add 包装码垛机械手工位

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

@@ -57,7 +57,10 @@ public enum DriverTypeEnum {
 
     LNSH_PALLETIZING_MANIPULATOR_SITE(54, "lnsh_palletizing_manipulator_site", "嘉耐-码垛机械手工位", "station"),
 
-    LNSH_ONE_RGV(55, "lnsh_one_rgv", "嘉耐单工位RGV", "rgv");
+    LNSH_ONE_RGV(55, "lnsh_one_rgv", "嘉耐单工位RGV", "rgv"),
+
+    LNSH_PACKAGE_PALLETIZING_MANIPULATOR_SITE(56, "lnsh_package_palletizing_manipulator_site", "嘉耐-包装码垛机械手工位", "station");
+
 
     //驱动索引
     private int index;

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

@@ -1,11 +1,13 @@
 package org.nl.acs.device_driver.driver;
 
+import lombok.extern.slf4j.Slf4j;
 import org.jinterop.dcom.common.JIException;
 import org.nl.acs.ext.wms.data.JsonUtl;
 import org.nl.acs.opc.*;
 import org.nl.exception.WDKException;
 import org.nl.modules.udw.UnifiedDataAccessor;
 import org.nl.modules.udw.UnifiedDataAccessorFactory;
+import org.nl.modules.udw.UnifiedDataAppService;
 import org.nl.utils.SpringContextHolder;
 import org.openscada.opc.lib.da.AddFailedException;
 import org.openscada.opc.lib.da.Group;
@@ -15,6 +17,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.*;
 
+@Slf4j
 public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements OpcDeviceDriver {
     UnifiedDataAccessor opcUdw;
 
@@ -38,7 +41,7 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
 
 
 
-    public  void checkcontrol(Map<String, Object> itemValues) throws JIException, AddFailedException {
+    public  void checkcontrol(Map<String, Object> itemValues) throws Exception {
         Group group = opcServerService.getServer(this.getOpcServer());
         Map<String, Object> write = new HashMap();
         Map<String, Item> readitems = new LinkedHashMap();
@@ -134,11 +137,13 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
                 sb.append(":");
                 sb.append(JsonUtl.parseWithoutException(udw_value));
                 sb.append(";");
-//        if (!need_write && !UnifiedDataAppService.isEquals(udw_value, write_value)) {
-//          need_write = true;
-//        }
+                if (!need_write && !UnifiedDataAppService.isEquals(udw_value, write_value)) {
+                    need_write = true;
+                } else {
+                    log.warn("下发信号点位{} 当前写入值:{} 与系统内存值:{} 相同，不再写入 ", code, write_value, udw_value );
+                }
             }
-            need_write = true;
+           // need_write = true;
 
             if (need_write) {
                 Date date = new Date();
@@ -149,9 +154,9 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
 
                 this.last_items = this_items;
                 this.sendTime = date;
-        /*  this.execute_log.setResource(this.getDevice().getCode(), this.getDevice().getName());
-        this.execute_log.log("原始记录{}->变更为{}", new Object[]{sb, this_items});
-        OpcServerService opcServerService = OpcServerFactory.getOpcServerService();*/
+                /*  this.execute_log.setResource(this.getDevice().getCode(), this.getDevice().getName());
+                this.execute_log.log("原始记录{}->变更为{}", new Object[]{sb, this_items});
+                OpcServerService opcServerService = OpcServerFactory.getOpcServerService();*/
 
                 OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
 

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

@@ -27,7 +27,7 @@ public interface OpcDeviceDriver extends DeviceDriver {
 
         //设备扩展表【acs_device_extra】
         WQLObject extraTab = WQLObject.getWQLObject("acs_device_extra");
-        JSONArray arr = extraTab.query("filed_type='02' and device_id = '" + this.getDevice().getDevice_id() + "'").getResultJSONArray(0);
+        JSONArray arr = extraTab.query(" (filed_type='02' or filed_type='03' )and device_id = '" + this.getDevice().getDevice_id() + "'").getResultJSONArray(0);
         for (int i = 0; i < arr.size(); i++) {
             JSONObject json = arr.getJSONObject(i);
             OpcItemDto dto = new OpcItemDto();

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_Laminating_machine/LnshLaminatingMachineDeviceDriver.java

@@ -74,7 +74,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
     int last_container_type = 0;
     int barcode = 0;
     int last_barcode = 0;
-
+    int to_command =0;
     Boolean isonline = true;
     int hasGoods = 0;
     String message = null;
@@ -127,6 +127,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
             barcode = this.itemProtocol.getBarcode();
             hasGoods = this.itemProtocol.getMove();
             container_type = this.itemProtocol.getContainer_type();
+            to_command = this.itemProtocol.getToCommand();
 
             if (mode != last_mode) {
                 this.setRequireSucess(false);

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_package_pallet_manipulator/LnshPackagePalletManipulatorDeviceDriver.java

@@ -344,6 +344,9 @@ public class LnshPackagePalletManipulatorDeviceDriver extends AbstractOpcDeviceD
             if (mode != last_mode) {
                 this.setRequireSucess(false);
                 this.setResultSucess(false);
+                if(mode ==2 ){
+                    this.writing(0);
+                }
                 logServer.deviceItemValue(this.device_code,"mode" ,String.valueOf(mode));
                 logServer.deviceExecuteLog(this.device_code,"","","信号mode：" + last_mode + "->" + mode);
             }
@@ -685,7 +688,6 @@ public class LnshPackagePalletManipulatorDeviceDriver extends AbstractOpcDeviceD
                     log.debug("设备运转模式:等待工作");
                     return;
                 case 2:
-                    this.writing(0);
                     break;
                 case 4:
                     //排产单确认

