add：三色灯

acs2/nladmin-system/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java

@@ -23,6 +23,7 @@ import org.springframework.web.bind.annotation.RestController;
 @Api(tags = "仙工AGV")
 @Slf4j
 @SaIgnore
+@RequestMapping("/api")
 public class XianGongAgvController {
 
     private final XianGongAgvService agvService;
@@ -33,4 +34,20 @@ public class XianGongAgvController {
     public ResponseEntity<JSONObject> xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) {
         return new ResponseEntity<>(agvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
     }
+
+    @PostMapping ("/acquireBlockGroup")
+    @Log("占用互斥组")
+    @ApiOperation("占用互斥组")
+    public ResponseEntity<JSONObject> getBlockGroup(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(agvService.getBlockGroup(requestParam), HttpStatus.OK);
+    }
+
+    @PostMapping ("/releaseBlockGroup")
+    @Log("释放互斥组")
+    @ApiOperation("释放互斥组")
+    public ResponseEntity<JSONObject> releaseBlockGroup(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(agvService.releaseBlockGroup(requestParam), HttpStatus.OK);
+    }
+
+
 }

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

@@ -4,10 +4,12 @@ import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device_driver.basedriver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
 import org.nl.acs.device_driver.sdk.PhotoelectricDetectionDeviceDriver;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.modules.common.exception.BadRequestException;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -25,6 +27,8 @@ public class AgvWaitUtil {
     private DeviceAppService deviceAppService;
     @Autowired
     private DeviceExecuteLogService deviceExecuteLogService;
+    @Autowired
+    private TaskService taskService;
 
     //取货前等待
     public JSONObject waitInGet(String deviceCode) {
@@ -36,9 +40,13 @@ public class AgvWaitUtil {
             throw new BadRequestException("请求失败，未找到设备！");
         }
 
-        if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) {
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
-            PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver();
+            // 标准版输送线驱动
-            if (driver.getMove() == 1) {
+            StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            // 通知输送线申请取货-1
+            driver.writing(1);
+            // 判断是否满足条件：action = 1（允许取货） && move = 1（有货）
+            if (driver.getMove() == 1 && driver.getAction() == 1) {
                 String message = "允许AGV取货。";
                 driver.setMessage(message);
                 this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message);
@@ -71,8 +79,11 @@ public class AgvWaitUtil {
             throw new BadRequestException("请求失败，未找到设备！");
         }
 
-        if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) {
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
-            PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver();
+            // 标准版输送线驱动
+            StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            // 通知输送线取货完成-2
+            driver.writing(2);
             if (driver.getMove() == 0) {
                 String message = "允许AGV取货后离开。";
                 driver.setMessage(message);
@@ -99,7 +110,7 @@ public class AgvWaitUtil {
     }
 
     //放货前等待
-    public JSONObject waitInPut(String deviceCode) {
+    public JSONObject waitInPut(String deviceCode,TaskDto taskDto) {
         log.info("仙工AGV请求放货，设备号 - {}", deviceCode);
         boolean flag = false;
 
@@ -108,17 +119,26 @@ public class AgvWaitUtil {
             throw new BadRequestException("请求失败，未找到设备！");
         }
 
-        if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) {
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
-            PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver();
+            // 标准版输送线驱动
-            if (driver.getMove() == 0) {
+            StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            // 通知输送线申请放货-3
+            driver.writing(3);
+            // 判断是否满足条件：action = 2（允许放货） && move = 0（无货）
+            if (driver.getMove() == 0 && driver.getAction() == 2) {
                 String message = "允许AGV放货。";
                 driver.setMessage(message);
                 this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message);
                 flag = true;
+
+                if (taskDto.getIs_vehicle().equals("1")) {
+                    // 获取当前母载具号
+                    taskDto.setVehicle_code(driver.getBarcode());
+                    taskService.update(taskDto);
+                }
+
             } else {
-                String message = "光电信号有货,不允许放货!";
+                this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", "光电信号为:" + driver.getMove());
-                driver.setMessage(message);
-                this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message);
             }
         } else {
             flag = true;
@@ -146,15 +166,20 @@ public class AgvWaitUtil {
             throw new BadRequestException("请求失败，未找到设备！");
         }
 
