+    String device_code;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+    //请求成功标记
+    Boolean requireSucess = false;
+
+    @Override
+    public void execute() throws Exception {
+        String message = null;
+        device_code = this.getDeviceCode();
+        heartbeat = this.itemProtocol.getItem_heartbeat();
+        mode = this.itemProtocol.getItem_mode();
+        move = this.itemProtocol.getItem_move();
+        action = this.itemProtocol.getItem_action();
+        error = this.itemProtocol.getItem_error();
+        if (mode != last_mode) {
+            if (mode == 3){
+                this.setRequireSucess(false);
+            }
+            logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
+            logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
+        }
+        if (move != last_move) {
+            logServer.deviceItemValue(this.device_code, "move", String.valueOf(move));
+            logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
+        }
+        if (action != last_action) {
+            logServer.deviceItemValue(this.device_code, "action", String.valueOf(action));
+            logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action);
+        }
+        if (error != last_error) {
+            logServer.deviceItemValue(this.device_code, "error", String.valueOf(error));
+            logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error);
+        }
+        if (!this.itemProtocol.getIsonline()) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "信号量同步异常";
+            //未联机
+        } else if (mode == 0) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "未联机";
+            //有报警
+        } else if (error != 0) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "有报警";
+            //无报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+            if (mode == 3 && !requireSucess){
+                instruction_require();
+            }
+        }
+
+        last_mode = mode;
+        last_move = move;
+        last_error = error;
+        last_action = action;
+    }
+
+    public synchronized boolean instruction_require() throws Exception {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return false;
+        } else {
+            this.instruction_require_time = date;
+            List<String> link_device_codes = this.getExtraDeviceCodes("link_device_code");
+            String next_device_code = "";
+            MaGangConveyorDeviceDriver maGangConveyorDeviceDriver;
+            for (int i = 0; i < link_device_codes.size(); i++) {
+                String link_device_code = link_device_codes.get(i);
+                Device device = deviceAppservice.findDeviceByCode(link_device_code);
+                if (device.getDeviceDriver() instanceof MaGangConveyorDeviceDriver){
+                    maGangConveyorDeviceDriver = (MaGangConveyorDeviceDriver) device.getDeviceDriver();
+                    if (maGangConveyorDeviceDriver.getMove() == 0){
+                        next_device_code = link_device_code;
+                        break;
+                    }
+                }
+            }
+            if (StrUtil.isEmpty(next_device_code)){
+                return false;
+            }
+            TaskDto taskDto = new TaskDto();
+            String now = DateUtil.now();
+            taskDto.setTask_id(IdUtil.simpleUUID());
+            taskDto.setTask_code(CodeUtil.getNewCode("TASK_NO"));
+            taskDto.setTask_type("1");
+            taskDto.setRoute_plan_code("normal");
+            taskDto.setTask_status("0");
+            taskDto.setPriority("101");
+            taskDto.setAgv_system_type("1");
+            taskDto.setStart_device_code(this.getDevice().getDevice_code());
+            taskDto.setStart_point_code(this.getDevice().getDevice_code());
+            taskDto.setNext_point_code(next_device_code);
+            taskDto.setNext_point_code(next_device_code);
+            taskDto.setCreate_by(this.getDevice().getDevice_code());
+            taskDto.setUpdate_by(this.getDevice().getDevice_code());
+            taskDto.setUpdate_time(now);
+            taskDto.setCreate_time(now);
+            try {
+                taskserver.create(taskDto);
+            } catch (Exception e) {
+                logServer.deviceExecuteLog(this.device_code, "", "", device_code + ":创建任务失败," + String.valueOf(e.getMessage()));
+            }
+            logServer.deviceExecuteLog(this.device_code, "", "", device_code + ":创建任务成功");
+            this.writing(1);
+            this.setRequireSucess(true);
+            return true;
+        }
+    }
+
+    protected void thingToNothing() {
+
+    }
+
+    //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);
+        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;
+    }
+
+    public void writing(int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_command;
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, command);
+        ReadUtil.write(itemMap, server);
+    }
+
+    public void writing(int type, int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_command;
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        if (type == 1) {
+            itemMap.put(to_command, command);
+            log.info("设备:" + device_code + ",下发PLC信号" + to_command + ",value:" + command);
+        }
+        ReadUtil.write(itemMap, server);
+    }
+
+    @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.getAction() == 0) {
+            action = "禁止取放";
+        } else if (this.getAction() == 1) {
+            action = "允许取货";
+        } else if (this.getAction() == 2) {
+            action = "允许放货";
+        } else if (this.getAction() == 3) {
+            action = "允许取放";
+        }
+
+
+        if (this.getMove() == 0) {
+            move = "无货";
+        } else if (this.getMove() == 1) {
+            move = "有货";
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AgvToAcsController.java

