现场测试完成

hd/logPath_IS_UNDEFINED/查询仙工AGV设备状态/2022-09-24.0.log

@@ -0,0 +1,18 @@
+2022-09-24 14:51:58.739 [nl-pool1-thread-2] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:58.739 [nl-pool1-thread-2] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:58.848 [nl-pool1-thread-10] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:58.852 [nl-pool1-thread-10] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:58.956 [nl-pool1-thread-7] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:58.961 [nl-pool1-thread-7] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:59.065 [nl-pool1-thread-3] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:59.065 [nl-pool1-thread-3] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:59.175 [nl-pool1-thread-5] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:59.175 [nl-pool1-thread-5] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:59.284 [nl-pool1-thread-8] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:59.284 [nl-pool1-thread-8] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:59.393 [nl-pool1-thread-10] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:59.393 [nl-pool1-thread-10] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:59.502 [nl-pool1-thread-9] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:59.502 [nl-pool1-thread-9] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true
+2022-09-24 14:51:59.612 [nl-pool1-thread-6] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 111111111111
+2022-09-24 14:51:59.612 [nl-pool1-thread-6] INFO  org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver - 判断当前有无指令:true

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

@@ -71,6 +71,10 @@ public interface OpcDeviceDriver extends DeviceDriver {
         return (Float) this.getOpcValueAccessor().getValue(this.getItem(protocol));
     }
 
+    default Short getShortValue(String protocol) {
+        return (Short) this.getOpcValueAccessor().getValue(this.getItem(protocol));
+    }
+
     default Object getValue(String protocol) {
         return this.getOpcValueAccessor().getValue(this.getItem(protocol));
     }

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java

@@ -7,6 +7,7 @@ import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import net.sf.json.JSONObject;
+import org.apache.commons.lang3.ObjectUtils;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
@@ -150,58 +151,37 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
             if (move != last_move) {
                 this.execute_log.setResource(this.devicecode, this.device.getDevice_name());
                 this.execute_log.log("设备:" + device_code + ",last_move -> move:" + last_mode + "->" + move);
+                String  apply_task = this.getDevice().getExtraValue().get("apply_task").toString();
+                if (StrUtil.equals(apply_task,"true") &&  move == 1 && mode ==2) {
+                    DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                    RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code());
+                    String next_device_code = jo.getNext_device_code();
+
+                    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");
+
+                    dto.setNext_point_code(next_device_code);
+                    dto.setUpdate_time(now);
+                    dto.setCreate_time(now);
+
+                    taskserver.create(dto);
+                }
             }
             if (error != last_error) {
                 this.execute_log.setResource(this.devicecode, this.device.getDevice_name());
                 this.execute_log.log("设备:" + device_code + ",last_error -> error:" + last_error + "->" + 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);
-                StandardInspectSiteDeviceDriver standardInspectSiteDevicedriver;
-                if (link_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                    standardInspectSiteDevicedriver = (StandardInspectSiteDeviceDriver) 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 (standardInspectSiteDevicedriver.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(standardInspectSiteDevicedriver.getDevicecode());
-                        dto.setUpdate_time(now);
-                        dto.setCreate_time(now);
-
-                        WQLObject wo = WQLObject.getWQLObject("acs_task");
-                        JSONObject json = JSONObject.fromObject(dto);
-                        wo.insert(json);
-                        standardInspectSiteDevicedriver.setApply_material(false);
-                    }
-                }
-                this.setApply_handling(false);
-            }
 
         } catch (Exception var17) {
             return;
@@ -233,60 +213,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
                     log.debug("设备运转模式:等待工作");
                     return;
                 case 2:
-                    //申请任务
-//                    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);
-//                        StandardInspectSiteDeviceDriver standardInspectSiteDevicedriver;
-//                        if(link_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-//                            standardInspectSiteDevicedriver = (StandardInspectSiteDeviceDriver) 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(standardInspectSiteDevicedriver.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 = CodeGenerateUtil.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.fromObject(dto);
-//                                wo.insert(json);
-//                                standardInspectSiteDevicedriver.setApply_material(false);
-//                            }
-//                        }
-//                        this.setApply_handling(false);
-//                    }
 
-                    if (material.length() > 0 && qty.length() > 0 && !requireSucess) {
-                        this.execute_log.log("设备:" + devicecode + ",material:" + material + ",qty:" + qty);
-
-                        this.instruction_require(container);
-
-                    }
             }
 