-        if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) {
+        if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
-            PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver();
+            // 标准版输送线驱动
+            StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+            // 通知输送线放货完成-4
+            driver.writing(4);
             if (driver.getMove() == 1) {
-                String message = "允许AGV放货完成离开。";
+                String message = "允许AGV放货后离开。";
                 driver.setMessage(message);
                 this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message);
                 flag = true;
             } else {
-                this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", "光电信号为:" + driver.getMove() + ",不允许AGV放货完成离开!");
+                String message = "光电信号有货,不允许AGV放货后离开。";
+                driver.setMessage(message);
+                this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message);
             }
         } else {
             flag = true;

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

@@ -1,6 +1,5 @@
 package org.nl.acs.agv.server;
 
-import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSONObject;
 import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.ext.UnifiedResponse;
@@ -91,10 +90,9 @@ public interface XianGongAgvService {
      * 占用互斥组
      *
      * @param reqParam
-     * @param <T>
      * @return
      */
-    public <T> UnifiedResponse<T> getBlockGroup(JSONObject reqParam);
+    JSONObject getBlockGroup(JSONObject reqParam);
 
     /**
      * 查询互斥组状态
@@ -110,10 +108,9 @@ public interface XianGongAgvService {
      * 释放互斥组
      *
      * @param reqParam
-     * @param <T>
      * @return
      */
-    public <T> UnifiedResponse<T> releaseBlockGroup(JSONObject reqParam);
+    JSONObject releaseBlockGroup(JSONObject reqParam);
 
 
     /**
@@ -167,4 +164,14 @@ public interface XianGongAgvService {
      * @return
      */
     public JSONObject xgAGVWaitPointRequest(JSONObject requestParam);
+
+    /**
+     * 下发运单急停
+     *
+     * @param requestParam
+     * @return
+     * @throws Exception
+     */
+    public <T> UnifiedResponse<T> sendOrderStopToXZ(JSONObject requestParam);
+
 }

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

@@ -12,7 +12,9 @@ import org.nl.acs.agv.server.AgvWaitUtil;
 import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.config.AcsConfig;
+import org.nl.acs.device_driver.basedriver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
+import org.nl.acs.device_driver.lamp_three_color.LampThreecolorDeviceDriver;
 import org.nl.acs.ext.UnifiedResponse;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.xg.XgHttpUtil;
@@ -130,15 +132,78 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
 
     @Override
-    public <T> UnifiedResponse<T> getBlockGroup(JSONObject reqParam) {
+    public JSONObject getBlockGroup(JSONObject reqParam) {
-        String path = "/getBlockGroup";
+        log.info("getBlockGroup收到AGV请求参数:{}", reqParam.toString());
-        return xgHttpUtil.sendPostRequest(path, reqParam);
+        // 需返回参数
+        JSONObject result = new JSONObject();
+
+        // 根据设备号获取对应的设备
+        Device device = deviceAppService.findDeviceByCode(reqParam.getString("block_group_id"));
+        if (ObjectUtil.isEmpty(device)) {
+            throw new BadRequestException("设备号 " + reqParam.getString("block_group_id") + " 不存在！");
+        }
+
+        if (device.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
+            // 三色灯驱动
+            LampThreecolorDeviceDriver driver = (LampThreecolorDeviceDriver) device.getDeviceDriver();
+            // 给三色灯写入进入命令0-离开，1-进入
+            driver.writing(1,3);
+
+            // 判断是否允许进入 1-允许，0-不允许
+            if (driver.getAction() == 1) {
+                // 记录车号
+                driver.setCar_no(reqParam.getString("robot_name"));
+
+                result.put("code", 200);
+                result.put("message", "ok");
+            } else {
+                result.put("code", 400);
+                result.put("message", "ok");
+            }
+        } else {
+            result.put("code", 400);
+            result.put("message", "ok");
+        }
+        log.info("getBlockGroup反馈AGV输出参数:{}", result.toString());
+        return result;
     }
 