@@ -0,0 +1,37 @@
+
+package org.nl.acs.ext.wms.rest;
+
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import com.alibaba.fastjson.JSONObject;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.ext.wms.service.AgvToAcsService;
+import org.nl.modules.logging.annotation.Log;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ *
+ */
+@RestController
+@RequiredArgsConstructor
+@Api(tags = "wms接口")
+@RequestMapping("api/agv")
+@Slf4j
+@CrossOrigin
+public class AgvToAcsController {
+    private final AgvToAcsService agvToAcsService;
+
+    @PostMapping("/waitpointRequest")
+    @Log("AGV到等待点请求继续执行")
+    @ApiOperation("AGV到等待点请求继续执行")
+    @SaIgnore
+    public ResponseEntity<Object> createFromWms(@RequestBody JSONObject param) {
+        return new ResponseEntity<>(agvToAcsService.waitpointRequest(param), HttpStatus.OK);
+    }
+
+}

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

@@ -0,0 +1,17 @@
+package org.nl.acs.ext.wms.service;
+
+
+import com.alibaba.fastjson.JSONObject;
+
+import java.util.Map;
+
+public interface AgvToAcsService {
+    /**
+     * 创建任务
+     *
+     * @param jsonObject 条件
+     * @return
+     */
+    Map<String, Object> waitpointRequest(JSONObject jsonObject);
+
+}

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

@@ -0,0 +1,87 @@
+package org.nl.acs.ext.wms.service.impl;
+
+import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device_driver.RouteUtil;
+import org.nl.acs.device_driver.maGang.MaGangConveyorDeviceDriver;
+import org.nl.acs.ext.wms.service.AgvToAcsService;
+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.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.modules.common.exception.BadRequestException;
+import org.springframework.stereotype.Service;
+
+import java.util.HashMap;
+import java.util.Map;
+
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class AgvToAcsServiceImpl implements AgvToAcsService {
+
+    private final DeviceAppService deviceAppService;
+    private final InstructionService instructionService;
+    private final DeviceExecuteLogService logService;
+
+    @Override
+    public Map<String, Object> waitpointRequest(JSONObject param) {
+        //指令号
+        String inst_code = param.getString("task_code");
+        //站点
+        String address = param.getString("address");
+        //车号
+        String vehicle_code = param.getString("device_code");
+        String deviceCode = RouteUtil.getDeviceCode(address);
+        Instruction instructionDto = instructionService.findByCode(inst_code);
+        if (ObjectUtil.isEmpty(instructionDto)) {
+            logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：指令任务号不存在! 指令号：" + inst_code);
+            throw new BadRequestException("请求失败,指令任务号不存在!");
+        }
+        Device device = deviceAppService.findDeviceByCode(deviceCode);
+        MaGangConveyorDeviceDriver maGangConveyorDeviceDriver = (MaGangConveyorDeviceDriver) device.getDeviceDriver();
+        Map<String, Object> map = new HashMap<>();
+        map.put("status", 200);
+        map.put("message", "操作成功");
+        if (address.contains("INGET")) {
+            if (maGangConveyorDeviceDriver.getMove() == 1) {
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
+                return map;
+            } else {
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：取货前-取货点无货!");
+                throw new BadRequestException("请求失败,取货前-取货点无货!");
+            }
+        } else if (address.contains("OUTGET")) {
+            if (maGangConveyorDeviceDriver.getMove() == 0) {
+                maGangConveyorDeviceDriver.writing(2);
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
+                return map;
+            } else {
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：取货完成后-取货点有货!");
+                throw new BadRequestException("请求失败,取货完成后-取货点有货!");
+            }
+        } else if (address.contains("INPUT")) {
+            if (maGangConveyorDeviceDriver.getMove() == 0) {
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
+                return map;
+            } else {
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：放货前-放货点有货!");
+                throw new BadRequestException("请求失败,放货前-放货点有货!");
+            }
+        } else if (address.contains("OUTPUT")) {
+            if (maGangConveyorDeviceDriver.getMove() == 1) {
+                maGangConveyorDeviceDriver.writing(3);
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
+                return map;
+            } else {
+                logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：放货完成后-放货点无货!");
+                throw new BadRequestException("请求失败,放货完成后-放货点无货!");
+            }
+        }
+        logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：请求失败,地址有误! 地址：" + address);
+        throw new BadRequestException("请求失败,地址有误!");
+    }
+}