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

@@ -0,0 +1,984 @@
+package org.nl.acs.device_driver.lnsh.lnsh_package_palletizing_manipulator_site;
+
+import cn.hutool.core.util.StrUtil;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+
+    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_ioaction = "ioaction";
+    public static String item_error = "error";
+    public static String item_task = "task";
+    public static String item_weight = "weight";
+    public static String item_barcode = "barcode";
+    public static String item_material = "material";
+    public static String item_qty = "qty";
+    public static String item_batch = "batch";
+    public static String item_specifications = "specifications";
+    public static String item_open_time = "open_time";
+    public static String item_standby_time = "standby_time";
+    public static String item_production_time = "production_time";
+    public static String item_error_time = "error_time";
+    public static String item_order_No = "order_No";
+    public static String item_order_qty = "order_qty";
+    public static String item_total_split = "total_split";
+    public static String item_xContainer_length = "xContainer_length";
+    public static String item_yContainer_length = "yContainer_length";
+    public static String item_container_getQty = "container_getQty";
+    public static String item_getX_offset = "getX_offset";
+    public static String item_getY_offset = "getY_offset";
+
+    public static String item_product_code = "product_code";
+    public static String item_AlongSide = "AlongSide";
+    public static String item_BshortSide = "BshortSide";
+    public static String item_Htrapezoidal = "Htrapezoidal";
+    public static String item_Wthickness = "Wthickness";
+    public static String item_tray_qty = "tray_qty";
+    public static String item_tray_high = "tray_high";
+    public static String item_crib_category = "crib_category";
+    public static String item_palletX1_line = "palletX1_line";
+    public static String item_palletY1_row = "palletY1_row";
+    public static String item_palletA1_angle = "palletA1_angle";
+    public static String item_palletX2_line = "palletX2_line";
+    public static String item_palletY2_row = "palletY2_row";
+    public static String item_palletA2_angle = "palletA2_angle";
+    public static String item_palletX3_line = "palletX3_line";
+    public static String item_palletY3_row = "palletY3_row";
+    public static String item_palletA3_angle = "palletA3_angle";
+    public static String item_pressCribX1_line = "pressCribX1_line";
+    public static String item_pressCribY1_row = "pressCribY1_row";
+    public static String item_pressCribA1_angle = "pressCribA1_angle";
+    public static String item_pressCribX2_line = "pressCribX2_line";
+    public static String item_pressCribY2_row = "pressCribY2_row";
+    public static String item_pressCribA2_angle = "pressCribA2_angle";
+    public static String item_pressCribX3_line = "pressCribX3_line";
+    public static String item_pressCribY3_row = "pressCribY3_row";
+    public static String item_pressCribA3_angle = "pressCribA3_angle";
+    public static String item_Zoffset = "Zoffset";
+    public static String item_pallet_layerQty = "pallet_layerQty";
+    public static String item_pressCrib_layerQty = "pressCrib_layerQty";
+    public static String item_codeLayerX1_interval = "codeLayerX1_interval";
+    public static String item_codeLayerY1_interval = "codeLayerY1_interval";
+    public static String item_codeLayerX2_interval = "codeLayerX2_interval";
+    public static String item_codeLayerY2_interval = "codeLayerY2_interval";
+    public static String item_codeLayerX3_interval = "codeLayerX3_interval";
+    public static String item_codeLayerY3_interval = "codeLayerY3_interval";
+    public static String item_codeLayerX1_offset = "codeLayerX1_offset";
+    public static String item_codeLayerY1_offset = "codeLayerY1_offset";
+    public static String item_codeLayerX2_offset = "codeLayerX2_offset";
+    public static String item_codeLayerY2_offset = "codeLayerY2_offset";
+    public static String item_codeLayerX3_offset = "codeLayerX3_offset";
+    public static String item_codeLayerY3_offset = "codeLayerY3_offset";
+    public static String item_pressLayerX1_interval = "pressLayerX1_interval";
+    public static String item_pressLayerY1_interval = "pressLayerY1_interval";
+    public static String item_pressLayerX2_interval = "pressLayerX2_interval";
+    public static String item_pressLayerY2_interval = "pressLayerY2_interval";
+    public static String item_pressLayerX3_interval = "pressLayerX3_interval";
+    public static String item_pressLayerY3_interval = "pressLayerY3_interval";
+    public static String item_pressLayerX1_offset = "pressLayerX1_offset";
+    public static String item_pressLayerY1_offset = "pressLayerY1_offset";
+    public static String item_pressLayerX2_offset = "pressLayerX2_offset";
+    public static String item_pressLayerY2_offset = "pressLayerY2_offset";
+    public static String item_pressLayerX3_offset = "pressLayerX3_offset";
+    public static String item_pressLayerY3_offset = "pressLayerY3_offset";
+    public static String item_one_cribTotal = "one_cribTotal";
+    public static String item_two_cribTotal = "two_cribTotal";
+    public static String item_one_qty = "one_qty";
+    public static String item_two_qty = "two_qty";
+    public static String item_tool_coordinate = "tool_coordinate";
+
+    public static String item_to_command = "to_command";
+    public static String item_to_target = "to_target";
+    public static String item_to_task = "to_task";
+    public static String item_to_barcode = "to_barcode";
+    public static String item_to_feedback = "to_feedback";
+    public static String item_to_error = "to_error";
+    public static String item_to_material_qty = "to_material_qty";
+    public static String item_to_allow_pallet_qty = "to_allow_pallet_qty";
+    public static String item_to_material_type = "to_material_type";
+    public static String item_to_material_code = "to_material_code";
+    public static String item_to_order_No = "to_order_No";
+    public static String item_to_order_qty = "to_order_qty";
+
+    public static String item_to_product_code = "to_product_code";
+    public static String item_to_AlongSide = "to_AlongSide";
+    public static String item_to_BshortSide = "to_BshortSide";
+    public static String item_to_Htrapezoidal = "to_Htrapezoidal";
+    public static String item_to_Wthickness = "to_Wthickness";
+    public static String item_to_tray_qty = "to_tray_qty";
+    public static String item_to_tray_high = "to_tray_high";
+    public static String item_to_crib_category = "to_crib_category";
+    public static String item_to_palletX1_line = "to_palletX1_line";
+    public static String item_to_palletY1_row = "to_palletY1_row";
+    public static String item_to_palletA1_angle = "to_palletA1_angle";
+    public static String item_to_palletX2_line = "to_palletX2_line";
+    public static String item_to_palletY2_row = "to_palletY2_row";
+    public static String item_to_palletA2_angle = "to_palletA2_angle";
+    public static String item_to_palletX3_line = "to_palletX3_line";
+    public static String item_to_palletY3_row = "to_palletY3_row";
+    public static String item_to_palletA3_angle = "to_palletA3_angle";
+    public static String item_to_pressCribX1_line = "to_pressCribX1_line";
+    public static String item_to_pressCribY1_row = "to_pressCribY1_row";
+    public static String item_to_pressCribA1_angle = "to_pressCribA1_angle";
+    public static String item_to_pressCribX2_line = "to_pressCribX2_line";
+    public static String item_to_pressCribY2_row = "to_pressCribY2_row";
+    public static String item_to_pressCribA2_angle = "to_pressCribA2_angle";
+    public static String item_to_pressCribX3_line = "to_pressCribX3_line";
+    public static String item_to_pressCribY3_row = "to_pressCribY3_row";
+    public static String item_to_pressCribA3_angle = "to_pressCribA3_angle";
+    public static String item_to_Zoffset = "to_Zoffset";
+    public static String item_to_pallet_layerQty = "to_pallet_layerQty";
+    public static String item_to_pressCrib_layerQty = "to_pressCrib_layerQty";
+    public static String item_to_codeLayerX1_interval = "to_codeLayerX1_interval";
+    public static String item_to_codeLayerY1_interval = "to_codeLayerY1_interval";
+    public static String item_to_codeLayerX2_interval = "to_codeLayerX2_interval";
+    public static String item_to_codeLayerY2_interval = "to_codeLayerY2_interval";
+    public static String item_to_codeLayerX3_interval = "to_codeLayerX3_interval";
+    public static String item_to_codeLayerY3_interval = "to_codeLayerY3_interval";
+    public static String item_to_codeLayerX1_offset = "to_codeLayerX1_offset";
+    public static String item_to_codeLayerY1_offset = "to_codeLayerY1_offset";
+    public static String item_to_codeLayerX2_offset = "to_codeLayerX2_offset";
+    public static String item_to_codeLayerY2_offset = "to_codeLayerY2_offset";
+    public static String item_to_codeLayerX3_offset = "to_codeLayerX3_offset";
+    public static String item_to_codeLayerY3_offset = "to_codeLayerY3_offset";
+    public static String item_to_pressLayerX1_interval = "to_pressLayerX1_interval";
+    public static String item_to_pressLayerY1_interval = "to_pressLayerY1_interval";
+    public static String item_to_pressLayerX2_interval = "to_pressLayerX2_interval";
+    public static String item_to_pressLayerY2_interval = "to_pressLayerY2_interval";
+    public static String item_to_pressLayerX3_interval = "to_pressLayerX3_interval";
+    public static String item_to_pressLayerY3_interval = "to_pressLayerY3_interval";
+    public static String item_to_pressLayerX1_offset = "to_pressLayerX1_offset";
+    public static String item_to_pressLayerY1_offset = "to_pressLayerY1_offset";
