任务取消/故障反馈/位置反馈接口实现

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -216,7 +216,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）
-                        if (phase == 0x67) {
+                        if (phase == 0x67 || phase == 0x74) {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
                         } else {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));

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

@@ -18,7 +18,9 @@ import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDevic
 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.ext.wms.data.JDFaultRequest;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.JDToAcsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
@@ -30,6 +32,7 @@ import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.impl.TaskServiceImpl;
+import org.nl.modules.common.utils.enums.DeviceStatusEnum;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.system.service.impl.ParamServiceImpl;
 import org.nl.modules.wql.util.SpringContextHolder;
@@ -55,6 +58,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
     DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
     DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
+    JDToAcsService jdToAcsService=SpringContextHolder.getBean(JDToAcsService.class);
     int agvaddr = 0;
     int agvaddr_copy = 0;
     int weight = 0;
@@ -75,6 +79,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     int last_status = 0;
     int last_error = 0;
 
+    int goods =0;
+
+    //0-初始；1-取货中；2-取货完成；3-放货中；4-放货完成
+    int inst_status = 0;
+
+    Instruction global_inst = null;
+
     @LokiLog(type = LokiLogType.ACS_TO_LMS)
     public synchronized void processSocket(int[] arr) throws Exception {
         device_code = this.getDeviceCode();
@@ -98,6 +109,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         }
         if (ikey != 0) {
             inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
+            global_inst=inst;
 //            if (ObjectUtil.isEmpty(inst)) {
 //                inst = instructionService.findByCode(String.valueOf(ikey));
 //            }
@@ -112,6 +124,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         String device_code = null;
 
         if (phase == 0x67) {
+            error= ikey;
             //故障信息
             if (arr[18] * 256 + arr[19] == 0) {
 
@@ -141,6 +154,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             map.put("deviceNo",inst.getCarno());
 //            req.add(map);
             HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(map);
+            inst_status=0;
             //到达取货点
             //(需要WCS反馈)
         } else if (phase == 0x03) {
@@ -179,6 +193,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            inst_status=1;
             //取货完毕
             //(需要WCS反馈)
         } else if (phase == 0x05) {
@@ -242,6 +257,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                         log.warn("指令号:{},acs反馈wms取货完成离开失败，连接被拒绝,未反馈agv取货完成离开", inst.getInstruction_code());
                     }
             }
+            goods=1;
+            inst_status=2;
             //到达放货点
             //(需要WCS反馈)
         } else if (phase == 0x07) {
@@ -277,7 +294,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             }
 
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-
+            inst_status=3;
             //放货完毕
             //(需要WCS反馈)
         } else if (phase == 0x09) {
@@ -338,7 +355,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                         log.warn("指令号:{},acs请求wms放货完成离开失败，连接被拒绝,未反馈agv放货完成离开", inst.getInstruction_code());
                     }
             }
-
+            goods=0;
+            inst_status=4;
         }
         //到达位置点
         //(需要WCS反馈)
@@ -354,6 +372,26 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         } else if (phase == 0x51) {//离开交通灯区域
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+        } else if (phase == 0x70) {
+            //x坐标
+            x = ikey;
+        } else if (phase == 0x71) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x72) {
+            //车辆角度
+            angle = ikey;
+        } else if (phase == 0x73) {
+            //agv电量
+            electric_qty = ikey;
+        } else if (phase == 0x74) {
+            status = ikey;
+            JDFaultRequest jdFaultRequest=new JDFaultRequest();
+            jdFaultRequest.setUuid(IdUtil.simpleUUID());
+            jdFaultRequest.setStatus(ikey==2?"0":"2");
+            jdFaultRequest.setFaultType(DeviceStatusEnum.getEnumValue(ikey).getDesc());
+            jdFaultRequest.setDesc(DeviceStatusEnum.getEnumValue(ikey).getDesc());
+            jdToAcsService.feedbackDeviceFault(jdFaultRequest);
         }
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/DeviceMotion.java

@@ -0,0 +1,47 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class DeviceMotion{
+
+
+    /**
+     * 车头方向
+     */
+    private String direction;
+
+    /**
+     * 逻辑位置 Z
+     */
+    private String logicalZ;
+
+    /**
+     * 逻辑位置 X
+     */
+    private String logicalX;
+
+    /**
+     * 逻辑位置 Y
+     */
+    private String logicalY;
+
+    /**
+     * 水平速度
+     */
+    private Double speedH;
+
+    /**
+     * 垂直速度
+     */
+    private Double speedV;
+
+    /**
+     * 当前行程点
+     */
+    private String planPath;
+
+
+
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskRequest.java

@@ -0,0 +1,51 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class JDCancelTaskRequest extends BaseRequest {
+
+
+    /**
+     * 场景编号
+     */
+    private String scenarioNo;
+
+
+    /**
+     * 防重码
+     */
+    String uuid;
+
+    /**
+     * 当前时间
+     */
+    Long currentTime;
+
+    /**
+     * 任务号
+     */
+    String taskNo;
+
+    /**
+     * 容器号
+     */
+    String containerNo;
+
+    /**
+     * 备注
+     */
+    String remark;
+
+    @Override
+    public String toString() {
+        return "JDCancelTaskRequest{" +
+                "scenarioNo='" + scenarioNo + '\'' +
+                ", uuid='" + uuid + '\'' +
+                ", currentTime=" + currentTime +
+                ", taskNo='" + taskNo + '\'' +
+                ", containerNo='" + containerNo + '\'' +
+                ", remark='" + remark + '\'' +
+                '}';
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskResponse.java

