add 输送

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

@@ -31,8 +31,9 @@ public enum DriverTypeEnum {
 
     HAOKAI_AUTO_CONVEYOR(11, "haokai_auto_conveyor", "豪恺自动线对接位", "conveyor"),
 
-    PAINT_CONVEYOR(12, "paint_conveyor", "油漆线", "conveyor");
+    PAINT_CONVEYOR(12, "paint_conveyor", "油漆线", "conveyor"),
 
+    SIEMENS_CONVEYOR(13, "siemens_conveyor", "西门子-输送机驱动", "conveyor");
 
     //驱动索引
     private int index;

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/empty_vehicle_stacking_position/EmptyVehicleStackingPositionDeviceDriver.java

@@ -163,8 +163,8 @@ public class EmptyVehicleStackingPositionDeviceDriver extends AbstractOpcDeviceD
         last_mode = mode;
         last_move = move;
         last_error = error;
-        last_task = error;
-        last_number = error;
+        last_task = task;
+        last_number = number;
     }
 
 

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_smart_plc_test/HailiangSmartplcTestDeviceDriver.java

@@ -111,7 +111,6 @@ public class HailiangSmartplcTestDeviceDriver extends AbstractOpcDeviceDriver im
             number = this.itemProtocol.getItem_number();
             container_type = this.itemProtocol.getItem_container_type();
             task = this.itemProtocol.getItem_task();
-            System.out.println("设备:" + device_code + "共挤线mode=" + mode);
             if (mode != last_mode) {
                 if (mode == 4) {
                     logServer.deviceExecuteLog(device_code, "", "", "请求标记变化前:requireSucess = " + requireSucess);

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

@@ -0,0 +1,170 @@
+package org.nl.acs.device_driver.basedriver.siemens_conveyor;
+
+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 {
+
+    //心跳
+    public static String item_heartbeat = "heartbeat";
+    //工作模式
+    public static String item_mode = "mode";
+    //光电信号
+    public static String item_move = "move";
+
+    public static String item_container_type =  "container_type";
+
+    public static String item_action = "action";
+    //托盘方向
+    public static String item_carrier_direction = "carrier_direction";
+    //报警
+    public static String item_error = "error";
+    //任务号
+    public static String item_task = "task";
+
+    //下发命令
+    public static String item_to_command = "to_command";
+    //下发目标站
+    public static String item_to_target = "to_target";
+    //下发托盘类型
+    public static String item_to_container_type = "to_container_type";
+    //下发任务号
+    public static String item_to_task = "to_task";
+    //困扎次数
+    public static String item_to_strap_times = "to_strap_times";
+    //木箱长度
+    public static String item_to_length = "to_length";
+    //木箱宽度
+    public static String item_to_weight = "to_weight";
+    //木箱高度
+    public static String item_to_height = "to_height";
+
+
+    private SiemensConveyorDeviceDriver driver;
+
+    public ItemProtocol(SiemensConveyorDeviceDriver 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 getContainer_type() {
+        return this.getOpcIntegerValue(item_container_type);
+    }
+
+    public int getCarrier_direction() {
+        return this.getOpcIntegerValue(item_carrier_direction);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getTo_command() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+    public int getTo_target() {
+        return this.getOpcIntegerValue(item_to_target);
+    }
+
+    public int getTo_task() {
+        return this.getOpcIntegerValue(item_to_task);
+    }
+
+    public int getTo_strap_times() {
+        return this.getOpcIntegerValue(item_to_strap_times);
+    }
+
+    public int getTo_length() {
+        return this.getOpcIntegerValue(item_to_length);
+    }
+
+    public int getTo_weight() {
+        return this.getOpcIntegerValue(item_to_weight);
+    }
+
+    public int getTo_height() {
+        return this.getOpcIntegerValue(item_to_height);
+    }
+
+
+    Boolean isonline;
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+
+    public String getOpcStringValue(String protocol) {
+        String value = this.driver.getStringValue(protocol);
+        if (StrUtil.isEmpty(value)) {
+
+        } else {
+            return value;
+        }
+        return "0";
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB101.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB101.B2"));
+        list.add(new ItemDto(item_move, "光电信号", "DB101.B3"));
+        list.add(new ItemDto(item_action, "动作信号", "DB101.B4"));
+        list.add(new ItemDto(item_carrier_direction, "托盘方向", "DB101.B5"));
+        list.add(new ItemDto(item_error, "报警信号", "DB101.B6"));
+        list.add(new ItemDto(item_container_type, "托盘类型", "DB101.B8"));
+        list.add(new ItemDto(item_task, "任务号", "DB101.D10"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "下发命令", "DB102.W0"));
+        list.add(new ItemDto(item_to_target, "下发目标站", "DB102.W2"));
+        list.add(new ItemDto(item_to_container_type, "下发托盘类型", "DB102.W4"));
+        list.add(new ItemDto(item_to_task, "下发任务号", "DB102.D6"));
+        return list;
+    }
+
+    @Override
+    public String toString() {
+        return "";
+    }
+
+}
+