             switch (flag) {

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

@@ -0,0 +1,361 @@
+package org.nl.acs.device_driver.xg_agv;
+
+import cn.hutool.core.util.ObjectUtil;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+public class ItemProtocol {
+    public static String is_charging = "is_charging";
+    public static String stop = "stop";
+    public static String DI0 = "DI0";
+    public static String DI1 = "DI1";
+    public static String DI2 = "DI2";
+    public static String DI3 = "DI3";
+    public static String DI4 = "DI4";
+    public static String DI11 = "DI12";
+    public static String DI12 = "DI12";
+    public static String DO0 = "DO0";
+    public static String DO1 = "DO1";
+    public static String DO2 = "DO2";
+    public static String x = "x";
+    public static String y = "y";
+    public static String angle = "angle";
+    //站点的 id 号, 0 表示无导航站点
+    public static String navigation_address = "navigation_address";
+    //0 = 定位失败, 1 = 定位正确, 2 = 正在重定位, 3 = 定位完成；机器人刚启动后，定位状态为 2，
+    // 当定位状态变为 3 时，可以用 [0x]00003 地址位确认定位正确，确认后定位状态将变为 1
+    public static String positioning_status = "positioning_status";
+    //0 = 无, 1 = 等待执行导航, 2 = 正在执行导航, 3 = 导航暂停, 4 = 到达, 5 = 失败, 6 = 取消, 7 = 超时
+    public static String navigation_status = "navigation_status";
+    //0 = 没有导航, 1 = 自由导航到任意点, 2 = 自由导航到站点, 3 = 路径导航到站点, 7 = 平动转动, 100 = 其他
+    public static String navigation_type = "navigation_type";
+    //范围为 0 ~ 1
+    public static String electricity = "electricity";
+    public static String address = "address";
+    public static String next_address = "next_address";
+    public static String home_relocation = "home_relocation";
+    //确认定位正确
+    public static String locate_correct = "locate_correct";
+    public static String pause_navigation = "pause_navigation";
+    public static String continue_navigation = "continue_navigation";
+    public static String cancle_navigation = "cancle_navigation";
+    //滚筒运行状态
+    public static String drum_run_status = "drum_run_status";
+
+
+    public static String to_home_relocation = "to_home_relocation";
+    //确认定位正确
+    public static String to_locate_correct = "to_locate_correct";
+    public static String to_pause_navigation = "to_pause_navigation";
+    public static String to_continue_navigation = "to_continue_navigation";
+    public static String to_cancle_navigation = "to_cancle_navigation";
+    public static String to_DO0_height = "to_DO0_height";
+    public static String to_DO0_low = "to_DO0_low";
+    public static String to_DO1_height = "to_DO1_height";
+    public static String to_DO1_low = "to_DO1_low";
+    public static String to_DO2_low = "to_DO2_low";
+    public static String to_DO8_low = "to_DO8_low";
+    public static String to_DO9_low = "to_DO9_low";
+
+    public static String to_address = "to_address";
+    public static String to_clear_error = "to_clear_error";
+    //虚拟高电平写
+    public static String to_di_height = "to_di_height";
+    //虚拟低电平写
+    public static String to_di_low = "to_di_low";
+
+
+    public int getIs_charging() {
+        return this.getOpcIntegerValue(is_charging);
+    }
+
+    public int getStop() {
+        return this.getOpcIntegerValue(stop);
+    }
+
+    public int getDI0() {
+        return this.getOpcIntegerValue(DI0);
+    }
+
+    public int getDI1() {
+        return this.getOpcIntegerValue(DI1);
+    }
+
+    public int getDI2() {
+        return this.getOpcIntegerValue(DI2);
+    }
+
+    public  int getDI3() {
+        return this.getOpcIntegerValue(DI3);
+    }
+
+    public  int getDI4() {
+        return this.getOpcIntegerValue(DI4);
+
+    }
+
+    public  int getDI11() {
+        return this.getOpcIntegerValue(DI11);
+
+    }
+
+    public  int getDI12() {
+        return this.getOpcIntegerValue(DI12);
+
+    }
+
+    public  int getDO0() {
+        return this.getOpcIntegerValue(DO0);
+
+    }
+
+    public  int getDO1() {
+        return this.getOpcIntegerValue(DO1);
+
+    }
+    public  int getDO2() {
+        return this.getOpcIntegerValue(DO2);
+
+    }
+
+    public  Float getX() {
+        return this.getOpcFloatValue(x);
+
+    }
+
+    public  Float getY() {
+        return this.getOpcFloatValue(y);
+
+    }
+
+    public  Float getAngle() {
+        return this.getOpcFloatValue(angle);
+
+    }
+
+    public  short getNavigation_address() {
+        return this.getOpcShortValue(navigation_address);
+
+    }
+
+    public  short getPositioning_status() {
+        return this.getOpcShortValue(positioning_status);
+    }
+
+    public  short getNavigation_status() {
+        return this.getOpcShortValue(navigation_status);
+    }
+
+    public  short getNavigation_type() {
+        return this.getOpcShortValue(navigation_type);
+
+    }
+
+    public  int getElectricity() {
+        return this.getOpcIntegerValue(electricity);
+
+    }
+
+    public  int getAddress() {
+        return this.getOpcIntegerValue(address);
+
+    }
+
+    public  short getNext_address() {
+        return this.getOpcShortValue(next_address);
+    }
+
+    public  int getHome_relocation() {
+        return this.getOpcIntegerValue(home_relocation);
+
+    }
+
+    public  int getLocate_correct() {
+        return this.getOpcIntegerValue(locate_correct);
+
+    }
+
+    public  int getPause_navigation() {
+        return this.getOpcIntegerValue(pause_navigation);
+
+    }
+
+    public  int getContinue_navigation() {
+        return this.getOpcIntegerValue(continue_navigation);
+
+    }
+
+    public  int getCancle_navigation() {
+        return this.getOpcIntegerValue(cancle_navigation);
+    }
+
+    public  short getDrum_run_status() {
+        return this.getOpcShortValue(drum_run_status);
+    }
+
+    public static void setTo_home_relocation(String to_home_relocation) {
+        ItemProtocol.to_home_relocation = to_home_relocation;
+    }
+
+    public static void setTo_locate_correct(String to_locate_correct) {
+        ItemProtocol.to_locate_correct = to_locate_correct;
+    }
+
+    public static void setTo_pause_navigation(String to_pause_navigation) {
+        ItemProtocol.to_pause_navigation = to_pause_navigation;
+    }
+
+    public static void setTo_continue_navigation(String to_continue_navigation) {
+        ItemProtocol.to_continue_navigation = to_continue_navigation;
+    }
+
+    public static void setTo_cancle_navigation(String to_cancle_navigation) {
+        ItemProtocol.to_cancle_navigation = to_cancle_navigation;
+    }
+
+    public static void setTo_DO0_height(String to_DO0_height) {
+        ItemProtocol.to_DO0_height = to_DO0_height;
+    }
+
+    public static void setTo_DO0_low(String to_DO0_low) {
+        ItemProtocol.to_DO0_low = to_DO0_low;
+    }
+
+    public static void setTo_DO1_height(String to_DO1_height) {
+        ItemProtocol.to_DO1_height = to_DO1_height;
+    }
+
+    public static void setTo_DO1_low(String to_DO1_low) {
+        ItemProtocol.to_DO1_low = to_DO1_low;
+    }
+
+    public static void setTo_DO8_low(String to_DO8_low) {
+        ItemProtocol.to_DO8_low = to_DO8_low;
+    }
+
+    public static void setTo_DO9_low(String to_DO9_low) {
+        ItemProtocol.to_DO9_low = to_DO9_low;
+    }
+
+
+    public static void setTo_address(String to_address) {
+        ItemProtocol.to_address = to_address;
+    }
+
+    public static void setTo_clear_error(String to_clear_error) {
+        ItemProtocol.to_clear_error = to_clear_error;
+    }
+
+    public static void setTo_di_height(String to_di_height) {
+        ItemProtocol.to_di_height = to_di_height;
+    }
+
+    public static void setTo_di_low(String to_di_low) {
+        ItemProtocol.to_di_low = to_di_low;
+    }
+
+    private XgagvDeviceDriver driver;
+
+    public ItemProtocol(XgagvDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public ItemProtocol() {
+
+    }
+
+
+    public Float getOpcFloatValue(String protocol) {
+        Float value = this.driver.getFloatValue(protocol);
+        if (ObjectUtil.isEmpty(value)) {
+            log.error("读取错误!");
+        } else {
+            return value;
+        }
+        return 0.0f;
+    }
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegerValue(protocol);
+        if (value == null) {
+            log.error("读取错误!");
+        } else {
+            return value;
+        }
+        return 0;
+
+    }
+
+    public short getOpcShortValue(String protocol) {
+        Short value = this.driver.getShortValue(protocol);
+        if (value == null) {
+            log.error("读取错误!");
+        } else {
+            return value;
+        }
+        return 0;
+
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(is_charging, "是否充电", "10003"));
+        list.add(new ItemDto(DI0, "DI0", "10020"));
+        list.add(new ItemDto(DI1, "DI1", "10021"));
+        list.add(new ItemDto(DI2, "DI2", "10022"));
+        list.add(new ItemDto(DI3, "DI3", "10023"));
+        list.add(new ItemDto(DI4, "DI4", "10024"));
+        list.add(new ItemDto(DO1, "DO1", "10061"));
+        list.add(new ItemDto(DO2, "DO2", "10062"));
+        list.add(new ItemDto(DI11, "DI11", "10031"));
+        list.add(new ItemDto(DI12, "DI12", "10032"));
+        list.add(new ItemDto(x, "x", "30001"));
+        list.add(new ItemDto(y, "y", "30003"));
+        list.add(new ItemDto(angle, "angle", "30005"));
+        list.add(new ItemDto(navigation_address, "当前导航站点", "30007"));
+        list.add(new ItemDto(positioning_status, "定位状态", "30008"));
+        list.add(new ItemDto(navigation_status, "当前导航状态", "30009"));
+        list.add(new ItemDto(navigation_type, "当前导航类型", "30010"));
+        list.add(new ItemDto(electricity, "电量", "30013"));
+        list.add(new ItemDto(address, "当前所在站点", "30034"));
+        list.add(new ItemDto(next_address, "下一个要经过的站点", "30036"));
+        list.add(new ItemDto(home_relocation, "在Home点重定位", "00002"));
+        list.add(new ItemDto(locate_correct, "确认定位正确", "00003"));
+        list.add(new ItemDto(pause_navigation, "暂停导航", "00004"));
+        list.add(new ItemDto(continue_navigation, "继续导航", "00005"));
+        list.add(new ItemDto(cancle_navigation, "取消导航", "00006"));
+        list.add(new ItemDto(drum_run_status, "滚筒运行状态", "30062"));
+        list.add(new ItemDto(stop, "车子停止", "10019"));
+
+
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(to_home_relocation, "to_在Home点重定位", "00002"));
+        list.add(new ItemDto(to_locate_correct, "to_确认定位正确", "00003"));
+        list.add(new ItemDto(to_pause_navigation, "to_暂停导航", "00004"));
+        list.add(new ItemDto(to_continue_navigation, "to_继续导航", "00005"));
+        list.add(new ItemDto(to_cancle_navigation, "to_取消导航", "00006"));
+        list.add(new ItemDto(to_DO0_height, "to_DO0置为高电平", "00061"));
+        list.add(new ItemDto(to_DO0_low, "to_DO0置为低电平", "00020"));
+        list.add(new ItemDto(to_DO1_height, "to_DO1置为高电平", "00062"));
+        list.add(new ItemDto(to_DO1_low, "to_DO1置为低电平", "00021"));
+        list.add(new ItemDto(to_DO2_low, "to_DO2置为低电平", "00022"));
+        list.add(new ItemDto(to_DO8_low, "to_DO8置为低电平", "00028"));
+        list.add(new ItemDto(to_DO9_low, "to_DO9置为低电平", "00029"));
+        list.add(new ItemDto(to_address, "to_address", "40001"));
+        list.add(new ItemDto(to_clear_error, "to_clear_error", "40090"));
+        list.add(new ItemDto(to_di_height, "虚拟高电平写", "40063"));
+        list.add(new ItemDto(to_di_low, "虚拟低电平写", "40064"));
+
+        return list;
+    }
+
+}
+

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/xg_agv/TCPAGVClient.java

@@ -0,0 +1,292 @@
+package org.nl.acs.device_driver.xg_agv;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
+
+import java.io.UnsupportedEncodingException;
+import java.util.Arrays;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.io.UnsupportedEncodingException;
+import java.net.ConnectException;
+import java.net.Socket;
+import java.net.UnknownHostException;
+import java.util.List;
+
+public class TCPAGVClient {
+
+    private static Socket socket;
+    private static OutputStream socketOut;
+    private static InputStream socketIn;
+    static byte[] requestb ;
+
+    public static byte[] TCPRemoteConnectRead(String ipstr,int portstr,byte[] typestr)
+    {
+        byte[] bytes = new byte[2048];
+        try
+        {
+            requestb=typestr;
+            socket = new Socket(ipstr,portstr);
+            socket.setSoTimeout(1000);
+            socketOut = socket.getOutputStream();
+
+            socketOut.write(requestb);
+            socketOut.flush();
+
+            try {
+                Thread.sleep(300);
+            } catch (InterruptedException e) {
+                // TODO Auto-generated catch block
+                e.printStackTrace();
+            }
+            //通过shutdownOutput高速服务器已经发送完数据，后续只能接受数据
+            socket.shutdownOutput();
+
+            socketIn = socket.getInputStream();
+
+            int len;
+            StringBuilder sb = new StringBuilder();
+            while ((len = socketIn.read(bytes)) != -1) {
+                sb.append(new String(bytes, 0, len));
+            }
+            String s2=sb.toString().trim();
+            System.out.println(s2);
+
+        }
+        catch (UnknownHostException e)
+        {
+            e.printStackTrace();
+        }
+        catch (ConnectException e) {
+            e.printStackTrace();
+        }
+        catch (IOException e) {
+            e.printStackTrace();
+        }finally {
+            //循环结束则退出输入流
+            synchronized (socketIn) {
+                if (socketOut != null) {
+                    try
+                    {
+                        socketOut.close();
+                    }
+                    catch (IOException e)
+                    {
+                        // TODO Auto-generated catch block
+                        e.printStackTrace();
+                    }
+                }
+                if (socketIn != null) {
+                    try
+                    {
+                        socketIn.close();
+                    }
+                    catch (IOException e)
+                    {
+                        // TODO Auto-generated catch block
+                        e.printStackTrace();
+                    }
+                }
+                if (socket != null) {
+                    try
+                    {
+                        socket.close();
+                    }
+                    catch (IOException e)
+                    {
+                        // TODO Auto-generated catch block
+                        e.printStackTrace();
+                    }
+                }
+            }
+        }
+        return bytes;
+    }
+
+    public static byte[] TCPRemoteConnectRead(String ipstr,int portstr,String typestr)
+    {
+        byte[] bytes = new byte[2048];
+        try
+        {
+            requestb=typestr.getBytes();
+            socket = new Socket(ipstr,portstr);
+            socket.setSoTimeout(1000);
+            socketOut = socket.getOutputStream();
+
+            socketOut.write(requestb);
+            socketOut.flush();
+
+            try {
+                Thread.sleep(300);
+            } catch (InterruptedException e) {
+                // TODO Auto-generated catch block
+                e.printStackTrace();
+            }
+            //通过shutdownOutput高速服务器已经发送完数据，后续只能接受数据
+            socket.shutdownOutput();
+
+            socketIn = socket.getInputStream();
+
+            int len;
+            StringBuilder sb = new StringBuilder();
+            while ((len = socketIn.read(bytes)) != -1) {
+                sb.append(new String(bytes, 0, len));
+            }
+            String s2=sb.toString().trim();
+            System.out.println(s2);
+
+        }
+        catch (UnknownHostException e)
+        {
+            e.printStackTrace();
+        }
+        catch (ConnectException e) {
+            e.printStackTrace();
+        }
+        catch (IOException e) {
+            e.printStackTrace();
+        }finally {
+            //循环结束则退出输入流
+            synchronized (socketIn) {
+                if (socketOut != null) {
+                    try
+                    {
+                        socketOut.close();
+                    }
+                    catch (IOException e)
+                    {
+                        // TODO Auto-generated catch block
+                        e.printStackTrace();
+                    }
+                }
+                if (socketIn != null) {
+                    try
+                    {
+                        socketIn.close();
+                    }
+                    catch (IOException e)
+                    {
+                        // TODO Auto-generated catch block
+                        e.printStackTrace();
+                    }
+                }
+                if (socket != null) {
+                    try
+                    {
+                        socket.close();
+                    }
+                    catch (IOException e)
+                    {
+                        // TODO Auto-generated catch block
+                        e.printStackTrace();
+                    }
+                }
+            }
+        }
+        return bytes;
+    }
+
+
+    public static int IntToHexHigh(int b) {
+        int big = (b & 0xFF00) >> 8;
+        return big;
+    }
+    public static int IntToHexLow(int b) {
+        int little = b & 0xFF;
+        return little;
+    }
+
+
+    /**
+     * @param num:要获取二进制值的数
+     * @param index:倒数第一位为0，依次类推
+     */
+    public static int get(int num, int index)
+    {
+        return (num & (0x1 << index)) >> index;
+    }
+
+    /**
+     * 16进制转换成为string类型字符串
+     * @param s
+     * @return
+     */
+    public static String hexStringToString(String s) {
+        if (s == null || s.equals("")) {
+            return null;
+        }
+        s = s.replace(" ", "");
+        byte[] baKeyword = new byte[s.length() / 2];
+        for (int i = 0; i < baKeyword.length; i++) {
+            try {
+                baKeyword[i] = (byte) (0xff & Integer.parseInt(s.substring(i * 2, i * 2 + 2), 16));
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }
+        try {
+//            s = new String(baKeyword, "UTF-8");
+//            new String();
+            s = new String(baKeyword, "GBK");
+            new String();
+        } catch (Exception e1) {
+            e1.printStackTrace();
+        }
+        return s;
+    }
+
+    public static void test()
+    {
+        String str="{\"id\":\"S001\",\"version\":\"v1.1.0\",\"model\":\"S1\"}";
+        byte[] ba;
+        try
+        {
+            ba = str.getBytes("UTF-8");
+
+            String s_new = new String(ba, "UTF-8");
+            System.out.println("原始字符串:\t" + str);
+            System.out.println("byte数组地址:\t" + ba);
+            System.out.println("输出byte数组:\t" + Arrays.toString(ba));
+            System.out.println("输出byte数组长度:\t" + ba.length);
+            System.out.println("转换为字符串:\t" + s_new);
+        }
+        catch (UnsupportedEncodingException e)
+        {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
+    }
+    //字符串转化成为16进制字符串
+    public static String strTo16(String s) {
+        String str = "";
+        for (int i = 0; i < s.length(); i++) {
+            int ch = (int) s.charAt(i);
+            String s4 = Integer.toHexString(ch).toUpperCase();
+            str = str + s4;
+        }
+        return str;
+    }
+    //16进制字符串转字节数组
+    public static byte[] strToHexToByte(String str)
+    {
+        byte[] bytestr;
+        try
+        {
+            bytestr = str.getBytes("UTF-8");
+            System.out.println("输出byte数组:\t" + Arrays.toString(bytestr));
+            return bytestr;
+        }
+        catch (UnsupportedEncodingException e)
+        {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+
+
+
+}
+

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/xg_agv/XgagvDefination.java

@@ -1,11 +1,14 @@
 package org.nl.acs.device_driver.xg_agv;
 
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.DeviceDriverDefination;
+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;
 
@@ -13,7 +16,7 @@ import java.util.List;
  * magic3.0
  */
 @Service
-public class XgagvDefination implements DeviceDriverDefination {
+public class XgagvDefination implements OpcDeviceDriverDefination {
     @Override
     public String getDriverCode() {
         return "xg_agv";
@@ -46,4 +49,14 @@ public class XgagvDefination implements DeviceDriverDefination {
         types.add(DeviceType.conveyor);
         return types;
     }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
 }

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/xg_agv/XgagvDeviceDriver.java

@@ -5,25 +5,32 @@ import cn.hutool.core.util.StrUtil;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import net.sf.json.JSON;
 import net.sf.json.JSONObject;
+import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
+import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
-import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
+import org.nl.acs.device_driver.standard_manipulator_stacking_site.StandardManipulatorStackingSiteDeviceDriver;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.exception.BadRequestException;
 import org.nl.utils.SpringContextHolder;
 import org.nl.wql.core.bean.WQLObject;
+import org.openscada.opc.lib.da.Server;
 import org.springframework.beans.factory.annotation.Autowired;
 
-import java.io.IOException;
-import java.io.InputStream;
-import java.io.OutputStream;
-import java.net.*;
+import java.io.*;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
 
 
 /**
@@ -32,11 +39,15 @@ import java.net.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class XgagvDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver {
     @Autowired
     RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
     @Autowired
     TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceAppService deviceAppService = SpringContextHolder.getBean("deviceAppServiceImpl");
 
     //车辆ip 0-未知；1-需充电；2-可执行任务；3-充满电
     String agv_mode = "0";
@@ -44,141 +55,298 @@ public class XgagvDeviceDriver extends AbstractDeviceDriver implements DeviceDri
     String last_mode = "0";
 
 
+     int is_charging =0;
+     int  stop = 0;
+     int  DI0 = 0;
+     int  DI1 = 0;
+     int  DI2 = 0;
+     int  DI3 = 0;
+     int  DI4 = 0;
+     int  DI11 = 0;
+     int  DI12 = 0;
+     int  DO0 = 0;
+     int  DO1 = 0;
+    int  DO2 = 0;
+    Float  x = 0f;
+     Float  y = 0f;
+     Float  angle = 0f;
+    int navigation_address =0;
+    int positioning_status =0;
+    int navigation_status =0;
+    int navigation_type =0;
+    int electricity =0;
+    int address =0;
+    int next_address =0;
+    int home_relocation =0;
+    int locate_correct =0;
+    int pause_navigation =0;
+    int continue_navigation =0;
+    int cancle_navigation =0;
+    int drum_run_status =0;
+
+    int  last_is_charging =0;
+    int  last_stop = 0;
+    int  last_DI0 = 0;
+    int  last_DI1 = 0;
+    int  last_DI2 = 0;
+    int  last_DI3 = 0;
+    int  last_DI4 = 0;
+    int  last_DI11 = 0;
+    int  last_DI12 = 0;
+    int  last_DO0 = 0;
+    int  last_DO1 = 0;
+    int  last_DO2 = 0;
+    Float  last_x = 0f;
+    Float  last_y = 0f;
+    Float  last_angle = 0f;
+    int last_navigation_address =0;
+    int last_positioning_status =0;
+    int last_navigation_status =0;
+    int last_navigation_type =0;
+    int last_electricity =0;
+    int last_address =0;
+    int last_next_address =0;
+    int last_home_relocation =0;
+    int last_locate_correct =0;
+    int last_pause_navigation =0;
+    int last_continue_navigation =0;
+    int last_cancle_navigation =0;
+    int last_drum_run_status =0;
+
+    String device_code;
+    Instruction inst = null;
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+
     @Override
     public Device getDevice() {
         return this.device;
     }
 
     @Override
-    public void execute() throws Exception {
-        String device_code = this.getDevice().getDevice_code();
-        String charge_point = (String) this.getDevice().getExtraValue().get("charge_point");
-        String relax_point = (String) this.getDevice().getExtraValue().get("relax_point");
+    public void execute() throws Exception
+    {
 
-        //查询当前设备是否存在未完成的任务
-        JSONObject task = WQLObject.getWQLObject("ACS_INSTRUCTION").query("carno = '" + device_code + "' AND is_delete = '0' AND instruction_status IN ('0','1')").uniqueResult(0);
-        if (ObjectUtil.isNotEmpty(task)) {
-            return;
+        device_code = this.getDeviceCode();
+        is_charging = this.itemProtocol.getIs_charging();
+        DI0 = this.itemProtocol.getDI0();
+        DI1 = this.itemProtocol.getDI1();
+        DI2 = this.itemProtocol.getDI2();
+        DI3 = this.itemProtocol.getDI3();
+        DI4 = this.itemProtocol.getDI4();
+        DI11 = this.itemProtocol.getDI11();
+        DI12 = this.itemProtocol.getDI12();
+        DO0 = this.itemProtocol.getDO0();
+        DO1 = this.itemProtocol.getDO1();
+        DO2 = this.itemProtocol.getDO2();
+        x = this.itemProtocol.getX();
+        y = this.itemProtocol.getY();
+        navigation_address = this.itemProtocol.getNavigation_address();
+        positioning_status = this.itemProtocol.getPositioning_status();
+        navigation_status = this.itemProtocol.getNavigation_status();
+        navigation_type = this.itemProtocol.getNavigation_type();
+        electricity = this.itemProtocol.getElectricity();
+        address = this.itemProtocol.getAddress();
+        next_address = this.itemProtocol.getNext_address();
+        home_relocation = this.itemProtocol.getHome_relocation();
+        locate_correct = this.itemProtocol.getLocate_correct();
+        pause_navigation = this.itemProtocol.getPause_navigation();
+        continue_navigation = this.itemProtocol.getContinue_navigation();
+        cancle_navigation = this.itemProtocol.getCancle_navigation();
+        drum_run_status = this.itemProtocol.getDrum_run_status();
+        stop = this.itemProtocol.getStop();
+
+
+        //获取最小电量
+        double min_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("min_electric"));
+        //获取最大电量
+        double cancle_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("cancle_electric"));
+        //可执行任务电量
+        double task_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("task_electric"));
+        //休息点
+        int relax_point = Integer.parseInt((String)this.getDevice().getExtraValue().get("relax_point"));
+        //充电点
+        int charge_point = Integer.parseInt((String)this.getDevice().getExtraValue().get("charge_point"));
+        List<Instruction> instList = instructionService.findAllInstFromCache();
+        if(instList.size()>0){
+            inst = instList.get(0);
         }
-        //1、判断当前agv模式，为1需要去充电
-        if (agv_mode.equals("1") && (StrUtil.isEmpty(last_mode) || !last_mode.equals("1"))) {
-            //创建一条从当前位置去充电点的充电任务
-            String start_point_code = "location";
-            String next_point_code = charge_point;
+        //先判断当前有无指令
+        if(ObjectUtil.isEmpty(inst)){
+//            log.info("判断当前有无指令:{}",ObjectUtil.isEmpty(inst));
+            if( electricity != 0 && electricity <min_electric && address != charge_point  && (navigation_status==0 ||navigation_status==4) ){
+                log.info("下发充电:{}",charge_point);
+                writing("to_address",charge_point);
+            }
+            if(  electricity != 0 && electricity > cancle_electric && address == charge_point && (navigation_status==0 ||navigation_status==4)){
+                log.info("下发回休息点:{}",relax_point);
+                writing("to_address",relax_point);
+            }
+        } else {
+//            log.info("address:{}，滚筒状态:{},车子状态:{},DI4:{},DO1:{},DO2:{},导航状态:{}",address,drum_run_status,stop,DI4,DO1,DO2,navigation_status);
+            int start_device_code = Integer.parseInt(inst.getStart_device_code());
+            int next_device_code = Integer.parseInt(inst.getNext_device_code());
+            Device start_device = deviceAppService.findDeviceByCode(String.valueOf(start_device_code));
+            Device next_device = deviceAppService.findDeviceByCode(String.valueOf(next_device_code));
 
-            TaskDto taskDto = new TaskDto();
-            taskDto.setStart_point_code(start_point_code);
-            taskDto.setNext_point_code(next_point_code);
-            taskDto.setTask_type("01");
-            taskserver.create(taskDto);
+            StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
+            //指令状态就绪
+            if(StrUtil.equals("0",inst.getInstruction_status())){
+                log.info("下发指令号{}，起点{}",inst.getInstruction_code(),start_device);
+                writing("to_address",start_device_code);
+                inst.setInstruction_status("1");
+                instructionService.update(inst);
+            }
+
+            //请求取货   &&  DI4==1 无货状态
+            if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==1){
+                log.info("agv准备取货，下发滚筒，指令号{}，下发to_di_height:1",inst.getInstruction_code());
+                if (start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver();
+                    log.info("准备下发输送请求取货信号,mode:{}，move{}",standardInspectSiteDeviceDriver.getMode(),standardInspectSiteDeviceDriver.getMove());
+                    if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==1){
+                        if((navigation_status==0 ||navigation_status==4) && (DO1 != 1 && DO2 != 1)){
+                            writing("to_di_low",1);
+                            writing("to_di_low",2);
+                            writing("to_DO1_low",1);
+                            writing("to_DO2_low",1);
+                            writing("to_DO8_low",1);
+                            writing("to_DO9_low",1);
+                            writing("to_di_height",1);
+                        }
+                        log.info("agv准备取货，DO1:{},DO2:{}",DO1,DO2);
+                        if(DO1 == 1 && DO2 == 1){
+                            standardInspectSiteDeviceDriver.writing(1,1);
+                            log.info("下发设备{}信号to_command值:{}",start_device,1);
+                        } else {
+                            log.info("agv准备取货，DO1:{},DO2:{}未就绪",DO1,DO2);
+                        }
+                    } else {
+                        log.info("agv准备取货，输送线未就绪，mode:{}，move:{},action:{}",standardInspectSiteDeviceDriver.getMode(),
+                                standardInspectSiteDeviceDriver.getMove(),standardInspectSiteDeviceDriver.getAction());
+                    }
+                }
+            }
+            //取货完成 下发去放货位置
+            if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==0 && DO1 == 0 && DO2 == 0 ){
+                log.info("取货完成，指令号{}，下发to_di_height:2",inst.getInstruction_code());
+                if (start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver();
+                    if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==0){
+                        standardInspectSiteDeviceDriver.writing(1,2);
+                        log.info("下发设备{}信号to_command值:{}",start_device,2);
+                        writing("to_di_low",1);
+                        writing("to_address",next_device_code);
+
+                    }
+                }
+            }
+            //下发去放货位置
+//            if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 &&  DI4==0 && DO1 == 0 && DO2 == 0){
+//                log.info("取货完成,指令号{},下发放货位{}",inst.getInstruction_code(),next_device);
+//                writing("to_address",next_device_code);
+//            }
+            //请求放货
+            if(StrUtil.equals("1",inst.getInstruction_status()) && address == next_device_code && stop==1 && DI4==0  ){
+                log.info("取货完成，指令号{}，下发to_di_height:12",inst.getInstruction_code());
+                if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) next_device.getDeviceDriver();
+                    if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==0){
+                        standardInspectSiteDeviceDriver.writing(1,1);
+                        writing("to_di_height",2);
+                    }
+                }
+            }
+            //放货完成  完成任务回休息点
+            if(StrUtil.equals("1",inst.getInstruction_status()) && address == next_device_code && stop==1 && DI4==1 && DO1 ==0 && DO2 ==0 ){
+                if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) next_device.getDeviceDriver();
+                    standardInspectSiteDeviceDriver.writing(1,3);
+                }
+                log.info("放货完成，指令号{}，下发to_di_low:2",inst.getInstruction_code());
+                writing("to_di_low",1);
+                writing("to_di_low",2);
+                writing("to_DO1_low",1);
+                writing("to_DO2_low",1);
+                writing("to_DO8_low",1);
+                writing("to_DO9_low",1);
+                writing("to_address",relax_point);
+                inst.setInstruction_status("2");
+                instructionService.finish(inst);
+                inst = null;
+            }
         }
 
-        //2、判断当前agv模式，为3充满电去休息点
-        if (agv_mode.equals("3") && (StrUtil.isEmpty(last_mode) || !last_mode.equals("3"))) {
-            //创建一条从当前位置去充电点的充电任务
-            String start_point_code = "location";
-            String next_point_code = relax_point;
-
-            TaskDto taskDto = new TaskDto();
-            taskDto.setStart_point_code(start_point_code);
-            taskDto.setNext_point_code(next_point_code);
-            taskDto.setTask_type("02");
-            taskserver.create(taskDto);
-        }
     }
 
-    public JSONObject applyAgv(String ip, int port, String code, JSONObject jo) throws IOException {
-        InputStream tbjdis = null;
-        OutputStream tbjdos = null;
-        Socket tbjsocket = null;
+    public JSONObject applyAgv(String ip, int port, byte[] code, JSONObject jo) throws IOException {
+        String jstr="",str_response="",str_response_head="",str_response_body="";
         JSONObject result = new JSONObject();
-        try {
-            log.info("AGV请求开始");
-            SocketAddress socketAddress = new InetSocketAddress(ip, port);
-            tbjsocket = new Socket();
-            //链接超时
-            tbjsocket.connect(socketAddress, 1500);
-            //读取数据超时
-            String content = "";
-            if (ObjectUtil.isNotEmpty(jo)){
-                content = bytesToHexString(stringToByte(jo.toString()));
-            }
-            content = code + content;
-            log.info("AGV请求参数：-----------------"+content);
-            tbjdos = tbjsocket.getOutputStream();
-            tbjdos.write(content.getBytes("UTF-8"));
-            tbjdos.flush();
-            log.info("AGV----------------------发送数据成功");
-            tbjdis = tbjsocket.getInputStream();
-            byte[] bytes = new byte[1024];
-            int len;
-            StringBuilder sb = new StringBuilder();
-            String s = "";
-            while ((len = tbjdis.read(bytes)) != -1) {
-                //注意指定编码格式，发送方和接收方一定要统一，建议使用UTF-8
-                sb.append(new String(bytes, 0, len, "UTF-8"));
-                log.info("AGV返回信息：-----------------"+sb);
-                s = hexStringToString(sb.toString());
-            }
-
-            result = JSONObject.fromObject(s);
-            System.out.println("AGV返回" + sb.toString());
-
-        } catch (UnknownHostException e) {
-            log.info(e.getMessage());
-            e.printStackTrace();
-        } catch (ConnectException e) {
-            log.info(e.getMessage());
-            e.printStackTrace();
-        } catch (IOException e) {
-            e.printStackTrace();
-            log.info(e.getMessage());
-        } finally {
-            //循环结束则退出输入流
-            synchronized (tbjdis) {
-                if (tbjdos != null) {
-                    try {
-                        tbjdos.close();
-                    } catch (IOException e) {
-                        // TODO Auto-generated catch block
-                        e.printStackTrace();
-                    }
-                }
-                if (tbjdis != null) {
-                    try {
-                        tbjdis.close();
-                    } catch (IOException e) {
-                        // TODO Auto-generated catch block
-                        e.printStackTrace();
-                    }
-                }
-                if (tbjsocket != null) {
-                    try {
-                        tbjsocket.close();
-                    } catch (IOException e) {
-                        // TODO Auto-generated catch block
-                        e.printStackTrace();
-                    }
-                }
-            }
+        byte[] b_request,b_respose;
+        byte[] b_head,b_data;
+        StringBuilder sb = new StringBuilder();
+        if(ObjectUtil.isEmpty(jo)){
+            b_respose=TCPAGVClient.TCPRemoteConnectRead(ip, port, code);
+        } else {
+            b_respose=TCPAGVClient.TCPRemoteConnectRead(ip, port, jo.toString());
+        }
+        sb.append(new String(b_respose, 0, b_respose.length));
+        str_response=sb.toString();
+        if(str_response.trim().length()>0)
+        {
+            str_response_head=str_response.substring(0, 15);
+            str_response_body=str_response.substring(16, str_response.length()).trim();
+            log.info("AGV反馈信息：---------------"+str_response_body.trim());
+            result = JSONObject.fromObject(str_response_body);
         }
 
         return result;
     }
 
+
+
     public JSONObject applyTask(JSONObject jo) throws IOException {
         String ip = jo.getString("ip");
         String source_id = "";
         String id = jo.getString("point_code");
         String task_id = jo.getString("task_id");
+
+        //定位
+        byte[] b_positioning  =new byte[] {(byte) 0X5A,(byte)0X01,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00,
+                (byte)0X03,(byte)0XFD,
+                (byte)0X03,(byte)0XFD,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00};
+
+        //位置
+        byte[] b_location  =new byte[] {(byte) 0X5A,(byte)0X01,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00,
+                (byte)0X03,(byte)0XEC,
+                (byte)0X03,(byte)0XEC,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00 };
+
+        //未知
+        byte[] b_t  =new byte[] {(byte) 0X5A,(byte)0X01,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X54,
+                (byte)0X32,(byte)0XFB,
+                (byte)0X0B,(byte)0XEB,
+                (byte)0X00,(byte)0X00,
+                (byte)0X00,(byte)0X00 };
         //查询定位状态
-        JSONObject jsonObject1 = this.applyAgv(ip, 19204, "5A0100000000000003FD03FD00000000", null);
+        JSONObject jsonObject1 = this.applyAgv(ip, 19204, b_positioning, null);
         log.info("当前设备定位信息：---------------"+jsonObject1.toString());
         if (!jsonObject1.getString("reloc_status").equals("3")){
             throw new BadRequestException("当前设备状态定位未完成！");
         }
         //查询当前位置
-        JSONObject jsonObject = this.applyAgv(ip, 19204, "5A0100000000000003EC03EC00000000", null);
+        JSONObject jsonObject = this.applyAgv(ip, 19204, b_location, null);
         log.info("当前位置信息：---------------"+jsonObject.toString());
         source_id = jsonObject.getString("current_station");
 
@@ -186,7 +354,8 @@ public class XgagvDeviceDriver extends AbstractDeviceDriver implements DeviceDri
         inst.put("source_id",source_id);
         inst.put("id",id);
         inst.put("task_id",task_id);
-        JSONObject result = this.applyAgv(ip, 19206, "5A0100000000005432FB0BEB00000000", inst);
+        JSONObject result = this.applyAgv(ip, 19206, b_t, inst);
+        log.info("当前位置信息：---------------"+jsonObject.toString());
         return result;
     }
 
@@ -232,5 +401,52 @@ public class XgagvDeviceDriver extends AbstractDeviceDriver implements DeviceDri
         return s;
     }
 
+    public static String Bytes2HexString(byte[] b) {
+        String ret = "";
+        for (int i = 0; i < b.length; i++) {
+            String hex = Integer.toHexString(b[i] & 0xFF);
+            if (hex.length() == 1) {
+                hex = '0' + hex;
+            }
+            ret += hex.toUpperCase();
+        }
+        return ret;
+    }
+
+    /*
+     * Ascii转换为字符串
+     *
+     * @param value
+     * @return
+     */
+    public static String asciiToString(String value) {
+        StringBuffer sbu = new StringBuffer();
+        String[] chars = value.split(",");
+        for (int i = 0; i < chars.length; i++) {
+            sbu.append((char) Integer.parseInt(chars[i]));
+        }
+        return sbu.toString();
+    }
+
+    public static void main(String[] args) {
+        JSONObject jo = new JSONObject();
+        jo.put("source_id","location");
+        jo.put("id","1201");
+        jo.put("task_id","100001");
+        System.out.println(Bytes2HexString(jo.toString().getBytes()));
+
+    }
+
+    public void writing(String  key, int value) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + key;
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, value);
+        log.info("下发信号{}，值{}",to_command,value);
+        ReadUtil.write(itemMap, server);
+    }
+
 }
 

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

@@ -242,18 +242,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         String task_code = dto.getTask_code();
         TaskDto task = taskService.findByCodeFromCache(task_code);
         String excutetype = null;
-        //起点输送、终点货架 -- 入库
-        if (StrUtil.equals(deviceAppService.findDeviceByCode(task.getStart_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "conveyor")
-                && StrUtil.equals(deviceAppService.findDeviceByCode(task.getNext_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage")) {
-            excutetype = TaskTypeEnum.IN.getName();
-            //起点货架、终点输送 -- 出库
-        } else if (StrUtil.equals(deviceAppService.findDeviceByCode(task.getStart_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage")
-                && StrUtil.equals(deviceAppService.findDeviceByCode(task.getNext_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "conveyor")) {
-            excutetype = TaskTypeEnum.OUT.getName();
-            //起点输送、终点输送 -- 移动
-        } else {
-            excutetype = TaskTypeEnum.MOVE.getName();
-        }
 
         WQLObject instwo = WQLObject.getWQLObject("acs_instruction");
         String currentUsername = SecurityUtils.getCurrentUsername();
@@ -272,22 +260,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         }
         dto.setInstruction_type(task.getTask_type());
         List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(dto.getStart_device_code(), dto.getNext_device_code(), dto.getRoute_plan_code());
-        if (ObjectUtils.isEmpty(shortPathsList)) {
-            throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通");
-        }
-        String type = shortPathsList.get(0).getType();
-        if (!StrUtil.equals(type, "0")) {
-            JSONObject instcheckjson = instwo.query(" instruction_status <2 and next_point_code= '" + dto.getNext_point_code() + "'" + " and start_point_code = '" + dto.getStart_point_code() + "'" + " and task_id = '" + dto.getTask_id() + "'").uniqueResult(0);
-            if (instcheckjson != null) {
-                throw new Exception(dto.getTask_code() + ":该任务已存在待完成指令!");
-            }
-        }
-        if (!StrUtil.isEmpty(dto.getVehicle_code())) {
-            Instruction inst_dto = this.findByContainer(dto.getVehicle_code());
-            if (ObjectUtils.isNotEmpty(inst_dto) && !StrUtil.equals(inst_dto.getTask_id(), dto.getTask_id())) {
-                throw new WDKException("已存在该载具号的指令!");
-            }
-        }
         //起点设备与终点设备相同则为初始指令
         if (StrUtil.equals(task.getStart_device_code(), dto.getStart_device_code())) {
             if (!StrUtil.equals(dto.getCompound_inst(), "0") && StrUtil.equals(task.getCompound_task(), "1")) {
@@ -308,155 +280,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
         Device nextdevice = appService.findDeviceByCode(dto.getNext_device_code());
         dto.setRemark(startdevice.getBatch());
-
-        StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
-        LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
-        StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
-        StandardCoveyorControlWithPlcScannerDeviceDriver standardCoveyorControlWithPlcScannerDeviceDriver;
-        StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
-        StandardStorageDeviceDriver standardStorageDeviceDriver;
-        //将指令赋予对象 下发指令号给电气
-        if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-            standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
-            standardInspectSiteDeviceDriver.setBranchProtocol(2);
-            standardInspectSiteDeviceDriver.setInst(dto);
-            standardInspectSiteDeviceDriver.setMessage("下发指令：dto.getInstruction_code(),执行中");
-            standardInspectSiteDeviceDriver.writing(3, 1);
-        }
-        if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
-            standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) startdevice.getDeviceDriver();
-            if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
-                if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 1) {
-                    throw new RuntimeException("输送线非入库模式，无法下发");
-                }
-            }
-            if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
-                if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 2) {
-                    throw new RuntimeException("输送线非出库模式，无法下发");
-                }
-            }
-            standardCoveyorControlWithScannerDeviceDriver.setInst(dto);
-            if (!StrUtil.equals(nextdevice.getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage") && isInteger(nextdevice.getAddress())) {
-                standardCoveyorControlWithScannerDeviceDriver.writing(1, Integer.parseInt(nextdevice.getAddress()), Integer.parseInt(dto.getInstruction_code()));
-            }
-        }
-        if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithPlcScannerDeviceDriver) {
-            standardCoveyorControlWithPlcScannerDeviceDriver = (StandardCoveyorControlWithPlcScannerDeviceDriver) startdevice.getDeviceDriver();
-            if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
-                if (standardCoveyorControlWithPlcScannerDeviceDriver.getOperation_type() != 1) {
-                    throw new RuntimeException("输送线非入库模式，无法下发");
-                }
-            }
-            if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
-                if (standardCoveyorControlWithPlcScannerDeviceDriver.getOperation_type() != 2) {
-                    throw new RuntimeException("输送线非出库模式，无法下发");
-                }
-            }
-            standardCoveyorControlWithPlcScannerDeviceDriver.setInst(dto);
-            if (!StrUtil.equals(nextdevice.getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage") && isInteger(nextdevice.getAddress())) {
-                standardCoveyorControlWithPlcScannerDeviceDriver.writing(1, Integer.parseInt(nextdevice.getAddress()), Integer.parseInt(dto.getInstruction_code()));
-            }
-        }
-        if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
-            standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) startdevice.getDeviceDriver();
-            if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())
-//                    || StrUtil.equals(excutetype, TaskTypeEnum.MOVE.getName())
-            ) {
-                if (standardCoveyorControlDeviceDriver.getOperation_type() != 1) {
-                    throw new RuntimeException("输送线非入库模式，无法下发");
-                }
-            }
-            if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
-                if (standardCoveyorControlDeviceDriver.getOperation_type() != 2) {
-                    throw new RuntimeException("输送线非出库模式，无法下发");
-                }
-            }
-            standardCoveyorControlDeviceDriver.setInst(dto);
-            if (!StrUtil.equals(nextdevice.getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage") && isInteger(nextdevice.getAddress())) {
-                standardCoveyorControlDeviceDriver.writing(1, Integer.parseInt(nextdevice.getAddress()), Integer.parseInt(dto.getInstruction_code()));
-            }
-        }
-
-        if (!ObjectUtils.isEmpty(nextdevice.getExtraValue().get("link_three_lamp"))) {
-            String lamd_device = nextdevice.getExtraValue().get("link_three_lamp").toString();
-            Device lamddevice = appService.findDeviceByCode(lamd_device);
-
-            if (lamddevice.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
-                lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) lamddevice.getDeviceDriver();
-                lampThreecolorDeviceDriver.writing(2);
-            }
-        }
-
-        if (nextdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
-            standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) nextdevice.getDeviceDriver();
-            if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
-                if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 1) {
-                    throw new RuntimeException("输送线非入库模式，无法下发");
-                }
-            }
-            if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
-                if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 2) {
-                    throw new RuntimeException("输送线非出库模式，无法下发");
-                }
-            }
-        }
-        if (nextdevice.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
-            standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) nextdevice.getDeviceDriver();
-            if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
-                if (standardCoveyorControlDeviceDriver.getOperation_type() != 1) {
-                    throw new RuntimeException("指令终点输送线非入库模式，无法下发");
-                }
-            }
-            if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())
-//                    || StrUtil.equals(excutetype, TaskTypeEnum.MOVE.getName())
-            ) {
-                if (standardCoveyorControlDeviceDriver.getOperation_type() != 2) {
-                    throw new RuntimeException("指令终点输送线非出库模式，无法下发");
-                }
-            }
-
-        }
-
-
-        /*try {
-            // != 0 为agv任务
-            if (!StrUtil.equals(type, "0")) {
-                if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")) {
-                    HttpResponse result = agvService.sendAgvInstToMagic(dto);
-                    if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
-                        dto.setSend_status("2");
-                    } else {
-                        dto.setSend_status("1");
-                    }
-                } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "2")) {
-                    agvService.sendAgvInstToNDC(dto);
-                    dto.setSend_status("1");
-
-                } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
-                    if (StrUtil.equals(task.getRequest_again_success(), "1")) {
-                        //追加订单
-                        HttpResponse result = agvService.addOrderSequences(dto);
-                        if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
-                            dto.setSend_status("2");
-                        } else {
-                            dto.setSend_status("1");
-                        }
-                    } else {
-                        //创建订单序列
-                        HttpResponse result = agvService.sendOrderSequencesToXZ(dto);
-                        if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
-                            dto.setSend_status("2");
-                        } else {
-                            dto.setSend_status("1");
-                        }
-                    }
-                }
-            }
-        } catch (Exception e) {
-            dto.setSend_status("2");
-            e.printStackTrace();
-        }*/
-
         WQLObject wo = WQLObject.getWQLObject("acs_instruction");
         JSONObject json = JSONObject.fromObject(dto);
         wo.insert(json);
@@ -868,31 +691,9 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(entity.getStart_device_code(), entity.getNext_device_code(), entity.getRoute_plan_code());
         String type = shortPathsList.get(0).getType();
         // != 0 为agv任务 1=magic 2=NDC 3=XZ
-        if (!StrUtil.equals(type, "0")) {
-            if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")
-             && !StrUtil.equals(entity.getSend_status(),"2")) {
-                agvService.deleteAgvInst(entity.getInstruction_code());
-                flag = true;
 
-            } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "2")) {
-                //NDC agv指令不当场取消指令,需要等agv上报
-                if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
-                    agvService.deleteAgvInstToNDC(entity);
-                } else {
-                    flag = true;
-                }
-            } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")
-                && !StrUtil.equals(entity.getSend_status(),"2")) {
-                agvService.deleteXZAgvInst(entity.getInstruction_code());
-                flag = true;
-            } else {
-                flag = true;
-            }
-        } else {
-            flag = true;
-        }
 
-        if (flag) {
+        if (true) {
             String currentUsername = SecurityUtils.getCurrentUsername();
             String now = DateUtil.now();
             entity.setUpdate_time(now);
@@ -904,29 +705,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
             DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
 
-            // 如果是无光电的设备 指令完成变更起点、终点状态
-//            JSONObject jo = new JSONObject();
-//            jo.put("device_code", entity.getStart_device_code());
-//            if (StrUtil.equals(entity.getMaterial(), "1")) {
-//                jo.put("hasGoodStatus", "1");
-//            } else if (!StrUtil.equals(entity.getMaterial(), "1") && !StrUtil.isEmpty(entity.getMaterial())) {
-//                jo.put("hasGoodStatus", "2");
-//            } else {
-//                jo.put("hasGoodStatus", "0");
-//            }
-//            jo.put("material_type", entity.getMaterial());
-//            jo.put("batch", entity.getRemark());
-//            jo.put("islock", "false");
-//            deviceService.changeDeviceStatus(jo);
-//
-//            JSONObject jo1 = new JSONObject();
-//            jo1.put("device_code", entity.getNext_device_code());
-//            jo.put("hasGoodStatus", "0");
-//            jo.put("material_type", "");
-//            jo.put("batch", "");
-//            jo1.put("islock", "false");
-//            deviceService.changeDeviceStatus(jo1);
-
             String instnextdevice = entity.getNext_device_code();
             Device device = appService.findDeviceByCode(instnextdevice);
             if (device == null) {

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

@@ -483,135 +483,36 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
         SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
         StandardManipulatorInspectSiteDeviceDriver standardManipulatorInspectSiteDeviceDriver;
-        if (StrUtil.equals(createTaskCheck, "1")) {
-            //判断起点为输送设备
-            if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
-                if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
-                    if (standardInspectSiteDeviceDriver.getMode() != 2 || standardInspectSiteDeviceDriver.getMove() == 0) {
-                        throw new Exception("任务起点需满足待机有货!");
-                    }
-                    if (!StrUtil.isEmpty(standardInspectSiteDeviceDriver.getMaterial())) {
-                        dto.setMaterial(standardInspectSiteDeviceDriver.getMaterial());
-                    }
-                }
-                if (startdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
-                    standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) startdevice.getDeviceDriver();
-                    if (standardManipulatorInspectSiteDeviceDriver.getMode() != 2 || standardManipulatorInspectSiteDeviceDriver.getMove() == 0) {
-                        throw new Exception("任务起点需满足待机有货!");
-                    }
-                    if (!StrUtil.isEmpty(standardManipulatorInspectSiteDeviceDriver.getMaterial())) {
-                        dto.setMaterial(standardManipulatorInspectSiteDeviceDriver.getMaterial());
-                    }
-                }
-                if (startdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) startdevice.getDeviceDriver();
-                    if (startdevice.getHas_goods() == 0) {
-                        throw new Exception("任务起点需满足有货!");
-                    }
-                    if (!StrUtil.isEmpty(standardOrdinarySiteDeviceDriver.getMaterial())) {
-                        dto.setMaterial(standardOrdinarySiteDeviceDriver.getMaterial());
-                    }
-                }
-                if (startdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
-                    specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) startdevice.getDeviceDriver();
-                    if (startdevice.getHas_goods() == 0) {
-                        throw new Exception("任务起点需满足有货!");
-                    }
-                    if (!StrUtil.isEmpty(specialOrdinarySiteDeviceDriver.getMaterial())) {
-                        dto.setMaterial(specialOrdinarySiteDeviceDriver.getMaterial());
-                    }
-                }
-            }
-            if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
-                if (nextdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) nextdevice.getDeviceDriver();
-                    if (nextdevice.getHas_goods() != 0) {
-                        throw new Exception("任务终点需满足无货!");
-                    }
-                }
-                if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
-                    if (standardInspectSiteDeviceDriver.getMode() != 2 || standardInspectSiteDeviceDriver.getMove() != 0) {
-                        throw new Exception("任务终点需满足待机无货!");
-                    }
-                }
-                if (nextdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
-                    standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
-                    if (standardManipulatorInspectSiteDeviceDriver.getMode() != 2 || standardManipulatorInspectSiteDeviceDriver.getMove() != 0) {
-                        throw new Exception("任务终点需满足待机无货!");
-                    }
-                }
+        JSONObject jo = new JSONObject();
+        JSONObject jo2 = new JSONObject();
+        if (!StrUtil.isEmpty(dto.getMaterial())) {
+            if (!StrUtil.equals(dto.getMaterial(), "1")) {
+                jo.put("hasGoodStatus", "2");
+                jo.put("material_type", dto.getMaterial());
+            } else {
+                jo.put("hasGoodStatus", "1");
+                jo.put("material_type", "1");
             }
+
         } else {
-            //判断起点为输送设备
-            if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
-                if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
-                    if (standardInspectSiteDeviceDriver.getMode() != 2 || standardInspectSiteDeviceDriver.getMove() == 0) {
-                        throw new Exception("任务起点需满足待机有货!");
-                    }
-                    if (!StrUtil.isEmpty(standardInspectSiteDeviceDriver.getMaterial())) {
-                        dto.setMaterial(standardInspectSiteDeviceDriver.getMaterial());
-                    }
-
-                }
-
-                if (nextdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
-                    specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) nextdevice.getDeviceDriver();
-                    if (nextdevice.getHas_goods() != 0) {
-                        throw new Exception("任务起点需满足无货!");
-                    }
-                }
-            }
-
-            if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
-//                if (nextdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-//                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) nextdevice.getDeviceDriver();
-//                    if (nextdevice.getHas_goods() != 0) {
-//                        throw new Exception("任务终点需满足无货!");
-//                    }
-//                }
-
-                if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
-                    if (standardInspectSiteDeviceDriver.getMode() != 2 || standardInspectSiteDeviceDriver.getMove() != 0) {
-                        throw new Exception("任务终点需满足待机无货!");
-                    }
-                }
-
-                JSONObject jo = new JSONObject();
-                JSONObject jo2 = new JSONObject();
-                if (!StrUtil.isEmpty(dto.getMaterial())) {
-                    if (!StrUtil.equals(dto.getMaterial(), "1")) {
-                        jo.put("hasGoodStatus", "2");
-                        jo.put("material_type", dto.getMaterial());
-                    } else {
-                        jo.put("hasGoodStatus", "1");
-                        jo.put("material_type", "1");
-                    }
-
-                } else {
-                    jo.put("hasGoodStatus", "1");
-                    jo.put("material_type", "1");
-                }
-                jo.put("device_code", dto.getStart_device_code());
-                jo.put("quantity", dto.getQuantity());
-                jo.put("remark", dto.getRemark());
-                jo.put("batch", startdevice.getBatch());
-                jo.put("islock", "true");
-                deviceService.changeDeviceStatus(jo);
-                Device deviceByCode = deviceAppService.findDeviceByCode(dto.getNext_device_code());
-                jo2.put("device_code", dto.getNext_device_code());
-                jo2.put("hasGoodStatus", deviceByCode.getHas_goods());
-                jo2.put("quantity", deviceByCode.getQuantity());
-                jo2.put("remark", deviceByCode.getRemark());
-                jo2.put("material_type", deviceByCode.getMaterial_type());
-                jo2.put("batch", deviceByCode.getBatch());
-                jo2.put("islock", "true");
-                deviceService.changeDeviceStatus(jo2);
-            }
+            jo.put("hasGoodStatus", "1");
+            jo.put("material_type", "1");
         }
+        jo.put("device_code", dto.getStart_device_code());
+        jo.put("quantity", dto.getQuantity());
+        jo.put("remark", dto.getRemark());
+        jo.put("batch", startdevice.getBatch());
+        jo.put("islock", "true");
+        deviceService.changeDeviceStatus(jo);
+        Device deviceByCode = deviceAppService.findDeviceByCode(dto.getNext_device_code());
+        jo2.put("device_code", dto.getNext_device_code());
+        jo2.put("hasGoodStatus", deviceByCode.getHas_goods());
+        jo2.put("quantity", deviceByCode.getQuantity());
+        jo2.put("remark", deviceByCode.getRemark());
+        jo2.put("material_type", deviceByCode.getMaterial_type());
+        jo2.put("batch", deviceByCode.getBatch());
+        jo2.put("islock", "true");
+        deviceService.changeDeviceStatus(jo2);
         WQLObject wo = WQLObject.getWQLObject("acs_task");
         JSONObject json = JSONObject.fromObject(dto);
         wo.insert(json);
@@ -1069,13 +970,13 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 
         }
         //如果属于先知AGV，关闭运单序列
-        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
-            try {
-                agvService.markComplete(entity.getTask_code());
-            } catch (Exception e) {
-                e.printStackTrace();
-            }
-        }
+//        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
+//            try {
+//                agvService.markComplete(entity.getTask_code());
+//            } catch (Exception e) {
+//                e.printStackTrace();
+//            }
+//        }
     }
 
