add 反馈动作信息 站点在席信号 接口与调用

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

@@ -15,35 +15,11 @@ public enum DriverTypeEnum {
 
     STORAGE(3, "standard_storage", "标准版-货架", "storage"),
 
-//    SCANNER(4, "standard_scanner", "标准版-扫码器", "scanner"),
+    AUTODOOR(4, "standard_auto_door", "标准版-自动门", "auto_door"),
-
+
-//    INSPECT_CONVEYOR_CONTROL(5, "standard_conveyor_control", "标准版-输送机-控制点", "conveyor"),
+    AGV_NDC_ONE(5, "agv_ndc_one", "NDCAGV", "agv"),
-//
+
-//    INSPECT_CONVEYOR_MONITOR(6, "standard_conveyor_monitor", "标准版-输送机-监控点", "conveyor"),
+    FOLD_DISC_SITE(6, "fold_disc_site", "叠盘机", "station");
-
-    AGV_NDC_ONE(7, "agv_ndc_one", "NDCAGV", "agv");
-
-//    AGV_NDC_TWO(8, "agv_ndc_two", "NDC2楼AGV", "agv"),
-
-//    HONGXIANG_DEVICE(9, "hongxiang_device", "烘箱设备点位", "conveyor"),
-//
-//    OVEN_MANIPULATOR(10, "oven_manipulator", "烘箱-行架机械手", "station"),
-//
-//    SLIT_TWO_MANIPULATOR(11, "slit_two_manipulator", "分切双工位-行架机械手", "station"),
-//
-//    BOX_PALLETIZING_MANIPULATOR(12, "box_palletizing_manipulator", "木箱码垛-行架机械手", "station"),
-//
-//    SIEMENS_CONVEYOR(13, "siemens_conveyor", "西门子-输送机驱动", "conveyor"),
-//
-//    HONGXIANG_CONVEYOR(13, "hongxiang_conveyor", "烘箱对接位", "conveyor"),
-//
-//    INSPECT_CONVEYOR_CONTROL_WITH_SCANNER(14, "standard_conveyor_control_with_scanner", "标准版-输送机-控制点-关联扫码", "conveyor"),
-//
-//    PLUG_PULL_DEVICE_SITE(15, "plug_pull_device_site", "插拔轴站点", "conveyor"),
-//
-//    SIEMENS_CONVEYOR_LABELING(16, "siemens_conveyor_labeling", "西门子-输送机驱动-贴标", "conveyor"),
-//
-//    SIEMENS_CONVEYOR_CKK(17, "siemens_conveyor_ckk", "西门子-输送机驱动-出库口", "conveyor");
 
 
     //驱动索引

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

@@ -25,6 +25,49 @@ import java.util.concurrent.TimeUnit;
 
 public class ReadUtil {
 
+    /**
+     * 发布订阅测试
+     */
+    private static final int PERIOD = 100;
+
+    private static final int SLEEP = 2000;
+
+    public static void test() throws AlreadyConnectedException, JIException, UnknownHostException, AddFailedException, NotConnectedException, DuplicateGroupException, InterruptedException {
+        /*ConnectionInformation ci = new ConnectionInformation();
+        ci.setHost("10.1.5.123");
+        ci.setDomain("");
+        ci.setUser("freud");
+        ci.setPassword("password");
+        ci.setClsid("F8582CF2-88FB-11D0-B850-00C0F0104305");
+
+        Server server = new Server(ci,
+                Executors.newSingleThreadScheduledExecutor());*/
+        Server server = getServer();
+
+        // server.connect();
+
+        AccessBase access = new Async20Access(server, PERIOD, false);
+
+        access.addItem("RD1.RD1.B21.mode", new DataCallback() {
+
+            private int count;
+
+            @SneakyThrows
+            public void changed(Item item, ItemState itemstate) {
+                System.out.println("[" + (++count) + "],ItemName:["
+                        + item.getId() + "],value:" + itemstate.getValue());
+                System.out.println(itemstate.getValue().isArray());
+                List<String> listB = Arrays.asList(itemstate.getValue().toString());
+                System.out.println(listB.get(0));
+
+            }
+        });
+
+        access.bind();
+        Thread.sleep(SLEEP);
+        access.unbind();
+        server.dispose();
+    }
 
     public static Server getServer(String opc_id) {
         //OPC表【acs_opc】
@@ -51,26 +94,51 @@ public class ReadUtil {
         return server;
     }
 
+    public static Server getServer() {
+        //RD1.RD1.1028
+        // 连接信息
+        ConnectionInformation ci = new ConnectionInformation();
+        ci.setHost("192.168.81.251");
+        ci.setDomain("");
+        ci.setUser("administrator");
+        ci.setPassword("Huawei@123");
+        ci.setClsid("7BC0CC8E-482C-47CA-ABDC-0FE7F9C6E729");
+        final Server server = new Server(ci, Executors.newSingleThreadScheduledExecutor());
+        try {
+            server.connect();
+        } catch (UnknownHostException e) {
+            e.printStackTrace();
+        } catch (JIException e) {
+            e.printStackTrace();
+        } catch (AlreadyConnectedException e) {
+            e.printStackTrace();
+        }
+        return server;
+    }
+
     public static void write(Map<String, Object> strings, Server server) {
         try {
             //Group group = this.opcServerService.getServer(opcServiceCode);
+            try {
+                server.connect();
+            } catch (AlreadyConnectedException ignored) {
+            }
             Group group = server.addGroup();
-            Iterator it = strings.keySet().iterator();
+            for (String key : strings.keySet()) {
-            while (it.hasNext()) {
-                String key = (String) it.next();
                 Item byteItem = group.addItem(key);
                 Object o = strings.get(key);
                 if (o == null || o.equals("")) {
                     break;
                 }
                 WriteRequest write1 = new WriteRequest(byteItem, new JIVariant(o.toString()));
-                List<WriteRequest> list = new ArrayList();
+                List<WriteRequest> list = new ArrayList<>();
                 list.add(write1);
-                OpcUtl.writeValue(group, (WriteRequest[]) list.toArray(new WriteRequest[0]));
+                OpcUtl.writeValue(group, list.toArray(new WriteRequest[0]));
             }
-            server.disconnect();
         } catch (Exception e) {
-            e.printStackTrace();
+            write(strings, server);
+        } finally {
+            server.disconnect();
         }
 