+    public static String item_to_pressLayerX2_offset = "to_pressLayerX2_offset";
+    public static String item_to_pressLayerY2_offset = "to_pressLayerY2_offset";
+    public static String item_to_pressLayerX3_offset = "to_pressLayerX3_offset";
+    public static String item_to_pressLayerY3_offset = "to_pressLayerY3_offset";
+    public static String item_to_one_cribTotal = "to_one_cribTotal";
+    public static String item_to_two_cribTotal = "to_two_cribTotal";
+    public static String item_to_one_qty = "to_one_qty";
+    public static String item_to_two_qty = "to_two_qty";
+    public static String item_to_tool_coordinate = "to_tool_coordinate";
+    public static String item_to_xContainer_length = "to_xContainer_length";
+    public static String item_to_yContainer_length = "to_yContainer_length";
+    public static String item_to_container_getQty = "to_container_getQty";
+    public static String item_to_getX_offset = "to_getX_offset";
+    public static String item_to_getY_offset = "to_getY_offset";
+
+
+
+    Boolean isonline;
+
+    private LnshPackagePalletizingManipulatorSiteDeviceDriver driver;
+
+    public ItemProtocol(LnshPackagePalletizingManipulatorSiteDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getHeartbeat() {
+        return this.getOpcIntegerValue(item_heartbeat);
+    }
+
+    public int getMode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getMove() {
+        return this.getOpcIntegerValue(item_move);
+    }
+
+    public int getAction() {
+        return this.getOpcIntegerValue(item_action);
+    }
+
+    public int getIoAction() {
+        return this.getOpcIntegerValue(item_ioaction);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getBarcode() {
+        return this.getOpcIntegerValue(item_barcode);
+    }
+
+    public String getMaterial() {
+        return this.getOpcStringValue(item_material);
+    }
+
+    public int getQty() {
+        return this.getOpcIntegerValue(item_qty);
+    }
+
+    public String getSpecifications() {
+        return this.getOpcStringValue(item_specifications);
+    }
+
+    public int getBatch() {
+        return this.getOpcIntegerValue(item_batch);
+    }
+
+    public int getOpen_time() {
+        return this.getOpcIntegerValue(item_open_time);
+    }
+
+    public int getStandby_time() {
+        return this.getOpcIntegerValue(item_standby_time);
+    }
+
+    public int getProduction_time() {
+        return this.getOpcIntegerValue(item_production_time);
+    }
+
+    public int getError_time() {
+        return this.getOpcIntegerValue(item_error_time);
+    }
+
+    public String getOrder_No() {
+        return this.getOpcStringValue(item_order_No);
+    }
+
+    public int getTotal_split() {
+        return this.getOpcIntegerValue(item_total_split);
+    }
+
+    public int getOrder_qty() {
+        return this.getOpcIntegerValue(item_order_qty);
+    }
+
+    public int getXContainer_length() {
+        return this.getOpcIntegerValue(item_xContainer_length);
+    }
+
+    public int getYContainer_length() {
+        return this.getOpcIntegerValue(item_yContainer_length);
+    }
+
+    public int getContainer_getQty() {
+        return this.getOpcIntegerValue(item_container_getQty);
+    }
+
+    public int getGetX_offset() {
+        return this.getOpcIntegerValue(item_getX_offset);
+    }
+
+    public int getGetY_offset() {
+        return this.getOpcIntegerValue(item_getY_offset);
+    }
+
+    public int getProduct_code() {
+        return this.getOpcIntegerValue(item_product_code);
+    }
+
+    public int getAlongSide() {
+        return this.getOpcIntegerValue(item_AlongSide);
+    }
+
+    public int getBshortSide() {
+        return this.getOpcIntegerValue(item_BshortSide);
+    }
+
+    public int getHtrapezoidal() {
+        return this.getOpcIntegerValue(item_Htrapezoidal);
+    }
+
+    public int getWthickness() {
+        return this.getOpcIntegerValue(item_Wthickness);
+    }
+
+    public int getTray_qty() {
+        return this.getOpcIntegerValue(item_tray_qty);
+    }
+
+    public int getTray_high() {
+        return this.getOpcIntegerValue(item_tray_high);
+    }
+
+    public int getCrib_category() {
+        return this.getOpcIntegerValue(item_crib_category);
+    }
+
+    public int getPalletX1_line() {
+        return this.getOpcIntegerValue(item_palletX1_line);
+    }
+
+    public int getPalletY1_row() {
+        return this.getOpcIntegerValue(item_palletY1_row);
+    }
+
+    public int getPalletA1_angle() {
+        return this.getOpcIntegerValue(item_palletA1_angle);
+    }
+
+    public int getPalletX2_line() {
+        return this.getOpcIntegerValue(item_palletX2_line);
+    }
+
+    public int getPalletY2_row() {
+        return this.getOpcIntegerValue(item_palletY2_row);
+    }
+
+    public int getPalletA2_angle() {
+        return this.getOpcIntegerValue(item_palletA2_angle);
+    }
+
+    public int getPalletX3_line() {
+        return this.getOpcIntegerValue(item_palletX3_line);
+    }
+
+    public int getPalletY3_row() {
+        return this.getOpcIntegerValue(item_palletY3_row);
+    }
+
+    public int getPalletA3_angle() {
+        return this.getOpcIntegerValue(item_palletA3_angle);
+    }
+
+    public int getPressCribX1_line() {
+        return this.getOpcIntegerValue(item_pressCribX1_line);
+    }
+
+    public int getPressCribY1_row() {
+        return this.getOpcIntegerValue(item_pressCribY1_row);
+    }
+
+    public int getPressCribA1_angle() {
+        return this.getOpcIntegerValue(item_pressCribA1_angle);
+    }
+
+    public int getPressCribX2_line() {
+        return this.getOpcIntegerValue(item_pressCribX2_line);
+    }
+
+    public int getPressCribY2_row() {
+        return this.getOpcIntegerValue(item_pressCribY2_row);
+    }
+
+    public int getPressCribA2_angle() {
+        return this.getOpcIntegerValue(item_pressCribA2_angle);
+    }
+
+    public int getPressCribX3_line() {
+        return this.getOpcIntegerValue(item_pressCribX3_line);
+    }
+
+    public int getPressCribY3_row() {
+        return this.getOpcIntegerValue(item_pressCribY3_row);
+    }
+
+    public int getPressCribA3_angle() {
+        return this.getOpcIntegerValue(item_pressCribA3_angle);
+    }
+
+    public int getZoffset() {
+        return this.getOpcIntegerValue(item_Zoffset);
+    }
+
+    public int getPallet_layerQty() {
+        return this.getOpcIntegerValue(item_pallet_layerQty);
+    }
+
+    public int getPressCrib_layerQty() {
+        return this.getOpcIntegerValue(item_pressCrib_layerQty);
+    }
+
+    public int getCodeLayerX1_interval() {
+        return this.getOpcIntegerValue(item_codeLayerX1_interval);
+    }
+
+    public int getCodeLayerY1_interval() {
+        return this.getOpcIntegerValue(item_codeLayerY1_interval);
+    }
+
+    public int getCodeLayerX2_interval() {
+        return this.getOpcIntegerValue(item_codeLayerX2_interval);
+    }
+
+    public int getCodeLayerY2_interval() {
+        return this.getOpcIntegerValue(item_codeLayerY2_interval);
+    }
+
+    public int getCodeLayerX3_interval() {
+        return this.getOpcIntegerValue(item_codeLayerX3_interval);
+    }
+
+    public int getcodeLayerY3_interval() {
+        return this.getOpcIntegerValue(item_codeLayerY3_interval);
+    }
+
+    public int getCodeLayerX1_offset() {
+        return this.getOpcIntegerValue(item_codeLayerX1_offset);
+    }
+
+    public int getCodeLayerY1_offset() {
+        return this.getOpcIntegerValue(item_codeLayerY1_offset);
+    }
+
+    public int getCodeLayerX2_offset() {
+        return this.getOpcIntegerValue(item_codeLayerX2_offset);
+    }
+
+    public int getCodeLayerY2_offset() {
+        return this.getOpcIntegerValue(item_codeLayerY2_offset);
+    }
+
+    public int getCodeLayerX3_offset() {
+        return this.getOpcIntegerValue(item_codeLayerX3_offset);
+    }
+
+    public int getCodeLayerY3_offset() {
+        return this.getOpcIntegerValue(item_codeLayerY3_offset);
+    }
+
+    public int getPressLayerX1_interval() {
+        return this.getOpcIntegerValue(item_pressLayerX1_interval);
+    }
+
+    public int getPressLayerY1_interval() {
+        return this.getOpcIntegerValue(item_pressLayerY1_interval);
+    }
+
+    public int getPressLayerX2_interval() {
+        return this.getOpcIntegerValue(item_pressLayerX2_interval);
+    }
+
+    public int getPressLayerY2_interval() {
+        return this.getOpcIntegerValue(item_pressLayerY2_interval);
+    }
+
+    public int getPressLayerX3_interval() {
+        return this.getOpcIntegerValue(item_pressLayerX3_interval);
+    }
+
+    public int getPressLayerY3_interval() {
+        return this.getOpcIntegerValue(item_pressLayerY3_interval);
+    }
+
+    public int getPressLayerX1_offset() {
+        return this.getOpcIntegerValue(item_pressLayerX1_offset);
+    }
+
+    public int getPressLayerY1_offset() {
+        return this.getOpcIntegerValue(item_pressLayerY1_offset);
+    }
+
+    public int getPressLayerX2_offset() {
+        return this.getOpcIntegerValue(item_pressLayerX2_offset);
+    }
+
+    public int getPressLayerY2_offset() {
+        return this.getOpcIntegerValue(item_pressLayerY2_offset);
+    }
+
+    public int getPressLayerX3_offset() {
+        return this.getOpcIntegerValue(item_pressLayerX3_offset);
+    }
+
+    public int getPressLayerY3_offset() {
+        return this.getOpcIntegerValue(item_pressLayerY3_offset);
+    }
+
+    public int getOne_cribTotal() {
+        return this.getOpcIntegerValue(item_one_cribTotal);
+    }
+
+    public int getTwo_cribTotal() {
+        return this.getOpcIntegerValue(item_two_cribTotal);
+    }
+
+    public int getOne_qty() {
+        return this.getOpcIntegerValue(item_one_qty);
+    }
+
+    public int getTwo_qty() {
+        return this.getOpcIntegerValue(item_two_qty);
+    }
+
+    public int getTool_coordinate() {
+        return this.getOpcIntegerValue(item_tool_coordinate);