     @Override

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateXgInst.java

@@ -81,31 +81,11 @@ public class AutoCreateXgInst {
             XgagvDeviceDriver xgagvDeviceDriver = null;
             //查询所以配置了xg_agv驱动的设备
             Device device = new Device();
-            List<Device> devices = deviceAppService.findDevice(DeviceType.agv);
-            Iterator var4 = devices.iterator();
-
-            while (var4.hasNext()) {
-                Device device1 = (Device) var4.next();
-                if (device1.getDeviceDriver() instanceof XgagvDeviceDriver) {
-                    xgagvDeviceDriver = (XgagvDeviceDriver) device1.getDeviceDriver();
-                    if (xgagvDeviceDriver.getAgv_mode().equals("1")){
-                        return;
-                    }
-                    //查询车辆状态，如果为需要充电agv_mode=1
-                    device = device1;
-                    break;
-                }
-            }
 
             String device_code = device.getDevice_code();
             //查询该设备是否存在未完成的指令
             JSONObject inst = WQLObject.getWQLObject("ACS_INSTRUCTION").query("carno = '"+device_code+"' AND instruction_status <2 and is_delete =0").uniqueResult(0);
 
-            //如果指令为休息指令需要撤销该指令并创建点对点指令
-            if (inst.getString("instruction_type").equals("02")){
-                //完成指令和给AGV撤销
-                xgagvDeviceDriver.applyAgv((String) xgagvDeviceDriver.getDevice().getExtraValue().get("agv_ip"),19206,"5A0100000000005432CB0BBB00000000",null);
-            }
 
             Instruction instdto = new Instruction();
             instdto.setInstruction_type(acsTask.getTask_type());

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgAgvStatus.java

@@ -46,18 +46,42 @@ public class XgAgvStatus {
                 xgagvDeviceDriver = (XgagvDeviceDriver) device.getDeviceDriver();
                 String ip = (String) xgagvDeviceDriver.getDevice().getExtraValue().get("agv_ip");
 
+                byte[] b_t =new byte[] {(byte) 0X5A,(byte)0X01,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X03,(byte)0XEF,
+                        (byte)0X03,(byte)0XEF,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X00,(byte)0X00 };
                 //调用AGV接口查询当前设备的电量  1007接口
-                JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip, 19204, "5A0100000000000003EF03EF00000000 ", null);
+                JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip, 19204, b_t, null);
                 log.info("AGV电量返回的参数为：-----------------"+jsonObject.toString());
                 double battery_level = jsonObject.getDouble("battery_level");
 
+                byte[] b_t1 =new byte[] {(byte) 0X5A,(byte)0X01,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X03,(byte)0XFD,
+                        (byte)0X03,(byte)0XFD,
+                        (byte)0X00,(byte)0X00,
+                        (byte)0X00,(byte)0X00 };
                 //查询AGV的定位状态1021，如果为失败调用重定位2002
-                JSONObject jsonObject2 = xgagvDeviceDriver.applyAgv(ip, 19204, "5A0100000000000003FD03FD00000000", null);
+                JSONObject jsonObject2 = xgagvDeviceDriver.applyAgv(ip, 19204, b_t1, null);
                 log.info("AGV定位返回的参数为：-----------------"+jsonObject.toString());
                 if (jsonObject2.getString("reloc_status").equals("0")) {
                     JSONObject jo = new JSONObject();
                     jo.put("home",true);
-                    xgagvDeviceDriver.applyAgv(ip, 19205, "5A0100000000000007D207D200000000", jo);
+                    byte[] b_t2 =new byte[] {(byte) 0X5A,(byte)0X01,
+                            (byte)0X00,(byte)0X00,
+                            (byte)0X00,(byte)0X00,
+                            (byte)0X00,(byte)0X00,
+                            (byte)0X07,(byte)0XD2,
+                            (byte)0X07,(byte)0XD2,
+                            (byte)0X00,(byte)0X00,
+                            (byte)0X00,(byte)0X00 };
+                    xgagvDeviceDriver.applyAgv(ip, 19205, b_t2, jo);
                 }
 
                 //获取最小电量

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgInstUpdate.java

@@ -52,6 +52,8 @@ public class XgInstUpdate {
         if (instList.size() > 0) {
             for (int i = 0; i < instList.size(); i++) {
                 XgagvDeviceDriver xgagvDeviceDriver;
+
+                log.info("查询agv指令状态");
                 //判断任务类型1、点对点任务需要分步骤；2、休息指令和充电指令直接下发点对点
                 Instruction inst = instList.get(i);
                 if (!StrUtil.equals(inst.getSend_status(), "1")) {
@@ -76,6 +78,7 @@ public class XgInstUpdate {
                         jo.put("point_code",point_code);
                         jo.put("ip",ip);
                         jo.put("task_id",task_id);
+                        log.info("下发agv去起点任务：-----------------"+jo.toString());
                         xgagvDeviceDriver.applyTask(jo);
 
                         //修改指令状态
@@ -84,7 +87,17 @@ public class XgInstUpdate {
                     }
                     if (execute_status.equals("1")){
                         //判断AGV是否到达A点，1100接口  task_status = 4  target_id = inst_code+execute_status
-                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204, "5A01000000000000044C044C00000000", null);
+
+                        byte[] b_head=new byte[] {(byte) 0X5A,(byte)0X01,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00 };
+
+                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204, b_head, null);
                         String task_status = jsonObject.getString("task_status");
                         String target_id = jsonObject.getString("target_id");
                         if (task_status.equals("4")&&target_id.equals(inst.getStart_point_code())){
@@ -100,7 +113,15 @@ public class XgInstUpdate {
                                     //下发A的取货动作
                                     JSONObject order = new JSONObject();
                                     order.put("load",true);
-                                    JSONObject result = xgagvDeviceDriver.applyAgv(ip, 19206, "5A010000000000000BEB0BEB00000000", order);
+                                    byte[] b_t =new byte[] {(byte) 0X5A,(byte)0X01,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X0B,(byte)0XEB,
+                                            (byte)0X0B,(byte)0XEB,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X00,(byte)0X00 };
+                                    JSONObject result = xgagvDeviceDriver.applyAgv(ip, 19206, b_t, order);
                                     if (result.getString("ret_code").equals("0")){
                                         inst.setExecute_status("2");
                                         instructionService.update(inst);
@@ -113,8 +134,16 @@ public class XgInstUpdate {
                     }
                     if (execute_status.equals("2")){
                         boolean is_ok = false;
+                        byte[] b_t =new byte[] {(byte) 0X5A,(byte)0X01,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00 };
                         //查询是否取货完成,通过查询DO状态是否低电平
-                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,"5A01000000000000044C044C00000000", null);
+                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,b_t, null);
                         JSONArray do_arr = jsonObject.getJSONArray("DO");
                         for (int j = 0; j <do_arr.size(); j++) {
                             JSONObject do_jo = do_arr.getJSONObject(j);
@@ -141,8 +170,16 @@ public class XgInstUpdate {
                         }
                     }
                     if (execute_status.equals("3")){
+                        byte[] b_t =new byte[] {(byte) 0X5A,(byte)0X01,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00 };
                         //判断AGV是否到达B点，1100接口  task_status = 4  target_id = inst_code+execute_status
-                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,"5A01000000000000044C044C00000000", null);
+                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,b_t, null);
                         String task_status = jsonObject.getString("task_status");
                         String target_id = jsonObject.getString("target_id");
                         if (task_status.equals("4")&&target_id.equals(inst.getNext_point_code())){
@@ -159,7 +196,15 @@ public class XgInstUpdate {
                                     //下发B的放货动作
                                     JSONObject order = new JSONObject();
                                     order.put("unload",true);
-                                    JSONObject result = xgagvDeviceDriver.applyAgv(ip, 19206, "5A010000000000000BEB0BEB00000000", order);
+                                    byte[] b_t1 =new byte[] {(byte) 0X5A,(byte)0X01,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X0B,(byte)0XEB,
+                                            (byte)0X0B,(byte)0XEB,
+                                            (byte)0X00,(byte)0X00,
+                                            (byte)0X00,(byte)0X00 };
+                                    JSONObject result = xgagvDeviceDriver.applyAgv(ip, 19206, b_t1, order);
                                     if (result.getString("ret_code").equals("0")){
                                         inst.setExecute_status("4");
                                         instructionService.update(inst);
@@ -174,7 +219,15 @@ public class XgInstUpdate {
                         //查询是否放货完成
                         boolean is_ok = false;
                         //查询是否取货完成,通过查询DO状态是否低电平
-                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,"5A01000000000000044C044C00000000", null);
+                        byte[] b_t =new byte[] {(byte) 0X5A,(byte)0X01,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X04,(byte)0X4C,
+                                (byte)0X00,(byte)0X00,
+                                (byte)0X00,(byte)0X00 };
+                        JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,b_t, null);
                         JSONArray do_arr = jsonObject.getJSONArray("DO");
                         for (int j = 0; j <do_arr.size(); j++) {
                             JSONObject do_jo = do_arr.getJSONObject(j);
@@ -185,17 +238,9 @@ public class XgInstUpdate {
                         }
                         if (is_ok){
                             //反馈中鼎任务完成
-                            HashMap<String,String> map = new HashMap<>();
-                            map.put("carId",inst.getCarno());
-                            map.put("task_code",inst.getTask_code());
-                            map.put("task_type","00");
-                            map.put("feedbackStatus","putFinish");
-                            Map<String, Object> stringObjectMap = acsToWmsZDService.taskFeedback(map);
-                            if (stringObjectMap.get("responseCode").equals("200")){
-                                inst.setExecute_status("5");
-                                inst.setInstruction_status("2");
-                                instructionService.update(inst);
-                            }
+                            inst.setExecute_status("5");
+                            inst.setInstruction_status("2");
+                            instructionService.update(inst);
                             //判断是否存在任务，不存在创建一个休息任务
                             //查询当前设备是否存在未完成的任务
                             JSONObject task = WQLObject.getWQLObject("ACS_INSTRUCTION").query("carno = '" + device_code + "' AND is_delete = '0' AND instruction_status IN ('0','1')").uniqueResult(0);