acs/nladmin-system/src/main/java/org/nl/hand/amb/rest/HFHandController.java

@@ -50,6 +50,16 @@ public class HFHandController {
         return new ResponseEntity<>(HandService.queryPointByArea(region), HttpStatus.OK);
     }
 
+    @PostMapping("/queryDevice")
+    @Log("查询设备起点和终点")
+    @ApiOperation("查询设备起点和终点")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    //@RequestBody JSONObject json
+    public ResponseEntity<Object> queryDevice() {
+        return new ResponseEntity<>(HandService.queryDevice(), HttpStatus.OK);
+    }
+
     @PostMapping("/point/storage")
     @Log("查询设备扩展属性")
     @ApiOperation("查询设备扩展属性")

acs/nladmin-system/src/main/java/org/nl/hand/amb/service/HFHandService.java

@@ -112,4 +112,11 @@ public interface HFHandService {
     Map<String, Object> queryMaterial();
 
     Map<String, Object> createTask2(Map<String, String> whereJson);
+
+    /**
+     * 查询物料
+     *
+     * @return Map<String, Object>
+     */
+    Map<String, Object> queryDevice();
 }

acs/nladmin-system/src/main/java/org/nl/hand/amb/service/impl/HFHandServiceImpl.java

@@ -11,8 +11,7 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.nl.acs.agv.server.MagicAgvService;
-import org.nl.acs.agv.server.impl.MagicAgvServiceImpl;
+import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.dto.DeviceDto;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
@@ -318,24 +317,24 @@ public class HFHandServiceImpl implements HFHandService {
 //            return resultJson;
 //        }
         //判断起点有货，终点为空
-        if (ObjectUtil.isEmpty(startDevice.getMaterial_type()) || Integer.parseInt(startDevice.getMaterial_type()) == 0) {
-            resultJson.put("code", "0");
-            resultJson.put("desc", "起点必须有货");
-            resultJson.put("result", "");
-            return resultJson;
-        }
-        if (!ObjectUtil.isEmpty(nextDevice.getMaterial_type()) && !StrUtil.equals(nextDevice.getMaterial_type(), "0")) {
-            resultJson.put("code", "0");
-            resultJson.put("desc", "终点必须为空");
-            resultJson.put("result", "");
-            return resultJson;
-        }
-        if(Boolean.parseBoolean(startDevice.getIslock()) || Boolean.parseBoolean(nextDevice.getIslock())){
-            resultJson.put("code", "0");
-            resultJson.put("desc", "起点或终点设备已被锁定");
-            resultJson.put("result", "");
-            return resultJson;
-        }
+//        if (ObjectUtil.isEmpty(startDevice.getMaterial_type()) || Integer.parseInt(startDevice.getMaterial_type()) == 0) {
+//            resultJson.put("code", "0");
+//            resultJson.put("desc", "起点必须有货");
+//            resultJson.put("result", "");
+//            return resultJson;
+//        }
+//        if (!ObjectUtil.isEmpty(nextDevice.getMaterial_type()) && !StrUtil.equals(nextDevice.getMaterial_type(), "0")) {
+//            resultJson.put("code", "0");
+//            resultJson.put("desc", "终点必须为空");
+//            resultJson.put("result", "");
+//            return resultJson;
+//        }
+//        if (Boolean.parseBoolean(startDevice.getIslock()) || Boolean.parseBoolean(nextDevice.getIslock())) {
+//            resultJson.put("code", "0");
+//            resultJson.put("desc", "起点或终点设备已被锁定");