@@ -0,0 +1,30 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class JDCancelTaskResponse extends BaseRequest {
+
+
+    /**
+     * 是否成功
+     */
+    private Boolean result=true;
+
+
+    /**
+     * 异常码
+     */
+    Integer code=200;
+
+    /**
+     * 异常消息
+     */
+    String  message="取消任务成功";
+
+    /**
+     * 数据对象
+     */
+    Object data;
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskRequest.java

@@ -0,0 +1,57 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class JDChangeTaskRequest extends BaseRequest {
+
+
+    /**
+     * 场景编号
+     */
+    private String scenarioNo;
+
+
+    /**
+     * 防重码
+     */
+    String uuid;
+
+    /**
+     * 当前时间
+     */
+    Long currentTime;
+
+    /**
+     * 任务号
+     */
+    String taskNo;
+
+    /**
+     * 容器号
+     */
+    String containerNo;
+
+    /**
+     * 优先级
+     */
+    Integer priority;
+
+    /**
+     * 备注
+     */
+    String remark;
+
+    @Override
+    public String toString() {
+        return "JDChangeTaskRequest{" +
+                "scenarioNo='" + scenarioNo + '\'' +
+                ", uuid='" + uuid + '\'' +
+                ", currentTime=" + currentTime +
+                ", taskNo='" + taskNo + '\'' +
+                ", containerNo='" + containerNo + '\'' +
+                ", priority=" + priority +
+                ", remark='" + remark + '\'' +
+                '}';
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskResponse.java

@@ -0,0 +1,30 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class JDChangeTaskResponse extends BaseRequest {
+
+
+    /**
+     * 是否成功
+     */
+    private Boolean result=true;
+
+
+    /**
+     * 异常码
+     */
+    Integer code=200;
+
+    /**
+     * 异常消息
+     */
+    String  message="取消任务成功";
+
+    /**
+     * 数据对象
+     */
+    Object data;
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultRequest.java

@@ -0,0 +1,57 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class JDFaultRequest extends BaseRequest {
+
+
+    /**
+     * 场景编号
+     */
+    private String scenarioNo;
+
+
+    /**
+     * 防重码
+     */
+    String uuid;
+
+    /**
+     * 故障类型
+     */
+    String faultType;
+
+    /**
+     * 故障对象
+     */
+    String faultNo;
+
+    /**
+     * 故障状态
+     */
+    String status;
+
+    /**
+     * 故障描述
+     */
+    String desc;
+
+    /**
+     * 当前位置
+     */
+    String location;
+
+    @Override
+    public String toString() {
+        return "JDFaultRequest{" +
+                "scenarioNo='" + scenarioNo + '\'' +
+                ", uuid='" + uuid + '\'' +
+                ", faultType=" + faultType +
+                ", faultNo='" + faultNo + '\'' +
+                ", status='" + status + '\'' +
+                ", desc='" + desc + '\'' +
+                ", location='" + location + '\'' +
+                '}';
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultResponse.java

@@ -0,0 +1,30 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class JDFaultResponse extends BaseRequest {
+
+
+    /**
+     * 是否成功
+     */
+    private Boolean result=true;
+
+
+    /**
+     * 异常码
+     */
+    Integer code=200;
+
+    /**
+     * 异常消息
+     */
+    String  message="操作成功";
+
+    /**
+     * 数据对象
+     */
+    Object data;
+
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFeedbackRequest.java

@@ -0,0 +1,25 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class JDFeedbackRequest{
+
+
+    /**
+     * 调用码
+     */
+    private String callCode;
+
+    private List<Payload> payload;
+
+    @Override
+    public String toString() {
+        return "JDFeedbackRequest{" +
+                "callCode='" + callCode + '\'' +
+                ", payload=" + payload +
+                '}';
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/Payload.java

@@ -0,0 +1,94 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class Payload{
+
+
+    /**
+     * 设备类型
+     */
+    private String deviceType;
+
+    /**
+     * 设备代码
+     */
+    private String deviceNo;
+
+    /**
+     * 当前时间
+     */
+    private Long currentTime;
+
+    /**
+     * 工作模式
+     */
+    private String workMode;
+
+    /**
+     * 工作状态
+     */
+    private String workStatus;
+
+    /**
+     * 故障状态
+     */
+    private String faultStatus;
+
+    /**
+     * 故障码
+     */
+    private String faultCodes;
+
+    /**
+     * 通讯状态
+     */
+    private String connectStatus;
+
+    /**
+     * 是否载货
+     */
+    private String existGoods;
+
+    /**
+     * 充电状态
+     */
+    private String charging;
+
+    /**
+     * 电池电量
+     */
+    private String battery;
+
+    /**
+     * 运动信息
+     */
+    private DeviceMotion deviceMotion;
+
+    /**
+     * 任务信息
+     */
+    private List<TaskList> taskList;
+
+    @Override
+    public String toString() {
+        return "Payload{" +
+                "deviceType='" + deviceType + '\'' +
+                ", deviceNo='" + deviceNo + '\'' +
+                ", currentTime=" + currentTime +
+                ", workMode='" + workMode + '\'' +
+                ", workStatus='" + workStatus + '\'' +
+                ", faultStatus='" + faultStatus + '\'' +
+                ", faultCodes='" + faultCodes + '\'' +
+                ", connectStatus='" + connectStatus + '\'' +
+                ", existGoods='" + existGoods + '\'' +
+                ", charging='" + charging + '\'' +
+                ", battery='" + battery + '\'' +
+                ", deviceMotion=" + deviceMotion +
+                ", taskList=" + taskList +
+                '}';
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/TaskList.java