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDefination.java

@@ -0,0 +1,64 @@
+package org.nl.acs.device_driver.basedriver.siemens_conveyor;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 西门子-输送机驱动
+ *
+ */
+@Service
+public class SiemensConveyorDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "siemens_conveyor";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "西门子-输送机驱动";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "西门子-输送机驱动";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new SiemensConveyorDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return SiemensConveyorDeviceDriver.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/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java

@@ -0,0 +1,689 @@
+package org.nl.acs.device_driver.basedriver.siemens_conveyor;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.ObjectUtils;
+import org.nl.acs.AcsConfig;
+import org.nl.acs.agv.server.NDCAgvService;
+import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.route.service.dto.RouteLineDto;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.system.service.ParamService;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.openscada.opc.lib.da.Server;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.*;
+
+/**
+ * 西门子-输送机驱动
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean(DeviceService.class);
+    @Autowired
+    RouteLineService routelineserver = SpringContextHolder.getBean(RouteLineService.class);
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
+    @Autowired
+    DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
+    @Autowired
+    RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
+    @Autowired
+    ParamService paramService = SpringContextHolder.getBean(ParamService.class);
+    @Autowired
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
+    @Autowired
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+    @Autowired
+    NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
+    //当前指令
+    Instruction inst = null;
+
+    private String error_type = "ssx_error_type";
+
+    //工作模式
+    int mode = 0;
+    int last_mode = 0;
+    //光电信号
+    int move = 0;
+    int last_move = 0;
+    //托盘方向
+    int carrier_direction = 0;
+    int last_carrier_direction = 0;
+    //报警信号
+    int error = 0;
+    int last_error = 0;
+    //任务号
+    int task = 0;
+    int last_task = 0;
+    int agvphase = 0;
+    String task_code = null;
+    int to_command = 0;
+    int last_to_command = 0;
+
+    int to_target = 0;
+    int last_to_target = 0;
+
+    int to_task = 0;
+    int last_to_task = 0;
+
+    int to_strap_times = 0;
+    int last_to_strap_times = 0;
+    int to_length = 0;
+    int last_to_length = 0;
+    int to_weight = 0;
+    int last_to_weight = 0;
+    int to_height = 0;
+    int last_to_height = 0;
+
+    int phase = 0;
+    int index = 0;
+    Boolean isonline = true;
+    int hasGoods = 0;
+    String message = null;
+    Boolean iserror = false;
+
+    String hand_barcode = null;
+
+    Integer heartbeat_tag;
+    private Date instruction_update_time = new Date();
+    private int instruction_update_time_out = 500;
+
+    private Date instruction_require_time = new Date();
+    private Date require_apply_labeling_time = new Date();
+    private Date require_apply_strangulation_time = new Date();
+    private Date require_empty_in_time = new Date();
+    private Date require_empty_out_time = new Date();
+
+    private int instruction_require_time_out = 3000;
+    //行架机械手申请任务成功标识
+    boolean requireSucess = false;
+    boolean requireEmptyInSuccess = false;
+    boolean requiresShipDeviceUpdate = true;
+    private int instruction_finished_time_out;
+
+    int branchProtocol = 0;
+    String inst_message;
+    String last_inst_message;
+    int heartbeat = 0;
+    int last_heartbeat = 0;
+    //当前指令
+
+    //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
+    int flag;
+
+    String device_code;
+
+    String vehicle_code;
+    String last_vehicle_code;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        try {
+            device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            move = this.itemProtocol.getMove();
+            carrier_direction = this.itemProtocol.getCarrier_direction();
+            error = this.itemProtocol.getError();
+            task = this.itemProtocol.getTask();
+            to_command = this.itemProtocol.getTo_command();
+            to_target = this.itemProtocol.getTo_target();
+            to_task = this.itemProtocol.getTo_task();
+            heartbeat = this.itemProtocol.getHeartbeat();
+            to_strap_times = this.itemProtocol.getTo_strap_times();
+            to_length = this.itemProtocol.getTo_length();
+            to_weight = this.itemProtocol.getTo_weight();
+            to_height = this.itemProtocol.getTo_height();
+//            if(heartbeat != last_heartbeat){
