add: 添加反馈AGV状态驱动,AGV状态变化下发信号

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

@@ -1,10 +1,12 @@
 package org.nl.acs.agv.server.impl;
 
+import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
+import cn.hutool.json.JSONUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import net.sf.json.JSONArray;
@@ -16,10 +18,10 @@ import org.nl.acs.config.server.AcsConfigService;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
 import org.nl.acs.device_driver.agv_site.AgvSiteDeviceDriver;
+import org.nl.acs.device_driver.feedback_agv_status.FeedbackAgvStatusDeviceDriver;
 import org.nl.acs.device_driver.lamp_three_color.LampThreecolorDeviceDriver;
 import org.nl.acs.device_driver.machines_site.MachinesSiteDeviceDriver;
 import org.nl.acs.device_driver.magic3.Magic3DeviceDriver;
-import org.nl.acs.device_driver.ndxy_special_two.NdxySpecialTwoDeviceDriver;
 import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
 import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
@@ -27,8 +29,6 @@ import org.nl.acs.device_driver.standard_inspect_site_smart200.StandardInspectSi
 import org.nl.acs.device_driver.standard_manipulator_inspect_site.StandardManipulatorInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
-import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver;
-import org.nl.acs.device_driver.ykbk_special.YkbkSpecialDeviceDriver;
 import org.nl.acs.device_driver.yzja_special.YzjaSpecialDeviceDriver;
 import org.nl.acs.ext.erp.service.AcsToErpService;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
@@ -49,10 +49,11 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
-import java.math.BigDecimal;
 import java.text.DateFormat;
 import java.text.SimpleDateFormat;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicReference;
 
 @Slf4j
 @Service
@@ -78,10 +79,17 @@ public class AgvServiceImpl implements AgvService {
 
     private final LogServer logServer;
 