     }
@@ -93,6 +161,7 @@ public class ReadUtil {
     public static Map<String, Object> read(List<String> itemString, Server server) {
         HashMap map = new HashMap();
         try {
+            //Group group = this.opcServerService.getServer(opcServiceCode);
             Group group = server.addGroup();
             Map<String, Item> items = new LinkedHashMap();
             Iterator is = itemString.iterator();
@@ -120,7 +189,6 @@ public class ReadUtil {
         } catch (Exception e) {
             e.printStackTrace();
         }
-
         return map;
     }
 

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -2,20 +2,26 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpStatus;
+import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.basedriver.agv.utils.ErrorUtil;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutoDoorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
+import org.nl.acs.device_driver.fold_disc_site.FoldDiscSiteDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
@@ -73,6 +79,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 
     String error_code = "0";
     String error_message = "";
+    String device_status = "UNKNOWN";
+    String message = "";
 
     public synchronized void processSocket(int[] arr) {
         device_code = this.getDeviceCode();
@@ -89,6 +97,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         Instruction link_inst = null;
         List<Instruction> insts = null;
         Instruction inst = null;
+        boolean flag = false;
+        boolean wcsFlag = false;
+        boolean wmsFlag = false;
         boolean link_flag = false;
         if (ikey != 0) {
             inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
@@ -111,6 +122,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             inst.setCarno(String.valueOf(carno));
             instructionService.update(inst);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
+            this.device_status = "EXECUTING";
 
             //到达取货点
             //(需要WCS反馈)
@@ -149,6 +161,148 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
 
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                StandardOrdinarySiteDeviceDriver driver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+
+                if ("true".equals(device.getExtraValue().get("wait"))) {
+                    // todo 请求wcs是否允许取货
+                } else {
+                    wcsFlag = true;
+                }
+
+                if ("true".equals(device.getExtraValue().get("reqWms"))
+                        && !inst.getTask_code().startsWith("-")
+                        && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())) {
+                    JSONObject form = new JSONObject();
+                    form.put("vehicle_code", inst.getVehicle_code());
+                    form.put("status", 1);
+                    form.put("device_code", device_code);
+                    form.put("task_code", inst.getTask_code());
+                    JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                        add(form);
+                    }});
+
+                    if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                        wmsFlag = true;
+                    } else {
+                        String resultMessage = result.getString("message");
+                        this.message = resultMessage;
+                        String message = resultMessage + "不允许AGV取货。";
+                        driver.setMessage(message);
+                        logServer.deviceExecuteLog(device_code, "", "", message);
+                    }
+                } else {
+                    wmsFlag = true;
+                }
+
+                if (wcsFlag && wmsFlag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
+                }
+            } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
+
+                if (driver.getMode() != 0
+                        && driver.getMove() != 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 1);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV取货。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    } else {
+                        if (driver.getMove() == 0) {
+                            message += "站点无货，";
+                        }
+                    }
+                    message += "不允许AGV取货。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
+                }
+            } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+                FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
+                if (driver.getMode() != 0
+                        && driver.getMove() != 0
+                        && driver.getNumber() != 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 1);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV取货。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    } else {
+                        if (driver.getMove() == 0) {
+                            message += "站点无货，";
+                        }
+                        if (driver.getNumber() == 0) {
+                            message += "站点无托盘，";
+                        }
+                    }
+                    message += "不允许AGV取货。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
+                }
+            }
+
             //取货完毕
             //(需要WCS反馈)
         } else if (phase == 0x05) {
@@ -185,6 +339,148 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
 
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                StandardOrdinarySiteDeviceDriver driver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+
+                if ("true".equals(device.getExtraValue().get("wait"))) {
+                    // todo 请求wcs是否允许取货
+                } else {
+                    wcsFlag = true;
+                }
+
+                if ("true".equals(device.getExtraValue().get("reqWms"))
+                        && !inst.getTask_code().startsWith("-")
+                        && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())) {
+                    JSONObject form = new JSONObject();
+                    form.put("vehicle_code", inst.getVehicle_code());
+                    form.put("status", 2);
+                    form.put("device_code", device_code);
+                    form.put("task_code", inst.getTask_code());
+                    JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                        add(form);
+                    }});
+
+                    if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                        wmsFlag = true;
+                    } else {
+                        String resultMessage = result.getString("message");
+                        this.message = resultMessage;
+                        String message = resultMessage + "不允许AGV取货后离开。";
+                        driver.setMessage(message);
+                        logServer.deviceExecuteLog(device_code, "", "", message);
+                    }
+                } else {
+                    wmsFlag = true;
+                }
+
+                if (wcsFlag && wmsFlag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
+                }
+            } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
+
+                if (driver.getMode() != 0
+                        && driver.getMove() == 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 2);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV取货后离开。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    } else {
+                        if (driver.getMove() != 0) {
+                            message += "站点有货，";
+                        }
+                    }
+                    message += "不允许AGV取货后离开。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
+                }
+            } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+                FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
+                if (driver.getMode() != 0
+                        && driver.getMove() == 0
+                        && driver.getNumber() == 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 2);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV取货后离开。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    } else {
+                        if (driver.getMove() != 0) {
+                            message += "站点有货，";
+                        }
+                        if (driver.getNumber() != 0) {
+                            message += "站点有托盘，";
+                        }
+                    }
+                    message += "不允许AGV取货后离开。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
+                }
+            }
+
             //到达放货点
             //(需要WCS反馈)
         } else if (phase == 0x07) {
@@ -218,6 +514,139 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
 