     @Override
-    public <T> UnifiedResponse<T> releaseBlockGroup(JSONObject reqParam) {
+    public JSONObject releaseBlockGroup(JSONObject reqParam) {
-        String path = "/releaseBlockGroup";
+        log.info("releaseBlockGroup收到AGV请求参数:{}", reqParam.toString());
-        return xgHttpUtil.sendPostRequest(path, reqParam);
+        // 需返回参数
+        JSONObject result = new JSONObject();
+
+        // 根据设备号获取对应的设备
+        Device device = deviceAppService.findDeviceByCode(reqParam.getString("block_group_id"));
+        if (ObjectUtil.isEmpty(device)) {
+            throw new BadRequestException("设备号 " + reqParam.getString("block_group_id") + " 不存在！");
+        }
+
+        if (device.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
+            // 三色灯驱动
+            LampThreecolorDeviceDriver driver = (LampThreecolorDeviceDriver) device.getDeviceDriver();
+            // 给三色灯写入进入命令0-离开，1-进入
+            driver.writing(0,Integer.parseInt(device.getExtraValue().get("color").toString()));
+
+            // 判断是否允许离开 1-允许，0-不允许
+            if (driver.getAction() == 1) {
+                // 判断是否清楚车号
+                if (device.getExtraValue().get("color").toString().equals("1")) {
+                    driver.setCar_no("");
+                }
+                result.put("code", 200);
+                result.put("message", "ok");
+            } else {
+                result.put("code", 400);
+                result.put("message", "ok");
+            }
+        } else {
+            result.put("code", 400);
+            result.put("message", "ok");
+        }
+        log.info("releaseBlockGroup反馈AGV输出参数:{}", result.toString());
+        return result;
     }
 
     @Override
@@ -830,7 +895,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             if (address.contains("GET")) {
                 return agvWaitUtil.waitInGet(deviceCodeNow);
             } else if (address.contains("PUT")) {
-                return agvWaitUtil.waitInPut(deviceCodeNow);
+                return agvWaitUtil.waitInPut(deviceCodeNow,task);
             }
         }
         if (address.contains("OUT")) {
@@ -849,6 +914,12 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         throw new BadRequestException("请求失败，IN OUT 站点错误!");
     }
 
+    @Override
+    public <T> UnifiedResponse<T> sendOrderStopToXZ(JSONObject json) {
+        String path = "/gotoSitePause";
+        return xgHttpUtil.sendPostRequest(path, json);
+    }
+
     /**
      * 叉车运单动作块
      *

acs2/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java

@@ -15,7 +15,8 @@ public enum DriverTypeEnum {
     XIANGONG_AGV_DEVICE_DRIVER(4, "xg_agv", "仙工AGV", "agv"),
     RGV_DEVICE_DRIVER(5, "rgv_station", "RGV", "rgv"),
     ELEVATOR_DRIVER(6, "standard_elevator", "电梯", "elevator"),
-    CONVEYOR_CONTROL(7, "standard_conveyor_control", "标准版-输送线", "conveyor");
+    CONVEYOR_CONTROL(7, "standard_conveyor_control", "标准版-输送线", "conveyor"),
+    CONVEYOR_COLOR(8, "lamp_three_color", "标准版-三色灯", "color");
     //驱动索引
     private int index;
     //驱动编码

acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/ItemProtocol.java

@@ -23,6 +23,7 @@ public class ItemProtocol {
     public static String item_direction = "direction";
     public static String item_operation_type = "operation_type";
     public static String item_task = "task";
+    public static String item_barcode = "barcode";
 
     public static String item_to_command = "to_command";
     public static String item_to_target = "to_target";
@@ -39,6 +40,10 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_heartbeat);
     }
 
+    public String getBarcode() {
+        return this.getOpcStringValue(item_barcode);
+    }
+
     public int getMode() {
         return this.getOpcIntegerValue(item_mode);
     }
@@ -95,6 +100,15 @@ public class ItemProtocol {
         return 0;
 
     }
+    public String getOpcStringValue(String protocol) {
+        String value = this.driver.getStringValue(protocol);
+        if (value == null) {
+            //throw new BusinessException("{} : {}", new Object[]{protocol, DeviceErrorProtocol.getMessage(10000)});
+        } else {
+            return value;
+        }
+        return "0";
+    }
 
     public static List<ItemDTO> getReadableItemDtos() {
         ArrayList list = new ArrayList();

acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java

@@ -79,6 +79,8 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
     int mode = 0;
     int error = 0;
     int move = 0;
+    int action = 0;
+    String barcode = null;
     int task = 0;
     //出入库模式
     int operation_type = 0;
@@ -155,6 +157,8 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
             error = this.itemProtocol.getError();
             move = this.itemProtocol.getMove();
             task = this.itemProtocol.getTask();
+            action = this.itemProtocol.getAction();
+            barcode = this.itemProtocol.getBarcode();
             hasGoods = this.itemProtocol.getMove();
             operation_type = this.itemProtocol.getOperation_type();
             if (mode != last_mode) {
@@ -169,7 +173,7 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
             if (error != last_error) {
             }
 