+//                logServer.deviceExecuteLog(this.device_code, "", "", "heartbeat：" + last_heartbeat + "->" + heartbeat);
+//            }
+
+            if (to_strap_times != last_to_strap_times) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_strap_times：" + last_to_strap_times + "->" + to_strap_times);
+            }
+            if (to_length != last_to_length) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_length：" + last_to_length + "->" + to_length);
+            }
+            if (to_weight != last_to_weight) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_weight：" + last_to_weight + "->" + to_weight);
+            }
+            if (to_height != last_to_height) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_height：" + last_to_height + "->" + to_height);
+            }
+            if (to_command != last_to_command) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command);
+            }
+            if (to_target != last_to_target) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target);
+            }
+            if (to_task != last_to_task) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task);
+            }
+            if (mode != last_mode) {
+                requireSucess = false;
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记:" + requireSucess);
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
+            }
+            if (move != last_move) {
+                message = null;
+                if (move == 0) {
+                    inst_message = null;
+                    this.hand_barcode = null;
+                    this.clearWrite();
+                }
+                if (move == 0 && last_move == 1) {
+                    last_vehicle_code = vehicle_code;
+                    last_inst_message = inst_message;
+                    if ("true".equals(this.device.getExtraValue().get("ship_device_update"))) {
+                        this.requiresShipDeviceUpdate = false;
+                    }
+                }
+                logServer.deviceItemValue(this.device_code, "move", String.valueOf(move));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
+            }
+            if (carrier_direction != last_carrier_direction) {
+                logServer.deviceItemValue(this.device_code, "carrier_direction", String.valueOf(carrier_direction));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号carrier_direction：" + last_carrier_direction + "->" + carrier_direction);
+            }
+            if (error != last_error) {
+                logServer.deviceItemValue(this.device_code, "error", String.valueOf(error));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error);
+            }
+            if (task != last_task) {
+                logServer.deviceItemValue(this.device_code, "task", String.valueOf(task));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task);
+            }
+
+            if (move != 0 && task > 0) {
+
+                update_instruction_status();
+            }
+
+        } catch (Exception var17) {
+            var17.printStackTrace();
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+        }
+
+
+        if (mode == 0) {
+            this.setIsonline(false);
+            message = "未联机";
+            //有报警
+
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            if (error != 0) {
+                this.setIserror(true);
+                message = "有报警";
+            }
+
+            Instruction instruction = null;
+            List toInstructions;
+
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    break;
+                case 2:
+                    //申请任务
+                    if (move > 0 && !requireSucess) {
+                        instruction_require();
+                    }
+                    break;
+                case 4:
+                    //申请任务
+                    if (move > 0 && !requireSucess) {
+                        apply();
+                    }
+                    break;
+
+            }
+        }
+        last_mode = mode;
+        last_move = move;
+        last_carrier_direction = carrier_direction;
+        last_error = error;
+        last_task = task;
+        last_heartbeat = heartbeat;
+        last_to_task = to_task;
+        last_to_command = to_command;
+        last_to_target = to_target;
+        last_to_strap_times = to_strap_times;
+        last_to_length = to_length;
+        last_to_weight = to_weight;
+        last_to_height = to_height;
+    }
+
+    public boolean exe_error() {
+        if (this.error == 0) {
+            return true;
+        } else {
+            log.debug("设备报警");
+            return false;
+        }
+    }
+
+    public void clearWrite() {
+
+        List list = new ArrayList();
+        Map map = new HashMap();
+        map.put("code", "to_target");
+        map.put("value", "0");
+        list.add(map);
+        Map map2 = new HashMap();
+        map2.put("code", "to_task");
+        map2.put("value", "0");
+        list.add(map2);