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                StandardOrdinarySiteDeviceDriver driver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+
+                if ("true".equals(device.getExtraValue().get("wait"))) {
+                    // todo 请求wcs是否允许取货
+                } else {
+                    wcsFlag = true;
+                }
+
+                if ("true".equals(device.getExtraValue().get("reqWms"))
+                        && !inst.getTask_code().startsWith("-")
+                        && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())) {
+                    JSONObject form = new JSONObject();
+                    form.put("vehicle_code", inst.getVehicle_code());
+                    form.put("status", 3);
+                    form.put("device_code", device_code);
+                    form.put("task_code", inst.getTask_code());
+                    JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                        add(form);
+                    }});
+
+                    if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                        wmsFlag = true;
+                    } else {
+                        String resultMessage = result.getString("message");
+                        this.message = resultMessage;
+                        String message = resultMessage + "不允许AGV放货。";
+                        driver.setMessage(message);
+                        logServer.deviceExecuteLog(device_code, "", "", message);
+                    }
+                } else {
+                    wmsFlag = true;
+                }
+
+                if (wcsFlag && wmsFlag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
+                }
+            } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
+
+                if (driver.getMode() != 0
+                        && driver.getMove() == 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 3);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV放货。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    } else {
+                        if (driver.getMove() != 0) {
+                            message += "站点有货，";
+                        }
+                    }
+                    message += "不允许AGV放货。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
+                }
+            } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+                FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
+                if (driver.getMode() != 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 3);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV放货。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    }
+                    message += "不允许AGV放货。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
+                }
+            }
+
             //放货完毕
             //(需要WCS反馈)
         } else if (phase == 0x09) {
@@ -252,6 +681,151 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
 
+            if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                StandardOrdinarySiteDeviceDriver driver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
+
+                if ("true".equals(device.getExtraValue().get("wait"))) {
+                    // todo 请求wcs是否允许取货
+                } else {
+                    wcsFlag = true;
+                }
+
+                if ("true".equals(device.getExtraValue().get("reqWms"))
+                        && !inst.getTask_code().startsWith("-")
+                        && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())) {
+                    JSONObject form = new JSONObject();
+                    form.put("vehicle_code", inst.getVehicle_code());
+                    form.put("status", 4);
+                    form.put("device_code", device_code);
+                    form.put("task_code", inst.getTask_code());
+                    JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                        add(form);
+                    }});
+
+                    if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                        wmsFlag = true;
+                    } else {
+                        String resultMessage = result.getString("message");
+                        this.message = resultMessage;
+                        String message = resultMessage + "不允许AGV放货后离开。";
+                        driver.setMessage(message);
+                        logServer.deviceExecuteLog(device_code, "", "", message);
+                    }
+                } else {
+                    wmsFlag = true;
+                }
+
+                if (wcsFlag && wmsFlag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
+                }
+            } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
+
+                if (driver.getMode() != 0
+                        && driver.getMove() != 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 4);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV放货后离开。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    } else {
+                        if (driver.getMove() == 0) {
+                            message += "站点无货，";
+                        }
+                    }
+                    message += "不允许AGV放货后离开。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
+                }
+            } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+                FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
+                if (driver.getMode() != 0
+                        && driver.getMove() != 0
+                        && driver.getNumber() != 0) {
+                    if (!inst.getTask_code().startsWith("-")
+                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 4);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "不允许AGV放货后离开。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "";
+                    if (driver.getMode() == 0) {
+                        message += "站点未联机，";
+                    } else {
+                        if (driver.getMove() == 0) {
+                            message += "站点无货，";
+                        }
+                        if (driver.getNumber() == 0) {
+                            message += "站点无托盘，";
+                        }
+                    }
+                    message += "不允许AGV放货后离开。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
+                }
+            }
+
+            if (flag) {
+                this.device_status = "IDLE";
+            }
         }
         //到达位置点
         //(需要WCS反馈)
@@ -262,19 +836,155 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
         } else if (phase == 0x50) {//进入区域
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            if (agvaddr == 0) {
-            logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+                agvaddr = agvaddr_copy;
+            }
+            if (agvaddr < 1) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
+                return;
+            }
+            if (agvaddr != 0) {
+                old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
+                if (StrUtil.contains(old_device_code, "-")) {
+                    String[] point = old_device_code.split("-");
+                    device_code = point[0];
+                } else if (StrUtil.contains(old_device_code, ".")) {
+                    String[] point = old_device_code.split("\\.");
+                    device_code = point[0];
+                } else {
+                    device_code = old_device_code;
+                }
+            }
+
+            device = deviceAppService.findDeviceByCode(device_code);
+            if (ObjectUtil.isEmpty(device_code)) {
+                log.info(agvaddr + "对应设备号为空!");
+                return;
+            }
+
+            if (device.getDeviceDriver() instanceof StandardAutoDoorDeviceDriver) {
+                StandardAutoDoorDeviceDriver driver = (StandardAutoDoorDeviceDriver) device.getDeviceDriver();
+
+                if (driver.getMode() != 0) {
+                    if ("1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 5);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "无法开门。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "自动门未联机，无法开门。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    driver.writing(1);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许开门。");
+                }
+
+                if (driver.getAction() == 1) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                }
+            }
         } else if (phase == 0x51) {//离开区域
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            if (agvaddr == 0) {
-            logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+                agvaddr = agvaddr_copy;
+            }
+            if (agvaddr < 1) {
+                logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
+                return;
+            }
+            if (agvaddr != 0) {
+                old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
+                if (StrUtil.contains(old_device_code, "-")) {
+                    String[] point = old_device_code.split("-");
+                    device_code = point[0];
+                } else if (StrUtil.contains(old_device_code, ".")) {
+                    String[] point = old_device_code.split("\\.");
+                    device_code = point[0];
+                } else {
+                    device_code = old_device_code;
+                }
+            }
+
+            device = deviceAppService.findDeviceByCode(device_code);
+            if (ObjectUtil.isEmpty(device_code)) {
+                log.info(agvaddr + "对应设备号为空!");
+                return;
+            }
+
+            if (device.getDeviceDriver() instanceof StandardAutoDoorDeviceDriver) {
+                StandardAutoDoorDeviceDriver driver = (StandardAutoDoorDeviceDriver) device.getDeviceDriver();
+
+                if (driver.getMode() != 0) {
+                    if ("1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+                        JSONObject form = new JSONObject();
+                        form.put("vehicle_code", inst.getVehicle_code());
+                        form.put("status", 6);
+                        form.put("device_code", device_code);
+                        form.put("task_code", inst.getTask_code());
+                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+                            add(form);
+                        }});
+                        if (HttpStatus.HTTP_OK == result.getIntValue("status")) {
+                            flag = true;
+                        } else {
+                            String resultMessage = result.getString("message");
+                            this.message = resultMessage;
+                            String message = resultMessage + "无法关门。";
+                            driver.setMessage(message);
+                            logServer.deviceExecuteLog(device_code, "", "", message);
+                        }
+                    } else {
+                        flag = true;
+                    }
+                } else {
+                    String message = "自动门未联机，无法关门。";
+                    driver.setMessage(message);
+                    logServer.deviceExecuteLog(device_code, "", "", message);
+                }
+
+                if (flag) {
+                    driver.writing(2);
+                    this.message = "";
+                    driver.setMessage("");
+                    logServer.deviceExecuteLog(device_code, "", "", "允许关门。");
+                }
+
+                if (driver.getAction() == 2) {
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                }
+            }
         } else if (phase == 0x67) {//agv异常
             if (ikey == 0) {
                 this.setErrorInfo(ikey, "0", "正常");
+                this.device_status = "IDLE";
             } else {
                 Map<String, String> error = ErrorUtil.getAgvErrorMsg(ikey);
                 String code = error.get("code");
                 String info = error.get("info");
                 this.setErrorInfo(ikey, code, info);
+                this.device_status = "ERROR";
             }
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             last_error = error;