-            if (mode == 2 && move != 0 && task > 0) {
+           /* if (mode == 2 && move != 0 && task > 0) {
                 //inst_message
                 inst = instructionService.findByCodeFromCache(String.valueOf(task));
                 if (inst != null) {
@@ -182,7 +186,7 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
                         instructionService.update(inst);
                     }
                 }
-            }
+            }*/
         } catch (Exception var17) {
             return;
         }
@@ -214,9 +218,6 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
                     break;
                 case 2:
                     //申请任务
-                    if (!StrUtil.isBlank(material) && !StrUtil.isBlank(qty) && material.length() > 0 && qty.length() > 0 && !requireSucess) {
-                        this.instruction_require(container);
-                    }
                     break;
                 case 3:
 
@@ -227,18 +228,9 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
                     break;
                 case 5:
                     //申请空盘
-                    if (move == 0 && !requireSucess) {
-                        apply_OutEmpty();
-                    }
                     break;
                 case 6:
                     //申请入库
-                    if (move != 0 && !applySucess) {
-                        instruction_apply();
-                    }
-                    if (move != 0 && !requireSucess) {
-                        apply_InEmpty();
-                    }
                     break;
             }
 

acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/ItemProtocol.java

@@ -12,7 +12,9 @@ public class ItemProtocol {
     public static String item_mode = "mode";
     public static String item_action = "action";
     public static String item_error = "error";
-    public static String item_to_command = "to_command";
+    public static String item_to_command = "toCommand";
+    public static String item_to_color = "toColor";
+    public static String item_color = "color";
 
 
     private LampThreecolorDeviceDriver driver;
@@ -25,6 +27,10 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_heartbeat);
     }
 
+    public int getColor() {
+        return this.getOpcIntegerValue(item_color);
+    }
+
     public int getMode() {
         return this.getOpcIntegerValue(item_mode);
     }
@@ -57,14 +63,16 @@ public class ItemProtocol {
         ArrayList list = new ArrayList();
         list.add(new ItemDTO(item_heartbeat, "心跳", "DB51.B0"));
         list.add(new ItemDTO(item_mode, "工作模式", "DB51.B1", Boolean.valueOf(true)));
-        list.add(new ItemDTO(item_action, "动作信号", "DB51.B2"));
+        list.add(new ItemDTO(item_action, "是否允许进入", "DB51.B2"));
         list.add(new ItemDTO(item_error, "报警信号", "DB51.B4"));
+        list.add(new ItemDTO(item_color, "颜色", "DB51.B5"));
         return list;
     }
 
     public static List<ItemDTO> getWriteableItemDtos() {
         ArrayList list = new ArrayList();
         list.add(new ItemDTO(item_to_command, "作业命令", "DB52.W2", Boolean.valueOf(true)));
+        list.add(new ItemDTO(item_to_color, "颜色", "DB52.W3", Boolean.valueOf(true)));
         return list;
     }
 

acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDefinition.java

@@ -55,12 +55,7 @@ public class LampThreecolorDefinition implements OpcDeviceDriverDefinition {
     }
 
     public static List<ItemDTO> getReadableItemDtos2() {
-        List<ItemDTO> list = new ArrayList();
+        return ItemProtocol.getReadableItemDtos();
-        list.add(new ItemDTO(ItemProtocol.item_heartbeat, "心跳", "DB600.B0"));
-        list.add(new ItemDTO(ItemProtocol.item_mode, "工作模式", "DB600.B1", true));
-        list.add(new ItemDTO(ItemProtocol.item_action, "动作信号", "DB600.B2"));
-        list.add(new ItemDTO(ItemProtocol.item_error, "报警信号", "DB600.B4"));
-        return list;
     }
 
     @Override

acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDeviceDriver.java

@@ -5,11 +5,13 @@ import lombok.Getter;
 import lombok.Setter;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.UnifiedResponse;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.opc.Device;
 import org.nl.acs.route.service.RouteLineService;
@@ -18,9 +20,7 @@ import org.nl.modules.wql.util.SpringContextHolder;
 import org.openscada.opc.lib.da.Server;
 import org.springframework.beans.factory.annotation.Autowired;
 
-import java.util.Date;
+import java.util.*;
-import java.util.HashMap;
-import java.util.Map;
 