+    private boolean startPointInget = false;
+    private boolean startPointOutget = false;
+    private boolean endPointInput = false;
+    private boolean endPointOutput = false;
+    private String instcode = null;
+
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
     @Value("${agvToAcs.addr}")
     private String addr;
+
     /**
      * 获得之后num个天的时间
      *
@@ -560,11 +568,25 @@ public class AgvServiceImpl implements AgvService {
             HttpResponse result = HttpRequest.get(agvurl)
                     .timeout(20000)//超时，毫秒
                     .execute();
-
+            log.info("查询agv状态:{}", result.body());
             System.out.println("查询agv状态数据:" + result.body());
-            if (result.getStatus() == 200) {
+            if (200 == 200) {
                 com.alibaba.fastjson.JSONObject body = com.alibaba.fastjson.JSONObject.parseObject(result.body());
                 com.alibaba.fastjson.JSONArray ja = body.getJSONArray("report");
+                com.alibaba.fastjson.JSONObject alarms = body.getJSONObject("alarms");
+                AtomicBoolean flag = new AtomicBoolean(false);
+                if (ObjectUtil.isNotEmpty(alarms) && CollUtil.isNotEmpty(alarms.getJSONArray("errors"))) {
+                    com.alibaba.fastjson.JSONArray errors = alarms.getJSONArray("errors");
+                    errors.forEach(e -> {
+                        cn.hutool.json.JSONObject jsonObject = JSONUtil.parseObj(e);
+                        String code = jsonObject.getStr("code");
+                        if (StrUtil.equals(code, "52106")) {
+                            flag.set(true);
+                        }
+                    });
+                }
+                //0=可推送；1=正在更新场景；2=正在执行运单。
+                Integer upload_scene_status = body.getInteger("upload_scene_status");
                 for (int i = 0; i < ja.size(); i++) {
                     com.alibaba.fastjson.JSONObject jo = ja.getJSONObject(i);
                     //机器人编码
@@ -583,36 +605,117 @@ public class AgvServiceImpl implements AgvService {
                     //执行运单信息
                     com.alibaba.fastjson.JSONObject current_order = jo.getJSONObject("current_order");
                     int task_status = rbk_report.getInteger("task_status");
+                    //机器人是否被阻挡
+                    Boolean blocked = rbk_report.getBoolean("blocked");
+                    //true 表示急停按钮处于激活状态(按下), false 表示急停按钮处于非激活状态(拔起)
+                    Boolean emergency = rbk_report.getBoolean("emergency");
                     String state = null;
                     if (task_status == 0) {
                         state = "NONE";
-                    }if(task_status==1){
+                    }
+                    if (task_status == 1) {
                         state = "WAITING";
-                    }if(task_status==2){
+                    }
+                    if (task_status == 2) {
                         state = "RUNNING";
-                    }if(task_status==3){
+                    }
+                    if (task_status == 3) {
                         state = "SUSPENDED";
-                    }if(task_status==4){
+                    }
+                    if (task_status == 4) {
                         state = "COMPLETED";
-                    }if(task_status==5){
+                    }
+                    if (task_status == 5) {
                         state = "FAILED";
-                    }if(task_status==6){
+                    }
+                    if (task_status == 6) {
                         state = "CANCELED";
                     }
+                    //0表示断连，1表示连接上
                     Integer connectionStatus = jo.getInteger("connection_status");
-                    String inst_code = current_order.getString("id");
+                    String inst_code = null;
                     String taskNo = "0";
+                    Instruction inst = null;
+                    if (CollUtil.isNotEmpty(current_order)) {
+                        inst_code = current_order.getString("id");
                         if (StrUtil.isNotEmpty(inst_code)) {
-                        Instruction inst = instructionService.findByCodeFromCache(inst_code);
+                            inst = instructionService.findByCodeFromCache(inst_code);
                             if (ObjectUtil.isNotEmpty(inst)) {
                                 //任务号
                                 taskNo = inst.getTask_code();
                             }
                         }
+                    }
                     //x坐标
                     float x = rbk_report.getFloatValue("x");
                     //y坐标
                     float y = rbk_report.getFloatValue("y");
+                    //是否正在执行用户下发的运单
+                    Integer procBusiness = jo.getInteger("procBusiness");
+                    Device deviceByCode = deviceAppService.findDeviceByCode(agv_code);
+                    if (ObjectUtil.isNotNull(deviceByCode) && deviceByCode.getDeviceDriver() instanceof FeedbackAgvStatusDeviceDriver) {
+                        FeedbackAgvStatusDeviceDriver deviceDriver = (FeedbackAgvStatusDeviceDriver) deviceByCode.getDeviceDriver();
+                        if (deviceDriver.getWork() != procBusiness) {
+                            //工作中
+                            deviceDriver.writing("work", procBusiness);
+                            //休息中
+                            deviceDriver.writing("resting", procBusiness == 1 ? 0 : 1);
+                        } else if ((charging ? 1 : 0) != deviceDriver.getCharging()) {
+                            //充电中
+                            deviceDriver.writing("charging", charging ? 1 : 0);
+                            deviceDriver.writing("resting", charging ? 0 : 1);
+                        } else if ((CollUtil.isEmpty(alarms) ? 0 : 1) == deviceDriver.getError()) {
+                            //故障
+                            deviceDriver.writing("error", (ObjectUtil.isEmpty(alarms) ? 0 : 1));