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

@@ -0,0 +1,72 @@
+package org.nl.acs.device_driver.basedriver.standard_autodoor;
+
+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 item_heartbeat = "heartbeat";
+    public static String item_mode = "mode";
+    public static String item_action = "action";
+    public static String item_error = "error";
+    public static String item_to_command = "to_command";
+
+
+    private StandardAutoDoorDeviceDriver driver;
+
+    public ItemProtocol(StandardAutoDoorDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getHeartbeat() {
+        return this.getOpcIntegerValue(item_heartbeat);
+    }
+
+    public int getMode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getAction() {
+        return this.getOpcIntegerValue(item_action);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getToCommand() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            log.error("读取错误!");
+        } else {
+            return value;
+        }
+        return 0;
+
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB51.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB51.B1", Boolean.TRUE));
+        list.add(new ItemDto(item_action, "动作信号", "DB51.B2"));
+        list.add(new ItemDto(item_error, "报警信号", "DB51.B4"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_to_command, "作业命令", "DB52.W2", Boolean.TRUE));
+        return list;
+    }
+
+}
+

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_autodoor/StandardAutoDoorDefinition.java

@@ -0,0 +1,65 @@
+package org.nl.acs.device_driver.basedriver.standard_autodoor;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 自动门驱动定义
+ */
+@Service
+public class StandardAutoDoorDefinition implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "standard_autodoor";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "标准版-自动门";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "标准版-自动门";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new StandardAutoDoorDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return StandardAutoDoorDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList<>();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return getReadableItemDtos2();
+    }
+
+    public static List<ItemDto> getReadableItemDtos2() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_autodoor/StandardAutoDoorDeviceDriver.java

@@ -0,0 +1,156 @@
+package org.nl.acs.device_driver.basedriver.standard_autodoor;
+
+import com.alibaba.fastjson.JSONObject;
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
+import lombok.Setter;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.opc.Device;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.openscada.opc.lib.da.Server;
+
+import java.util.Date;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * 自动门驱动
+ */
+@Slf4j
+@Getter
+@Setter
+@RequiredArgsConstructor
+public class StandardAutoDoorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+
+    DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
+
+    RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
+
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    String container;
+    String container_type_desc;
+    String last_container_type_desc;
+    String last_container;
+    //放货准备锁
+    String putReadyLock = null;
+    //有货标记
+    protected boolean has_goods_tag = false;
+    String devicecode;
+    int mode = 0;
+    int action = 0;
+    int error = 0;
+    Boolean iserror = false;
+
+    int move = 0;
+    int task = 0;
+    int last_action = 0;
+    int last_mode = 0;
+    int last_error = 0;
+    int last_move = 0;
+    int last_task = 0;
+
+    boolean hasVehicle = false;
+    boolean isReady = false;
+    protected int instruction_num = 0;
+    protected int instruction_num_truth = 0;
+    protected boolean hasGoods = false;
+    boolean isFold = false;
+    private String assemble_check_tag;
+    private Boolean sampleMode0;
+    private Boolean sampleMode3;
+    private Integer sampleError;
+    private Boolean sampleOnline;
+    protected String displayMessage = null;
+    public int display_message_time_out = 30000;
+    public Date display_message_time;
+    protected String current_stage_instruction_message;
+    protected String last_stage_instruction_message;
+    Integer heartbeat_tag;
+    private Date instruction_require_time = new Date();
+    private Date instruction_finished_time = new Date();
+
+    private int instruction_require_time_out;
+    boolean requireSucess = false;
+
+    private int instruction_finished_time_out;
+
+    int branchProtocol = 0;
+
+    String message = "";
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        devicecode = this.getDevice().getDevice_code();
+        mode = this.itemProtocol.getMode();
+        action = this.itemProtocol.getAction();
+        error = this.itemProtocol.getError();
+
+
+        last_action = action;
+        last_mode = mode;
+        last_error = error;
+    }
+
+    public synchronized String getStatus() {
+        JSONObject jo = new JSONObject();
+
+        if (action == 1) {
+            jo.put("name", this.getDevice().getDevice_code());
+            jo.put("status", "OPEN");
+
+        } else if (action == 2) {
+            jo.put("name", this.getDevice().getDevice_code());
+            jo.put("status", "CLOSE");
+
+        } else {
+            jo.put("name", this.getDevice().getDevice_code());
+            jo.put("status", "ERROR");
+        }
+        return jo.toString();
+    }
+
+
+    public void writing(int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_command;
+
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, command);
+        ReadUtil.write(itemMap, server);
+        server.disconnect();
+        log.info("下发PLC信号：{},{}", to_command, command);
+        System.out.println("设备：" + devicecode + ",下发PLC信号：" + to_command + ",value：" + command);
+
+    }
+
+    public synchronized void OpenOrClose(String type) {
+
+        //开门
+        if ("1".equals(type)) {
+            writing(1);
+        } else {
+            writing(2);
+        }
+
+    }
+
+}

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

@@ -2,7 +2,9 @@ package org.nl.acs.device_driver.basedriver.standard_inspect_site;
 
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -13,6 +15,7 @@ import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.monitor.DeviceStageMonitor;
@@ -29,6 +32,7 @@ import org.nl.modules.wql.core.bean.WQLObject;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.openscada.opc.lib.da.Server;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.HttpStatus;
 
 import java.util.Date;
 import java.util.HashMap;
@@ -51,6 +55,8 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
     RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
     @Autowired
     TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
     String container;
     String container_type_desc;
     String last_container_type_desc;
@@ -87,7 +93,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
     private Date instruction_require_time = new Date();
     private Date instruction_finished_time = new Date();
 