@@ -0,0 +1,48 @@
+package org.nl.acs.ext.wms.data;
+
+import lombok.Data;
+
+@Data
+public class TaskList {
+
+
+    /**
+     * 容器编号
+     */
+    private String containerNo;
+
+    /**
+     * 是否载货
+     */
+    private String existGoods;
+
+    /**
+     * 位置序号
+     */
+    private String sequence;
+
+    /**
+     * 地图号
+     */
+    private String mapNo;
+
+    /**
+     * 起始位
+     */
+    private String fromPoint;
+
+    /**
+     * 目标位
+     */
+    private String toPoint;
+
+    /**
+     * 任务状态
+     */
+    private String taskStatus;
+
+
+
+
+
+}

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

@@ -10,6 +10,8 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.ext.wms.data.CancelTaskRequest;
 import org.nl.acs.ext.wms.data.CreateTaskRequest;
+import org.nl.acs.ext.wms.data.JDCancelTaskRequest;
+import org.nl.acs.ext.wms.data.JDChangeTaskRequest;
 import org.nl.acs.ext.wms.data.JDCreateTaskRequest;
 import org.nl.acs.ext.wms.service.JDToAcsService;
 import org.nl.acs.ext.wms.service.WmsToAcsService;
@@ -44,5 +46,21 @@ public class JDToAcsController {
         return new ResponseEntity<>(jDtoacsService.crateTask(reqs), HttpStatus.OK);
     }
 
+    @PostMapping("/task_cancel")
+    @Log(value = "ACS接收WMS任务取消",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
+    @ApiOperation("接收WMS任务取消")
+    @SaIgnore
+    public ResponseEntity<Object> cancelFromWms(@RequestBody JDCancelTaskRequest reqs) {
+        return new ResponseEntity<>(jDtoacsService.cancelFromWms(reqs), HttpStatus.OK);
+    }
+
+    @PostMapping("/task_priority_change")
+    @Log(value = "任务优先级变更",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
+    @ApiOperation("任务优先级变更")
+    @SaIgnore
+    public ResponseEntity<Object> changeFromWms(@RequestBody JDChangeTaskRequest reqs) {
+        return new ResponseEntity<>(jDtoacsService.changeFromWms(reqs), HttpStatus.OK);
+    }
+
 
 }

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

@@ -1,13 +1,22 @@
 package org.nl.acs.ext.wms.service;
 
 
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import org.nl.acs.ext.wms.data.CancelTaskRequest;
 import org.nl.acs.ext.wms.data.CancelTaskResponse;
 import org.nl.acs.ext.wms.data.CreateTaskRequest;
 import org.nl.acs.ext.wms.data.CreateTaskResponse;
+import org.nl.acs.ext.wms.data.JDCancelTaskRequest;
+import org.nl.acs.ext.wms.data.JDCancelTaskResponse;
+import org.nl.acs.ext.wms.data.JDChangeTaskRequest;
+import org.nl.acs.ext.wms.data.JDChangeTaskResponse;
 import org.nl.acs.ext.wms.data.JDCreateTaskRequest;
 import org.nl.acs.ext.wms.data.JDCreateTaskResponse;
+import org.nl.acs.ext.wms.data.JDFaultRequest;
+import org.nl.acs.ext.wms.data.JDFaultResponse;
+import org.nl.acs.ext.wms.data.JDFeedbackRequest;
 import org.nl.acs.ext.wms.data.PutActionResponse;
 
 import java.util.List;
@@ -28,64 +37,22 @@ public interface JDToAcsService {
      *
      * @param reqs 条件
      */
-    CancelTaskResponse cancelFromWms(List<CancelTaskRequest> reqs) throws Exception;
+    JDCancelTaskResponse cancelFromWms(JDCancelTaskRequest reqs);
 
     /**
-     * 修改设置有无货属性
+     * 更改优先级
      *
-     * @param jsonObject 条件
-     * @return Map<String, Object>
-     */
-    Map<String, Object> updateDeviceGoodsFromWms(String jsonObject);
-
-    /**
-     * 区域控制
-     *
-     * @param jsonObject 条件
-     * @return Map<String, Object>
+     * @param reqs 条件
      */
-    Map<String, Object> areaControl(JSONObject jsonObject);
+    JDChangeTaskResponse changeFromWms(JDChangeTaskRequest reqs);
 
-    /**
-     * 下发动作
-     *
-     * @param jsonObject 条件
-     * @return Map<String, Object>
-     */
-    PutActionResponse putAction(String jsonObject) throws Exception;
+    void feedbackDeviceFault(JDFaultRequest reqs);
 
     /**
-     * 查询设备状态
+     * 反馈AGV设备信息
      *
-     * @param jsonObject 条件
-     * @return Map<String, Object>
-     */
-    Map<String, Object> queryDevice(String jsonObject) throws Exception;
-
-    /**
-     * 查询设备DB值
-     * @param whereJson
-     * @return
-     */
-    Map<String, Object> queryDeviceDBValue(String whereJson);
-
-
-
-    /**
-     * ACS系统在获取空的托盘号
-     * @param whereJson
+     * @param from
      * @return
      */
-    Map<String, Object> querydevice(String whereJson);
-
-
-    /**
-     * 下发插拔轴动作
-     *
-     * @param whereJson 条件
-     * @return Map<String, Object>
-     */
-    Map<String, Object> putPlusPullAction(String whereJson);
-
-
+    HttpResponse feedbackAgv(JDFeedbackRequest jdFeedbackRequest);
 }