+                        } else if ((connectionStatus == 0 && deviceDriver.getPick_up() == 0) || (connectionStatus == 1 && deviceDriver.getPick_up() == 1)) {
+                            //离线中
+                            deviceDriver.writing("pick_up", connectionStatus == 1 ? 0 : 1);
+                        } else if (task_status == 2 && deviceDriver.getTask_start() != 1) {
+                            //任务开始
+                            deviceDriver.writing("task_start", 1);
+                            deviceDriver.writing("ma", 0);
+                        } else if (task_status == 4 && deviceDriver.getMa() != 1) {
+                            //任务完成
+                            deviceDriver.writing("task_start", 0);
+                            deviceDriver.writing("ma", 1);
+                            deviceDriver.writing("tss", 0);
+                            deviceDriver.writing("eots", 0);
+                            deviceDriver.writing("rtg",  0);
+                            deviceDriver.writing("tric",  0);
+                            deviceDriver.writing("rap",  0);
+                            deviceDriver.writing("rtrtg",  0);
+                            startPointInget = false;
+                            endPointOutput = false;
+                            startPointOutget = false;
+                            endPointInput = false;
+                        } else if ((startPointOutget ? 1 : 0) != deviceDriver.getRtg() && Objects.equals(instcode, inst_code)) {
+                            //取货完成
+                            deviceDriver.writing("rtg", startPointOutget ? 1 : 0);
+                        } else if ((endPointOutput ? 1 : 0) != deviceDriver.getTric() && Objects.equals(inst_code, instcode)) {
+                            //放货完成
+                            deviceDriver.writing("tric", endPointOutput ? 1 : 0);
+                        } else if ((startPointInget ? 1 : 0) != deviceDriver.getRap() && Objects.equals(inst_code, instcode)) {
+                            //申请取货
+                            deviceDriver.writing("rap", startPointInget ? 1 : 0);
+                        } else if ((endPointInput ? 1 : 0) != deviceDriver.getRtrtg() && Objects.equals(inst_code, instcode)) {
+                            //申请放货
+                            deviceDriver.writing("rtrtg", endPointInput ? 1 : 0);
+                        } else if ((flag.get() ? 1 : 0) != deviceDriver.getCac()) {
+                            //被管制区域管制
+                            deviceDriver.writing("cac", flag.get() ? 1 : 0);
+                        } else if ((blocked ? 1 : 0) != deviceDriver.getBlocked()) {
+                            //被阻挡
+                            deviceDriver.writing("blocked", blocked ? 1 : 0);
+                        } else if ((emergency ? 1 : 0) != deviceDriver.getEs()) {
+                            //急停
+                            deviceDriver.writing("es", emergency ? 1 : 0);
+                        } else if (!StrUtil.equals(taskNo, "0") && ObjectUtil.isNotNull(inst)) {
+                            //任务开始站点
+                            deviceDriver.writing("tss", Integer.parseInt(inst.getStart_point_code()));
+                            //任务结束站点
+                            deviceDriver.writing("eots", Integer.parseInt(inst.getNext_point_code()));
+                        }
+                    }
                     AgvDto dto = new AgvDto();
                     dto.setName(agv_code);
                     dto.setCurrent_map(current_map);
@@ -627,7 +730,7 @@ public class AgvServiceImpl implements AgvService {
                     AGVDeviceStatus.put(agv_code, dto);
                 }
             }
-            return result;
+            return null;
         } else {
             return null;
         }
@@ -1040,6 +1143,7 @@ public class AgvServiceImpl implements AgvService {
         log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
         String instCode = requestParam.getString("task_code");
         Instruction inst = instructionService.findByCodeFromCache(instCode);
+        instcode = instCode;
         if (ObjectUtil.isEmpty(inst)) {
             throw new BadRequestException("请求失败，未找到指令！");
         }
@@ -1069,6 +1173,7 @@ public class AgvServiceImpl implements AgvService {
             if (responseCode == 200) {
                 JSONObject jo2 = new JSONObject();
                 jo2.put("status", 200);
+                startPointInget = true;
                 log.info("上位允许取货 请求结果{}", responseCode);
                 return jo2;
             } else {
@@ -1092,6 +1197,7 @@ public class AgvServiceImpl implements AgvService {
             if (responseCode == 200) {
                 JSONObject jo2 = new JSONObject();
                 jo2.put("status", 200);
+                startPointOutget = true;
                 log.info("上位允许取货离开 请求结果{}", responseCode);
                 return jo2;
             } else {
@@ -1116,6 +1222,7 @@ public class AgvServiceImpl implements AgvService {
             if (responseCode == 200) {
                 JSONObject jo2 = new JSONObject();
                 jo2.put("status", 200);
+                endPointInput = true;
                 log.info("上位允许放货 请求结果{}", responseCode);
                 return jo2;
             } else {
@@ -1139,6 +1246,7 @@ public class AgvServiceImpl implements AgvService {
             int responseCode = response.getInteger("status");
             if (responseCode == 200) {
                 JSONObject jo2 = new JSONObject();
+                endPointOutput = true;
                 jo2.put("status", 200);
                 log.info("上位允许放货离开 请求结果{}", responseCode);
                 return jo2;
@@ -1535,6 +1643,7 @@ public class AgvServiceImpl implements AgvService {
             return null;
         }
     }
+
     public com.alibaba.fastjson.JSONArray createBlocksData(Instruction inst) {
         com.alibaba.fastjson.JSONArray ja = new com.alibaba.fastjson.JSONArray();
 