-    private int instruction_require_time_out;
+    private int instruction_require_time_out = 3000;
     boolean requireSucess = false;
 
     private int instruction_finished_time_out;
@@ -129,67 +135,15 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
     public void execute() {
         String message = null;
         try {
-            String device_code = this.getDeviceCode();
+            devicecode = this.getDeviceCode();
             mode = this.itemProtocol.getMode();
             error = this.itemProtocol.getError();
             move = this.itemProtocol.getMove();
             task = this.itemProtocol.getTask();
             hasGoods = this.itemProtocol.getMove();
 
-            if (mode != last_mode) {
-                this.setRequireSucess(false);
-            }
             if (move != last_move) {
-            }
+                this.requireSucess = false;
-            if (error != last_error) {
-            }
-
-            if (this.getApply_handling()) {
-                String link_device_code = this.getDevice().getExtraValue().get("link_device_code").toString();
-                DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-                Device link_device = appService.findDeviceByCode(link_device_code);
-                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) JSONObject.toJSON(dto);
-
-                        wo.insert(json);
-                        standardInspectSiteDevicedriver.setApply_material(false);
-                    }
-                }
-                this.setApply_handling(false);
             }
 
         } catch (Exception var17) {
@@ -222,72 +176,14 @@ 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 (!requireSucess) {
-//                    if (this.getApply_handling()) {
+                        JSONObject param = new JSONObject();
-//                        String link_device_code = this.getDevice().getExtraValue().get("link_device_code").toString();
+                        param.put("device_code", this.devicecode);
-//                        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                        param.put("is_have", this.move);
-//                        Device link_device =  appService.findDeviceByCode(link_device_code);
+                        this.shipDeviceUpdate(param);
-//                        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) JSONObject.toJSON(dto);
-
-//                                wo.insert(json);
-//                                standardInspectSiteDevicedriver.setApply_material(false);
-//                            }
-//                        }
-//                        this.setApply_handling(false);
-//                    }
-
-                    if (material.length() > 0 && qty.length() > 0 && !requireSucess) {
-                        this.instruction_require(container);
                     }
             }
 
-            switch (flag) {
-                //取货完成
-                case 1:
-                    writing(2);
-                    return;
-                //放货完成
-                case 2:
-                    writing(3);
-                    return;
-
-            }
-
         }
         last_mode = mode;
         last_error = error;
@@ -438,6 +334,23 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
         }
     }
 
+    private void shipDeviceUpdate(JSONObject param) {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+        } else {
+            this.instruction_require_time = date;
+
+            HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
+            if (response.getStatus() == HttpStatus.OK.value()) {
+                JSONObject result = JSONObject.parseObject(response.body());
+                if (ObjectUtil.isNotEmpty(result) && result.getIntValue("status") == HttpStatus.OK.value()) {
+                    this.requireSucess = true;
+                }
+            }
+        }
+    }
+
     @Override
     public JSONObject getDeviceStatusName() {
         JSONObject jo = new JSONObject();

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

@@ -17,98 +17,97 @@ import java.util.Iterator;
 import java.util.Map;
 
 public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements OpcDeviceDriver {
-  UnifiedDataAccessor opcUdw;
+    UnifiedDataAccessor opcUdw;
-
+
-  private Date sendTime;
+    private Date sendTime;
-  private String last_items;
+    private String last_items;
-  private int noLog_sendTimeOut;
+    private int noLog_sendTimeOut;
-  private Date noLog_sendTime;
+    private Date noLog_sendTime;
-  private String noLog_last_items;
+    private String noLog_last_items;
-
+
-  public AbstractOpcDeviceDriver() {
+    public AbstractOpcDeviceDriver() {
-    this.opcUdw = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key);
+        this.opcUdw = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key);
-  }
-
-  @Override
-  public UnifiedDataAccessor getOpcValueAccessor() {
-    return this.opcUdw;
-  }
-
-  public boolean control(Map<String, Object> itemValues) {
-
-    Iterator<Map.Entry<String, Object>> it = itemValues.entrySet().iterator();
-
-    ItemValue p2[];
-    p2 = new ItemValue[itemValues.size()];
-    int i=0;
-    while (it.hasNext()) {
-      Map.Entry<String, Object> entry = it.next();
-      System.out.println("即将写入值:"+entry.getKey() + ":" + entry.getValue());
-      p2[i] = new ItemValue();
-      p2[i].setItem_code(entry.getKey());
-      p2[i].setItem_value(entry.getValue());
-      i++;
     }
 
-     return  this.control(p2);
+    @Override
-  }
+    public UnifiedDataAccessor getOpcValueAccessor() {
+        return this.opcUdw;
+    }
 
+    public boolean control(Map<String, Object> itemValues) {
 
+        Iterator<Map.Entry<String, Object>> it = itemValues.entrySet().iterator();
 
-  public boolean control(ItemValue[] itemValues) {
+        ItemValue p2[];
-    if (itemValues != null && itemValues.length != 0) {
+        p2 = new ItemValue[itemValues.size()];
-      String this_items = JsonUtl.parseWithoutException(itemValues);
+        int i = 0;
-      boolean need_write = false;
+        while (it.hasNext()) {
-      StringBuilder sb = new StringBuilder();
+            Map.Entry<String, Object> entry = it.next();
-      ItemValue[] var5 = itemValues;
+            System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue());
-      int var6 = itemValues.length;
+            p2[i] = new ItemValue();
+            p2[i].setItem_code(entry.getKey());
+            p2[i].setItem_value(entry.getValue());
+            i++;
+        }
 