+        Map map3 = new HashMap();
+        map3.put("code", "to_command");
+        map3.put("value", "0");
+        list.add(map3);
+        Map map4 = new HashMap();
+        map4.put("code", "to_strap_times");
+        map4.put("value", "0");
+        list.add(map4);
+        this.writing(0,0,0);
+        message = null;
+        vehicle_code = null;
+    }
+
+    public boolean exe_business() {
+        return true;
+    }
+
+    public synchronized boolean finish_instruction() throws Exception {
+        instructionService.finish(inst);
+        return true;
+    }
+
+
+    protected void thingToNothing() throws Exception {
+        requireSucess = false;
+    }
+
+
+    public void writing(int command, int target, int task) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_command;
+        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_target;
+        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_task;
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, command);
+        itemMap.put(to_target, target);
+        itemMap.put(to_task, task);
+        ReadUtil.write(itemMap, server);
+        server.disconnect();
+   }
+
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String move = "";
+        String carrier_direction = "";
+        if (this.getMode() == 0) {
+            mode = "脱机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "待机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        } else if (this.getMode() == 4) {
+            mode = "申请捆扎中";
+        } else if (this.getMode() == 5) {
+            mode = "申请贴标中";
+        } else if (this.getMode() == 6) {
+            mode = "申请空盘入库中";
+        } else if (this.getMode() == 7) {
+            mode = "申请空盘出库中";
+        } else if (this.getMode() == 8) {
+            mode = "申请AGV任务中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+
+        if (this.carrier_direction == 1) {
+            carrier_direction = "正转";
+        } else if (this.carrier_direction == 2) {
+            carrier_direction = "反转";
+        }
+        String requireSucess = "0";
+        if (this.requireSucess) {
+            requireSucess = "1";
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("carrier_direction", carrier_direction);
+        jo.put("task", task);
+        jo.put("last_task", last_task);
+        jo.put("task_code", task_code);
+        jo.put("inst_message", this.inst_message);
+        jo.put("last_inst_message", this.last_inst_message);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error",error);
+        jo.put("isError", this.getIserror());
+        jo.put("message", this.getMessage());
+        jo.put("hand_barcode", hand_barcode);
+        jo.put("barcode", this.getMove() == 0 ? null : instructionService.findByCodeFromCache(String.valueOf(task)) == null ? vehicle_code : instructionService.findByCodeFromCache(String.valueOf(task)).getVehicle_code());
+        jo.put("is_click", true);
+        jo.put("requireSucess", requireSucess);
+        jo.put("driver_type", "siemens_conveyor");
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+        String requestSucess = data.getString("requireSucess");
+        if (StrUtil.equals(requestSucess, "0")) {
+            this.requireSucess = false;
+        } else if (StrUtil.equals(requestSucess, "1")) {
+            this.requireSucess = true;
+        }
+
+        String hand_barcode = data.getString("hand_barcode");
+        this.setHand_barcode(hand_barcode);
+    }
+
+
+
+    /**
+     * 请求指令
+     */
+    public synchronized boolean instruction_require() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return false;
+        } else {
+            this.instruction_require_time = date;
+            //判断是否存在起点相同 任务状态就绪的任务
+            TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
+            if (!ObjectUtil.isEmpty(taskdto)) {
+                //需要判断当前设备是否已经存在就绪的指令  如果存在就直接下发  不存在则创建
+                Instruction inst = instructionService.findByTaskcodeAndStatus(taskdto.getTask_code());
+                if (ObjectUtil.isNotEmpty(inst)) {
+                    Device next_device = deviceAppservice.findDeviceByCode(inst.getNext_device_code());
+                    String next_addr = next_device.getExtraValue().get("address").toString();
+                    this.writing(1,Integer.parseInt(inst.getInstruction_code()),Integer.parseInt(next_addr));
+                    requireSucess = true;
+                    while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task").toString()
+                            , inst.getInstruction_code())) {
+                        this.writing(1,Integer.parseInt(inst.getInstruction_code()),Integer.parseInt(next_addr));
+                        logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发信号");
+                        try {
+                            Thread.sleep(500);
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
+                        if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(taskdto.getTask_code()))){