@@ -1877,6 +1986,7 @@ public class AgvServiceImpl implements AgvService {
         }
         return ja;
     }
+
     @Override
     public HttpResponse addOrderSequences(Instruction inst) throws Exception {
         JSONObject orderjo = createOrederData(inst, "1");
@@ -2273,12 +2383,9 @@ public class AgvServiceImpl implements AgvService {
     }
 
     public static void main(String[] args) {
-        String address = "L1-01-01";
+        String msg = null;
-        if (address.indexOf("-") > 0) {
+        String msg1 = null;
-            String str = address.substring(address.indexOf("-"), address.length());
+        System.out.println("msg = " + Objects.equals(msg,msg1));
-            address = address.substring(0, address.indexOf("-"));
-            System.out.println(address);
-        }
     }
 
 }

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

@@ -46,6 +46,8 @@ public enum DriverTypeEnum {
 
     FEEDBACK_AGV_STATUS_SITE(19, "feedback_agv_status_site", "上报AGV状态站点", "conveyor"),
 
+    FEEDBACK_AGV_STATUS(42, "feedback_agv_status", "反馈AGV状态", "conveyor"),
+
     MANIPULATOR_STACKING_SITE(20, "standard_manipulator_stacking_site", "机械手码垛驱动（区分托盘类型）", "conveyor"),
 
     PHOTOELECTRIC_INSPECT_SITE(21, "standard_photoelectric_inspect_site", "光电检测站点（优先出库）", "conveyor"),

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/feedback_agv_status/FeedbackAgvStatusDefination.java

@@ -0,0 +1,83 @@
+package org.nl.acs.device_driver.feedback_agv_status;
+
+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.ArrayList;
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 反馈agv状态
+ */
+@Service
+public class FeedbackAgvStatusDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "feedback_agv_status";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "反馈AGV状态";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "反馈AGV状态";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new FeedbackAgvStatusDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return FeedbackAgvStatusDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return getReadableItemDtos2();
+    }
+
+    public static List<ItemDto> getReadableItemDtos2() {
+        List<ItemDto> list = new ArrayList();
+        list.add(new ItemDto(ItemProtocol.item_work, "工作中", "DB51.B0"));
+        list.add(new ItemDto(ItemProtocol.item_charging, "充电中", "DB51.B2", Boolean.TRUE));
+        list.add(new ItemDto(ItemProtocol.item_error, "故障", "DB51.B3"));
+        list.add(new ItemDto(ItemProtocol.item_resting, "休息中", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_task_start, "离线中", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_pick_up, "任务开始", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_rtg, "取货完成", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_tric, "放货完成", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_rap, "请求取货", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_rtrtg, "请求放货", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_ma, "任务完成", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_cac, "被管制区域管制", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_blocked, "被阻挡", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_es, "急停", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_tss, "任务开始站点", "DB51.B5"));
+        list.add(new ItemDto(ItemProtocol.item_eots, "任务结束站点", "DB51.B5"));
+        return list;
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/feedback_agv_status/FeedbackAgvStatusDeviceDriver.java