+//            resultJson.put("result", "");
+//            return resultJson;
+//        }
         if (StrUtil.isEmpty(priority)) {
             priority = "1";
         }
@@ -353,15 +352,17 @@ public class HFHandServiceImpl implements HFHandService {
         dto.setIs_delete("0");
         dto.setMaterial(material_type);
         dto.setStart_point_code(start_devicecode);
+        dto.setStart_device_code(start_devicecode);
         dto.setNext_point_code(next_devicecode);
+        dto.setNext_device_code(next_devicecode);
         dto.setMaterial(material_type);
         dto.setTask_type(task_type);
         dto.setPriority(priority);
         dto.setVehicle_code(carrier);
         try {
             taskService.create(dto);
-            startDevice.setIslock("true");
-            nextDevice.setIslock("true");
+//            startDevice.setIslock("true");
+//            nextDevice.setIslock("true");
         } catch (Exception e) {
             resultJson.put("code", "2");
             resultJson.put("desc", e.getMessage());
@@ -542,7 +543,7 @@ public class HFHandServiceImpl implements HFHandService {
         }
         String task_id = instwo.getString("task_id");
         Instruction instdto = (Instruction) instwo.toJavaObject(Instruction.class);
-        MagicAgvService agvService = SpringContextHolder.getBean(MagicAgvServiceImpl.class);
+        XianGongAgvService agvService = SpringContextHolder.getBean(XianGongAgvService.class);
         InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
 
         /* 1 指令撤销
@@ -553,11 +554,8 @@ public class HFHandServiceImpl implements HFHandService {
 
             try {
                 //agvService.deleteAgvInst(instwo.getString("instruction_code"));
-                if (StrUtil.isEmpty(instdto.getAgv_jobno())) {
-                    instructionService.cancelNOSendAgv(inst_uuid);
-                } else {
-                    agvService.deleteAgvInst(instdto.getInstruction_code());
-                }
+                instructionService.cancel(inst_uuid);
+                agvService.deleteXZAgvInst(instdto.getInstruction_code());
 
             } catch (Exception e) {
                 jo.put("code", "2");
@@ -568,7 +566,7 @@ public class HFHandServiceImpl implements HFHandService {
         }
         if (type.equals("2")) {
             try {
-                agvService.sendAgvInstToMagic(instdto);
+                agvService.sendOrderSequencesToXZ(instdto);
             } catch (Exception e) {
                 jo.put("code", "2");
                 jo.put("desc", "下发agv失败");
@@ -677,7 +675,7 @@ public class HFHandServiceImpl implements HFHandService {
             TaskDto acsTask = taskjo.toJavaObject(TaskDto.class);
             InstructionService instructionservice = SpringContextHolder.getBean(InstructionServiceImpl.class);
             InstructionDto instdto = instructionservice.findByTaskid(acsTask.getTask_id(), "instruction_status <2 ");
-            if (instdto != null){
+            if (instdto != null) {
                 jo.put("code", "0");
                 jo.put("desc", "有指令未完成!");
                 jo.put("result", new JSONObject());
@@ -764,5 +762,16 @@ public class HFHandServiceImpl implements HFHandService {
         return jo;
     }
 