 /**
  * 检测站点驱动
@@ -50,6 +50,8 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
     String devicecode;
     int mode = 0;
     int action = 0;
+    int heartbeat = 0;
+    int color = 0;
     int error = 0;
     int move = 0;
     int task = 0;
@@ -59,6 +61,8 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
     int last_move = 0;
     int last_task = 0;
 
+    String car_no = "";
+
     boolean hasVehicle = false;
     boolean isReady = false;
     protected int instruction_num = 0;
@@ -97,9 +101,11 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
         String message = null;
 
         String device_code = this.getDevice().getDevice_code();
+        heartbeat = this.itemProtocol.getHeartbeat();
         mode = this.itemProtocol.getMode();
         action = this.itemProtocol.getAction();
         error = this.itemProtocol.getError();
+        color = this.itemProtocol.getColor();
         if (mode != last_mode) {
         }
         if (action != last_action) {
@@ -109,8 +115,22 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
         last_action = action;
         last_mode = mode;
         last_error = error;
-        //message = StringFormatUtl.format("设备报警:{}", new Object[]{});
 
+        if (error == 1) {
+            String[] carArr  = {car_no};
+            JSONObject json = new JSONObject();
+            json.put("vehicles", carArr);
+            // 请求下发agv急停
+            XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
+            //创建订单序列
+            UnifiedResponse<JSONObject> response = xianGongAgv.sendOrderStopToXZ(json);
+
+            if (!response.isSuccess()) {
+            } else {
+            }
+        }
+
+        //message = StringFormatUtl.format("设备报警:{}", new Object[]{});
 //        String manual_create_task = this.getDevice().getExtraValue().get("manual_create_task").toString();
 
 
@@ -150,10 +170,29 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
         System.out.println("设备：" + devicecode + ",下发PLC信号：" + to_command + ",value：" + command);
     }
 
+    public void writing(int command,int color) {
+        String toCommand = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_command;
+
+        String toColor = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_color;
+
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(toCommand, command);
+        itemMap.put(toColor, color);
+        ReadUtil.write(itemMap, server);
+        ReadUtil.write(itemMap, server);
+        server.disconnect();
+        log.info("下发PLC信号：{},{}", toCommand, command);
+        log.info("下发PLC信号：{},{}", toColor, color);
+        System.out.println("设备：" + devicecode + ",下发PLC信号：" + toCommand + ",value：" + command);
+        System.out.println("设备：" + devicecode + ",下发PLC信号：" + toColor + ",value：" + color);
+    }
+
     public synchronized void OpenOrClose(String type) {
-
         writing(Integer.parseInt(type));
-
     }
 
 }

acs2/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java

@@ -77,6 +77,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     String task_type = task.getTask_type();
                     String remark = task.getRemark();
                     String params = task.getParams();
+                    String is_vehicle = task.getIs_vehicle();
                     // 双工RGV任务 后工位任务
                     String start_point_code2 = task.getStart_device_code2();
                     String next_point_code2 = task.getNext_device_code2();
@@ -223,6 +224,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("vehicle_code", vehicle_code);
                     jo.put("vehicle_type", vehicle_type);
                     jo.put("remark", remark);
+                    jo.put("is_vehicle", is_vehicle);
                     jo.put("params", params);
                     jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type));
                     jo.put("direction", direction);

acs2/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -457,7 +457,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             return;
         }
 
-        LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
+       /* LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
 
 
         //变更三色灯状态
@@ -469,7 +469,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                 lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) lamddevice.getDeviceDriver();
                 lampThreecolorDeviceDriver.writing(0);
             }
-        }
+        }*/
     }
 
     @Override

acs2/nladmin-system/src/main/java/org/nl/acs/opc/DeviceType.java

@@ -18,7 +18,8 @@ public enum DeviceType {
     shadow("影子设备", 20),
     other("其他设备", 14),
     safetydoor("安全门", 17),
-    elevator("电梯", 21);
+    elevator("电梯", 21),
+    color("三色灯", 22);
 
     private String description;
     private int order;

acs2/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java

@@ -282,4 +282,9 @@ public class TaskDto implements Serializable {
      * 放货设备编号(覆膜机)
      */
     private String put_device_code;
+
+    /**
+     * 是否需要载具
+     */
+    private String is_vehicle;
 }

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

@@ -493,6 +493,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return this.tasks
                 .stream()
                 .filter(taskDto -> "0".equals(taskDto.getTask_status()))
+                .sorted(Comparator.comparing(TaskDto::getPriority).reversed())
                 .collect(Collectors.toList());
     }
 