-      for (int var7 = 0; var7 < var6; ++var7) {
+        return this.control(p2);
-        ItemValue itemValue = var5[var7];
+    }
-        String code = itemValue.getItem_code();
+
-        Object udw_value = this.getUdwValue(code);
+
-        Object write_value = itemValue.getItem_value();
+    public boolean control(ItemValue[] itemValues) {
-        sb.append(code);
+        if (itemValues != null && itemValues.length != 0) {
-        sb.append(":");
+            String this_items = JsonUtl.parseWithoutException(itemValues);
-        sb.append(JsonUtl.parseWithoutException(udw_value));
+            boolean need_write = false;
-        sb.append(";");
+            StringBuilder sb = new StringBuilder();
+            ItemValue[] var5 = itemValues;
+            int var6 = itemValues.length;
+
+            for (int var7 = 0; var7 < var6; ++var7) {
+                ItemValue itemValue = var5[var7];
+                String code = itemValue.getItem_code();
+                Object udw_value = this.getUdwValue(code);
+                Object write_value = itemValue.getItem_value();
+                sb.append(code);
+                sb.append(":");
+                sb.append(JsonUtl.parseWithoutException(udw_value));
+                sb.append(";");
 //        if (!need_write && !UnifiedDataAppService.isEquals(udw_value, write_value)) {
 //          need_write = true;
 //        }
-      }
+            }
-      need_write = true;
+            need_write = true;
 
-      if (need_write) {
+            if (need_write) {
-        Date date = new Date();
+                Date date = new Date();
         /*if (StringUtl.isEqual(this_items, this.last_items) && date.getTime() - this.sendTime.getTime() < (long) WcsConfig.opc_write_repeat_check) {
             log.trace("发送时间因为小于{}毫秒，而被无视", WcsConfig.opc_write_repeat_check);
             return false;
         }*/
 
-        this.last_items = this_items;
+                this.last_items = this_items;
-        this.sendTime = date;
+                this.sendTime = date;
         /*  this.execute_log.setResource(this.getDevice().getCode(), this.getDevice().getName());
         this.execute_log.log("原始记录{}->变更为{}", new Object[]{sb, this_items});
         OpcServerService opcServerService = OpcServerFactory.getOpcServerService();*/
 
-        OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
+                OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
 
-        opcServerService.writeInteger(this.getOpcServer(), itemValues);
+                opcServerService.writeInteger(this.getOpcServer(), itemValues);
-        UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor();
+                UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor();
-        ItemValue[] var17 = itemValues;
+                ItemValue[] var17 = itemValues;
-        int var18 = itemValues.length;
+                int var18 = itemValues.length;
 
-        for (int var19 = 0; var19 < var18; ++var19) {
+                for (int var19 = 0; var19 < var18; ++var19) {
-          ItemValue itemValue = var17[var19];
+                    ItemValue itemValue = var17[var19];
-          String code = itemValue.getItem_code();
+                    String code = itemValue.getItem_code();
-          Object value = itemValue.getItem_value();
+                    Object value = itemValue.getItem_value();
-          opcValueAccessor.setValue(code, value);
+                    opcValueAccessor.setValue(code, value);
-        }
+                }
-      }
+            }
 
-      return true;
+            return true;
-    } else {
+        } else {
-      throw new WDKException("下发 无内容");
+            throw new WDKException("下发 无内容");
+        }
     }
-  }
 }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/fold_disc_site/FoldDiscSiteDefination.java

@@ -0,0 +1,65 @@
+package org.nl.acs.device_driver.fold_disc_site;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 晟华叠盘机
+ */
+@Service
+public class FoldDiscSiteDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "fold_disc_site";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "叠盘机";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "叠盘机";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new FoldDiscSiteDeviceDriver()).setDevice(device).setDriverDefination(this);
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return FoldDiscSiteDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList<>();
+        types.add(DeviceType.station);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return getReadableItemDtos2();
+    }
+
+    public static List<ItemDto> getReadableItemDtos2() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/fold_disc_site/FoldDiscSiteDeviceDriver.java

@@ -0,0 +1,250 @@
+package org.nl.acs.device_driver.fold_disc_site;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONObject;
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
+import lombok.Setter;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
+import org.nl.acs.opc.Device;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.route.service.dto.RouteLineDto;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.system.util.CodeUtil;
+import org.nl.modules.wql.core.bean.WQLObject;
+import org.nl.modules.wql.util.SpringContextHolder;
+import org.openscada.opc.lib.da.Server;
+import org.springframework.http.HttpStatus;
+
+import java.util.Date;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 晟华叠盘机
+ */
+@Slf4j
+@Getter
+@Setter
+@RequiredArgsConstructor
+public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+
+    DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
+
+    RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
+
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+
+    DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
+    String device_code;
+    int mode = 0;
+    int error = 0;
+    int move = 0;
+    int last_mode = 0;
+    int last_error = 0;
+    int last_move = 0;
+    Boolean isonline = true;
+    int hasGoods = 0;
+    Boolean iserror = false;
+
+    boolean requireSucess = false;
+    boolean requireQtySuccess = false;
+    boolean errorDeviceRecord = false;
+    JSONObject errorDeviceRecordRequest = new JSONObject();
+
+    int heartbeat;
+    int last_heartbeat;
+    private Date checkHeartbeattime = new Date();
+    private Date last_checkHeartbeattime = new Date();
+
+    int branchProtocol = 0;
+
+    private Date instruction_require_time = new Date();
+    private Date instruction_finished_time = new Date();
+
+    private int instruction_require_time_out = 3000;
+    private int instruction_finished_time_out;
+
+    String message;
+
+    int number = 0;
+    int last_number = 0;
+
+    int task = 0;
+    int last_task = 0;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        try {
+            device_code = this.getDeviceCode();
+
+            mode = itemProtocol.getMode();
+            move = itemProtocol.getMove();
+            number = itemProtocol.getNumber();
+            error = itemProtocol.getError();
+            task = itemProtocol.getTask();
+
+            if (number != last_number) {
+                int max_emptypalletnum = Integer.parseInt(this.getDevice().getExtraValue().get("max_emptypalletnum").toString());
+                if (number == 0 || number == max_emptypalletnum) {
+                    this.requireSucess = false;
+                }
+            }
+
+        } catch (Exception var17) {
+            return;
+        }
+
+        //急停
+        if (this.isStop()) {
+
+            //未在线无心跳
+        } else if (!this.itemProtocol.getIsonline()) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "信号量同步异常";
+            //未联机
+        } else if (mode == 0) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "未联机";
+            //有报警
+        } else if (error != 0) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "有报警";
+            //无报警
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            switch (mode) {
+                case 1:
+                    log.debug("设备运转模式:等待工作");
+                    break;
+                case 2:
+                    if (!this.requireSucess) {
+                        JSONObject param = new JSONObject();
+                        param.put("device_code", this.device_code);
+                        param.put("is_have", this.number == 0 ? 0 : 1);
+                        this.shipDeviceUpdate(param);
+                    }
+            }
+        }
+
+        last_mode = mode;
+        last_move = move;
+        last_number = number;
+        last_error = error;
+        last_task = task;
+    }
+
+    public void writing(String param, String value) {
+
+        String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + param;
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<>();
+        itemMap.put(to_param, value);
+        ReadUtil.write(itemMap, server);
+        server.disconnect();
+        logServer.deviceExecuteLog(this.device_code, "", "", param + " 写入 " + value);
+    }
+
+    public void executing(Server server, Map<String, Object> itemMap) {
+        ReadUtil.write(itemMap, server);
+        server.disconnect();
+    }
+
+    public void writing(int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + ItemProtocol.item_to_command;
+
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, command);
+        ReadUtil.write(itemMap, server);
+        ReadUtil.write(itemMap, server);
+        server.disconnect();
+        logServer.deviceExecuteLog(this.device_code, "", "", "to_command 写入 " + command);
+    }
+
+    private void shipDeviceUpdate(JSONObject param) {
+        Date date = new Date();
+        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+        } else {
+            this.instruction_require_time = date;
+
+            HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
+            if (response.getStatus() == HttpStatus.OK.value()) {
+                JSONObject result = JSONObject.parseObject(response.body());
+                if (ObjectUtil.isNotEmpty(result) && result.getIntValue("status") == HttpStatus.OK.value()) {
+                    this.requireSucess = true;
+                }
+            }
+        }
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() throws Exception {
+        String mode;
+
+        switch (this.mode) {
+            case 0:
+                mode = "脱机";
+                break;
+            case 2:
+                mode = "待机";
+                break;
+            default:
+                mode = String.valueOf(this.mode);
+        }
+
+        JSONObject jo = new JSONObject();
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("error", error);
+        jo.put("number", number);
+        jo.put("isError", iserror);
+        jo.put("isOnline", isonline);
+        jo.put("message", message);
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+}