+    @Override
+    public Map<String, Object> queryDevice() {
+        WQLObject wo = WQLObject.getWQLObject("acs_device");
+        JSONArray resultJSONArray = wo.query("1 = 1", "device_code").getResultJSONArray(0);
+        JSONObject jo = new JSONObject();
+        jo.put("code", "1");
+        jo.put("desc", "查询成功");
+        jo.put("result", resultJSONArray);
+        return jo;
+    }
+
 
 }

acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java

@@ -55,10 +55,10 @@ public class AutoCreateInst {
 
             String next_point_code = acsTask.getNext_point_code();
 
-            if(StrUtil.equals(is_send,"0")){
+            if (StrUtil.equals(is_send, "0")) {
                 continue;
             }
-            if(StrUtil.equals(acsTask.getTask_type(),"1") || StrUtil.equals(acsTask.getTask_type(),"2")){
+            if (StrUtil.equals(acsTask.getTask_type(), "1") || StrUtil.equals(acsTask.getTask_type(), "2")) {
                 //校验路由关系
                 List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
                 if (ObjectUtils.isEmpty(shortPathsList)) {

acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java

@@ -43,16 +43,16 @@ public class QueryXZAgvTaskStatus {
             JSONObject one = (JSONObject) ja.get(i);
             String inst_code = one.getString("id");
             Instruction inst = instructionService.findByInstCodeFromCache(inst_code);
-            if (ObjectUtil.isEmpty(inst))
-                continue;
+
+            if (ObjectUtil.isEmpty(inst)) continue;
+
             //子任务状态 待以后处理
             JSONArray blocks = JSONArray.parseArray(one.getString("blocks"));
-            for(int j=0;j<blocks.size();j++){
+            for (int j = 0; j < blocks.size(); j++) {
                 JSONObject blocksjo = (JSONObject) blocks.get(j);
                 String blockId = blocksjo.getString("blockId");
                 String device_code = blocksjo.getString("location");
                 String state = blocksjo.getString("state");
-
             }
 
             String state = one.getString("state");
@@ -60,7 +60,6 @@ public class QueryXZAgvTaskStatus {
                 String carno = one.getString("vehicle");
                 inst.setCarno(carno);
             }
-
 //            已创建=CREATED，
 //            待分配=TOBEDISPATCHED，
 //            正在执行=RUNNING，
@@ -69,9 +68,8 @@ public class QueryXZAgvTaskStatus {
 //            终止=STOPPED(被人为终止)，
 //            无法执行=Error(参数错误)，
 //            等待=WAITING
-
             //执行中
-            if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) ||  "WAITING".equals(state)) {
+            if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) {
                 if (inst != null) {
                     inst.setInstruction_status("1");
                     instructionService.update(inst);

acs/nladmin-system/src/main/resources/config/application-dev.yml

@@ -6,7 +6,7 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:ndxy3_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:magang_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
 #      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:ndxy3_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
       password: ${DB_PWD:P@ssw0rd}
@@ -128,7 +128,7 @@ file:
   avatarMaxSize: 5
 logging:
   file:
-    path: C:\log\wms
+    path: C:\log\acs
   config: classpath:logback-spring.xml
 
 # Sa-Token配置
@@ -154,3 +154,6 @@ sa-token:
 loki:
   url: http://localhost:3100/loki/api/v1
   systemName: acs
+
+agvToAcs:
+  addr: http://127.0.0.1:8010

acs/nladmin-system/src/main/resources/config/application-prod.yml

@@ -152,3 +152,6 @@ sa-token:
 loki:
   url: http://localhost:3100/loki/api/v1
   systemName: acs
+
+agvToAcs:
+  addr: http://127.0.0.1:8010

acs/nladmin-system/src/main/resources/config/application.yml

@@ -2,7 +2,7 @@ spring:
   freemarker:
     check-template-location: false
   profiles:
-    active: prod
+    active: dev
   jackson:
     time-zone: GMT+8
   data: