浙大接口测试

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

@@ -19,14 +19,17 @@ public interface ZheDaAgvService {
 
     /**
      * 查询AGV状态
-     * 永裕家居项目:共两楼
-     *
-     * @param floor 1、二楼AGV系统；2、一楼AGV系统
      * @return
      */
-    public HttpResponse queryAgvInstStatus(String floor);
+   HttpResponse queryAgvInstStatus();
+    /**
+     * 查询AGV设备状态
+     * @return
+     */
+    HttpResponse queryZDAgvDeviceStatus();
 
-    String process(String jobno, String type, String address, String action, String processingVehicle);
+
+    String process(String jobno, String type, String address, String action, String processingVehicle,String feedbackStatus);
 
     public HttpResponse markComplete(String code);
 

acs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java

@@ -73,5 +73,14 @@ public class AgvDto implements Serializable {
      * 当前任务号
      */
     private String transportOrder;
+    /**
+     * 状态码
+     */
+    private Integer status;
+    /**
+     * 状态描述
+     */
+    private String statusDescription;
+
 
 }

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

@@ -10,12 +10,16 @@ import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.AgvUtil;
 import org.nl.acs.agv.server.ZheDaAgvService;
+import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.CargoLiftConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.empty_vehicle_stacking_position.EmptyVehicleStackingPositionDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hailiang_smart_plc_test.HailiangSmartplcTestDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.lubei_conveyor.LubeiConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.paint_conveyor.PaintConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.AcsToWmsZDService;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.LokiLog;
@@ -25,14 +29,23 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.config.server.AcsConfigService;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
+import java.util.HashMap;
+import java.util.Map;
+
 @Slf4j
 @Service
 @RequiredArgsConstructor
 public class ZheDaAgvServiceImpl implements ZheDaAgvService {
+
+    @Autowired
+    AcsConfigService acsConfigService;
+    Map<String, AgvDto> AGVDeviceStatus = new HashMap();
     private final ParamService paramService;
     @LokiLog(type = LokiLogType.AGV)
     @Override
@@ -73,13 +86,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
             String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
             String agvport2 = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
 
-
+            agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + inst.getInstruction_code();
-            //不同楼层下发不同的agv系统
-            if (task_type.equals("1")) {
-                agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + inst.getInstruction_code();
-            } else {
-                agvurl = agvurl2 + ":" + agvport2 + "/v1/transportOrders/" + inst.getInstruction_code();
-            }
             log.info("下发agv任务请求:{}", agvurl);
 
             HttpResponse result = HttpRequest.post(agvurl)
@@ -96,20 +103,11 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
     @LokiLog(type = LokiLogType.AGV)
     @Override
     //ZDAGV
-    public HttpResponse queryAgvInstStatus(String type) {
+    public HttpResponse queryAgvInstStatus() {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
-            String agvurl = "";
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
-            String agvport = "";
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-            if (type.equals("1")) {
+            agvurl = agvurl + ":" + agvport + "/v1/vehicles";
-                agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
-                agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-            }
-            if (type.equals("2")) {
-                agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
-                agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
-            }
-
-            agvurl = agvurl + ":" + agvport + "/v1/transportOrders";
             HttpResponse result = HttpRequest.get(agvurl)
                     .timeout(20000)//超时，毫秒
                     .execute();
@@ -120,299 +118,229 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
             return null;
         }
     }
-    @LokiLog(type = LokiLogType.AGV)
+
     @Override
-    //ZDAGV
+    public HttpResponse queryZDAgvDeviceStatus() {
-    public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) {
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
-        log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action);
-        //释放AGV资源，继续后续动作
-        boolean is_feedback = false;
-        String str = "";
-        String backaddress = address;
-        if (address.indexOf(".") > 0) {
-            str = address.substring(address.indexOf(".") + 1, address.length());
-            address = address.substring(0, address.indexOf("."));
-        } else if (address.indexOf("-") > 0) {
-            address = address.substring(0, address.indexOf("-"));
-        }
-        InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
-        TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
-        AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
-
-        Instruction inst = instructionService.findByCodeFromCache(jobno);
-        TaskDto task = taskService.findByCode(inst.getTask_code());
-
-        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-        Device addressdevice = appService.findDeviceByCode(address);
-
-        CargoLiftConveyorDeviceDriver cargoLiftConveyorDeviceDriver;
-        EmptyVehicleStackingPositionDeviceDriver emptyVehicleStackingPositionDeviceDriver;
-        HailiangSmartplcTestDeviceDriver hailiangSmartplcTestDeviceDriver;
-        HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
-        PaintConveyorDeviceDriver paintConveyorDeviceDriver;
-
-        //取货的进入前等待和离开等待
-        if (action.equals("Load")) {
-            if ("EntryRequired".equals(type)) {
-                //共挤线三工位
-                if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) {
-                    hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((hailiangSmartplcTestDeviceDriver.getAction() == 1 || hailiangSmartplcTestDeviceDriver.getAction() == 3) && hailiangSmartplcTestDeviceDriver.getMove() == 1) {
-                        inst.setExecute_status("1");
-                        is_feedback = true;
-                    }
-                }
-                //叠盘位
-                if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) {
-                    emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver();
-                    int number = emptyVehicleStackingPositionDeviceDriver.getNumber();
-                    if (number < Integer.valueOf(str)) {
-                        log.info("叠盘位：" + jobno + "当前层高为：" + number + ",不存在第" + str + "的托盘！");
-                        return null;
-                    }
-                    inst.setExecute_status("1");
-                    is_feedback = true;
-                }
-                //货梯对接线
-                if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) {
-                    cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((cargoLiftConveyorDeviceDriver.getAction() == 1 || cargoLiftConveyorDeviceDriver.getAction() == 3) && cargoLiftConveyorDeviceDriver.getMove() == 1) {
-                        inst.setExecute_status("1");
-                        is_feedback = true;
-                    }
-                }
-                //豪凯自动线对接位
-                if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
-                    hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((hongXiangConveyorDeviceDriver.getAction() == 1 || hongXiangConveyorDeviceDriver.getAction() == 3) && hongXiangConveyorDeviceDriver.getMove() == 1) {
-                        inst.setExecute_status("1");
-                        is_feedback = true;
-                    }
-                }
-                //油漆线
-                if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) {
-                    paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((paintConveyorDeviceDriver.getAction() == 1 || paintConveyorDeviceDriver.getAction() == 3) && paintConveyorDeviceDriver.getMove() == 1) {
-                        inst.setExecute_status("1");
-                        is_feedback = true;
-                    }
-                }
-            }
-            if ("PauseOnStation".equals(type)) {
-                if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) {
-                    hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("2");
-                    hailiangSmartplcTestDeviceDriver.writing(2);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) {
-                    emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("2");
-                    emptyVehicleStackingPositionDeviceDriver.writing(2);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) {
-                    cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("2");
-                    cargoLiftConveyorDeviceDriver.writing(2);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
-                    hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("2");
-                    hongXiangConveyorDeviceDriver.writing(2);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) {
-                    paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("2");
-                    paintConveyorDeviceDriver.writing(2);
-                    is_feedback = true;
-                }
-
-            }
-        }
-        //等待点等待
-        if (action.equals("Wait")) {
-            if ("Wait".equals(type)) {
-                JSONObject jo = new JSONObject();
-                jo.put("task_code", inst.getInstruction_code());
-                JSONArray destinations = new JSONArray();
-                String inst_type = inst.getInstruction_type();
-                //如果任务类型为1，在点位进行等待，则查询当前叠盘位的数量，取当前数量的层数进行追加任务
-//                if ("1".equals(inst_type)) {
-//                    emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver();
-//                    int current_num = emptyVehicleStackingPositionDeviceDriver.getNumber();
-//                    if (current_num > 12) {
-//                        log.info("当前叠盘架:" + jobno + "已放满！");
-//                        return null;
-//                    }
-//                    String start_point_code = inst.getStart_point_code();
-//                    String next_point_code = inst.getNext_point_code();
-//                    start_point_code = start_point_code + "." + (current_num + 1);
-//                    destinations.add(destination(start_point_code, "Load", "1", "1"));
-//                    destinations.add(destination(next_point_code, "Unload", "1", "1"));
-//
-//                }
-
-                String resp = acsToWmsService.requestTaskAgain(address,task.getExt_task_id(),inst.getVehicle_code());
-                JSONObject respjson = JSONObject.parseObject(resp);
-
-                if(StrUtil.equals(inst.getInstruction_type(),"3")){
-                    //2楼AGV起点追加任务
-                    String start_device_code = respjson.getString("device_code");
-                    String next_device_code = inst.getNext_device_code();
-                    destinations.add(destination(start_device_code, "load", "1", "1"));
-                    destinations.add(destination(next_device_code, "Unload", "1", "1"));
-
-                } else if(StrUtil.equals(inst.getInstruction_type(),"4")){
-                    //2楼AGV终点追加任务
-                    String next_device_code = respjson.getString("device_code");
-                    destinations.add(destination(next_device_code, "Unload", "1", "1"));
-                }
-
-                jo.put("destinations", destinations);
-
-                String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
-                String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-
-                String url = agvurl + ":" + agvport + "/addDestinations";
-                log.info("下发agv任务请求:{}", url);
-
-                HttpResponse result = HttpRequest.post(url)
-                        .body(String.valueOf(jo))//表单内容
-                        .timeout(20000)//超时，毫秒
-                        .execute();
-                log.info("下发agv任务请求反馈:{}", result);
-
-                //对任务进行封口
-                JSONObject complete = new JSONObject();
-                complete.put("task_code", inst.getInstruction_code());
-
-                String url2 = agvurl + ":" + agvport + "markComplete";
-                log.info("下发agv任务请求:{}", url2);
-
-                HttpResponse result2 = HttpRequest.post(url2)
-                        .body(String.valueOf(complete))//表单内容
-                        .timeout(20000)//超时，毫秒
-                        .execute();
-                log.info("下发agv任务请求反馈:{}", result2);
-            }
-        }
-        //放货的进入前等待和离开等待
-        if (action.equals("Unload")) {
-            if ("EntryRequired".equals(type)) {
-                if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) {
-                    hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((hailiangSmartplcTestDeviceDriver.getAction() == 2 || hailiangSmartplcTestDeviceDriver.getAction() == 3) && hailiangSmartplcTestDeviceDriver.getMove() == 0) {
-                        inst.setExecute_status("3");
-                        is_feedback = true;
-                    }
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) {
-                    emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver();
-                    int number = emptyVehicleStackingPositionDeviceDriver.getNumber();
-                    if (number >= Integer.valueOf(str)) {
-                        log.info("叠盘位：" + jobno + "第" + str + "上有货！");
-                        return null;
-                    }
-                    inst.setExecute_status("3");
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) {
-                    cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((cargoLiftConveyorDeviceDriver.getAction() == 2 || cargoLiftConveyorDeviceDriver.getAction() == 3) && cargoLiftConveyorDeviceDriver.getMove() == 0) {
-                        inst.setExecute_status("3");
-                        is_feedback = true;
-                    }
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
-                    hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((hongXiangConveyorDeviceDriver.getAction() == 2 || hongXiangConveyorDeviceDriver.getAction() == 3) && hongXiangConveyorDeviceDriver.getMove() == 0) {
-                        inst.setExecute_status("3");
-                        is_feedback = true;
-                    }
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) {
-                    paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    if ((paintConveyorDeviceDriver.getAction() == 2 || paintConveyorDeviceDriver.getAction() == 3) && paintConveyorDeviceDriver.getMove() == 0) {
-                        inst.setExecute_status("3");
-                        is_feedback = true;
-                    }
-                }
-            }
-            if ("PauseOnStation".equals(type)) {
-                if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) {
-                    hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("4");
-                    hailiangSmartplcTestDeviceDriver.writing(3);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) {
-                    emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("4");
-                    emptyVehicleStackingPositionDeviceDriver.writing(3);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) {
-                    cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("4");
-                    cargoLiftConveyorDeviceDriver.writing(3);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
-                    hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("4");
-                    hongXiangConveyorDeviceDriver.writing(3);
-                    is_feedback = true;
-                }
-
-                if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) {
-                    paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver();
-                    inst.setExecute_status("4");
-                    paintConveyorDeviceDriver.writing(3);
-                    is_feedback = true;
-                }
-            }
-        }
-        JSONObject requestjo = new JSONObject();
-        if (is_feedback) {
-            requestjo.put("task_code", jobno);
-            requestjo.put("operation", action);
-            if (type.equals("entryRequired") || type.equals("EntryRequired")) {
-                requestjo.put("entryRequired", "true");
-            } else {
-                requestjo.put("pauseOnStation", "true");
-            }
-            log.info("反馈AGV请求数据:{}", requestjo);
-            System.out.println("back agv:" + requestjo);
-
             String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
             String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-
+            agvurl = agvurl + ":" + agvport + "/v1/vehicles";
-            if (inst.getInstruction_type().equals("4")) {
+            HttpResponse result = HttpRequest.get(agvurl)
-                agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
-            }
-            agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact";
-
-            HttpResponse result = HttpRequest.post(agvurl)
-                    .body(String.valueOf(requestjo))
                     .timeout(20000)//超时，毫秒
                     .execute();
-        }
+            System.out.println("查询agv指令数据:" + result.body());
-        return requestjo.toString();
 
+            return result;
+        } else {
+            return null;
+        }
+    }
+
+    @LokiLog(type = LokiLogType.AGV)
+    @Override
+    public synchronized String process(String jobno, String type, String address, String action, String processingVehicle,String feedbackStatus)
+    {
+        {
+            log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action+",feedbackStatus:"+feedbackStatus);
+            //释放AGV资源，继续后续动作
+            boolean is_feedback = false;
+            String str = "";
+            String backaddress = address;
+            if (address.indexOf(".") > 0) {
+                str = address.substring(address.indexOf(".") + 1, address.length());
+                address = address.substring(0, address.indexOf("."));
+            } else if (address.indexOf("-") > 0) {
+                address = address.substring(0, address.indexOf("-"));
+            }
+            InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+            TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
+//            AcsToWmsService acsToWmsService=SpringContextHolder.getBean("acsToWmsServiceImpl");
+             AcsToWmsZDService acsToWmsZDService = SpringContextHolder.getBean("acsToWmsZDServiceImpl");
+
+            Instruction inst = instructionService.findByCodeFromCache(jobno);
+            TaskDto task = taskService.findByCode(inst.getTask_code());
+
+            DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+            Device addressdevice = appService.findDeviceByCode(address);
+
+
+            LubeiConveyorDeviceDriver lubeiConveyorDeviceDriver;
+            StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+            //取货的进入前等待和离开等待
+            if (action.equals("Load")) {
+                if ("EntryRequired".equals(type)) {
+                    //
+                    if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) {
+                        lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver();
+                        if(lubeiConveyorDeviceDriver.getMove()==1 && lubeiConveyorDeviceDriver.getAction()==1){
+                            JSONObject jo = new JSONObject();
+                            jo.put("taskCode",task.getTask_code());
+                            jo.put("carId",processingVehicle);
+                            jo.put("taskType ",type);
+                            jo.put("feedbackStatus",feedbackStatus);
+                            HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                            JSONObject response=JSONObject.parseObject(result.body());
+                            int responseCode= response.getInteger("responseCode");
+                            if(responseCode == 0) {
+                                is_feedback = true;
+                                log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
+                            }
+                        } else {
+                            log.info("设备{} 请求取货，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                            JSONObject jo = new JSONObject();
+                            jo.put("taskCode",task.getTask_code());
+                            jo.put("carId",processingVehicle);
+                            jo.put("taskType ",type);
+                            jo.put("feedbackStatus",feedbackStatus);
+                            HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                            JSONObject response=JSONObject.parseObject(result.body());
+                            int responseCode= response.getInteger("responseCode");
+                            if(responseCode == 0) {
+                                is_feedback = true;
+                                log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
+                            }
+                    }
+                }
+                if ("PauseOnStation".equals(type)) {
+                    if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) {
+                        lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver();
+                        if(lubeiConveyorDeviceDriver.getMove()==0){
+                            JSONObject jo = new JSONObject();
+                            jo.put("taskCode",task.getTask_code());
+                            jo.put("carId",processingVehicle);
+                            jo.put("taskType ",type);
+                            jo.put("feedbackStatus",feedbackStatus);
+                            HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                            JSONObject response=JSONObject.parseObject(result.body());
+                            int responseCode= response.getInteger("responseCode");
+                            if(responseCode == 0) {
+                                is_feedback = true;
+                                log.info("请求ZDwcs成功，取货完成 请求结果{}",responseCode);
+                            }
+                        } else {
+                            log.info("设备{} 请求离开，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("taskCode",task.getTask_code());
+                        jo.put("carId",processingVehicle);
+                        jo.put("taskType ",type);
+                        jo.put("feedbackStatus",feedbackStatus);
+                        HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                        JSONObject response=JSONObject.parseObject(result.body());
+                        int responseCode= response.getInteger("responseCode");
+                        if(responseCode == 0) {
+                            is_feedback = true;
+                            log.info("请求ZDwcs成功，取货完成 请求结果{}",responseCode);
+                        }
+                    }
+                }
+            }
+
+            //放货的进入前等待和离开等待
+            if (action.equals("Unload")) {
+                if ("EntryRequired".equals(type)) {
+                    if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) {
+                        lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver();
+                        if(lubeiConveyorDeviceDriver.getMove()==0 && lubeiConveyorDeviceDriver.getAction()==1){
+                            JSONObject jo = new JSONObject();
+                            jo.put("taskCode",task.getTask_code());
+                            jo.put("carId",processingVehicle);
+                            jo.put("taskType ",type);
+                            jo.put("feedbackStatus",feedbackStatus);
+                            HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                            JSONObject response=JSONObject.parseObject(result.body());
+                            int responseCode= response.getInteger("responseCode");
+                            if(responseCode == 0) {
+                                is_feedback = true;
+                                log.info("请求ZDwcs成功，开始放货 请求结果{}",responseCode);
+                            }
+                        } else {
+                            log.info("设备{} 请求放货，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("taskCode",task.getTask_code());
+                        jo.put("carId",processingVehicle);
+                        jo.put("taskType ",type);
+                        jo.put("feedbackStatus",feedbackStatus);
+                        HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                        JSONObject response=JSONObject.parseObject(result.body());
+                        int responseCode= response.getInteger("responseCode");
+                        if(responseCode == 0) {
+                            is_feedback = true;
+                            log.info("请求ZDwcs成功，开始放货 请求结果{}",responseCode);
+                        }
+                    }
+                }
+                if ("PauseOnStation".equals(type)) {
+                    if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) {
+                        lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver();
+                        if(lubeiConveyorDeviceDriver.getMove()==1){
+                            JSONObject jo = new JSONObject();
+                            jo.put("taskCode",task.getTask_code());
+                            jo.put("carId",processingVehicle);
+                            jo.put("taskType ",type);
+                            jo.put("feedbackStatus",feedbackStatus);
+                            HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                            JSONObject response=JSONObject.parseObject(result.body());
+                            int responseCode= response.getInteger("responseCode");
+                            if(responseCode == 0) {
+                                is_feedback = true;
+                                log.info("请求ZDwcs成功，放货完成 请求结果{}",responseCode);
+                            }
+                        } else {
+                            log.info("设备{} 请求离开，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove());
+                        }
+                    }
+                    if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("taskCode",task.getTask_code());
+                        jo.put("carId",processingVehicle);
+                        jo.put("taskType ",type);
+                        jo.put("feedbackStatus",feedbackStatus);
+                        HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                        JSONObject response=JSONObject.parseObject(result.body());
+                        int responseCode= response.getInteger("responseCode");
+                        if(responseCode == 0) {
+                            is_feedback = true;
+                            log.info("请求ZDwcs成功，放货完成 请求结果{}",responseCode);
+                        }
+                    }
+                }
+            }
+            com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject();
+            if (is_feedback) {
+                requestjo.put("task_code", jobno);
+                requestjo.put("operation", action);
+                if (type.equals("entryRequired") || type.equals("EntryRequired")) {
+                    requestjo.put("entryRequired", "true");
+                } else {
+                    requestjo.put("pauseOnStation", "true");
+                }
+                log.info("反馈AGV请求数据:{}", requestjo);
+                System.out.println("back agv:" + requestjo);
+
+
+                String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
+                String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+                agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + jobno + "/interact";
+
+
+                HttpResponse result = HttpRequest.post(agvurl)
+                        .body(String.valueOf(requestjo))
+                        .timeout(20000)//超时，毫秒
+                        .execute();
+            }
+            return requestjo.toString();
+
+        }
     }
     @LokiLog(type = LokiLogType.AGV)
     @Override

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

@@ -21,7 +21,9 @@ public enum DriverTypeEnum {
 //
 //    INSPECT_CONVEYOR_MONITOR(6, "standard_conveyor_monitor", "标准版-输送机-监控点", "conveyor"),
 
-    AGV_NDC_ONE(7, "agv_ndc_one", "NDCAGV", "agv");
+    AGV_NDC_ONE(7, "agv_ndc_one", "NDCAGV", "agv"),
+
+    LUBEI_CONVEYOR(18,"lubei_conveyor","输送线","conveyor");
 
 //    AGV_NDC_TWO(8, "agv_ndc_two", "NDC2楼AGV", "agv"),
 
@@ -46,6 +48,8 @@ public enum DriverTypeEnum {
 //    SIEMENS_CONVEYOR_CKK(17, "siemens_conveyor_ckk", "西门子-输送机驱动-出库口", "conveyor");
 
 
+
+
     //驱动索引
     private int index;
     //驱动编码

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

@@ -0,0 +1,107 @@
+package org.nl.acs.device_driver.basedriver.lubei_conveyor;
+
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+    public static String item_heartbeat = "heartbeat";
+    public static String item_mode = "mode";
+    public static String item_move = "move";
+    public static String item_action = "action";
+    public static String item_error = "error";
+    public static String item_task = "task";
+    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_weight = "weight";
+
+    private LubeiConveyorDeviceDriver driver;
+
+    public ItemProtocol(LubeiConveyorDeviceDriver 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 getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getToCommand() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+    public int getToTarget() {
+        return this.getOpcIntegerValue(item_to_target);
+    }
+
+    public int getToTask() {
+        return this.getOpcIntegerValue(item_to_task);
+    }
+
+    //是否有货
+    public int hasGoods(int move) {
+        return move;
+    }
+
+    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 static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
+        list.add(new ItemDto(item_mode, "工作状态", "DB600.B2", Boolean.valueOf(true)));
+        list.add(new ItemDto(item_move, "光电开关信号", "DB600.B3"));
+        list.add(new ItemDto(item_action, "取放开关信号", "DB600.B4"));
+        list.add(new ItemDto(item_error, "报警信号", "DB600.B5"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_command, "作业命令", "DB601.B2", Boolean.valueOf(true)));
+        return list;
+    }
+
+
+    @Override
+    public String toString() {
+        return "";
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDefination.java

@@ -0,0 +1,59 @@
+package org.nl.acs.device_driver.basedriver.lubei_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.ArrayList;
+import java.util.LinkedList;
+import java.util.List;
+
+@Service
+public class LubeiConveyorDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "lubei_conveyor";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "输送线";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "输送线";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new LubeiConveyorDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return LubeiConveyorDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDeviceDriver.java

@@ -0,0 +1,442 @@
+package org.nl.acs.device_driver.basedriver.lubei_conveyor;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.AcsToWmsZDService;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.opc.WcsConfig;
+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.system.util.CodeUtil;
+import org.nl.modules.wql.core.bean.WQLObject;
+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.HashMap;
+import java.util.List;
+import java.util.Map;
+
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class LubeiConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+//    protected org.nl.acs.device_driver.basedriver.lubei_conveyor.ItemProtocol itemProtocol = new org.nl.acs.device_driver.basedriver.lubei_conveyor.ItemProtocol(this);
+    protected  ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
+    @Autowired
+    RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    AcsToWmsZDService acsToWmsZDService=SpringContextHolder.getBean(AcsToWmsZDService.class);
+    String container;
+    String container_type_desc;
+    String last_container_type_desc;
+    String last_container;
+    //放货准备锁
+    String putReadyLock = null;
+    //有货标记
+    protected boolean has_goods_tag = false;
+
+    int mode = 0;
+    int error = 0;
+    int move = 0;
+    int task = 0;
+    int action=0;
+    int last_mode = 0;
+    int last_error = 0;
+    int last_move = 0;
+    int last_task = 0;
+    int last_action=0;
+    Boolean isonline = true;
+    int hasGoods = 0;
+    String message = null;
+    Boolean iserror = false;
+
+
+    boolean hasVehicle = false;
+    boolean isReady = false;
+    protected int instruction_num = 0;
+    protected int instruction_num_truth = 0;
+    boolean isFold = false;
+    private String assemble_check_tag;
+
+    protected String current_stage_instruction_message;
+    protected String last_stage_instruction_message;
+    Integer heartbeat_tag;
+    private Date instruction_require_time = new Date();
+    private Date instruction_finished_time = new Date();
+
+    private int instruction_require_time_out;
+    boolean requireSucess = false;
+
+    private int instruction_finished_time_out;
+
+    int branchProtocol = 0;
+    //备注
+    String remark;
+    //数量
+    String qty;
+    //物料
+    String material;
+    //批次
+    String batch;
+    //当前指令
+    Instruction inst = null;
+    //上次指令
+    Instruction last_inst = null;
+
+    //触摸屏手动触发任务
+    private Boolean is_has_task = false;
+
+    //申请搬运任务
+    private Boolean apply_handling = false;
+    //申请物料
+    private Boolean apply_material = false;
+
+    //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 devicecode;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        String message = null;
+        try {
+            String device_code = this.getDeviceCode();
+            mode = this.itemProtocol.getMode();
+            error = this.itemProtocol.getError();
+            move = this.itemProtocol.getMove();
+            task = this.itemProtocol.getTask();
+            hasGoods = this.itemProtocol.getMove();
+            action =this.itemProtocol.getaction();
+
+
+            if (mode != last_mode) {
+                this.setRequireSucess(false);
+            }
+            if (move != last_move) {
+            }
+            if (error != last_error) {
+            }
+
+            if (this.getApply_handling()) {
+                String link_device_code = this.getDevice().getExtraValue().get("link_device_code").toString();
+                DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                Device link_device = appService.findDeviceByCode(link_device_code);
+                LubeiConveyorDeviceDriver lubeiConveyorDeviceDriver;
+                if (link_device.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) {
+                    lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) link_device.getDeviceDriver();
+//                            if(standardInspectSiteDevicedriver.getMode() != 2){
+//                                log.debug("设备未待机");
+//                                return;
+//                            }
+//                            if(standardInspectSiteDevicedriver.getMove() != 0){
+//                                log.debug("设备不满足放货条件");
+//                                return;
+//                            }
+
+                    //如果目标设备申请叫料 则允许生成任务
+                    if (lubeiConveyorDeviceDriver.getApply_material()) {
+                        TaskDto dto = new TaskDto();
+                        String now = DateUtil.now();
+                        dto.setTask_id(IdUtil.simpleUUID());
+                        dto.setCreate_by(this.getDevice().getDevice_code());
+                        dto.setUpdate_by(this.getDevice().getDevice_code());
+                        dto.setStart_point_code(this.getDevice().getDevice_code());
+
+                        String taskcode = CodeUtil.getNewCode("TASK_NO");
+                        dto.setTask_code("-" + taskcode);
+                        dto.setTask_status("0");
+                        dto.setPriority("101");
+//                        RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code());
+//                        String next_device_codecode = jo.getNext_device_code();
+//                                if(StrUtil.isEmpty(next_device_codecode)){
+//                                    throw new RuntimeException("该设备未找到对应路由");
+//                                }
+                        dto.setNext_point_code(lubeiConveyorDeviceDriver.getDevicecode());
+                        dto.setUpdate_time(now);
+                        dto.setCreate_time(now);
+
+                        WQLObject wo = WQLObject.getWQLObject("acs_task");
+                        JSONObject json = (JSONObject) JSONObject.toJSON(dto);
+
+                        wo.insert(json);
+                        lubeiConveyorDeviceDriver.setApply_material(false);
+                    }
+                }
+                this.setApply_handling(false);
+            }
+
+        } catch (Exception var17) {
+            return;
+        }
+
+        if (!this.itemProtocol.getIsonline()) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "信号量同步异常";
+            //未联机
+        } else if (mode == 0) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "未联机";
+            //有报警
+        } else if (error != 0) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "有报警";
+            //无报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    break;
+                case 2:
+                    break;
+            }
+
+            switch (flag) {
+                //取货完成
+                case 1:
+                    writing(2);
+                    return;
+                //放货完成
+                case 2:
+                    writing(3);
+                    return;
+
+            }
+
+        }
+        last_mode = mode;
+        last_error = error;
+        last_move = move;
+        last_task = task;
+
+    }
+
+
+    public boolean exe_error() {
+        if (this.error == 0) {
+            return true;
+        } else {
+            log.debug("设备报警");
+            return false;
+        }
+    }
+
+    protected void thingToNothing() {
+        log.debug("从有货到无货 清理数据");
+        this.set_last_container(container, container_type_desc);
+    }
+
+    public void set_last_container(String barcode, String type_desc) {
+        this.set_last_container(barcode);
+        this.set_last_container_type_desc(type_desc);
+    }
+
+    public void set_last_container(String barcode) {
+    }
+
+    public void set_last_container_type_desc(String type) {
+    }
+
+    public boolean exe_business() {
+        return true;
+    }
+
+    protected void executing(Instruction instruction) {
+        this.executing(1, instruction, "");
+    }
+
+    public void executing(int command, Instruction instruction, String appendMessage) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + org.nl.acs.device_driver.basedriver.lubei_conveyor.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.lubei_conveyor.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.lubei_conveyor.ItemProtocol.item_to_task;
+        if (appendMessage == null) {
+            appendMessage = "";
+        }
+        if (instruction != null) {
+            instruction_num = Integer.parseInt(instruction.getInstruction_code());
+        }
+        //String opcservcerid = this.getDevice().getOpc_server_id();
+//Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, 1);
+        itemMap.put(to_task, instruction_num);
+        this.control(itemMap);
+
+    }
+
+    public void executing(Server server, Map<String, Object> itemMap) {
+        this.control(itemMap);
+    }
+
+    public void writing(int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." +ItemProtocol.item_to_command;
+
+        //String opcservcerid = this.getDevice().getOpc_server_id();
+//Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, command);
+        this.control(itemMap);
+
+    }
+
+    public void writing(int type, int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_command;
+        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_target;
+        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_task;
+        //String opcservcerid = this.getDevice().getOpc_server_id();
+//Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        if (type == 1) {
+            itemMap.put(to_command, command);
+        } else if (type == 2) {
+            itemMap.put(to_target, command);
+
+        } else if (type == 3) {
+            itemMap.put(to_task, command);
+        }
+        this.control(itemMap);
+
+    }
+
+    public boolean instruction_require(String container_code) {
+        return instruction_require(container_code, WcsConfig.task_container_type_default_desc);
+    }
+
+    /**
+     * 请求指令
+     *
+     * @param container_code
+     * @param container_type
+     */
+    public synchronized boolean instruction_require(String container_code, String container_type) {
+        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;
+            TaskDto dto = new TaskDto();
+            String now = DateUtil.now();
+            dto.setTask_id(IdUtil.simpleUUID());
+            dto.setCreate_by(this.getDevice().getDevice_code());
+            dto.setUpdate_by(this.getDevice().getDevice_code());
+            dto.setStart_point_code(this.getDevice().getDevice_code());
+            dto.setVehicle_code(container_code);
+            dto.setVehicle_type(container_type);
+
+            String taskcode = CodeUtil.getNewCode("TASK_NO");
+            dto.setTask_code("-" + taskcode);
+            dto.setTask_status("0");
+            dto.setPriority("101");
+            RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code());
+            String next_device_codecode = jo.getNext_device_code();
+            if (StrUtil.isEmpty(next_device_codecode)) {
+                throw new RuntimeException("该设备未找到对应路由");
+            }
+            dto.setNext_point_code(next_device_codecode);
+            dto.setUpdate_time(now);
+            dto.setCreate_time(now);
+
+            WQLObject wo = WQLObject.getWQLObject("acs_task");
+            JSONObject json = (JSONObject) JSONObject.toJSON(dto);
+
+            wo.insert(json);
+            requireSucess = false;
+            return true;
+        }
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.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);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+}
+

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

@@ -5,6 +5,7 @@ import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.ext.wms.service.AcsToWmsZDService;
 import org.nl.modules.logging.annotation.Log;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.http.HttpStatus;
@@ -23,26 +24,26 @@ import java.util.Map;
 @Slf4j
 @Lazy
 public class AcsToWmsZDController {
-    private final AcsToWmsZDController acsToWmsZDService;
+    private final AcsToWmsZDService acsToWmsZDService;
 
     @PostMapping("/feedbackTask")
     @Log("任务反馈")
     @ApiOperation("任务反馈")
-    public ResponseEntity<Object> taskFeedback(@RequestBody Map whereJson) throws Exception {
+    public ResponseEntity<Object> taskFeedback(@RequestBody JSONObject whereJson) throws Exception {
         return new ResponseEntity<>(acsToWmsZDService.taskFeedback(whereJson), HttpStatus.OK);
     }
 
     @PostMapping("/deprecateTask")
     @Log("任务取消")
     @ApiOperation("任务取消")
-    public ResponseEntity<Object> taskDeprecate(@RequestBody Map whereJson) throws Exception {
+    public ResponseEntity<Object> taskDeprecate(@RequestBody JSONObject whereJson) throws Exception {
         return new ResponseEntity<>(acsToWmsZDService.taskDeprecate(whereJson), HttpStatus.OK);
     }
 
     @PostMapping("/deviceStatusUpdate")
     @Log("设备状态上传")
     @ApiOperation("设备状态上传")
-    public ResponseEntity<Object> deviceStatusUpdate(@RequestBody Map whereJson) throws Exception {
+    public ResponseEntity<Object> deviceStatusUpdate(@RequestBody JSONObject whereJson) throws Exception {
         return new ResponseEntity<>(acsToWmsZDService.deviceStatusUpdate(whereJson), HttpStatus.OK);
     }
 }

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

@@ -1,5 +1,6 @@
 package org.nl.acs.ext.wms.rest;
 
+import cn.dev33.satoken.annotation.SaIgnore;
 import com.alibaba.fastjson.JSONObject;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
@@ -28,6 +29,7 @@ public class WmsZDToAcsController {
     @PostMapping("/createTask")
     @Log("任务接收")
     @ApiOperation("任务接收")
+    @SaIgnore
     public ResponseEntity<Object> taskCreate(@RequestBody JSONObject whereJson) {
         return new ResponseEntity<>(wmsZDToAcsService.taskCreate(whereJson), HttpStatus.OK);
     }

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

@@ -1,5 +1,6 @@
 package org.nl.acs.ext.wms.service;
 
+import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSONObject;
 
 import java.util.Map;
@@ -11,17 +12,17 @@ public interface AcsToWmsZDService {
      * 任务反馈
      *
      *
-     * @return Map<String, Object>
+     *
      */
-    Map<String, Object> taskFeedback(Map whereJson);
+    HttpResponse taskFeedback(JSONObject whereJson);
 
     /**
      * 任务取消
      *
      *
-     * @return Map<String, Object>
+     *
      */
-    Map<String, Object> taskDeprecate(Map whereJson);
+    HttpResponse taskDeprecate(JSONObject whereJson);
 
     /**
      * 设备状态上传
@@ -29,5 +30,5 @@ public interface AcsToWmsZDService {
      *
      * @return Map<String, Object>
      */
-    Map<String, Object> deviceStatusUpdate(Map whereJson);
+    HttpResponse deviceStatusUpdate(JSONObject whereJson);
 }

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

@@ -92,7 +92,6 @@ public class AcsToLiKuServiceImpl implements AcsToLiKuService {
             String result = AcsUtil.notifyAcs(api, requestParam);
             log.info("moveStore-----输出参数{}", result);
             return RespUtil.getResp(result, new MoveStoreResponse());
-
         } finally {
             MDC.remove(log_file_type);
         }

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

@@ -21,6 +21,7 @@ import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.config.server.AcsConfigService;
 import org.nl.modules.logging.service.LogService;
+import org.nl.modules.system.service.ParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
@@ -35,111 +36,90 @@ import java.util.Map;
 public class AcsToWmsZDServiceImpl implements AcsToWmsZDService {
 
     private final DeviceAppService deviceAppService;
+    @Autowired
+    ParamService paramService;
 
     @Autowired
-    AcsConfigService acsConfigService;
+    DeviceService deviceService;
 
     @Autowired
     AddressService addressService;
+    @Autowired
+    AcsConfigService acsConfigService;
+
     @Autowired
     LogService logServer;
 
     @Value("${acsTowms.token}")
     public String token;
+    private String log_file_type="log_file_type";
+    private String log_type="ACS请求LMS";
 
     @Override
-    public Map<String, Object> taskFeedback(Map whereJson) {
+    public HttpResponse taskFeedback(JSONObject whereJson) {
-        log.info("taskFeedback-----请求参数{}", whereJson.toString());
+        String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
-        String taskCode = MapUtil.getStr(whereJson, "taskCode");
+
-        String carId = MapUtil.getStr(whereJson, "carId");
+        AddressDto addressDto = addressService.findByCode("feedAgvTaskStatus");
-        HttpResponse result = null;
-        AddressDto addressDto = addressService.findByCode("taskFeedback");
-        String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WCSURL);
         String methods_url = addressDto.getMethods_url();
-        String url = wcsurl + methods_url;
+        String url = wmsUrl + methods_url;
+        HttpResponse result = null;
+        log.info("feedAgvTaskStatus----请求参数{}", whereJson);
         try {
             result = HttpRequest.post(url)
-                    .header("Authorization", token).body(JSON.toJSONString(whereJson))
+                    .body(String.valueOf(whereJson))
                     .execute();
-            logServer.log(taskCode, "taskFeedback", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, carId);
+            System.out.println(result);
-            JSONObject jo = JSONObject.parseObject(result.body());
+            log.info("feedAgvTaskStatus----返回参数{}", result);
-            return jo;
         } catch (Exception e) {
-            int status = 400;
+            String msg = e.getMessage();
-            if (!ObjectUtil.isEmpty(result)) {
+            //网络不通
-                status = result.getStatus();
+            //System.out.println(msg);
-            }
-            logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, carId);
-            Map<String, Object> map = new HashMap<>();
-            map.put("responseCode", 1);
-            map.put("responseMessage", e.getMessage());
-            map.put("parameters", new HashMap<>());
-            return map;
         }
+        return result;
     }
 
     @Override
-    public Map<String, Object> taskDeprecate(Map whereJson) {
+    public HttpResponse taskDeprecate(JSONObject whereJson) {
-        log.info("taskDeprecate--------------:输入参数" + whereJson.toString());
+        String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
-        String taskCode = MapUtil.getStr(whereJson, "task_code");
-        HttpResponse result = null;
         AddressDto addressDto = addressService.findByCode("deprecateTask");
-        String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WCSURL);
         String methods_url = addressDto.getMethods_url();
-        String url = wcsurl + methods_url;
+        String url = wmsUrl + methods_url;
+        HttpResponse result = null;
+        log.info("deprecateTask----请求参数{}", whereJson);
         try {
             result = HttpRequest.post(url)
-                    .header("Authorization", token)
+                    .body(String.valueOf(whereJson))
-                    .body(JSON.toJSONString(whereJson))
                     .execute();
-            logServer.log(taskCode, "taskDeprecate", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, "");
+            System.out.println(result);
-            JSONObject jo = JSONObject.parseObject(result.body());
+            log.info("deprecateTask----返回参数{}", result);
-            return jo;
         } catch (Exception e) {
-            int status = 400;
+            String msg = e.getMessage();
-            if (!ObjectUtil.isEmpty(result)) {
+            //网络不通
-                status = result.getStatus();
+            //System.out.println(msg);
-            }
-            logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, "");
-            Map<String, Object> map = new HashMap<>();
-            map.put("responseCode", 1);
-            map.put("responseMessage", e.getMessage());
-            return map;
         }
+        return result;
     }
 
     @Override
-    public Map<String, Object> deviceStatusUpdate(Map whereJson) {
+    public HttpResponse deviceStatusUpdate(JSONObject whereJson) {
-        Map<String, Object> map = new HashMap<>();
+        String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
-        HttpResponse result = null;
         AddressDto addressDto = addressService.findByCode("deviceStatusUpdate");
-        String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WCSURL);
         String methods_url = addressDto.getMethods_url();
-        String url = wcsurl + methods_url;
+        String url = wmsUrl + methods_url;
-        String deviceCode = MapUtil.getStr(whereJson, "deviceCode");
+        HttpResponse result = null;
-        if (StrUtil.isEmpty(deviceCode)) {
+        log.info("deviceStatusUpdate", whereJson);
-            map.put("responseCode", 1);
-            map.put("responseMessage", "请求设备号不能为空!");
-            map.put("parameters", new HashMap<>());
-            return map;
-        }
         try {
             result = HttpRequest.post(url)
-                    .header("Authorization", token).body(JSON.toJSONString(whereJson))
+                    .body(String.valueOf(whereJson))
                     .execute();
-            JSONObject jo = JSONObject.parseObject(result.body());
+            System.out.println(result);
-            log.info("checkDeviceStatus-----输出参数{}", jo.toString());
+            log.info("deviceStatusUpdate----返回参数{}", result);
-            return jo;
         } catch (Exception e) {
-            int status = 400;
+            String msg = e.getMessage();
-            if (!ObjectUtil.isEmpty(result)) {
+            //网络不通
-                status = result.getStatus();
+            //System.out.println(msg);
-            }
-            logServer.log(deviceCode, "deviceStatusUpdate", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, "");
-            map.put("responseCode", 1);
-            map.put("responseMessage", e.getMessage());
-            return map;
         }
+        return result;
     }
 
 }

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

@@ -14,6 +14,7 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.MagicAgvService;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.agv.server.XianGongAgvService;
+import org.nl.acs.agv.server.ZheDaAgvService;
 import org.nl.acs.auto.initial.ApplicationAutoInitial;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
@@ -363,8 +364,15 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                 throw new BadRequestException("未查询到相关路由！");
             }
             if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
-                NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
+                String agvType = paramService.findByCode(AcsConfig.AGVTYPE).getValue();
-                ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
+                if(agvType.equals("2")) {
+                    NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
+                    ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
+                }
+                if(agvType.equals("4")){
+                    ZheDaAgvService zheDaAgvService=SpringContextHolder.getBean(ZheDaAgvService.class);
+                    zheDaAgvService.sendAgvInstToAgv(dto);
+                }
             }
         } catch (Exception e) {
             dto.setSend_status("2");

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

@@ -21,6 +21,7 @@ import org.nl.acs.device.service.StorageCellService;
 import org.nl.acs.device.service.dto.DeviceAssignedDto;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.AcsToWmsZDService;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.instruction.service.dto.InstructionDto;
@@ -77,6 +78,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     @Autowired
     AcsToWmsService acstowmsService;
     @Autowired
+    AcsToWmsZDService acsToWmsZDService;
+    @Autowired
     TaskFeedbackService taskFeedbackService;
     @Autowired
     ParamService paramService;
@@ -953,12 +956,16 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
         if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
             JSONObject feed_jo = new JSONObject();
-            feed_jo.put("task_id", entity.getTask_id());
             feed_jo.put("task_code", entity.getTask_code());
-            feed_jo.put("task_status", entity.getTask_status());
+//            JSONArray ja = new JSONArray();
-            JSONArray ja = new JSONArray();
+//            ja.add(feed_jo);
-            ja.add(feed_jo);
+//            acstowmsService.feedbackTaskStatusToWms(ja);
-            acstowmsService.feedbackTaskStatusToWms(ja);
+            HttpResponse result=acsToWmsZDService.taskDeprecate(feed_jo);
+            JSONObject response=JSONObject.parseObject(result.body());
+            int responseCode= response.getInteger("responseCode");
+            if(responseCode == 0) {
+                log.info("请求ZDwcs成功，任务取消 请求结果{}",responseCode);
+            }
         }
         List<RouteLineDto> shortPathsList =
                 routeLineService.getShortPathLines(