+                            requireSucess = false;
+                            return false;
+                        }
+                    }
+
+                    message = "下发电气任务号成功";
+                    requireSucess = true;
+                    return true;
+                }
+
+                String taskid = taskdto.getTask_id();
+                String taskcode = taskdto.getTask_code();
+                String vehiclecode = taskdto.getVehicle_code();
+                String priority = taskdto.getPriority();
+                String start_point_code = taskdto.getStart_point_code();
+                String start_device_code = taskdto.getStart_device_code();
+                String route_plan_code = taskdto.getRoute_plan_code();
+                String next_device_code = "";
+
+                /**
+                 * 开始平均分配
+                 */
+                String this_coevice_code = taskserver.queryAssignedByDevice(device_code, taskdto.getNext_device_code());
+                if (StrUtil.isEmpty(this_coevice_code)) {
+                    List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, taskdto.getNext_device_code(), route_plan_code);
+                    RouteLineDto routeLineDto = shortPathsList.get(0);
+
+                    String path = routeLineDto.getPath();
+                    String type = routeLineDto.getType();
+                    String[] str = path.split("->");
+
+                    List<String> pathlist = Arrays.asList(str);
+                    int index = 0;
+                    for (int m = 0; m < pathlist.size(); m++) {
+                        if (pathlist.get(m).equals(start_device_code)) {
+                            index = m + 1;
+                            break;
+                        }
+                    }
+                    next_device_code = pathlist.get(index);
+                } else {
+                    next_device_code = this_coevice_code;
+                }
+                //校验路由关系
+                List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+                if (ObjectUtils.isEmpty(shortPathsList)) {
+                    throw new RuntimeException("路由不通!");
+                }
+
+                Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
+                Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
+                String next_point_code;
+                if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
+                    next_point_code = taskdto.getTo_x() + "-" + taskdto.getTo_y() + "-" + taskdto.getTo_z();
+                } else {
+                    next_point_code = next_device_code;
+                }
+                Instruction instdto = new Instruction();
+                instdto.setInstruction_id(IdUtil.simpleUUID());
+                instdto.setRoute_plan_code(route_plan_code);
+                instdto.setRemark(taskdto.getRemark());
+                instdto.setMaterial(taskdto.getMaterial());
+                instdto.setQuantity(taskdto.getQuantity());
+                instdto.setTask_id(taskid);
+                instdto.setTask_code(taskcode);
+                instdto.setVehicle_code(vehiclecode);
+                String now = DateUtil.now();
+                instdto.setCreate_time(now);
+                instdto.setCreate_by("auto");
+                instdto.setStart_device_code(start_device_code);
+                instdto.setNext_device_code(next_device_code);
+                instdto.setStart_point_code(start_point_code);
+                instdto.setNext_point_code(next_point_code);
+                instdto.setPriority(priority);
+                instdto.setInstruction_status("0");
+                instdto.setExecute_device_code(start_point_code);
+                try {
+                    instructionService.create(instdto);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("指令创建失败!", e.getMessage());
+                    return false;
+                }
+                //创建指令后修改任务状态
+                taskdto.setTask_status("1");
+                taskserver.update(taskdto);
+                requireSucess = true;
+                Device next_device = deviceAppservice.findDeviceByCode(inst.getNext_device_code());
+                String next_addr = next_device.getExtraValue().get("address").toString();
+                this.writing(1,Integer.parseInt(inst.getInstruction_code()),Integer.parseInt(next_addr));
+                requireSucess = true;
+                while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task").toString()
+                        , instdto.getInstruction_code())) {
+                    this.writing(1,Integer.parseInt(inst.getInstruction_code()),Integer.parseInt(next_addr));
+                    logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+                    try {
+                        Thread.sleep(1000);