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

@@ -3,6 +3,8 @@ package org.nl.acs.ext.wms.service.impl;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
@@ -10,20 +12,32 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.common.IDriverService;
+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.device_driver.basedriver.hongxiang_conveyor.HongXiangStationDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.plug_pull_device_site.PlugPullDeviceSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.StandardCoveyorControlWithScannerDeviceDriver;
+import org.nl.acs.ext.wms.AcsUtil;
+import org.nl.acs.ext.wms.RespUtil;
 import org.nl.acs.ext.wms.data.CancelTaskRequest;
 import org.nl.acs.ext.wms.data.CancelTaskResponse;
 import org.nl.acs.ext.wms.data.CreateTaskRequest;
 import org.nl.acs.ext.wms.data.CreateTaskResponse;
+import org.nl.acs.ext.wms.data.JDCancelTaskRequest;
+import org.nl.acs.ext.wms.data.JDCancelTaskResponse;
+import org.nl.acs.ext.wms.data.JDChangeTaskRequest;
+import org.nl.acs.ext.wms.data.JDChangeTaskResponse;
 import org.nl.acs.ext.wms.data.JDCreateTaskRequest;
 import org.nl.acs.ext.wms.data.JDCreateTaskResponse;
+import org.nl.acs.ext.wms.data.JDFaultRequest;
+import org.nl.acs.ext.wms.data.JDFaultResponse;
+import org.nl.acs.ext.wms.data.JDFeedbackRequest;
 import org.nl.acs.ext.wms.data.JsonUtl;
 import org.nl.acs.ext.wms.data.PutActionRequest;
 import org.nl.acs.ext.wms.data.PutActionResponse;
+import org.nl.acs.ext.wms.liKuData.OutStoreResponse;
 import org.nl.acs.ext.wms.service.AcsToLiKuService;
 import org.nl.acs.ext.wms.service.JDToAcsService;
 import org.nl.acs.ext.wms.service.WmsToAcsService;
@@ -41,10 +55,12 @@ import org.nl.modules.wql.core.bean.WQLObject;
 import org.nl.modules.wql.exception.WDKException;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.slf4j.MDC;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.ApplicationContext;
 import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
 
+import javax.annotation.Resource;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
@@ -55,526 +71,242 @@ import java.util.Map;
 @Slf4j
 public class JDToAcsServiceImpl implements JDToAcsService {
 
-    private final ApplicationContext applicationContext;
+    @Resource
+    private TaskService taskService;
 
-    private final InstructionService InstructionService;
-    private final TaskService taskService;
-    private final DeviceService deviceService;
-    private final DeviceAppService deviceAppService;
-    private final RouteLineService routeLineService;
-    private final AcsToLiKuService acsToLiKuService;
+    @Resource
+    private InstructionService instructionService;
+
+    @Resource
+    private ParamService paramService;
+
+    @Resource
+    private AddressService addressService;
 
 
     private String log_file_type = "log_file_type";
     private String log_type = "LMS请求ACS";
 
     @Override
-    public CancelTaskResponse cancelFromWms(List<CancelTaskRequest> reqs) throws Exception {
-        ParamService paramService = SpringContextHolder.getBean(ParamService.class);
-        InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
-        CancelTaskResponse response = new CancelTaskResponse();
-        JSONArray errArr = new JSONArray();
-        for (int i = 0; i < reqs.size(); i++) {
-            CancelTaskRequest request = reqs.get(i);
-            String task_code = request.getTask_code();
-            String vehicle_code = request.getVehicle_code();
-            Map<String, String> params = request.getParams();
+    public JDCreateTaskResponse crateTask(JDCreateTaskRequest reqs) {
+        try {
+            MDC.put(log_file_type, log_type);
+            log.info("crateTask-----输入参数{}", reqs);
+            JDCreateTaskResponse response = new JDCreateTaskResponse();
+            JSONArray errArr = new JSONArray();
+            String task_code = reqs.getTaskNo();
+            String start_device_code = reqs.getCarryTask().getFromPoint();
+            String next_device_code = reqs.getCarryTask().getToPoint();
+            String priority = reqs.getPriority();
+            String vehicle_code = reqs.getCarryTask().getContainerNo();
+//                String vehicle_type = req.getVehicle_type();
+            String task_type = "1";
+//                String remark = req.getRemark();
+//                Map<String, String> params = req.getParams();
+
+            String start_point_code = "";
+            String next_point_code = "";
             if (StrUtil.isEmpty(task_code)) {
-                throw new WDKException("任务号不能为空");
+                response.setMessage("任务号不能为空");
+                return response;
             }
-            TaskDto taskDto = taskService.findByCodeFromCache(task_code);
-            String cancelTaskCheck = paramService.findByCode(AcsConfig.CANCELTASKCHECK).getValue();
-            if (StrUtil.equals(cancelTaskCheck, "1")) {
-                taskService.cancelNoSendWms(taskDto.getTask_id());
-            } else if (StrUtil.equals(cancelTaskCheck, "0")) {
-                Instruction inst = instructionService.findByTaskcode(task_code);
-                if (inst == null) {
-                    taskService.cancelNoSendWms(taskDto.getTask_id());
-                } else {
-                    throw new RuntimeException("指令正在执行中,操作失败!");
-                }
+            if (StrUtil.isEmpty(start_device_code)) {
+                response.setMessage("起点不能为空");
+                return response;
+            }
+            if (StrUtil.isEmpty(next_device_code)) {
+                response.setMessage("终点不能为空");
+                return response;
+            }
+            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");
+            }
+            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.indexOf("-") > 0) {
+                String str[] = start_point_code.split("-");
+                start_device_code = str[0];
+            } else {
+                start_device_code = start_point_code;
             }
 