@@ -790,6 +791,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
             request.setTask_id(dto.getExt_task_uuid());
             request.setTask_code(dto.getTask_code());
             request.setTask_status(dto.getTask_status());
+            request.setVehicle_code(dto.getVehicle_code());
+             request.setCar_no("");
             request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
             request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
             acstowmsService.apply(request);

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

@@ -75,11 +75,11 @@ import { get, selectDriverCodeList } from '@/api/acs/device/driverConfig'
 import { getDicts } from '@/api/system/dict'
 import standard_inspect_site from './driver/standard_inspect_site'
 import standard_ordinary_site from './driver/standard_ordinary_site'
-import lamp_three_color from './driver/lamp_three_color'
 import standard_storage from '@/views/acs/device/driver/standard_storage'
 import standard_scanner from '@/views/acs/device/driver/standard_scanner'
 import standard_conveyor_control_with_scanner from '@/views/acs/device/driver/standard_conveyor_control_with_scanner'
 import standard_conveyor_control from '@/views/acs/device/driver/standard_conveyor_control'
+import lamp_three_color from '@/views/acs/device/driver/lamp_three_color'
 import standard_conveyor_monitor from '@/views/acs/device/driver/standard_conveyor_monitor'
 import lnsh_mixing_mill from '@/views/acs/device/driver/lnsh/lnsh_mixing_mill'
 import lnsh_press from '@/views/acs/device/driver/lnsh/lnsh_press'

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

@@ -1,6 +1,50 @@
 <template>
   <!--三色灯-->
   <div>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">扩展字段：</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="是否清除车号" label-width="150px">
+              <el-select
+                v-model="form.is_clean"
+                placeholder="无"
+                clearable
+                filterable
+              >
+                <el-option
+                  v-for="item in dict.is_yes_not"
+                  :key="item.value"
+                  :label="item.label"
+                  :value="item.value"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="颜色" label-width="150px">
+              <el-select
+                v-model="form.color"
+                placeholder="无"
+                clearable
+                filterable
+              >
+                <el-option
+                  v-for="item in colorList"
+                  :key="item.value"
+                  :label="item.label"
+                  :value="item.value"
+                />
+              </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">设备协议：</span>
@@ -13,6 +57,7 @@
             v-model="opc_id"
             placeholder="无"
             clearable
+            filterable
             @change="changeOpc"
           >
             <el-option
@@ -158,6 +203,7 @@ import deviceCrud from '@/api/acs/device/device'
 
 export default {
   name: 'LampThreeColor',
+  dicts: ['is_yes_not'],
   mixins: [crud],
   props: {
     parentForm: {
@@ -175,6 +221,10 @@ export default {
       opc_code: '',
       configLoading: false,
       dataOpcservers: [],
+      colorList: [
+        { 'label': '红色', 'value': '3' },
+        { 'label': '绿色', 'value': '4' }
+      ],
       dataOpcPlcs: [],
       deviceList: [],
       data1: [],
@@ -220,7 +270,7 @@ export default {
         this.data2 = data.ws
         this.sliceItem()
       })
-      selectPlcList().then(data => {
+      selectPlcList().then(data => {updateConfig
         this.dataOpcPlcs = data
         this.plc_id = this.$props.parentForm.opc_plc_id
       })
@@ -285,6 +335,15 @@ export default {
         }
       })
     },
+    test_read2() {
+      testRead(this.data2, this.opc_id).then(data => {
+        this.data2 = data
+        console.log(this.data2)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
     test_read1() {
       testRead(this.data1, this.opc_id).then(data => {
         this.data1 = data
@@ -300,15 +359,6 @@ export default {
         console.log(err.response.data.message)
       })
     },
-    test_read2() {
-      testRead(this.data2, this.opc_id).then(data => {
-        this.data2 = data
-        console.log(this.data2)
-        this.notify('操作成功!', 'success')
-      }).catch(err => {
-        console.log(err.response.data.message)
-      })
-    },
     doSubmit() {
       this.$refs['form'].validate((valid) => {
         if (valid) {
@@ -318,7 +368,7 @@ export default {
           parentForm.is_route = true
           parentForm.plc_id = this.plc_id
           parentForm.opc_id = this.opc_id
-          updateConfig(parentForm, this.form, this.modeform, this.data1, this.data2).then(res => {
+          updateConfig(parentForm, this.form, {}, this.data1, this.data2).then(res => {
             this.notify('保存成功', 'success')
             this.configLoading = false
           }).catch(err => {