+    }
+
+    public int getTo_feedback() {
+        return this.getOpcIntegerValue(item_to_feedback);
+    }
+
+    public int getTo_error() {
+        return this.getOpcIntegerValue(item_to_error);
+    }
+
+    public int getTo_material_qty() {
+        return this.getOpcIntegerValue(item_to_material_qty);
+    }
+
+    public int getTo_allow_pallet_qty() {
+        return this.getOpcIntegerValue(item_to_allow_pallet_qty);
+    }
+
+    public int getTo_material_type() {
+        return this.getOpcIntegerValue(item_to_material_type);
+    }
+
+    public String getTo_material_code() {
+        return this.getOpcStringValue(item_to_material_code);
+    }
+
+    public String getTo_order_No() {
+        return this.getOpcStringValue(item_to_order_No);
+    }
+
+    public int getToProduct_code() {
+        return this.getOpcIntegerValue(item_to_product_code);
+    }
+
+    public int getToAlongSide() {
+        return this.getOpcIntegerValue(item_to_AlongSide);
+    }
+
+    public int getToBshortSide() {
+        return this.getOpcIntegerValue(item_to_BshortSide);
+    }
+
+    public int getToHtrapezoidal() {
+        return this.getOpcIntegerValue(item_to_Htrapezoidal);
+    }
+
+    public int getToWthickness() {
+        return this.getOpcIntegerValue(item_to_Wthickness);
+    }
+
+    public int getToTray_qty() {
+        return this.getOpcIntegerValue(item_to_tray_qty);
+    }
+
+    public int getToTray_high() {
+        return this.getOpcIntegerValue(item_to_tray_high);
+    }
+
+    public int getToCrib_category() {
+        return this.getOpcIntegerValue(item_to_crib_category);
+    }
+
+    public int getToPalletX1_line() {
+        return this.getOpcIntegerValue(item_to_palletX1_line);
+    }
+
+    public int getToPalletY1_row() {
+        return this.getOpcIntegerValue(item_to_palletY1_row);
+    }
+
+    public int getToPalletA1_angle() {
+        return this.getOpcIntegerValue(item_to_palletA1_angle);
+    }
+
+    public int getToPalletX2_line() {
+        return this.getOpcIntegerValue(item_to_palletX2_line);
+    }
+
+    public int getToPalletY2_row() {
+        return this.getOpcIntegerValue(item_to_palletY2_row);
+    }
+
+    public int getToPalletA2_angle() {
+        return this.getOpcIntegerValue(item_to_palletA2_angle);
+    }
+
+    public int getToPalletX3_line() {
+        return this.getOpcIntegerValue(item_to_palletX3_line);
+    }
+
+    public int getToPalletY3_row() {
+        return this.getOpcIntegerValue(item_to_palletY3_row);
+    }
+
+    public int getToPalletA3_angle() {
+        return this.getOpcIntegerValue(item_to_palletA3_angle);
+    }
+
+    public int getToPressCribX1_line() {
+        return this.getOpcIntegerValue(item_to_pressCribX1_line);
+    }
+
+    public int getToPressCribY1_row() {
+        return this.getOpcIntegerValue(item_to_pressCribY1_row);
+    }
+
+    public int getToPressCribA1_angle() {
+        return this.getOpcIntegerValue(item_to_pressCribA1_angle);
+    }
+
+    public int getToPressCribX2_line() {
+        return this.getOpcIntegerValue(item_to_pressCribX2_line);
+    }
+
+    public int getToPressCribY2_row() {
+        return this.getOpcIntegerValue(item_to_pressCribY2_row);
+    }
+
+    public int getToPressCribA2_angle() {
+        return this.getOpcIntegerValue(item_to_pressCribA2_angle);
+    }
+
+    public int getToPressCribX3_line() {
+        return this.getOpcIntegerValue(item_to_pressCribX3_line);
+    }
+
+    public int getToPressCribY3_row() {
+        return this.getOpcIntegerValue(item_to_pressCribY3_row);
+    }
+
+    public int getToPressCribA3_angle() {
+        return this.getOpcIntegerValue(item_to_pressCribA3_angle);
+    }
+
+    public int getToZoffset() {
+        return this.getOpcIntegerValue(item_to_Zoffset);
+    }
+
+    public int getToPallet_layerQty() {
+        return this.getOpcIntegerValue(item_to_pallet_layerQty);
+    }
+
+    public int getToPressCrib_layerQty() {
+        return this.getOpcIntegerValue(item_to_pressCrib_layerQty);
+    }
+
+    public int getToCodeLayerX1_interval() {
+        return this.getOpcIntegerValue(item_to_codeLayerX1_interval);
+    }
+
+    public int getToCodeLayerY1_interval() {
+        return this.getOpcIntegerValue(item_to_codeLayerY1_interval);
+    }
+
+    public int getToCodeLayerX2_interval() {
+        return this.getOpcIntegerValue(item_to_codeLayerX2_interval);
+    }
+
+    public int getToCodeLayerY2_interval() {
+        return this.getOpcIntegerValue(item_to_codeLayerY2_interval);
+    }
+
+    public int getToCodeLayerX3_interval() {
+        return this.getOpcIntegerValue(item_to_codeLayerX3_interval);
+    }
+
+    public int getTocodeLayerY3_interval() {
+        return this.getOpcIntegerValue(item_to_codeLayerY3_interval);
+    }
+
+    public int getToCodeLayerX1_offset() {
+        return this.getOpcIntegerValue(item_to_codeLayerX1_offset);
+    }
+
+    public int getToCodeLayerY1_offset() {
+        return this.getOpcIntegerValue(item_to_codeLayerY1_offset);
+    }
+
+    public int getToCodeLayerX2_offset() {
+        return this.getOpcIntegerValue(item_to_codeLayerX2_offset);
+    }
+
+    public int getToCodeLayerY2_offset() {
+        return this.getOpcIntegerValue(item_to_codeLayerY2_offset);
+    }
+
+    public int getToCodeLayerX3_offset() {
+        return this.getOpcIntegerValue(item_to_codeLayerX3_offset);
+    }
+
+    public int getToCodeLayerY3_offset() {
+        return this.getOpcIntegerValue(item_to_codeLayerY3_offset);
+    }
+
+    public int getToPressLayerX1_interval() {
+        return this.getOpcIntegerValue(item_to_pressLayerX1_interval);
+    }
+
+    public int getToPressLayerY1_interval() {
+        return this.getOpcIntegerValue(item_to_pressLayerY1_interval);
+    }
+
+    public int getToPressLayerX2_interval() {
+        return this.getOpcIntegerValue(item_to_pressLayerX2_interval);
+    }
+
+    public int getToPressLayerY2_interval() {
+        return this.getOpcIntegerValue(item_to_pressLayerY2_interval);
+    }
+
+    public int getToPressLayerX3_interval() {
+        return this.getOpcIntegerValue(item_to_pressLayerX3_interval);
+    }
+
+    public int getToPressLayerY3_interval() {
+        return this.getOpcIntegerValue(item_to_pressLayerY3_interval);
+    }
+
+    public int getToPressLayerX1_offset() {
+        return this.getOpcIntegerValue(item_to_pressLayerX1_offset);
+    }
+
+    public int getToPressLayerY1_offset() {
+        return this.getOpcIntegerValue(item_to_pressLayerY1_offset);
+    }
+
+    public int getToPressLayerX2_offset() {
+        return this.getOpcIntegerValue(item_to_pressLayerX2_offset);
+    }
+
+    public int getToPressLayerY2_offset() {
+        return this.getOpcIntegerValue(item_to_pressLayerY2_offset);
+    }
+
+    public int getToPressLayerX3_offset() {
+        return this.getOpcIntegerValue(item_to_pressLayerX3_offset);
+    }
+
+    public int getToPressLayerY3_offset() {
+        return this.getOpcIntegerValue(item_to_pressLayerY3_offset);
+    }
+
+    public int getToOne_cribTotal() {
+        return this.getOpcIntegerValue(item_to_one_cribTotal);
+    }
+
+    public int getToTwo_cribTotal() {
+        return this.getOpcIntegerValue(item_to_two_cribTotal);
+    }
+
+    public int getToOne_qty() {
+        return this.getOpcIntegerValue(item_to_one_qty);
+    }
+
+    public int getToTwo_qty() {
+        return this.getOpcIntegerValue(item_to_two_qty);
+    }
+
+    public int getToTool_coordinate() {
+        return this.getOpcIntegerValue(item_to_tool_coordinate);
+    }
+
+    public int getTo_order_qty() {
+        return this.getOpcIntegerValue(item_to_order_qty);
+    }
+
+    public int getToXContainer_length() {
+        return this.getOpcIntegerValue(item_to_xContainer_length);
+    }
+
+    public int getToYContainer_length() {
+        return this.getOpcIntegerValue(item_to_yContainer_length);
+    }
+
+    public int getToContainer_getQty() {
+        return this.getOpcIntegerValue(item_to_container_getQty);
+    }
+
+    public int getToGetX_offset() {
+        return this.getOpcIntegerValue(item_to_getX_offset);
+    }
+
+    public int getToGetY_offset() {
+        return this.getOpcIntegerValue(item_to_getY_offset);
+    }
+
+    public int getToCommand() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+    //是否有货
+    public int hasGoods(int move) {
+        return move;
+    }
+
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            //log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+    }
+    public String getOpcStringValue(String protocol) {
+        String value = this.driver.getStringValue(protocol);
+        if (StrUtil.isBlank(value)) {
+
+        } else {
+            return value;
+        }
+        return "";
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB58.B0"));
+        list.add(new ItemDto(item_mode, "工作状态", "DB58.B1", Boolean.valueOf(true)));
+        list.add(new ItemDto(item_move, "光电信号", "DB58.B2"));
+        list.add(new ItemDto(item_action, "动作信号", "DB58.B3"));
+        list.add(new ItemDto(item_ioaction, "进出信号", "DB58.B4"));
+        list.add(new ItemDto(item_error, "故障代码", "DB58.B5"));
+        list.add(new ItemDto(item_task, "任务号", "DB58.D6"));
+        list.add(new ItemDto(item_weight, "重量", "DB112.D10"));
+        list.add(new ItemDto(item_batch, "批次", "DB112.D14"));
+        list.add(new ItemDto(item_specifications, "规格", "DB112.STRING18.256"));
+        list.add(new ItemDto(item_material, "物料", "DB112.STRING274.256"));
+        list.add(new ItemDto(item_barcode, "条码", "DB112.W530"));
+        list.add(new ItemDto(item_product_code, "产品编号", "DB58.W788"));
+        list.add(new ItemDto(item_AlongSide, "A长边", "DB58.W790"));
+        list.add(new ItemDto(item_BshortSide, "B短边", "DB58.W792"));
+        list.add(new ItemDto(item_Htrapezoidal, "H梯形高", "DB58.W794"));
+        list.add(new ItemDto(item_Wthickness, "W厚度", "DB58.W796"));