hd/nladmin-system/src/main/resources/config/application-dev.yml

@@ -9,10 +9,11 @@ spring:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
       #url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:lxjm_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:zdxn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:zdxn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
       #password: ${DB_PWD:P@ssw0rd}
-      password: ${DB_PWD:Root.123456}
+      password: ${DB_PWD:123456}
+      #      password: ${DB_PWD:Root.123456}
       # 初始连接数
       initial-size: 5
       # 最小连接数
@@ -59,7 +60,7 @@ spring:
   redis:
     #数据库索引
     database: ${REDIS_DB:0}
-    host: ${REDIS_HOST:47.111.78.178}
+    host: ${REDIS_HOST:127.0.0.1}
     port: ${REDIS_PORT:6379}
     password: ${REDIS_PWD:}
     #连接超时时间

hd/nladmin-system/src/main/resources/config/application-prod.yml

@@ -56,7 +56,7 @@ spring:
   redis:
     #数据库索引
     database: ${REDIS_DB:0}
-    host: ${REDIS_HOST:47.111.78.178}
+    host: ${REDIS_HOST:127.0.0.1}
     port: ${REDIS_PORT:6379}
     password: ${REDIS_PWD:}
     #连接超时时间

hd/nladmin-system/src/main/resources/config/application.yml

@@ -2,7 +2,7 @@ spring:
   freemarker:
     check-template-location: false
   profiles:
-    active: dev
+    active: prod
   jackson:
     time-zone: GMT+8
   data:

hd/nladmin-system/src/main/resources/log/QueryXZAgvTaskStatus.xml

@@ -26,7 +26,7 @@
       </logger>-->
 
     <!-- 打印sql -->
-    <logger name="org.nl.modules.quartz.task.QueryXZAgvTaskStatus" level="info" additivity="false">
+    <logger name="org.nl.modules.quartz.task.XgInstUpdate" level="info" additivity="false">
         <appender-ref ref="FILE10"/>
     </logger>
 </included>

hd/nladmin-system/src/main/resources/log/XgagvDeviceDriver.xml

@@ -6,7 +6,7 @@
     <appender name="FILE7" class="ch.qos.logback.core.rolling.RollingFileAppender">
         <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
             <!--日志文件输出的文件名-->
-            <FileNamePattern>${LOG_HOME}/ACS请求ERP/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <FileNamePattern>${LOG_HOME}/AGV驱动/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
             <!--日志文件保留天数-->
             <maxHistory>15</maxHistory>
             <!--单个日志最大容量 至少10MB才能看得出来-->
@@ -26,7 +26,7 @@
       </logger>-->
 
     <!-- 打印sql -->
-    <logger name=" org.nl.acs.ext.erp.service.impl.AcsToErpServiceImpl" level="info" additivity="false">
+    <logger name="org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver" level="info" additivity="false">
         <appender-ref ref="FILE7"/>
     </logger>
 </included>

hd/nladmin-system/src/main/resources/logback-spring.xml

@@ -16,18 +16,7 @@ https://juejin.cn/post/6844903775631572999
     <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
     <property name="LOG_HOME" value="${logPath}"/>
     <!--引入默认的一些设置-->
-    <include resource="log/AutoCreateInst.xml"/>
-    <include resource="log/QueryAgvTaskStatus.xml"/>
-    <include resource="log/AgvServiceImpl.xml"/>
-    <include resource="log/AgvackServlet.xml"/>
-    <include resource="log/AcsToErp.xml"/>
-    <include resource="log/AcsToWms.xml"/>
-    <include resource="log/WmsToAcs.xml"/>
-    <include resource="log/QueryXZAgvTaskStatus.xml"/>
-    <include resource="log/NDCSocketConnectionAutoRun.xml"/>
-    <include resource="log/ScannerBarcode.xml"/>
-    <include resource="log/QueryXgAgvStatus.xml"/>
-
+    <include resource="log/XgagvDeviceDriver.xml"/>
 
     <appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
         <encoder>

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

@@ -1,6 +1,49 @@
 <template>
-  <!--magic3.0-->
+  <!--自动门-->
   <div>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-row>
+        <el-col :span="12">
+          OpcServer:
+          <el-select
+            v-model="opc_id"
+            placeholder="无"
+            clearable
+            @change="changeOpc"
+          >
+            <el-option
+              v-for="item in dataOpcservers"
+              :key="item.opc_id"
+              :label="item.opc_name"
+              :value="item.opc_id"
+            />
+          </el-select>
+        </el-col>
+        <el-col :span="12">
+          PLC:
+          <el-select
+            v-model="plc_id"
+            placeholder="无"
+            clearable
+            @change="changePlc"
+          >
+            <el-option
+              v-for="item in dataOpcPlcs"
+              :key="item.plc_id"
+              :label="item.plc_name"
+              :value="item.plc_id"
+            />
+          </el-select>
+        </el-col>
+      </el-row>
+
+    </el-card>
+
     <el-card class="box-card" shadow="never">
       <div slot="header" class="clearfix">
         <span class="role-span">输送系统：</span>
@@ -67,11 +110,85 @@
       </el-form>
     </el-card>
 
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC读取字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data1"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data1[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishReadEdit(data1[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC写入字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data2"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data2[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishWriteEdit(data2[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbw_value">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
     <el-card class="box-card" shadow="never">
       <div slot="header" class="clearfix">
         <span class="role-span" />
         <el-button
-          :loading="configLoading"
+          :loading="false"
           icon="el-icon-check"
           size="mini"
           style="float: right; padding: 6px 9px"
@@ -86,15 +203,22 @@
 </template>
 
 <script>
-import { updateConfig, queryDriverConfig } from '@/api/acs/device/driverConfig'
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
 import crud from '@/mixins/crud'
-import deviceCrud from '@/api/acs/device/device'
 
 export default {
-  name: 'XgAgv',
+  name: 'StandardAutodoor',
   mixins: [crud],
   props: {
-    // eslint-disable-next-line vue/require-default-prop
     parentForm: {
       type: Object,
       require: true
@@ -104,28 +228,32 @@ export default {
     return {
       device_code: '',
       device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
       configLoading: false,
-      deviceList: [],
-      address: '',
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      data1: [],
+      data2: [],
       form: {
-        cancle_electric: '',
-        task_electric: '',
-        min_electric: '',
-        relax_point: '',
-        charge_point: '',
-        agv_ip: ''
+        inspect_in_stocck: true,
+        ignore_pickup_check: true,
+        ignore_release_check: true,
+        apply_task: true,
+        manual_create_task: true,
+        is_pickup: true,
+        is_release: true
       },
       rules: {}
     }
   },
   created() {
-    deviceCrud.selectDeviceList().then(data => {
-      this.deviceList = data
-    })
     this.$nextTick(() => {
       // 从父表单获取设备编码
-      this.device_code = this.$props.parentForm.device_code
       this.device_id = this.$props.parentForm.device_id
+      this.device_code = this.$props.parentForm.device_code
       queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
         // 给表单赋值，并且属性不能为空
         if (data.form) {
@@ -135,21 +263,106 @@ export default {
             this.form = data.form
           }
         }
+
+        // 给表单赋值，并且属性不能为空
+        if (data.parentForm) {
+          const arr = Object.keys(data.parentForm)
+          // 不为空
+          if (arr.length > 0) {
+            this.opc_code = data.parentForm.opc_code
+            this.plc_code = data.parentForm.plc_code
+          }
+        }
+        this.data1 = data.rs
+        this.data2 = data.ws
+        this.sliceItem()
       })
-      deviceCrud.selectDeviceList().then(data => {
-        this.deviceList = data
+      selectPlcList().then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = this.$props.parentForm.opc_plc_id
+      })
+      selectOpcList().then(data => {
+        this.dataOpcservers = data
+        this.opc_id = this.$props.parentForm.opc_server_id
       })
     })
   },
   methods: {
+    changeOpc(val) {
+      this.dataOpcservers.forEach(item => {
+        if (item.opc_id === val) {
+          this.opc_code = item.opc_code
+        }
+      })
+      selectListByOpcID(val).then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = ''
+        this.plc_code = ''
+        if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
+          this.plc_id = this.dataOpcPlcs[0].plc_id
+          this.plc_code = this.dataOpcPlcs[0].plc_code
+        }
+        this.sliceItem()
+      })
+    },
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        for (const val in this.data1) {
+          if (this.data1[val].code.indexOf('action') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 1)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+        }
+      }
+    },
+    changePlc(val) {
+      this.dataOpcPlcs.forEach(item => {
+        if (item.plc_id === val) {
+          this.plc_code = item.plc_code
+          this.sliceItem()
+          return
+        }
+      })
+    },
+    test_read1() {
+      testRead(this.data1, this.opc_id).then(data => {
+        this.data1 = data
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_write1() {
+      testwrite(this.data2, this.opc_id).then(data => {
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
     doSubmit() {
       this.$refs['form'].validate((valid) => {
         if (valid) {
           this.configLoading = true
           // 根据驱动类型判断是否为路由设备
           const parentForm = this.parentForm
-          parentForm.is_route = false
-          updateConfig(parentForm, this.form).then(res => {
+          parentForm.is_route = true
+          parentForm.plc_id = this.plc_id
+          parentForm.opc_id = this.opc_id
+          updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
             this.notify('保存成功', 'success')
             this.configLoading = false
           }).catch(err => {
@@ -158,6 +371,28 @@ export default {
           })
         }
       })
+    },
+    sliceItem() { // 拼接DB的Item值
+      this.data1.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+      this.data2.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
     }
   }
 }