-        }
+            if (StrUtil.isNotEmpty(next_point_code) && next_point_code.indexOf("-") > 0) {
+                String str[] = next_point_code.split("-");
+                next_device_code = str[0];
+            } else {
+                next_device_code = next_point_code;
+            }
 
-        if (ObjectUtil.isEmpty(errArr)) {
-            response.setStatus(200);
-        } else {
-            response.setStatus(400);
-        }
-        response.setMessage("success");
-        response.setErrArr(errArr);
-        log.info("cancelFromWms--------------:输出参数：" + response);
+            String route_plan_code = "";
 
-        return response;
-    }
+            if (StrUtil.isEmpty(route_plan_code)) {
+                route_plan_code = "normal";
+            }
+            TaskDto taskDto = taskService.findByCodeFromCache(task_code);
+            if (taskDto != null) {
+                response.setMessage("不能存在相同的任务号");
+                return response;
+            }
+            if (!StrUtil.isEmpty(vehicle_code)) {
+                TaskDto vehicle_dto = taskService.findByContainer(vehicle_code);
+                if (vehicle_dto != null) {
+                    response.setMessage("不能存在相同的托盘号");
+                    return response;
+                }
+            }
 
-    @Override
-    public Map<String, Object> updateDeviceGoodsFromWms(String param) {
-        JSONArray datas = JSONArray.parseArray(param);
-        log.info("updateDeviceGoodsFromWms--------------:输入参数" + datas.toString());
-        for (int i = 0; i < datas.size(); i++) {
-            JSONObject data = datas.getJSONObject(i);
-            String device_code = data.getString("point_code");
-            String has_goods = data.getString("has_goods");
+            if (StrUtil.isEmpty(start_point_code)) {
+                response.setMessage(reqs.getCarryTask().getFromPoint() + " 该设备号未找到对应点位");
+                return response;
+            }
+            if (StrUtil.isEmpty(next_point_code)) {
+                response.setMessage(reqs.getCarryTask().getToPoint() + " 该设备号未找到对应点位");
+                return response;
+            }
 
             JSONObject jo = new JSONObject();
-            jo.put("device_code", device_code);
-            jo.put("hasGoodStatus", has_goods);
-            deviceService.changeDeviceStatus(jo);
-
-        }
-        JSONObject resultJson = new JSONObject();
-        resultJson.put("status", HttpStatus.OK);
-        resultJson.put("message", "操作成功");
-        resultJson.put("data", new JSONObject());
-        log.info("updateDeviceGoodsFromWms--------------:输出参数" + resultJson.toString());
-        return resultJson;
-    }
-
-    @Override
-    public Map<String, Object> areaControl(JSONObject form) {
-        String device_code = form.getString("device_code");
-        String type = form.getString("type");
-
-        Device device = deviceAppService.findDeviceByCode(device_code);
-
-        JSONObject resultJson = new JSONObject();
-        resultJson.put("status", HttpStatus.OK);
-        resultJson.put("message", "操作成功");
-        resultJson.put("data", new JSONObject());
-        log.info("updateDeviceGoodsFromWms--------------:输出参数" + resultJson.toString());
-        return resultJson;
-    }
-
-    @Override
-    public PutActionResponse putAction(String jsonObject) throws Exception {
-        try {
-            MDC.put(log_file_type, log_type);
-            log.info("putAction--------------:输出参数" + jsonObject);
-            JSONArray datas = JSONArray.parseArray(jsonObject);
-            PutActionResponse response = new PutActionResponse();
-            JSONArray errArr = new JSONArray();
-            for (int i = 0; i < datas.size(); i++) {
-                String data = datas.get(i).toString();
-                PutActionRequest request = JsonUtl.format(data, PutActionRequest.class);
-                String device_code = request.getDevice_code();
-                String code = request.getCode();
-                String value = request.getValue();
-                Device device = deviceAppService.findDeviceByCode(device_code);
-                if (ObjectUtil.isEmpty(device)) {
-                    throw new Exception("未找到对应设备:" + device_code);
-                }
-                HongXiangStationDeviceDriver hongXiangStationDeviceDriver;
-                PlugPullDeviceSiteDeviceDriver plugPullDeviceSiteDeviceDriver;
-                if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
-                    hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
-                    hongXiangStationDeviceDriver.writing(code, value);
-                }
-
+            jo.put("task_code", task_code);
+            jo.put("task_id", IdUtil.simpleUUID());
+            jo.put("start_point_code", start_point_code);
+            jo.put("next_point_code", next_point_code);
+            jo.put("start_parent_code", start_point_code);
+            jo.put("next_parent_code", next_point_code);
+            jo.put("start_device_code", start_device_code);
+            jo.put("next_device_code", next_device_code);
+            jo.put("priority", priority);
+            jo.put("vehicle_code", vehicle_code);
+//                jo.put("vehicle_type", vehicle_type);
+            jo.put("agv_system_type", "1");
+//                jo.put("remark", remark);
+//                jo.put("params", params);
+            jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type));
 