+        list.add(new ItemDto(item_tray_qty, "当前垛盘数", "DB58.W798"));
+        list.add(new ItemDto(item_tray_high, "垛盘高度", "DB58.W800"));
+        list.add(new ItemDto(item_crib_category, "垛型类别", "DB58.W802"));
+        list.add(new ItemDto(item_palletX1_line, "码垛X1行", "DB58.W804"));
+        list.add(new ItemDto(item_palletY1_row, "码垛Y1列", "DB58.W806"));
+        list.add(new ItemDto(item_palletA1_angle, "码垛A1角度", "DB58.W808"));
+        list.add(new ItemDto(item_palletX2_line, "码垛X2行", "DB58.W810"));
+        list.add(new ItemDto(item_palletY2_row, "码垛Y2列", "DB58.W812"));
+        list.add(new ItemDto(item_palletA2_angle, "码垛A2角度", "DB58.W814"));
+        list.add(new ItemDto(item_palletX3_line, "码垛X3行", "DB58.W816"));
+        list.add(new ItemDto(item_palletY3_row, "码垛Y3列", "DB58.W818"));
+        list.add(new ItemDto(item_palletA3_angle, "码垛A3角度", "DB58.W820"));
+        list.add(new ItemDto(item_pressCribX1_line, "压垛X1行", "DB58.W822"));
+        list.add(new ItemDto(item_pressCribY1_row, "压垛Y1列", "DB58.W824"));
+        list.add(new ItemDto(item_pressCribA1_angle, "压垛A1角度", "DB58.W826"));
+        list.add(new ItemDto(item_pressCribX2_line, "压垛X2行", "DB58.W828"));
+        list.add(new ItemDto(item_pressCribY2_row, "压垛Y2列", "DB58.W830"));
+        list.add(new ItemDto(item_pressCribA2_angle, "压垛A2角度", "DB58.W832"));
+        list.add(new ItemDto(item_pressCribX3_line, "压垛X3行", "DB58.W834"));
+        list.add(new ItemDto(item_pressCribY3_row, "压垛Y3列", "DB58.W836"));
+        list.add(new ItemDto(item_pressCribA3_angle, "压垛A3角度", "DB58.W838"));
+        list.add(new ItemDto(item_Zoffset, "Z轴偏移", "DB58.W840"));
+        list.add(new ItemDto(item_pallet_layerQty, "码垛层数", "DB58.W842"));
+        list.add(new ItemDto(item_pressCrib_layerQty, "压垛层数", "DB58.W844"));
+        list.add(new ItemDto(item_codeLayerX1_interval, "码层X1间隔", "DB58.W846"));
+        list.add(new ItemDto(item_codeLayerY1_interval, "码层Y1间隔", "DB58.W848"));
+        list.add(new ItemDto(item_codeLayerX2_interval, "码层X2间隔", "DB58.W850"));
+        list.add(new ItemDto(item_codeLayerY2_interval, "码层Y2间隔", "DB58.W852"));
+        list.add(new ItemDto(item_codeLayerX3_interval, "码层X3间隔", "DB58.W854"));
+        list.add(new ItemDto(item_codeLayerY3_interval, "码层Y3间隔", "DB58.W856"));
+        list.add(new ItemDto(item_codeLayerX1_offset, "码层X1偏移", "DB58.W858"));
+        list.add(new ItemDto(item_codeLayerY1_offset, "码层Y1偏移", "DB58.W860"));
+        list.add(new ItemDto(item_codeLayerX2_offset, "码层X2偏移", "DB58.W862"));
+        list.add(new ItemDto(item_codeLayerY2_offset, "码层Y2偏移", "DB58.W864"));
+        list.add(new ItemDto(item_codeLayerX3_offset, "码层X3偏移", "DB58.W866"));
+        list.add(new ItemDto(item_codeLayerY3_offset, "码层Y3偏移", "DB58.W868"));
+        list.add(new ItemDto(item_pressLayerX1_interval, "压层X1间隔", "DB58.W870"));
+        list.add(new ItemDto(item_pressLayerY1_interval, "压层Y1间隔", "DB58.W872"));
+        list.add(new ItemDto(item_pressLayerX2_interval, "压层X2间隔", "DB58.W874"));
+        list.add(new ItemDto(item_pressLayerY2_interval, "压层Y2间隔", "DB58.W876"));
+        list.add(new ItemDto(item_pressLayerX3_interval, "压层X3间隔", "DB58.W878"));
+        list.add(new ItemDto(item_pressLayerY3_interval, "压层Y3间隔", "DB58.W880"));
+        list.add(new ItemDto(item_pressLayerX1_offset, "压层X1偏移", "DB58.W882"));
+        list.add(new ItemDto(item_pressLayerY1_offset, "压层Y1偏移", "DB58.W884"));
+        list.add(new ItemDto(item_pressLayerX2_offset, "压层X2偏移", "DB58.W886"));
+        list.add(new ItemDto(item_pressLayerY2_offset, "压层Y2偏移", "DB58.W888"));
+        list.add(new ItemDto(item_pressLayerX3_offset, "压层X3偏移", "DB58.W890"));
+        list.add(new ItemDto(item_pressLayerY3_offset, "压层Y3偏移", "DB58.W892"));
+        list.add(new ItemDto(item_one_cribTotal, "1#垛总数", "DB58.W894"));
+        list.add(new ItemDto(item_two_cribTotal, "2#垛总数", "DB58.W896"));
+        list.add(new ItemDto(item_one_qty, "1#垛当前数", "DB58.W898"));
+        list.add(new ItemDto(item_two_qty, "2#垛当前数", "DB58.W900"));
+        list.add(new ItemDto(item_xContainer_length, "1#X托盘长度", "DB58.W902"));
+        list.add(new ItemDto(item_yContainer_length, "1#Y托盘长度", "DB58.W904"));
+        list.add(new ItemDto(item_container_getQty, "1#托盘抓取数", "DB58.W906"));
+        list.add(new ItemDto(item_getX_offset, "1#抓取X偏移", "DB58.W908"));
+        list.add(new ItemDto(item_getY_offset, "1#抓取Y偏移", "DB58.W910"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "作业命令", "DB59.W0", Boolean.valueOf(true)));
+        list.add(new ItemDto(item_to_target, "目标站", "DB59.W2"));
+        list.add(new ItemDto(item_to_task, "任务号", "DB59.D4"));
+        list.add(new ItemDto(item_to_barcode, "条码", "DB59.W8"));
+        list.add(new ItemDto(item_to_material_type, "托盘类型", "DB59.D264"));
+        list.add(new ItemDto(item_to_product_code, "产品编号", "DB59.W266"));
+        list.add(new ItemDto(item_to_AlongSide, "A长边", "DB59.W268"));
+        list.add(new ItemDto(item_to_BshortSide, "B短边", "DB59.W270"));
+        list.add(new ItemDto(item_to_Htrapezoidal, "H梯形高", "DB59.W272"));
+        list.add(new ItemDto(item_to_Wthickness, "W厚度", "DB59.W274"));
+        list.add(new ItemDto(item_to_tray_qty, "当前垛盘数", "DB59.W276"));
+        list.add(new ItemDto(item_to_tray_high, "垛盘高度", "DB59.W278"));
+        list.add(new ItemDto(item_to_crib_category, "垛型类别", "DB59.W280"));
+        list.add(new ItemDto(item_to_palletX1_line, "码垛X1行", "DB59.W282"));
+        list.add(new ItemDto(item_to_palletY1_row, "码垛Y1列", "DB59.W284"));
+        list.add(new ItemDto(item_to_palletA1_angle, "码垛A1角度", "DB59.W286"));
+        list.add(new ItemDto(item_to_palletX2_line, "码垛X2行", "DB59.W288"));
+        list.add(new ItemDto(item_to_palletY2_row, "码垛Y2列", "DB59.W290"));
+        list.add(new ItemDto(item_to_palletA2_angle, "码垛A2角度", "DB59.W292"));
+        list.add(new ItemDto(item_to_palletX3_line, "码垛X3行", "DB59.W294"));
+        list.add(new ItemDto(item_to_palletY3_row, "码垛Y3列", "DB59.W296"));
+        list.add(new ItemDto(item_to_palletA3_angle, "码垛A3角度", "DB59.W298"));
+        list.add(new ItemDto(item_to_pressCribX1_line, "压垛X1行", "DB59.W300"));
+        list.add(new ItemDto(item_to_pressCribY1_row, "压垛Y1列", "DB59.W302"));
+        list.add(new ItemDto(item_to_pressCribA1_angle, "压垛A1角度", "DB59.W304"));
+        list.add(new ItemDto(item_to_pressCribX2_line, "压垛X2行", "DB59.W306"));
+        list.add(new ItemDto(item_to_pressCribY2_row, "压垛Y2列", "DB59.W308"));
+        list.add(new ItemDto(item_to_pressCribA2_angle, "压垛A2角度", "DB59.W310"));
+        list.add(new ItemDto(item_to_pressCribX3_line, "压垛X3行", "DB59.W312"));
+        list.add(new ItemDto(item_to_pressCribY3_row, "压垛Y3列", "DB59.W314"));
+        list.add(new ItemDto(item_to_pressCribA3_angle, "压垛A3角度", "DB59.W316"));
+        list.add(new ItemDto(item_to_Zoffset, "Z轴偏移", "DB59.W318"));
+        list.add(new ItemDto(item_to_pallet_layerQty, "码垛层数", "DB59.W320"));
+        list.add(new ItemDto(item_to_pressCrib_layerQty, "压垛层数", "DB59.W322"));
+        list.add(new ItemDto(item_to_codeLayerX1_interval, "码层X1间隔", "DB59.W324"));
+        list.add(new ItemDto(item_to_codeLayerY1_interval, "码层Y1间隔", "DB59.W326"));
+        list.add(new ItemDto(item_to_codeLayerX2_interval, "码层X2间隔", "DB59.W328"));
+        list.add(new ItemDto(item_to_codeLayerY2_interval, "码层Y2间隔", "DB59.W330"));
+        list.add(new ItemDto(item_to_codeLayerX3_interval, "码层X3间隔", "DB59.W332"));
+        list.add(new ItemDto(item_to_codeLayerY3_interval, "码层Y3间隔", "DB59.W334"));
+        list.add(new ItemDto(item_to_codeLayerX1_offset, "码层X1偏移", "DB59.W336"));
+        list.add(new ItemDto(item_to_codeLayerY1_offset, "码层Y1偏移", "DB59.W338"));
+        list.add(new ItemDto(item_to_codeLayerX2_offset, "码层X2偏移", "DB59.W340"));
+        list.add(new ItemDto(item_to_codeLayerY2_offset, "码层Y2偏移", "DB59.W342"));
+        list.add(new ItemDto(item_to_codeLayerX3_offset, "码层X3偏移", "DB59.W344"));
+        list.add(new ItemDto(item_to_codeLayerY3_offset, "码层Y3偏移", "DB59.W346"));
+        list.add(new ItemDto(item_to_pressLayerX1_interval, "压层X1间隔", "DB59.W348"));
+        list.add(new ItemDto(item_to_pressLayerY1_interval, "压层Y1间隔", "DB59.W350"));
+        list.add(new ItemDto(item_to_pressLayerX2_interval, "压层X2间隔", "DB59.W352"));
+        list.add(new ItemDto(item_to_pressLayerY2_interval, "压层Y2间隔", "DB59.W354"));
+        list.add(new ItemDto(item_to_pressLayerX3_interval, "压层X3间隔", "DB59.W356"));
+        list.add(new ItemDto(item_to_pressLayerY3_interval, "压层Y3间隔", "DB59.W358"));
+        list.add(new ItemDto(item_to_pressLayerX1_offset, "压层X1偏移", "DB59.W360"));
+        list.add(new ItemDto(item_to_pressLayerY1_offset, "压层Y1偏移", "DB59.W362"));
+        list.add(new ItemDto(item_to_pressLayerX2_offset, "压层X2偏移", "DB59.W364"));
+        list.add(new ItemDto(item_to_pressLayerY2_offset, "压层Y2偏移", "DB59.W366"));
+        list.add(new ItemDto(item_to_pressLayerX3_offset, "压层X3偏移", "DB59.W368"));
+        list.add(new ItemDto(item_to_pressLayerY3_offset, "压层Y3偏移", "DB59.W370"));
+        list.add(new ItemDto(item_to_one_cribTotal, "1#垛总数", "DB59.W372"));
+        list.add(new ItemDto(item_to_two_cribTotal, "2#垛总数", "DB59.W374"));
+        list.add(new ItemDto(item_to_one_qty, "1#垛当前数", "DB59.W376"));
+        list.add(new ItemDto(item_to_two_qty, "2#垛当前数", "DB59.W378"));
+        list.add(new ItemDto(item_to_tool_coordinate, "工具坐标", "DB59.W380"));
+        list.add(new ItemDto(item_to_order_qty, "工单数量", "DB59.W382"));
+        list.add(new ItemDto(item_to_xContainer_length, "1#X托盘长度", "DB59.W384"));
+        list.add(new ItemDto(item_to_yContainer_length, "1#Y托盘长度", "DB59.W386"));
+        list.add(new ItemDto(item_to_container_getQty, "1#托盘抓取数", "DB59.W388"));
+        list.add(new ItemDto(item_to_getX_offset, "1#抓取X偏移", "DB59.W390"));
+        list.add(new ItemDto(item_to_getY_offset, "1#抓取Y偏移", "DB59.W392"));
+        return list;
+    }
+
+}
+