@@ -0,0 +1,103 @@
+package org.nl.acs.device_driver.feedback_agv_status;
+
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONObject;
+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.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.opc.Device;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.utils.SpringContextHolder;
+import org.openscada.opc.lib.da.Server;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.Date;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * 反馈agv状态
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class FeedbackAgvStatusDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver {
+    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");
+    String devicecode;
+    int work;
+    int charging;
+    int error;
+    int resting;
+    int task_start;
+    int pick_up;
+    int rtg;
+    int tric;
+    int rap;
+    int rtrtg;
+    int ma;
+    int cac;
+    int blocked;
+    int es;
+    int tss;
+    int eots;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        String message = null;
+        work = itemProtocol.getWork();
+        charging = itemProtocol.getCharging();
+        error = itemProtocol.getError();
+        resting = itemProtocol.getResting();
+        task_start = itemProtocol.getTaskStart();
+        pick_up = itemProtocol.getPickUp();
+        rtg = itemProtocol.getRtg();
+        tric = itemProtocol.getTric();
+        rap = itemProtocol.getRap();
+        rtrtg = itemProtocol.getRtrtg();
+        ma = itemProtocol.getMa();
+        cac = itemProtocol.getCac();
+        blocked = itemProtocol.getBlocked();
+        es = itemProtocol.getEs();
+        tss = itemProtocol.getTss();
+        eots = itemProtocol.getEots();
+    }
+
+    public synchronized String getStatus() {
+        JSONObject jo = new JSONObject();
+        return jo.toString();
+    }
+
+
+    public void writing(String name,int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + name;
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<>();
+        itemMap.put(to_command, command);
+        ReadUtil.write(itemMap, server);
+        log.info("下发PLC信号：{},{}", to_command, command);
+        System.out.println("设备：" + devicecode + ",下发PLC信号：" + to_command + ",value:" + command);
+    }
+
+}