+            TaskDto task_dto = jo.toJavaObject(TaskDto.class);
+            try {
+                taskService.create(task_dto);
+            } catch (Exception e) {
+                log.error("操作失败{}", e, e.getMessage());
+                response.setMessage("操作失败");
+                return response;
+            }
+            if (ObjectUtil.isEmpty(errArr)) {
+                response.setCode(200);
+                response.setResult("true");
+                response.setMessage("操作成功");
+            } else {
+                response.setMessage("操作失败");
             }
-            response.setStatus(200);
-            response.setMessage("success");
-            log.info("putAction--------------:输出参数：" + response);
+            log.info("createFromWms--------------:输出参数：" + JSON.toJSONString(response));
             return response;
         } finally {
             MDC.remove(log_file_type);
         }
-
     }
 
     @Override
-    public Map<String, Object> queryDevice(String jsonObject) throws Exception {
+    public JDCancelTaskResponse cancelFromWms(JDCancelTaskRequest reqs) {
+        JDCancelTaskResponse response = new JDCancelTaskResponse();
+        log.info("cancelFromWms--------------:输入参数：" + reqs);
+        String task_code = reqs.getTaskNo();
+        if (StrUtil.isEmpty(task_code)) {
+            throw new WDKException("任务号不能为空");
+        }
         try {
-            MDC.put(log_file_type, log_type);
-//            log.info("queryDevice--------------:输入参数" + jsonObject.toString());
-            JSONArray backja = new JSONArray();
-            JSONArray datas = JSONArray.parseArray(jsonObject);
-
-            //AGV烘箱对接位
-            HongXiangStationDeviceDriver hongXiangStationDeviceDriver;
-            //烘箱工位
-            HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
-            //货梯对接线-带扫码器
-            StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
-
-            if (datas.size() == 0) {
-                throw new BadRequestException("缺少输入参数！");
-            }
-
-            for (int i = 0; i < datas.size(); i++) {
-                JSONObject jo = new JSONObject();
-                JSONObject data = datas.getJSONObject(i);
-                String parent_device_code = data.getString("device_code");
-                String device_code = "";
-                JSONObject device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + parent_device_code + "'").uniqueResult(0);
-                if (!ObjectUtil.isEmpty(device_json)) {
-                    device_code = (String) device_json.get("parent_storage_code") == null ? parent_device_code : (String) device_json.get("storage_code");
-                }
-                Device device = deviceAppService.findDeviceByCode(device_code);
-                if (ObjectUtil.isEmpty(device)) {
-                    throw new Exception("未找到对应设备:" + parent_device_code);
-                }
-
-                if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
-                    hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
-                    jo.put("device_code", parent_device_code);
-                    jo.put("mode", hongXiangStationDeviceDriver.getMode());
-                    jo.put("move", hongXiangStationDeviceDriver.getMove());
-
-                } else if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
-                    hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver();
-                    jo.put("device_code", parent_device_code);
-                    jo.put("mode", hongXiangConveyorDeviceDriver.getMode());
-                    jo.put("move", hongXiangConveyorDeviceDriver.getMove());
-                    jo.put("countdown_house", hongXiangConveyorDeviceDriver.getCountdown_house());
-                    jo.put("countdown_min", hongXiangConveyorDeviceDriver.getCountdown_min());
-                    jo.put("countdown_sec", hongXiangConveyorDeviceDriver.getCountdown_sec());
-                    //温度需要除以10
-                    jo.put("temperature", hongXiangConveyorDeviceDriver.getTemperature() / 10);
-                    jo.put("door", hongXiangConveyorDeviceDriver.getDoor());
-                    jo.put("finish", hongXiangConveyorDeviceDriver.getFinish());
-                    jo.put("task", hongXiangConveyorDeviceDriver.getTask());
-                    jo.put("error", hongXiangConveyorDeviceDriver.getError());
-                } else if (device.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
-                    standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) device.getDeviceDriver();
-                    jo.put("device_code", parent_device_code);
-                    jo.put("move", standardCoveyorControlWithScannerDeviceDriver.getMove());
-                    jo.put("action", standardCoveyorControlWithScannerDeviceDriver.getAction());
-                    jo.put("error", standardCoveyorControlWithScannerDeviceDriver.getError());
-                } else {
-                    jo.put("device_code", parent_device_code);
+            TaskDto taskDto = taskService.findByCodeFromCache(task_code);
+            if (taskDto == null) {
+                log.info("任务已完成或取消");
+            } else {
+                Instruction inst = instructionService.findByTaskcode(task_code);
+                if (inst != null) {
+                    instructionService.cancel(inst.getInstruction_id());
                 }
-                backja.add(jo);
+                taskService.cancelNoSendWms(taskDto.getTask_id());
             }
-            JSONObject resultJson = new JSONObject();
-            resultJson.put("status", HttpStatus.OK.value());
-            resultJson.put("message", "操作成功");
-            resultJson.put("data", backja);
-//            log.info("queryDevice--------------:输出参数" + resultJson.toString());
-            return resultJson;
-
-        } finally {
-            MDC.remove(log_file_type);
+        }catch (Exception e){
+            log.error("取消任务失败{}",e,e.getMessage());
+            response.setResult(false);
+            response.setCode(400);
+            response.setMessage("`取消任务失败");
         }
 
-
+        log.info("cancelFromWms--------------:输出参数：" + response);
+        return response;
     }
 