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_package_palletizing_manipulator_site/LnshPackagePalletizingManipulatorSiteDefination.java

@@ -0,0 +1,63 @@
+package org.nl.acs.device_driver.lnsh.lnsh_package_palletizing_manipulator_site;
+
+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;
+
+/**
+ * 嘉耐-包装码垛机械手工位
+ *
+ */
+@Service
+public class LnshPackagePalletizingManipulatorSiteDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "lnsh_package_palletizing_manipulator_site";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "嘉耐-包装码垛机械手工位";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "嘉耐-包装码垛机械手工位";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new LnshPackagePalletizingManipulatorSiteDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return LnshPackagePalletizingManipulatorSiteDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.station);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java

@@ -62,6 +62,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
     int action;
     int io_action;
     int task = 0;
+    int to_command = 0;
     int last_mode = 0;
     int last_error = 0;
     int last_move = 0;
@@ -167,7 +168,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
             encoder_qty = this.itemProtocol.getEncoder_qty();
             status = this.itemProtocol.getStatus();
             unqualified_qty = this.itemProtocol.getUnqualified_qty();
-
+            to_command = this.itemProtocol.getToCommand();
             if (mode != last_mode) {
                 this.setRequireSucess(false);
                 logServer.deviceItemValue(this.device_code,"mode" ,String.valueOf(mode));

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java

@@ -117,7 +117,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
     int last_Wthickness = 0;
     int batch = 0;
     int last_batch = 0;
-
+    int to_command =0;
     int status = 0;
     int last_status = 0;
 
@@ -164,6 +164,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
             encoder_qty = this.itemProtocol.getEncoder_qty();
             status = this.itemProtocol.getStatus();
             unqualified_qty = this.itemProtocol.getUnqualified_qty();
+            to_command = this.itemProtocol.getToCommand();
 
             if (mode != last_mode) {
                 this.setRequireSucess(false);

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_station/LnshStationDeviceDriver.java

@@ -113,6 +113,7 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
     int container_type =0;
     int batch = 0;
     int last_batch = 0;
+    int to_command =0;
 
     @Override
     public Device getDevice() {
@@ -139,6 +140,7 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
             batch = this.itemProtocol.getBatch();
             specifications = this.itemProtocol.getSpecifications();
             container_type = itemProtocol.getContainer_type();
+            to_command = this.itemProtocol.getToCommand();
             if (mode != last_mode) {
                 this.setRequireSucess(false);
                 if (last_mode == 11) {

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/rljn_package_palletSplit_manipulator/RljnPackagePalletSplitManipulatorDeviceDriver.java

@@ -353,6 +353,9 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
             if (mode != last_mode) {
                 this.setRequireSucess(false);
                 this.setResultSucess(false);
+                if(mode ==2 ){
+                    this.writing(0);
+                }
                 logServer.deviceItemValue(this.device_code,"mode" ,String.valueOf(mode));
                 logServer.deviceExecuteLog(this.device_code,"","","信号mode：" + last_mode + "->" + mode);
             }
@@ -707,7 +710,6 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
                     log.debug("设备运转模式:等待工作");
                     return;
                 case 2:
-                    this.writing(0);
                     break;
                 case 4:
                     //排产单确认

acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java

@@ -22,6 +22,7 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
     String message;
     int maxResartNum;
     private Server server;
+    private Group group;
     boolean flag = false;
     private int all_null;
     private Map<String, OpcItemDto> itemSearchCache;
@@ -52,12 +53,12 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
 
 
     private OpcItemDto getItem(String item) {
-        OpcItemDto x = (OpcItemDto)this.itemSearchCache.get(item);
+        OpcItemDto x = (OpcItemDto) this.itemSearchCache.get(item);
         if (x == null) {
             Iterator var3 = this.protocols.iterator();
 
-            while(var3.hasNext()) {
-                OpcItemDto dto = (OpcItemDto)var3.next();
+            while (var3.hasNext()) {
+                OpcItemDto dto = (OpcItemDto) var3.next();
                 if (StrUtil.equals(item, dto.getItem_code())) {
                     x = dto;
                     this.itemSearchCache.put(item, dto);
@@ -80,18 +81,28 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
     }
 
 
-
     private void runOld() {
-        while(true) {
+        while (true) {
+            start:
             try {
+                if (this.group != null) {
+                    group.clear();
+                    group.remove();
+                    log.trace("{} 清理group{}");
+                }
+                if (this.server != null) {
+                    server.disconnect();
+                    log.trace("{} server{}");
+                }
+
                 this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain());
                 this.server.addStateListener(this);
-                Group group = this.server.addGroup();
+                group = this.server.addGroup();
                 List<String> itemsString = new ArrayList();
                 Iterator var3 = this.protocols.iterator();
 
-                while(var3.hasNext()) {
-                    OpcItemDto protocol = (OpcItemDto)var3.next();
+                while (var3.hasNext()) {
+                    OpcItemDto protocol = (OpcItemDto) var3.next();
                     String item = protocol.getItem_code();
                     itemsString.add(item);
                 }
@@ -101,8 +112,8 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                 StringBuilder err_message = new StringBuilder();
                 Iterator var6 = itemsString.iterator();
 
-                while(var6.hasNext()) {
-                    String string = (String)var6.next();
+                while (var6.hasNext()) {
+                    String string = (String) var6.next();
 
                     try {
                         Item item = group.addItem(string);
@@ -137,13 +148,13 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                 UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key);
                 boolean time_out = false;
 
-                while(DeviceOpcSynchronizeAutoRun.isRun) {
+                while (DeviceOpcSynchronizeAutoRun.isRun) {
                     long begin = System.currentTimeMillis();
                     if (log.isTraceEnabled()) {
                         log.trace("{} 开始记时{}", tag, DateUtil.now());
                     }
 
-                    Map<Item, ItemState> itemStatus = group.read(true, (Item[])itemsMap.values().toArray(new Item[0]));
+                    Map<Item, ItemState> itemStatus = group.read(true, (Item[]) itemsMap.values().toArray(new Item[0]));
                     long end = System.currentTimeMillis();
                     long duration = end - begin;
                     if (log.isTraceEnabled()) {
@@ -164,9 +175,9 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                     Set<Item> items = itemStatus.keySet();
                     Iterator var18 = items.iterator();
 
-                    while(var18.hasNext()) {
-                        Item item = (Item)var18.next();
-                        ItemState itemState = (ItemState)itemStatus.get(item);
+                    while (var18.hasNext()) {
+                        Item item = (Item) var18.next();
+                        ItemState itemState = (ItemState) itemStatus.get(item);
                         Object value = OpcUtl.getValue(item, itemState);
                         if (value != null) {
                             valueAllNotNull = true;
@@ -194,7 +205,7 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                         log.trace("{} 计算完成耗时{}", tag, end - begin);
                     }
 
-                    ThreadUtl.sleep((long)OpcConfig.synchronized_millisecond);
+                    ThreadUtl.sleep((long) OpcConfig.synchronized_millisecond);
                     if (this.error_num != 0) {
                         this.error_num = 0;
                         this.message = null;
@@ -204,35 +215,27 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                         int random = (new Random()).nextInt(10) + 1;
                         random *= 1000;
                         if (this.all_null < 3) {
-                            if (log.isWarnEnabled()) {
-                                log.warn("{} 所有内容都为空,暂定{}s", tag, 5000 + random);
-                            }
-
-                            ThreadUtl.sleep((long)(5000 + random));
+                            log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,5000 + random);
+                            ThreadUtl.sleep((long) (5000 + random));
                         } else if (this.all_null < 6) {
-                            if (log.isWarnEnabled()) {
-                                log.warn("{} 所有内容都为空,暂定{}s", tag, 30000 + random);
-                            }
-
-                            ThreadUtl.sleep((long)(30000 + random));
+                            log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,30000 + random);
+                            ThreadUtl.sleep((long) (1000 + random));
+                            log.warn("重新创建server");
+                            break start;
                         } else if (this.all_null < 12) {
-                            if (log.isWarnEnabled()) {
-                                log.warn("{} 所有内容都为空,暂定{}ms", tag, '\uea60' + random);
-                            }
-
-                            ThreadUtl.sleep((long)('\uea60' + random));
+                            log.warn("{} 所有内容都为空, all_null:{} ,暂定{}ms", tag, all_null, '\uea60' + random);
+                            ThreadUtl.sleep((long) ('\uea60' + random));
                         } else {
-                            if (log.isWarnEnabled()) {
-                                log.warn("{} 所有内容都为空,暂定{}ms", tag, 120000 + random);
-                            }
-
-                            ThreadUtl.sleep((long)(120000 + random));
+                            log.warn("{} 所有内容都为空, all_null:{} ,暂定{}ms", tag, all_null, 120000 + random);
+                            ThreadUtl.sleep((long) (120000 + random));
                         }
 
                         ++this.all_null;
                     } else {
                         this.all_null = 0;
                     }
+//                    break start;
+
                 }
 
                 log.warn("opc线程停止。。。");
@@ -256,17 +259,16 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                     log.warn(error_message, var27);
                 }
 
-                ThreadUtl.sleep((long)(OpcConfig.synchronized_exception_wait_second * 1000));
+                ThreadUtl.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000));
                 ++this.error_num;
                 if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) {
-                 this.message = error_message;
+                    this.message = error_message;
                 }
             }
         }
     }
 
 
-
     private void runNew() {
         Async20Access accessor = null;
 
@@ -363,19 +365,10 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
             UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key);
             accessor_value.setValue(itemId, value);
 
-//            if (value != null) {
-//                if (log.isTraceEnabled()) {
-//                    log.trace("Item {} new value: {}, Timestamp: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime()});
-//                }
-//            } else if (log.isInfoEnabled()) {
-//                log.info("Item {} new value: {}, Timestamp: {}, Quality: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime(), itemState.getQuality()});
-//            }
             log.trace("Item {} new value: {}, Timestamp: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime()});
 
             OpcItemDto itemDto = this.getItem(itemId);
-//            if (Boolean.TRUE.equals(itemDto.getNeed_log())) {
-//                this.logItemChanged(itemId, accessor_value, value, itemDto);
-//            }
+
             this.logItemChanged(itemId, accessor_value, value, itemDto);
 