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

@@ -0,0 +1,117 @@
+package org.nl.acs.device_driver.fold_disc_site;
+
+import lombok.Getter;
+import lombok.Setter;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Getter
+@Setter
+@SuppressWarnings("unused")
+public class ItemProtocol {
+    public static String item_heartbeat = "heartbeat";
+    public static String item_mode = "mode";
+    public static String item_move = "move";
+    public static String item_number = "number";
+    public static String item_error = "error";
+    public static String item_task = "task";
+
+    public static String item_to_command = "to_command";
+    public static String item_to_target = "to_target";
+    public static String item_to_task = "to_task";
+    Boolean isonline;
+
+    private FoldDiscSiteDeviceDriver driver;
+
+    public ItemProtocol(FoldDiscSiteDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getHeartbeat() {
+        return this.getOpcIntegerValue(item_heartbeat);
+    }
+
+    public int getMode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getMove() {
+        return this.getOpcIntegerValue(item_move);
+    }
+
+    public int getNumber() {
+        return this.getOpcIntegerValue(item_number);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getToCommand() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+    public int getToTarget() {
+        return this.getOpcIntegerValue(item_to_target);
+    }
+
+    public int getToTask() {
+        return this.getOpcIntegerValue(item_to_task);
+    }
+
+    //是否有货
+    public int hasGoods(int move) {
+        return move;
+    }
+
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+//            log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+
+    public String getOpcStringValue(String protocol) {
+        String value = this.driver.getStringValue(protocol);
+        if (value != null) {
+            return value;
+        }
+        return "";
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0"));
+        list.add(new ItemDto(item_mode, "工作模式", "DB1.B1", Boolean.TRUE));
+        list.add(new ItemDto(item_move, "广电信号", "DB1.B2"));
+        list.add(new ItemDto(item_number, "数量", "DB1.B3"));
+        list.add(new ItemDto(item_error, "error", "DB1.B5"));
+        list.add(new ItemDto(item_task, "任务号", "DB1.D6"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList<ItemDto> list = new ArrayList<>();
+        list.add(new ItemDto(item_to_command, "下发指令", "DB2.W0", Boolean.TRUE));
+        list.add(new ItemDto(item_to_target, "下发目标站", "DB2.W2"));
+        list.add(new ItemDto(item_to_task, "下发任务号", "DB2.D4"));
+        return list;
+    }
+
+}
+

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

@@ -113,7 +113,7 @@ public interface AcsToWmsService {
      * @param from
      * @return
      */
-    HttpResponse feedAgvTaskStatus(JSONArray from);
+    JSONObject feedAgvTaskStatus(JSONArray from);
 
     JSONObject test(JSONObject form);
 }

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

@@ -5,6 +5,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
+import cn.hutool.http.HttpStatus;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
@@ -14,9 +15,9 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.device.address.service.AddressService;
 import org.nl.acs.device.address.service.dto.AddressDto;
 import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.ext.wms.RetryableUtil;
 import org.nl.acs.ext.wms.data.*;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.acs.ext.wms.RetryableUtil;
 import org.nl.modules.common.utils.RedisUtils;
 import org.nl.modules.system.service.ParamService;
 import org.slf4j.MDC;
@@ -556,31 +557,36 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     }
 