-
+    //todo 暂不做
     @Override
-    public Map<String, Object> queryDeviceDBValue(String whereJson) {
-        JSONArray datas = JSONArray.parseArray(whereJson);
-        log.info("orderStatusUpdate--------------:输入参数" + datas.toString());
-        JSONObject map = new JSONObject();
-        if (datas.size() > 0) {
-            for (int i = 0; i < datas.size(); i++) {
-                JSONObject jsonObject = datas.getJSONObject(i);
-                String device_code = jsonObject.getString("device_code");
-                String dbName = jsonObject.getString("DB");
-                Device device = deviceAppService.findDeviceByCode(device_code);
-                List<DeviceExtraManageDto> extra = device.getExtra();
-                for (int j = 0; j < extra.size(); j++) {
-                    DeviceExtraManageDto deviceExtraManageDto = extra.get(j);
-                    String deviceCode = deviceExtraManageDto.getDevice_code();
-                    String extra_name = deviceExtraManageDto.getExtra_name();
-                    if (deviceCode.equals(device_code) && extra_name.equals(dbName)) {
-                        String extra_code = deviceExtraManageDto.getExtra_code();
-                        String[] split = extra_code.split("\\.");
-                        extra_code = split[split.length - 1];
-                        extra_code = extra_code.substring(0, 1).toUpperCase() + extra_code.substring(1);
-                        IDriverService driverService = applicationContext.getBean(device.getDeviceDriverDefination().getDriverCode(), IDriverService.class);
-                        Integer dbValue = driverService.getDbValue(device, extra_code);
-                        map.put(dbName, dbValue);
-                        break;
-                    }
-                }
-            }
+    public JDChangeTaskResponse changeFromWms(JDChangeTaskRequest reqs) {
+        JDChangeTaskResponse response = new JDChangeTaskResponse();
+        log.info("changeFromWms--------------:输入参数：" + reqs);
+        String task_code = reqs.getTaskNo();
+        if (StrUtil.isEmpty(task_code)) {
+            throw new WDKException("任务号不能为空");
+        }
+        try {
+//            TaskDto taskDto = taskService.findByCodeFromCache(task_code);
+//            taskDto.setPriority(String.valueOf(reqs.getPriority()));
+//            taskService.update(taskDto);
+//            //todo 更改优先级到NDC
+        }catch (Exception e){
+            log.error("取消任务失败{}",e,e.getMessage());
+            response.setResult(false);
+            response.setCode(400);
+            response.setMessage("`取消任务失败");
         }
-        JSONObject resultJson = new JSONObject();
-        resultJson.put("status", HttpStatus.OK);
-        resultJson.put("message", "操作成功");
-        resultJson.put("data", map);
-        return resultJson;
-    }
 
-    @Override
-    public Map<String, Object> querydevice(String whereJson) {
-        return null;
+        log.info("changeFromWms--------------:输出参数：" + response);
+        return response;
     }
 
-
     @Override
-    public Map<String, Object> putPlusPullAction(String param) {
-        try {
-            MDC.put(log_file_type, log_type);
-            log.info("putPlusPullAction-----输入参数{}", param);
-            JSONObject jo = JSON.parseObject(param);
-            String device_code = jo.getString("device_code");
-            String size = jo.getString("size");
-            String type = jo.getString("type");
-            Device device = deviceAppService.findDeviceByCode(device_code);
-            if (ObjectUtil.isEmpty(device)) {
-                JSONObject resultJson = new JSONObject();
-                resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                resultJson.put("message", "未找到对应的设备:" + device_code);
-                return resultJson;
-            }
-            PlugPullDeviceSiteDeviceDriver plugPullDeviceSiteDeviceDriver;
-            if (device.getDeviceDriver() instanceof PlugPullDeviceSiteDeviceDriver) {
-                plugPullDeviceSiteDeviceDriver = (PlugPullDeviceSiteDeviceDriver) device.getDeviceDriver();
-                // 0 穿轴 1拔轴
-                if (StrUtil.equals(type, "1")) {
-
-                    if (plugPullDeviceSiteDeviceDriver.getMode() == 1) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求拔轴，当前设备工作模式未自动");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getAction() == 0) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求拔轴，当前设备未全自动");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getStatus() != 0) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求拔轴，当前设备未待机");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getControl() != 0) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求拔轴，当前设备未远程控制");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getMove() != 0) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求拔轴，当前设备有轴");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getMode() == 0 && plugPullDeviceSiteDeviceDriver.getAction() == 1
-                            && plugPullDeviceSiteDeviceDriver.getStatus() == 0 && plugPullDeviceSiteDeviceDriver.getMove() == 0
-                            && plugPullDeviceSiteDeviceDriver.getControl() == 0) {
-
-                        List list = new ArrayList();
-                        Map map = new HashMap();
-                        map.put("code", "to_size");
-                        map.put("value", size);
-                        list.add(map);
-                        Map map2 = new HashMap();
-                        map2.put("code", "to_type");
-                        map2.put("value", type);
-                        list.add(map2);
-                        Map map3 = new HashMap();
-                        map3.put("code", "to_command");
-                        map3.put("value", "1");
-                        list.add(map3);
-                        plugPullDeviceSiteDeviceDriver.writing(list);
-
-                    } else {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "当前设备状态不满足下发条件");
-                        return resultJson;
-                    }
-
-                } else if (StrUtil.equals(type, "0")) {
+    public void feedbackDeviceFault(JDFaultRequest reqs) {
+        String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
 
-                    if (plugPullDeviceSiteDeviceDriver.getMode() == 1) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求插轴，当前设备工作模式未自动");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getAction() == 0) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求插轴，当前设备未全自动");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getStatus() != 0) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求插轴，当前设备未待机");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getControl() != 0) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求插轴，当前设备未远程控制");
-                        return resultJson;
-                    }
-                    if (plugPullDeviceSiteDeviceDriver.getMove() != 1) {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "请求插轴，当前设备没有轴");
-                        return resultJson;
-                    }
 