         } catch (Exception var7) {
@@ -396,11 +389,14 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
                 Object obj = accessor_value.getValue(relate);
                 sb.append("key:" + relate + "value:" + obj + ";");
             }
-            log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(),itemId, his, value, sb});
-//            this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{};信号快照：{}", new Object[]{itemId, his, value, sb});
+            if(!itemId.endsWith("heartbeat") || !itemId.endsWith("time") ) {
+                log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value, sb});
+            }
+
         } else {
-            log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(),itemId, his, value});
-//            this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{}", new Object[]{itemId, his, value});
+            if(!itemId.endsWith("heartbeat") || !itemId.endsWith("time") ) {
+                log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value});
+            }
         }
     }
 

acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcServerService.java

@@ -13,7 +13,7 @@ public interface OpcServerService {
 
     void reload();
 
-    Group getServer(String var1);
+    Group getServer(String var1) throws Exception;
 
     void writeInteger(String var1, ItemValue... var2);
 

acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcServerServiceImpl.java

@@ -1,5 +1,6 @@
 package org.nl.acs.opc;
 
+import cn.hutool.core.util.StrUtil;
 import org.jinterop.dcom.common.JIException;
 import org.nl.acs.device_driver.driver.ItemValue;
 import org.nl.exception.WDKException;
@@ -65,79 +66,86 @@ public class OpcServerServiceImpl implements OpcServerService, ApplicationAutoIn
     this.opcServerManageDtos = Collections.synchronizedMap(this.opcServerManageDtos);
   }
 
-  public synchronized Group getServer(String code) {
-    Group group = null;
-    group = (Group) this.groups.get(code);
-    if (group != null) {
-      try {
-        if (group.isActive()) {
-          return group;
+  public synchronized Group getServer(String code) throws Exception {
+    synchronized(this.buildLock(code)) {
+      Group group = null;
+      group = (Group)this.groups.get(code);
+      if (group != null) {
+        label68: {
+          Group var10000;
+          try {
+            if (!group.isActive()) {
+              break label68;
+            }
+
+            var10000 = group;
+          } catch (JIException var14) {
+            log.error(code, var14);
+            break label68;
+          }
+
+          return var10000;
         }
-      } catch (JIException var9) {
-        var9.printStackTrace();
       }
-    }
 
-    Server server = (Server) this.servers.get(code);
-    boolean needcreate = false;
-    if (server == null) {
-      needcreate = true;
-    } else {
-      try {
-        group = server.findGroup(OpcConfig.opc_server_default_group);
-      } catch (UnknownHostException
-          | JIException
-          | UnknownGroupException
-          | NotConnectedException
-          | IllegalArgumentException var8) {
-        var8.printStackTrace();
+      Server server = (Server)this.servers.get(code);
+      boolean needcreate = false;
+      String groupName = code;
+      if (server == null) {
         needcreate = true;
+      } else {
+        try {
+          group = server.findGroup(groupName);
+        } catch (UnknownHostException | JIException | UnknownGroupException | NotConnectedException | IllegalArgumentException var13) {
+          log.error(code, var13);
+          needcreate = true;
+        }
       }
+
+      if (needcreate) {
+        OpcServerManageDto dto = (OpcServerManageDto)this.opcServerManageDtos.get(code);
+        if (dto == null) {
+          throw new Exception(code + "{} 不存在");
+        }
+
+        if (server == null) {
+          server = OpcServerUtl.getServerWithOutException(dto.getOpc_host(), StrUtil.trim(dto.getCls_id()), dto.getUser(), dto.getPassword(), StrUtil.trim(dto.getDomain()));
+        }
+
+        try {
+          group = server.addGroup(groupName);
+        } catch (Exception var12) {
+          this.clearServer(code);
+          ThreadUtl.sleep(5000L);
+          log.warn("获取opc出错重新获取", code, var12);
+          server = OpcServerUtl.getServerWithOutException(dto.getOpc_host(), StrUtil.trim(dto.getCls_id()), dto.getUser(), dto.getPassword(), StrUtil.trim(dto.getDomain()));
+
+          try {
+            group = server.addGroup(groupName);
+          } catch (Exception var11) {
+            throw new Exception(var12);
+          }
+        }
+
+        this.servers.put(code, server);
+        this.groups.put(code, group);
+      }
+
+      return group;
     }
-
-    if (needcreate) {
-      OpcServerManageDto dto = (OpcServerManageDto) this.opcServerManageDtos.get(code);
-      if (dto == null) {
-        throw new WDKException("code 不存在");
-      }
-
-      server = OpcServerUtl.getServerWithOutException(
-              dto.getOpc_host(),
-              dto.getCls_id(),
-              dto.getUser(),
-              dto.getPassword(),
-              dto.getDomain());
-
-//      server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain());
-
-
-      try {
-        group = server.addGroup(OpcConfig.opc_server_default_group);
-      } catch (Exception var7) {
-        throw new WDKException(var7);
-      }
-
-      this.servers.put(code, server);
-      this.groups.put(code, group);
-    }
-
-    return group;
   }
 
-  public synchronized void clearServer(String code) {
-    try {
-      Server server = (Server) this.servers.get(code);
-      if (server!=null){
+  public void clearServer(String code) {
+    synchronized(this.buildLock(code)) {
+      try {
+        Server server = (Server)this.servers.get(code);
         server.disconnect();
+      } catch (Exception var5) {
       }
 
-    } catch (Exception e) {
-      e.printStackTrace();
-      log.error("清理server异常,",e.getMessage());
+      this.servers.remove(code);
+      this.groups.remove(code);
     }
-
-    this.servers.remove(code);
-    this.groups.remove(code);
   }
 
   public void writeInteger(String code, ItemValue... values) {
@@ -148,7 +156,17 @@ public class OpcServerServiceImpl implements OpcServerService, ApplicationAutoIn
       this.clearServer(code);
       log.warn("写入出错opc server {} 重新加载", code, var4);
       ThreadUtl.sleep(5000L);
-      throw var4;
     }
   }
+
+  private String buildLock(String key) {
+    if (StrUtil.isEmpty(key)) {
+      key = "";
+    }
+    StringBuilder builder = new StringBuilder();
+    builder.append("OpcServerService.");
+    builder.append(key);
+    String lock = builder.toString().intern();
+    return lock;
+  }
 }

acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java

@@ -163,15 +163,12 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     }
                     logServer.deviceExecuteLog("ndc", "","","接收agv上报设备：" + device_code);
                     StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
-                    StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-                    StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
-                    StandardStorageDeviceDriver standardStorageDeviceDriver;
                     StandardAutodoorDeviceDriver standardAutodoorDeviceDriver;
-                    StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver;
                     LnshStationDeviceDriver lnshStationDeviceDriver;
                     LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver;
                     LnshPalletizingManipulatorSiteDeviceDriver lnshPalletizingManipulatorSiteDeviceDriver;
                     LnshPalletizingManipulatorDeviceDriver lnshPalletizingManipulatorDeviceDriver;
+                    StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
                     int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
 
                     try {
@@ -241,9 +238,18 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                                 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 1)) {
                                             inst.setExecute_status("1");
                                             instructionService.update(inst);
-                                            lnshStationDeviceDriver.writing(5);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshStationDeviceDriver.writing(5);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshStationDeviceDriver.getTo_command() == 5 ){
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于5,无法反馈");
+                                            }
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈");
                                         }
@@ -255,9 +261,19 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                                 && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1)) {
                                             inst.setExecute_status("1");
                                             instructionService.update(inst);
-                                            lnshPalletizingManipulatorSiteDeviceDriver.writing(12);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshPalletizingManipulatorSiteDeviceDriver.writing(12);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 12 ){
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于12,无法反馈");
+                                            }
+
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈");
                                         }
@@ -269,9 +285,18 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                                 && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 1)) {
                                             inst.setExecute_status("1");
                                             instructionService.update(inst);
-                                            lnshPalletizingManipulatorDeviceDriver.writing(12);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshPalletizingManipulatorDeviceDriver.writing(12);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 12 ){
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于12,无法反馈");
+                                            }
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈");
                                         }
@@ -338,11 +363,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     if (device.getDeviceDriver() instanceof LnshStationDeviceDriver) {
                                         lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
                                         if (lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
-                                            inst.setExecute_status("5");
-                                            instructionService.update(inst);
                                             lnshStationDeviceDriver.writing(2);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            if(lnshStationDeviceDriver.getTo_command() == 2 ){
+                                                inst.setExecute_status("5");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于2,无法反馈");
+                                            }
+
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
                                         }
@@ -351,11 +381,23 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
                                         lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver();
                                         if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0 && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2)) {
-                                            inst.setExecute_status("5");
-                                            instructionService.update(inst);
-                                            lnshPalletizingManipulatorSiteDeviceDriver.writing(10);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+
+                                            try {
+                                                lnshPalletizingManipulatorSiteDeviceDriver.writing(10);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+
+                                            if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 10 ){
+                                                inst.setExecute_status("5");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于10,无法反馈");
+                                            }
+
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
                                         }
@@ -367,28 +409,27 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         if (lnshPalletizingManipulatorDeviceDriver.getMove() == 0 && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 2)) {
                                             inst.setExecute_status("5");
                                             instructionService.update(inst);
-                                            lnshPalletizingManipulatorDeviceDriver.writing(10);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshPalletizingManipulatorDeviceDriver.writing(10);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+
+                                            if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 10 ){
+                                                inst.setExecute_status("5");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于10,无法反馈");
+                                            }
+
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
                                         }
                                     }
 