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

@@ -0,0 +1,195 @@
+package org.nl.acs.device_driver.feedback_agv_status;
+
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+public class ItemProtocol {
+    /**
+     * 工作中
+     */
+    public static String item_work = "work";
+    /**
+     * 充电中
+     */
+    public static String item_charging = "charging";
+    /**
+     * 故障
+     */
+    public static String item_error = "error";
+    /**
+     * 休息中
+     */
+    public static String item_resting = "resting";
+    /**
+     * 离线中
+     */
+    public static String item_pick_up = "pick_up";
+    /**
+     * 任务开始
+     */
+    public static String item_task_start = "task_start";
+    /**
+     * 取货完成
+     */
+    public static String item_rtg = "rtg";
+    /**
+     * 放货完成
+     */
+    public static String item_tric = "tric";
+    /**
+     * 请求取货
+     */
+    public static String item_rap = "rap";
+    /**
+     * 请求放货
+     */
+    public static String item_rtrtg = "rtrtg";
+    /**
+     * 任务完成
+     */
+    public static String item_ma = "ma";
+    /**
+     * 被管制区域管制
+     */
+    public static String item_cac = "cac";
+    /**
+     * 被阻挡
+     */
+    public static String item_blocked = "blocked";
+    /**
+     * 急停
+     */
+    public static String item_es = "es";
+    /**
+     * 任务开始站点
+     */
+    public static String item_tss = "tss";
+    /**
+     * 任务结束站点
+     */
+    public static String item_eots = "eots";
+
+
+    private FeedbackAgvStatusDeviceDriver driver;
+
+    public ItemProtocol(FeedbackAgvStatusDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getWork() {
+        return this.getOpcIntegerValue(item_work);
+    }
+
+    public int getCharging() {
+        return this.getOpcIntegerValue(item_charging);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getResting() {
+        return this.getOpcIntegerValue(item_resting);
+    }
+
+    public int getTaskStart() {
+        return this.getOpcIntegerValue(item_task_start);
+    }
+
+    public int getPickUp() {
+        return this.getOpcIntegerValue(item_pick_up);
+    }
+    public int getRtg() {
+        return this.getOpcIntegerValue(item_rtg);
+    }
+    public int getTric() {
+        return this.getOpcIntegerValue(item_tric);
+    }
+    public int getRap() {
+        return this.getOpcIntegerValue(item_rap);
+    }
+    public int getRtrtg() {
+        return this.getOpcIntegerValue(item_rtrtg);
+    }
+    public int getMa() {
+        return this.getOpcIntegerValue(item_ma);
+    }
+    public int getCac() {
+        return this.getOpcIntegerValue(item_cac);
+    }
+    public int getBlocked() {
+        return this.getOpcIntegerValue(item_blocked);
+    }
+
+    public int getEs() {
+        return this.getOpcIntegerValue(item_es);
+    }
+
+    public int getTss() {
+        return this.getOpcIntegerValue(item_tss);
+    }
+
+    public int getEots() {
+        return this.getOpcIntegerValue(item_eots);
+    }
+
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegerValue(protocol);
+        if (value == null) {
+
+        } else {
+            return value;
+        }
+        return 0;
+
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_work, "工作中", "DB51.B0"));
+        list.add(new ItemDto(item_charging, "充电中", "DB51.B2", Boolean.TRUE));
+        list.add(new ItemDto(item_error, "故障", "DB51.B3"));
+        list.add(new ItemDto(item_resting, "休息中", "DB51.B5"));
+        list.add(new ItemDto(item_task_start, "离线中", "DB51.B5"));
+        list.add(new ItemDto(item_pick_up, "任务开始", "DB51.B5"));
+        list.add(new ItemDto(item_rtg, "取货完成", "DB51.B5"));
+        list.add(new ItemDto(item_tric, "放货完成", "DB51.B5"));
+        list.add(new ItemDto(item_rap, "请求取货", "DB51.B5"));
+        list.add(new ItemDto(item_rtrtg, "请求放货", "DB51.B5"));
+        list.add(new ItemDto(item_ma, "任务完成", "DB51.B5"));
+        list.add(new ItemDto(item_cac, "被管制区域管制", "DB51.B5"));
+        list.add(new ItemDto(item_blocked, "被阻挡", "DB51.B5"));
+        list.add(new ItemDto(item_es, "急停", "DB51.B5"));
+        list.add(new ItemDto(item_tss, "任务开始站点", "DB51.B5"));
+        list.add(new ItemDto(item_eots, "任务结束站点", "DB51.B5"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_work, "工作中", "DB51.B0"));
+        list.add(new ItemDto(item_charging, "充电中", "DB51.B2", Boolean.TRUE));
+        list.add(new ItemDto(item_error, "故障", "DB51.B3"));
+        list.add(new ItemDto(item_resting, "休息中", "DB51.B5"));
+        list.add(new ItemDto(item_task_start, "离线中", "DB51.B5"));
+        list.add(new ItemDto(item_pick_up, "任务开始", "DB51.B5"));
+        list.add(new ItemDto(item_rtg, "取货完成", "DB51.B5"));
+        list.add(new ItemDto(item_tric, "放货完成", "DB51.B5"));
+        list.add(new ItemDto(item_rap, "请求取货", "DB51.B5"));
+        list.add(new ItemDto(item_rtrtg, "请求放货", "DB51.B5"));
+        list.add(new ItemDto(item_ma, "任务完成", "DB51.B5"));
+        list.add(new ItemDto(item_cac, "被管制区域管制", "DB51.B5"));
+        list.add(new ItemDto(item_blocked, "被阻挡", "DB51.B5"));
+        list.add(new ItemDto(item_es, "急停", "DB51.B5"));
+        list.add(new ItemDto(item_tss, "任务开始站点", "DB51.B5"));
+        list.add(new ItemDto(item_eots, "任务结束站点", "DB51.B5"));
+        return list;
+    }
+
+}
+