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

@@ -0,0 +1,52 @@
+package org.nl.modules.quartz.task;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.agv.server.ZheDaAgvService;
+import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.ext.wms.service.AcsToWmsZDService;
+import org.nl.modules.mnt.websocket.MsgType;
+import org.nl.modules.mnt.websocket.SocketMsg;
+import org.nl.modules.mnt.websocket.WebSocketServer;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+/**
+ * 设备上传 zjj
+ */
+@Slf4j
+@Component
+public class DeviceStatusUpdate {
+    @Autowired
+    AcsToWmsZDService acsToWmsZDService;
+    @Autowired
+    ZheDaAgvService zheDaAgvService;
+
+    public void run() throws Exception {
+        JSONObject row = new JSONObject();
+        HttpResponse response = zheDaAgvService.queryAgvInstStatus();
+        JSONArray inst_rows = JSONArray.parseArray(response.body());
+
+        for (int i = 0; i < inst_rows.size(); i++) {
+            JSONObject inst_jo = inst_rows.getJSONObject(i);
+            String deviceCode = inst_jo.getString("deviceCode");
+            Integer status = inst_jo.getInteger("status");
+            String statusDescription = inst_jo.getString("statusDescription");
+            row.put("deviceCode",deviceCode);
+            row.put("status",status);
+            row.put("statusDescription",statusDescription);
+        JSONObject jo=JSONObject.parseObject(String.valueOf(row));
+        HttpResponse result=acsToWmsZDService.deviceStatusUpdate(jo);
+        JSONObject response1=JSONObject.parseObject(result.body());
+        int responseCode= response1.getInteger("responseCode");
+        if(responseCode == 0) {
+            log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
+        }
+        }
+    }
+}

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

@@ -0,0 +1,98 @@
+package org.nl.modules.quartz.task;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.ZheDaAgvService;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+@Slf4j
+@Component
+public class QueryZDAgvTaskStatus {
+    @Autowired
+    InstructionService instructionService;
+
+    @Autowired
+    ZheDaAgvService agvService;
+
+
+    public void run() throws Exception {
+        try {
+
+            HttpResponse response = agvService.queryAgvInstStatus();
+            //查询AGV指令列表
+            JSONArray inst_rows = JSONArray.parseArray(response.body());
+            for (int i = 0; i < inst_rows.size(); i++) {
+                JSONObject inst_jo = inst_rows.getJSONObject(i);
+                String inst_code = inst_jo.getString("taskCode");
+                String feedbackStatus=inst_jo.getString("feedbackStatus");
+                Instruction inst = instructionService.findByCodeFromCache(inst_code);
+                if (ObjectUtil.isEmpty(inst)) {
+                    continue;
+                }
+                //反馈结果状态
+                log.info("instcode：" + inst_code + "," + inst_jo.toString());
+                String state = inst_jo.getString("state");
+                String vehicle = "";
+                //正在执行指令agv车号
+                if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
+                    vehicle = inst_jo.getString("vehicle");
+                    inst.setCarno(vehicle);
+                }
+//							RAW：初始状态
+//							ACTIVE：业务订单已激活
+//							DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
+//							BEING_PROCESSED：业务订单正在被执行
+//							WITHDRAWN：业务订单已被撤销
+//							FINISHED：业务订单已完成
+//							FAILED：业务订单已失败
+//							UNROUTABLE：无法规划该业务订单的执行路线
+
+                //执行中
+                if ("BEING_PROCESSED".equals(state)) {
+                    if (inst != null) {
+                        inst.setInstruction_status("1");
+                        instructionService.update(inst);
+                    }
+                } else if ("FINISHED".equals(state)) {
+                    if (inst != null) {
+                        inst.setInstruction_status("2");
+                        instructionService.finish(inst);
+                    }
+                } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) {
+                    if (inst != null) {
+                        inst.setInstruction_status("3");
+                        instructionService.update(inst);
+                        instructionService.removeByCodeFromCache(inst_jo.getString("task_code"));
+                    }
+                }
+                JSONArray ja = inst_jo.getJSONArray("destinations");
+                for (int j = 0; j < ja.size(); j++) {
+                    JSONObject jo = ja.getJSONObject(j);
+                    JSONArray pro_rows = jo.getJSONArray("properties");
+                    //Load 取货动作 Unload放货动作 Wait等待
+                    String operation = jo.getString("operation");
+                    String device = jo.getString("locationName");
+                    for (int k = 0; k < pro_rows.size(); k++) {
+                        JSONObject item = pro_rows.getJSONObject(k);
+                        if ("true".equals(item.get("value"))) {
+                            String param = item.get("key").toString();
+                            //EntryRequired是否进入前等待  PauseOnStation是否离开等待 Wait在该点进行等待
+                            agvService.process(inst_code, param, device, operation, vehicle,feedbackStatus);
+                        }
+                    }
+                }
+            }
+        } catch (Exception e) {
+
+        }
+
+    }
+
+}

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

@@ -29,7 +29,6 @@ public class ToAgvDevice {
     public void run() throws Exception {
         JSONObject json = new JSONObject();
         Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
-
         JSONArray agv_rows = new JSONArray();
         JSONObject row = new JSONObject();
 

acs/nladmin-system/src/main/java/org/nl/modules/wql/util/SpringContextHolder.java

@@ -125,7 +125,6 @@ public class SpringContextHolder implements ApplicationContextAware, DisposableB
                     ".xml中定义SpringContextHolder或在SpringBoot启动类中注册SpringContextHolder.");
         }
     }
-
     /**
      * 清除SpringContextHolder中的ApplicationContext为Null.
      */

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

@@ -95,6 +95,7 @@ import hongxiang_conveyor from '@/views/acs/device/driver/hongxiang_conveyor'
 import plug_pull_device_site from '@/views/acs/device/driver/plug_pull_device_site'
 import siemens_conveyor_labeling from '@/views/acs/device/driver/siemens_conveyor_labeling'
 import siemens_conveyor_ckk from '@/views/acs/device/driver/siemens_conveyor_ckk'
+import lubei_conveyor from '@/views/acs/device/driver/lubei_conveyor'
 
 export default {
   name: 'DeviceConfig',
@@ -120,7 +121,8 @@ export default {
     slit_two_manipulator,
     plug_pull_device_site,
     siemens_conveyor_labeling,
-    siemens_conveyor_ckk
+    siemens_conveyor_ckk,
+    lubei_conveyor
   },
   dicts: ['device_type'],
   mixins: [crud],