-//                                    if(!inst.getTask_code().startsWith("-")) {
-//                                        //反馈wms系统动作完成
-//                                        inst.setFinish_type("1");
-//                                        instructionService.update(inst);
-//                                        JSONObject feedjo = new JSONObject();
-//                                        feedjo.put("status","1");
-//                                        feedjo.put("device_code",device_code);
-//                                        feedjo.put("vehicle_code",inst.getVehicle_code());
-//                                        feedjo.put("task_code",inst.getTask_code());
-//                                        JSONArray feedja = JSONArray.parseArray(String.valueOf(feedjo));
-//                                        acsToWmsService.feedbackActionStatusToWms(feedja);
-//                                    }
-
-
                                 }
                                 // 到达扫码点
                                 else if (phase == 0x06) {
@@ -404,12 +445,31 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         if (lnshLaminatingMachineDeviceDriver.getMode() != 0 && lnshLaminatingMachineDeviceDriver.getMode() != 6) {
                                             inst.setExecute_status("9");
                                             instructionService.update(inst);
-                                            lnshLaminatingMachineDeviceDriver.writing("to_task", inst.getInstruction_code());
-                                            lnshLaminatingMachineDeviceDriver.writing(1);
+                                            try {
+                                                lnshLaminatingMachineDeviceDriver.writing("to_task", inst.getInstruction_code());
+                                                lnshLaminatingMachineDeviceDriver.writing(1);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+
                                         }
                                         //如果组盘绑定条码成功，就允许agv离开
                                         if (lnshLaminatingMachineDeviceDriver.getMode() == 6 && lnshLaminatingMachineDeviceDriver.getResult()) {
-                                            lnshLaminatingMachineDeviceDriver.writing(6);
+                                            try {
+                                                lnshLaminatingMachineDeviceDriver.writing(6);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+//                                            if(lnshLaminatingMachineDeviceDriver.getTo_command() == 6 ){
+//                                                inst.setExecute_status("5");
+//                                                instructionService.update(inst);
+//                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+//                                                flag = true;
+//                                            } else {
+//                                                logServer.deviceExecuteLog("ndc","","","组盘绑定条码成功发命令不等于6,无法反馈");
+//                                            }
                                             data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                             flag = true;
                                         }
@@ -458,10 +518,23 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
                                         if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() == 0
                                                 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 1)) {
-                                            inst.setExecute_status("3");
-                                            instructionService.update(inst);
-                                            lnshStationDeviceDriver.writing(6);
-                                            lnshStationDeviceDriver.writing("to_task",inst.getInstruction_code());
+
+                                            try {
+                                                lnshStationDeviceDriver.writing(6);
+                                                lnshStationDeviceDriver.writing("to_task",inst.getInstruction_code());
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshStationDeviceDriver.getTo_command() == 6 ){
+                                                inst.setExecute_status("3");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于6,无法反馈");
+                                            }
+
                                             data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                             flag = true;
                                         } else {
@@ -473,11 +546,20 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver();
                                         if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0
                                                 && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1)) {
-                                            inst.setExecute_status("3");
-                                            instructionService.update(inst);
-                                            lnshPalletizingManipulatorSiteDeviceDriver.writing(13);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshPalletizingManipulatorSiteDeviceDriver.writing(13);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 13 ){
+                                                inst.setExecute_status("3");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于13,无法反馈");
+                                            }
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈");
                                         }
@@ -487,11 +569,20 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         lnshPalletizingManipulatorDeviceDriver = (LnshPalletizingManipulatorDeviceDriver) device.getDeviceDriver();
                                         if (lnshPalletizingManipulatorDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorDeviceDriver.getMove() == 0
                                                 && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 1)) {
-                                            inst.setExecute_status("3");
-                                            instructionService.update(inst);
-                                            lnshPalletizingManipulatorDeviceDriver.writing(13);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshPalletizingManipulatorDeviceDriver.writing(13);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 13 ){
+                                                inst.setExecute_status("3");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于13,无法反馈");
+                                            }
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈");
                                         }
@@ -540,11 +631,21 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
                                         if (lnshStationDeviceDriver.getMove() == 1
                                                 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
-                                            inst.setExecute_status("6");
-                                            instructionService.update(inst);
-                                            lnshStationDeviceDriver.writing(3);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+
+                                            try {
+                                                lnshStationDeviceDriver.writing(3);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshStationDeviceDriver.getTo_command() == 3 ){
+                                                inst.setExecute_status("6");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于3,无法反馈");
+                                            }
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
                                         }
@@ -555,11 +656,21 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver();
                                         if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 1
                                                 && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2)) {
-                                            inst.setExecute_status("6");
-                                            instructionService.update(inst);
-                                            lnshPalletizingManipulatorSiteDeviceDriver.writing(11);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshPalletizingManipulatorSiteDeviceDriver.writing(11);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 11 ){
+                                                inst.setExecute_status("6");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于11,无法反馈");
+                                            }
+
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
                                         }
@@ -570,11 +681,20 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         lnshPalletizingManipulatorDeviceDriver = (LnshPalletizingManipulatorDeviceDriver) device.getDeviceDriver();
                                         if (lnshPalletizingManipulatorDeviceDriver.getMove() == 1
                                                 && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 2)) {
-                                            inst.setExecute_status("6");
-                                            instructionService.update(inst);
-                                            lnshPalletizingManipulatorDeviceDriver.writing(11);
-                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            flag = true;
+                                            try {
+                                                lnshPalletizingManipulatorDeviceDriver.writing(11);
+                                            } catch (Exception e) {
+                                                log.info("下发电气信号失败:" + e.getMessage());
+                                                e.printStackTrace();
+                                            }
+                                            if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 11 ){
+                                                inst.setExecute_status("6");
+                                                instructionService.update(inst);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                flag = true;
+                                            } else {
+                                                logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于11,无法反馈");
+                                            }
                                         } else {
                                             logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
                                         }

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

@@ -115,6 +115,7 @@ import rljn_package_palletSplit_manipulator from '@/views/acs/device/driver/lnsh
 import standard_rgv from '@/views/acs/device/driver/standard_rgv'
 import lnsh_palletizing_manipulator_site from '@/views/acs/device/driver/lnsh/lnsh_palletizing_manipulator_site'
 import lnsh_one_rgv from '@/views/acs/device/driver/lnsh/lnsh_one_rgv'
+import lnsh_package_palletizing_manipulator_site from '@/views/acs/device/driver/lnsh/lnsh_package_palletizing_manipulator_site'
 
 export default {
   name: 'DeviceConfig',
@@ -126,7 +127,7 @@ export default {
     standard_photoelectric_inspect_site, ndxy_special, hailiang_labeling, ndxy_special_two, whxr_storage_conveyor, whxr_ball_mill, whxr_spary_tower, whxr_weight,
     electric_fence, lnsh_palletizing_manipulator, lnsh_kiln_lane, lnsh_package_pallet_manipulator, lnsh_labeling_machine, lnsh_split_manipulator, lnsh_rgv,
     lnsh_station, lnsh_Laminating_machine, rljn_package_palletSplit_manipulator, standard_rgv, lnsh_palletizing_manipulator_site,
-    lnsh_one_rgv },
+    lnsh_one_rgv, lnsh_package_palletizing_manipulator_site },
   dicts: ['device_type'],
   mixins: [crud],
   data() {

acs/qd/src/views/acs/device/driver/lnsh/lnsh_package_palletizing_manipulator_site.vue

@@ -0,0 +1,528 @@
+<template>
+  <!---嘉耐-包装码垛机械手工位-->
+  <div>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-row>
+        <el-col :span="12">
+          OpcServer:
+          <el-select
+            v-model="opc_id"
+            placeholder="无"
+            clearable
+            filterable
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">输送系统：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="电气调度号" label-width="150px">
+              <el-input v-model="form.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">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="申请任务">
+              <el-switch v-model="form.apply_task" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="手动生成任务" 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="申请空盘" prop="device_code">
+              <el-select
+                v-model="form.apply_empty"
+                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-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.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.$index])" />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbw_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$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: 'LnshPalletizingManipulatorSite',
+  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,
+        apply_empty: [],
+        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
+      })
+      deviceCrud.selectDeviceList().then(data => {
+        this.deviceList = data
+      })
+    })
+  },
+  methods: {
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.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('action') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+          if (this.data1[val].code.indexOf('ioaction') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 3)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 4)
+          }
+          if (this.data1[val].code.indexOf('task') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 5)
+          }
+          if (this.data1[val].code.indexOf('weight') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 9)
+          }
+          if (this.data1[val].code.indexOf('batch') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 13)
+          }
+          if (this.data1[val].code.indexOf('specifications') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'STRING' + (parseInt(endNumber) + 17) + '.50'
+          }
+          if (this.data1[val].code.indexOf('material') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'STRING' + (parseInt(endNumber) + 273) + '.50'
+          }
+          if (this.data1[val].code.indexOf('barcode') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'STRING' + (parseInt(endNumber) + 529) + '.50'
+          }
+          if (this.data1[val].code.indexOf('AlongSide') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'W' + (parseInt(endNumber) + 785)
+          }
+          if (this.data1[val].code.indexOf('BshortSide') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'W' + (parseInt(endNumber) + 787)
+          }
+          if (this.data1[val].code.indexOf('Htrapezoidal') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'W' + (parseInt(endNumber) + 789)
+          }
+          if (this.data1[val].code.indexOf('Wthickness') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'W' + (parseInt(endNumber) + 791)
+          }
+          if (this.data1[val].code.indexOf('status') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'B' + (parseInt(endNumber) + 795)
+          }
+          if (this.data1[val].code.indexOf('unqualified_qty') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 795)
+          }
+          if (this.data1[val].code.indexOf('encoder_qty') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 799)
+          }
+          if (this.data1[val].code.indexOf('order_qty') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 803)
+          }
+          if (this.data1[val].code.indexOf('order_No') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'STRING' + (parseInt(endNumber) + 807) + '.50'
+          }
+        }
+      }
+    },
+    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) + 4)
+          }
+          if (this.data2[val].code.indexOf('to_barcode') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'STRING' + (parseInt(endNumber) + 8) + '.50'
+          }
+          if (this.data2[val].code.indexOf('to_error') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'B' + (parseInt(endNumber) + 264)
+          }
+          if (this.data2[val].code.indexOf('to_allow_pallet_qty') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'W' + (parseInt(endNumber) + 266)
+          }
+          if (this.data2[val].code.indexOf('to_material_type') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 268)
+          }
+          // if (this.data2[val].code.indexOf('to_material_code') !== -1) {
+          //   this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 272)
+          // }
+          if (this.data2[val].code.indexOf('to_order_qty') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 276)
+          }
+          if (this.data2[val].code.indexOf('to_product_code') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 280)
+          }
+          if (this.data2[val].code.indexOf('to_order_No') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'STRING' + (parseInt(endNumber) + 284) + '.50'
+          }
+          if (this.data2[val].code.indexOf('to_material_code') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'STRING' + (parseInt(endNumber) + 540) + '.50'
+          }
+        }
+      }
+    },
+    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_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>