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                    if(ObjectUtil.isEmpty(taskserver.findByCode(taskdto.getTask_code()))){
+                        requireSucess = false;
+                        return false;
+                    }
+                }
+
+            } else {
+                //如果不存在则直接找对应指令
+                Instruction inst = instructionService.findByDeviceCodeFromCache(this.device_code);
+                if (ObjectUtil.isEmpty(inst)) {
+                    return false;
+                }
+
+                Device nextdevice = deviceAppservice.findDeviceByCode(inst.getNext_device_code());
+                String next_addr = nextdevice.getExtraValue().get("address").toString();
+
+                this.writing(1,Integer.parseInt(inst.getInstruction_code()),Integer.parseInt(next_addr));
+                requireSucess = true;
+                while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task").toString()
+                        , inst.getInstruction_code())) {
+                    this.writing(1,Integer.parseInt(inst.getInstruction_code()),Integer.parseInt(next_addr));
+                    logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+                    try {
+                        Thread.sleep(500);
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                    if(ObjectUtil.isEmpty(instructionService.findByDeviceCodeFromCache(this.device_code))){
+                        requireSucess = false;
+                        return false;
+                    }
+                }
+            }
+            return true;
+        }
+    }
+
+    /**
+     * 更新指令状态
+     */
+    public synchronized void update_instruction_status() throws Exception {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+
+        } else {
+            this.instruction_update_time = date;
+            inst = instructionService.findByCodeFromCache(String.valueOf(task));
+            if (inst != null) {
+                inst_message = "当前指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + "  载具号：" + inst.getVehicle_code();
+                vehicle_code = inst.getVehicle_code();
+                task_code = inst.getTask_code();
+                if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {
+                    inst.setInstruction_status("1");
+                    inst.setExecute_device_code(this.device_code);
+                    instructionService.update(inst);
+                    logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈执行中状态,反馈成功,指令号:" + task + ",载具号:"+ inst.getVehicle_code());
+                }
+                if (StrUtil.equals(inst.getInstruction_status(), "1") || StrUtil.equals(inst.getInstruction_status(), "0") ) {
+                    if (StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) {
+                        vehicle_code = inst.getVehicle_code();
+                        inst.setExecute_device_code(this.device_code);
+                        finish_instruction();
+                        logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈完成状态,反馈成功,指令号:" + task + ",载具号:"+ inst.getVehicle_code());
+                    } else {
+
+                    }
+                }
+            } else {
+                inst_message = null;
+            }
+
+        }
+    }
+
+    /**
+     * 请求指令
+     */
+    public synchronized boolean apply() {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return false;
+        } else {
+            this.instruction_require_time = date;
+            if(task>0){
+                Instruction instruction = instructionService.findByCode(String.valueOf(task));
+                if(ObjectUtil.isEmpty(instruction)){
+                    logServer.deviceExecuteLog(device_code, "", "", "未找到对应指令，task:"+task);
+                    return false;
+                }
+                TaskDto taskDto = taskserver.findByCode(instruction.getTask_code());
+                if(ObjectUtil.isEmpty(taskDto)){
+                    logServer.deviceExecuteLog(device_code, "", "", "未找到对应任务，task:"+task);
+                    return false;
+                }
+                JSONObject apply = new JSONObject();
+                apply.put("device_code", device_code);
+                apply.put("task_id", taskDto.getExt_task_id());
+                apply.put("type", "12");
+                String str = acsToWmsService.applyTaskToWms(apply);
+                JSONObject jo = JSON.parseObject(str);
+                if (ObjectUtil.isEmpty(jo)) {
+                    message = "申请AGV任务失败 null";
+                } else {
+                    if (jo.getInteger("status") == 200) {
+                        requireSucess = true;
+                    } else {
+                        message = "申请AGV任务失败," + jo.get("message").toString();
+                    }
+                }
+            } else {
+                logServer.deviceExecuteLog(device_code, "", "", "未申请agv任务，task:"+task);
+            }
+            return true;
+        }
+    }
+}