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

@@ -62,6 +62,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         for (int i = 0; i < array.size(); i++) {
             JSONObject row = array.getJSONObject(i);
             String task_id = row.getString("task_id");
+            String vehicle_code = row.getString("vehicle_code");
+            String car_no = row.getString("car_no");
             RLock lock = redissonClient.getLock(task_id);
             boolean tryLock = lock.tryLock(0, TimeUnit.SECONDS);
             try {
@@ -75,6 +77,10 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
                         status = TaskStatus.EXECUTING;
                     } else if ("2".equals(acs_task_status)) {
                         status = TaskStatus.FINISHED;
+                        // 更新载具号
+                        taskObj.setVehicle_code(vehicle_code);
+                        taskObj.setCar_no(car_no);
+                        iSchBaseTaskService.updateById(taskObj);
                     } else {
                         status = TaskStatus.CANCELED;
                     }

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/mes/service/impl/WmsToMesServiceImpl.java

@@ -51,6 +51,7 @@ public class WmsToMesServiceImpl implements WmsToMesService {
         content.put("ArrivedLocation", task.getPoint_code2());
         // 是否到达终点
         content.put("IsPlacedLocation", 1);
+        content.put("TuoPanCode", task.getVehicle_code());
         result.put("content",content);
 
         // 通知mes任务完成

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task/service/dao/SchBaseTask.java

@@ -119,6 +119,9 @@ public class SchBaseTask implements Serializable {
     private String update_name;
 
 
+    private String is_vehicle;
+
+
     private String update_time;
     @TableField(exist = false)
     private String config_name;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/AcsTaskDto.java

@@ -120,6 +120,11 @@ public class AcsTaskDto {
      */
     private String direction;
 
+    /**
+     * 是否需要载具
+     */
+    private String Is_vehicle;
+
     /**
      * 扩展属性
      */

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/KABDMTask.java

@@ -47,6 +47,7 @@ public class KABDMTask extends AbstractTask {
         task.setConfig_code(json.getString("task_type"));
         task.setPoint_code1(json.getString("PickingLocation"));
         task.setPoint_code2(json.getString("PlacedLocation"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
@@ -68,6 +69,7 @@ public class KABDMTask extends AbstractTask {
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
         acsTaskDto.setTask_type("1");
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
 
         return acsTaskDto;
     }

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/KDMABTask.java

@@ -49,6 +49,7 @@ public class KDMABTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class KDMABTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MABCTask.java

@@ -49,6 +49,7 @@ public class MABCTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MABCTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MABDMTask.java

@@ -49,6 +49,7 @@ public class MABDMTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MABDMTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MABGPTHJTask.java

@@ -49,6 +49,7 @@ public class MABGPTHJTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MABGPTHJTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MBZCPTask.java

@@ -49,6 +49,7 @@ public class MBZCPTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MBZCPTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MCDTask.java

@@ -49,6 +49,7 @@ public class MCDTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MCDTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MDDMTask.java

@@ -49,6 +49,7 @@ public class MDDMTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MDDMTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MDMCPTask.java

@@ -49,6 +49,7 @@ public class MDMCPTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MDMCPTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MGPTHJABTask.java

@@ -49,6 +49,7 @@ public class MGPTHJABTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MGPTHJABTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/MGPTHJCPTask.java

@@ -49,6 +49,7 @@ public class MGPTHJCPTask extends AbstractTask {
         task.setPoint_code2(json.getString("PlacedLocation"));
         task.setRequest_param(json.toString());
         task.setPriority(json.getString("Priority"));
+        task.setIs_vehicle(json.getString("IsPanCode"));
         task.setCreate_id(SecurityUtils.getCurrentUserId());
         task.setCreate_name(SecurityUtils.getCurrentNickName());
         task.setCreate_time(DateUtil.now());
@@ -67,6 +68,7 @@ public class MGPTHJCPTask extends AbstractTask {
         acsTaskDto.setStart_device_code(taskDao.getPoint_code1());
         acsTaskDto.setNext_device_code(taskDao.getPoint_code2());
         acsTaskDto.setPriority(taskDao.getPriority());
+        acsTaskDto.setIs_vehicle(taskDao.getIs_vehicle());
         acsTaskDto.setTask_type("1");
 
         return acsTaskDto;