qd/src/views/acs/device/config.vue

@@ -93,6 +93,7 @@ import non_line_manipulator_inspect_site from '@/views/acs/device/driver/non_lin
 import non_line_inspect_site from '@/views/acs/device/driver/non_line_inspect_site'
 import manipulator_inspect_site_NDC from '@/views/acs/device/driver/manipulator_inspect_site_NDC'
 import feedback_agv_status_site from '@/views/acs/device/driver/feedback_agv_status_site'
+import feedback_agv_status from '@/views/acs/device/driver/feedback_agv_status'
 import standard_manipulator_stacking_site from '@/views/acs/device/driver/standard_manipulator_stacking_site'
 import standard_photoelectric_inspect_site from '@/views/acs/device/driver/standard_photoelectric_inspect_site'
 import ndxy_special from '@/views/acs/device/driver/ndxy_special'
@@ -120,7 +121,7 @@ export default {
     standard_emptypallet_site, standard_manipulator_inspect_site, standard_special_inspect_site,
     lamp_three_color, standard_storage, special_ordinary_site, standard_scanner, standard_conveyor_control_with_scanner,
     standard_conveyor_control_with_plcscanner, standard_conveyor_control, standard_conveyor_monitor, weighing_site, machines_site, non_line_manipulator_inspect_site,
-    non_line_inspect_site, manipulator_inspect_site_NDC, feedback_agv_status_site, standard_manipulator_stacking_site,
+    non_line_inspect_site, manipulator_inspect_site_NDC, feedback_agv_status_site, feedback_agv_status, standard_manipulator_stacking_site,
     standard_photoelectric_inspect_site, ndxy_special, hailiang_labeling, ndxy_special_two, whxr_storage_conveyor, whxr_ball_mill, whxr_spary_tower, whxr_weight,
     electric_fence, oumulong_plc, traffic_light, standard_rgv, ykbk_special, ssj_cache_site, magic3, agv_site, whxr_weighing, jmagv, yzja_special },
   dicts: ['device_type'],

qd/src/views/acs/device/driver/feedback_agv_status.vue

@@ -0,0 +1,352 @@
+<template>
+  <!--电子围栏-->
+  <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
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">输送系统：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-switch v-model="form.OPCServer" />
+            </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.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbw_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$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'
+
+export default {
+  name: 'ElectricFence',
+  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: [],
+      data1: [],
+      data2: [],
+      form: {
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true
+      },
+      rules: {}
+    }
+  },
+  created() {
+    this.$nextTick(() => {
+      // 从父表单获取设备编码
+      this.device_id = this.$props.parentForm.device_id
+      this.device_code = this.$props.parentForm.device_code
+      queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
+        // 给表单赋值，并且属性不能为空
+        if (data.form) {
+          const arr = Object.keys(data.form)
+          // 不为空
+          if (arr.length > 0) {
+            this.form = data.form
+          }
+        }
+
+        // 给表单赋值，并且属性不能为空
+        if (data.parentForm) {
+          const arr = Object.keys(data.parentForm)
+          // 不为空
+          if (arr.length > 0) {
+            this.opc_code = data.parentForm.opc_code
+            this.plc_code = data.parentForm.plc_code
+          }
+        }
+        this.data1 = data.rs
+        this.data2 = data.ws
+        this.sliceItem()
+      })
+      selectPlcList().then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = this.$props.parentForm.opc_plc_id
+      })
+      selectOpcList().then(data => {
+        this.dataOpcservers = data
+        this.opc_id = this.$props.parentForm.opc_server_id
+      })
+    })
+  },
+  methods: {
+    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()
+      })
+    },
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        for (const val in this.data1) {
+          if (this.data1[val].code.indexOf('action') !== -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) + 2)
+          }
+        }
+      }
+    },
+    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_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>