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

@@ -184,13 +184,15 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         AddressDto addressDto = addressService.findByCode("requestTaskAgain");
         String methods_url = addressDto.getMethods_url();
         String url = wmsurl + methods_url;
-        logServer.acsToLms("acsToLms", url, String.valueOf(jo), "开始请求~");
+        logServer.acsToLms("acsToLms", url, String.valueOf(jo), "requestTaskAgain 开始请求~");
         try {
             result = HttpRequest.post(url)
                     .body(String.valueOf(jo))
                     .execute().body();
             JSONObject jsonObject = JSONObject.parseObject(result);
             logServer.acsToLms("acsToLms", url, String.valueOf(jo), jsonObject.getString("status"), jsonObject.getString("message"));
+            logServer.acsToLms("acsToLms", url, String.valueOf(jo), "requestTaskAgain 返回参数~"+jsonObject.toString());
+
             return result;
         } catch (Exception e) {
             logServer.acsToLms("acsToLms", url, String.valueOf(jo), "400", e.getMessage());
@@ -216,7 +218,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         AddressDto addressDto = addressService.findByCode("apply_InEmpty");
         String methods_url = addressDto.getMethods_url();
         String url = wmsurl + methods_url;
-        log.info("requestTaskAgain----请求参数{}", jo);
+        log.info("apply_InEmpty----请求参数{}", jo);
 
         try {
             result2 = HttpRequest.post(url)
@@ -224,7 +226,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
                     .body(String.valueOf(jo))
                     .execute().body();
             System.out.println(result2);
-            log.info("requestTaskAgain----返回参数{}", result2);
+            log.info("apply_InEmpty----返回参数{}", result2);
         } catch (Exception e) {
             String msg = e.getMessage();
             //网络不通

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java

@@ -88,6 +88,9 @@ public interface InstructionService {
 
     Instruction findByCacheTaskcode(String code);
 
+    Instruction findByTaskcodeAndStatus(String code);
+
+
     /**
      * 根据任务id查询
      *

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

@@ -243,6 +243,19 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         return null;
     }
 
+    @Override
+    public Instruction findByTaskcodeAndStatus(String code) {
+        Iterator var3 = instructions.iterator();
+        while (var3.hasNext()) {
+            Instruction instruction = (Instruction) var3.next();
+            if (StrUtil.equals(instruction.getTask_code(), code)
+                    && StrUtil.equals(instruction.getInstruction_status(), "0")) {
+                return instruction;
+            }
+        }
+        return null;
+    }
+
     @Override
     public Instruction findByTaskid(String id, String wherecaluse) {
         if (!StrUtil.isEmpty(wherecaluse)) {

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

@@ -67,6 +67,15 @@ public interface TaskService {
      */
     List<TaskDto> queryAll(Map whereJson);
 
+    /**
+     * 根据起点设备编号查询当前是否有就绪任务
+     *
+     * @param device_code
+     * @return
+     */
+    TaskDto findByStartCodeAndReady(String device_code);
+
+
     /**
      * 根据ID查询
      *

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

@@ -228,6 +228,20 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return jo;
     }
 
+    @Override
+    public TaskDto findByStartCodeAndReady(String device_code) {
+        Iterator var3 = tasks.iterator();
+
+        while (var3.hasNext()) {
+            TaskDto task = (TaskDto) var3.next();
+            if (StrUtil.equals(task.getStart_device_code(), device_code)
+                    && StrUtil.equals(task.getTask_status(), "0")) {
+                return task;
+            }
+        }
+        return null;
+    }
+
     @Override
     public List<TaskDto> queryAll(Map whereJson) {
         WQLObject wo = WQLObject.getWQLObject("acs_task");

acs/nladmin-system/src/main/java/org/nl/modules/logging/aspect/LogAspect.java

@@ -80,8 +80,8 @@ public class LogAspect {
         // 方法路径
         String methodName = joinPoint.getTarget().getClass().getName() + "." + signature.getName() + "()";
         String params=getParameter(method, joinPoint.getArgs());
-        log.info("请求方法:{}",methodName);
-        log.info("请求方法参数:{}",params);
+//        log.info("请求方法:{}",methodName);
+//        log.info("请求方法参数:{}",params);
 
         Object result;
         currentTime.set(System.currentTimeMillis());

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

@@ -62,7 +62,7 @@ public class QueryOneZDAgvTaskStatus {
 //							UNROUTABLE：无法规划该业务订单的执行路线
 
                 //执行中
-                if ("BEING_PROCESSED".equals(status) || "ACTIVE".equals(status)) {
+                if ("BEING_PdROCESSED".equals(status) || "ACTIVE".equals(status)) {
                     if (inst != null) {
                         inst.setInstruction_status("1");
                         instructionService.update(inst);