     @Override
-    public HttpResponse feedAgvTaskStatus(JSONArray from) {
+    public JSONObject feedAgvTaskStatus(JSONArray from) {
-        if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+        try {
-            log.info("开始反馈WMS AGV取放货状态，请求参数：{}", from);
+            MDC.put(log_file_type, log_type);
-            this.getTokenFromWms();
+
-            String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
-            AddressDto addressDto = addressService.findByCode("feedAgvTaskStatus");
+                String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
-            String methods_url = addressDto.getMethods_url();
+                AddressDto addressDto = addressService.findByCode("feedAgvTaskStatus");
-            String url = wmsUrl + methods_url;
+                String methodsUrl = addressDto.getMethods_url();
-            HttpResponse result = null;
+                String url = wmsUrl + methodsUrl;
-            Map<String, Object> map = new HashMap<>();
+//                log.info("feedAgvTaskStatus - 请求参数 {}", param);
-            map.put("payload", JSON.toJSONString(from));
+                HttpResponse response = HttpRequest
-            try {
+                        .post(url)
-                result = HttpRequest.post(url)
+                        .body(from.toString())
-                        .header("Content-Type", "application/json;charset=UTF-8")
-                        .header("Authorization", String.valueOf(redisUtils.get("wms_token")))
-                        .body(JSON.toJSONString(from))
-                        .timeout(3000)
                         .execute();
-                log.info("反馈WMS AGV取放货状态成功，请求路径：{}，请求结果：{}", url, result.body());
+//                    log.info("feedAgvTaskStatus - 返回参数 {}", response.body());
-            } catch (Exception e) {
+                return JSONObject.parseObject(response.body());
-                log.info("反馈WMS AGV取放货状态失败，请求路径：{}，请求结果：{}", url, e.getMessage());
             }
+        } catch (Throwable ignored) {
+            JSONObject result = new JSONObject();
+            result.put("status", HttpStatus.HTTP_CLIENT_TIMEOUT);
+            result.put("message", "请求超时！");
             return result;
+        } finally {
+            MDC.remove(log_file_type);
         }
-        return null;
+
+        JSONObject result = new JSONObject();
+        result.put("status", HttpStatus.HTTP_BAD_REQUEST);
+        result.put("message", "请求失败，未知原因！");
+        return result;
     }
 
     @Override

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

@@ -496,10 +496,16 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 JSONObject start_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + start_device_code + "'").uniqueResult(0);
                 if (!ObjectUtil.isEmpty(start_device_json)) {
                     start_point_code = (String) start_device_json.get("parent_storage_code") == null ? start_device_code : (String) start_device_json.get("storage_code");
+                    if (StrUtil.isNotEmpty(start_point_code) && start_point_code.contains(".")) {
+                        start_point_code = start_point_code.substring(0, start_point_code.indexOf("."));
+                    }
                 }
                 JSONObject next_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + next_device_code + "'").uniqueResult(0);
                 if (!ObjectUtil.isEmpty(next_device_json)) {
                     next_point_code = (String) next_device_json.get("parent_storage_code") == null ? next_point_code : (String) next_device_json.get("storage_code");
+                    if (StrUtil.isNotEmpty(start_point_code) && start_point_code.contains(".")) {
+                        start_point_code = start_point_code.substring(0, start_point_code.indexOf("."));
+                    }
                 }
                 if (StrUtil.isNotEmpty(start_point_code) && start_point_code.indexOf("-") > 0) {
                     String str[] = start_point_code.split("-");

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

@@ -276,4 +276,6 @@ public interface InstructionService {
 
 
     void init(String id);
+
+    int queryDeviceInstCount(String nextDeviceCode);
 }

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

@@ -1435,4 +1435,30 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             ((SiemensConveyorDeviceDriver) startDeviceDriver).writing(list);
         }
     }
+
+    @Override
+    public int queryDeviceInstCount(String device_code) {
+        if (StrUtil.isBlank(device_code)) {
+            return 0;
+        }
+
+        int count = 0;
+        for (int i = 0; i < instructions.size(); i++) {
+            Instruction inst = instructions.get(i);
+            //处理空盘位站点
+            String start_code = inst.getStart_point_code();
+            if (start_code.contains(".")) {
+                start_code = start_code.substring(0, start_code.indexOf("."));
+            }
+            String next_code = inst.getNext_point_code();
+            if (next_code.contains(".")) {
+                start_code = start_code.substring(0, start_code.indexOf("."));
+            }
+            if (StrUtil.equals(device_code, start_code) || StrUtil.equals(device_code, start_code)) {
+                count++;
+            }
+        }
+
+        return count;
+    }
 }

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

@@ -5,8 +5,10 @@ import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
+import org.nl.acs.device_driver.fold_disc_site.FoldDiscSiteDeviceDriver;
 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.opc.DeviceAppServiceImpl;
 import org.nl.acs.route.service.RouteLineService;
@@ -107,6 +109,77 @@ public class AutoCreateInst {
                 next_point_code = next_device_code;
             }
 
+            //空盘位生成指令需要另外逻辑
+            Device nextDevice = appService.findDeviceByCode(next_device_code);
+            if (nextDevice.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+                FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) nextDevice.getDeviceDriver();
+                if (driver.getMode() == 0) {
+                    log.info("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 未联机，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 未联机，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
+                } else if (driver.getError() != 0) {
+                    log.info("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 异常，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 异常，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
+                }
+                int max_emptypalletnum = Integer.parseInt(nextDevice.getExtraValue().get("max_emptypalletnum").toString());
+                int nowNumber = driver.getNumber();
+                if (nowNumber >= max_emptypalletnum) {
+                    log.info("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 已满，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 已满，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
+                }
+                // 查看是否有相同终点的指令
+                int count = instructionService.queryDeviceInstCount(next_device_code);
+                if (count > 0) {
+                    log.info("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 已被占用，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 终点 [" + nextDevice.getDevice_name() + "] 已被占用，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
+                }
+                next_point_code = next_device_code + "." + (nowNumber + 1);
+            }
+
+            Device startDevice = appService.findDeviceByCode(start_device_code);
+            if (startDevice.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
+                FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) startDevice.getDeviceDriver();
+                if (driver.getMode() == 0) {
+                    log.info("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 未联机，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 未联机，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
+                } else if (driver.getError() != 0) {
+                    log.info("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 异常，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 异常，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
+                }
+
+                int container_qty = driver.getNumber();
+                int max_emptypalletnum = Integer.parseInt(startDevice.getExtraValue().get("max_emptypalletnum").toString());
+                if (container_qty < (max_emptypalletnum / 2)) {
+                    log.info("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 可用托盘数量少于最大托盘数量 [" + max_emptypalletnum + "] / 2，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 可用托盘数量少于最大托盘数量 [" + max_emptypalletnum + "] / 2，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
+                }
+
+                int count = instructionService.queryDeviceInstCount(start_device_code);
+                if (count > 0) {
+                    log.info("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 已被占用，无法生成指令。");
+                    acsTask.setRemark("任务 [" + taskcode + "] 起点 [" + startDevice.getDevice_name() + "] 已被占用，无法生成指令。");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    //this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
+                    //this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
+                    continue;
+                }
+
+                start_point_code = start_device_code + ".1";
+            }
+
 
             Instruction instdto = new Instruction();
             instdto.setInstruction_type(task_type);