-                    if (plugPullDeviceSiteDeviceDriver.getMode() == 0 && plugPullDeviceSiteDeviceDriver.getAction() == 1
-                            && plugPullDeviceSiteDeviceDriver.getStatus() == 0 && plugPullDeviceSiteDeviceDriver.getMove() == 1
-                            && plugPullDeviceSiteDeviceDriver.getControl() == 0) {
+        AddressDto addressDto = addressService.findByCode("feedbackDeviceFault");
+        String methods_url = addressDto.getMethods_url();
+        String url = wmsUrl + methods_url;
+        HttpResponse result = null;
+        log.info("feedbackDeviceFault----请求参数{}", reqs);
 
-                        List list = new ArrayList();
-                        Map map = new HashMap();
-                        map.put("code", "to_size");
-                        map.put("value", size);
-                        list.add(map);
-                        Map map2 = new HashMap();
-                        map2.put("code", "to_type");
-                        map2.put("value", type);
-                        list.add(map2);
-                        Map map3 = new HashMap();
-                        map3.put("code", "to_command");
-                        map3.put("value", "1");
-                        list.add(map3);
-                        plugPullDeviceSiteDeviceDriver.writing(list);
-
-                    } else {
-                        JSONObject resultJson = new JSONObject();
-                        resultJson.put("status", HttpStatus.BAD_REQUEST.value());
-                        resultJson.put("message", "当前设备状态不满足下发条件");
-                        return resultJson;
-                    }
-                }
-            }
-
-            JSONObject resultJson = new JSONObject();
-            resultJson.put("status", HttpStatus.OK.value());
-            resultJson.put("message", "操作成功");
-            log.info("putPlusPullAction--------------:输出参数" + resultJson.toString());
-            return resultJson;
-
-        } finally {
-            MDC.remove(log_file_type);
+        try {
+            result = HttpRequest.post(url)
+                    .body(JSONObject.toJSONString(reqs))
+                    .execute();
+            System.out.println(result);
+            log.info("feedbackDeviceFault----返回参数{}", result);
+        } catch (Exception e) {
+            String msg = e.getMessage();
+            //网络不通
+            //System.out.println(msg);
         }
     }
 
-
     @Override
-    public JDCreateTaskResponse crateTask(JDCreateTaskRequest reqs) {
-        try {
-            MDC.put(log_file_type, log_type);
-            log.info("crateTask-----输入参数{}", reqs);
-            JDCreateTaskResponse response = new JDCreateTaskResponse();
-            JSONArray errArr = new JSONArray();
-                String task_code = reqs.getTaskNo();
-                String start_device_code = reqs.getCarryTask().getFromPoint();
-                String next_device_code = reqs.getCarryTask().getToPoint();
-                String priority = reqs.getPriority();
-                String vehicle_code = reqs.getCarryTask().getContainerNo();
-//                String vehicle_type = req.getVehicle_type();
-                String task_type = "1";
-//                String remark = req.getRemark();
-//                Map<String, String> params = req.getParams();
+    public HttpResponse feedbackAgv(JDFeedbackRequest jdFeedbackRequest) {
+        String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
 
-                String start_point_code = "";
-                String next_point_code = "";
-                if (StrUtil.isEmpty(task_code)) {
-                    response.setMessage("任务号不能为空");
-                    return response;
-                }
-                if (StrUtil.isEmpty(start_device_code)) {
-                    response.setMessage("起点不能为空");
-                    return response;
-                }
-                if (StrUtil.isEmpty(next_device_code)) {
-                    response.setMessage("终点不能为空");
-                    return response;
-                }
-                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");
-                }
-                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.indexOf("-") > 0) {
-                    String str[] = start_point_code.split("-");
-                    start_device_code = str[0];
-                } else {
-                    start_device_code = start_point_code;
-                }
-
-                if (StrUtil.isNotEmpty(next_point_code) && next_point_code.indexOf("-") > 0) {
-                    String str[] = next_point_code.split("-");
-                    next_device_code = str[0];
-                } else {
-                    next_device_code = next_point_code;
-                }
-
-                String route_plan_code = "";
-
-                if (StrUtil.isEmpty(route_plan_code)) {
-                    route_plan_code = "normal";
-                }
-                TaskDto taskDto = taskService.findByCodeFromCache(task_code);
-                if (taskDto != null) {
-                    response.setMessage("不能存在相同的任务号");
-                    return response;
-                }
-                if (!StrUtil.isEmpty(vehicle_code)) {
-                    TaskDto vehicle_dto = taskService.findByContainer(vehicle_code);
-                    if (vehicle_dto != null) {
-                        response.setMessage("不能存在相同的托盘号");
-                        return response;
-                    }
-                }
-
-                if (StrUtil.isEmpty(start_point_code)) {
-                    response.setMessage(reqs.getCarryTask().getFromPoint() + " 该设备号未找到对应点位");
-                    return response;
-                }
-                if (StrUtil.isEmpty(next_point_code)) {
-                    response.setMessage(reqs.getCarryTask().getToPoint() + " 该设备号未找到对应点位");
-                    return response;
-                }
+        AddressDto addressDto = addressService.findByCode("feedbackAgv");
+        String methods_url = addressDto.getMethods_url();
+        String url = wmsUrl + methods_url;
+        HttpResponse result = null;
+        log.info("feedbackAgv----请求参数{}", jdFeedbackRequest);
 
-                JSONObject jo = new JSONObject();
-                jo.put("task_code", task_code);
-                jo.put("task_id", IdUtil.simpleUUID());
-                jo.put("start_point_code", start_point_code);
-                jo.put("next_point_code", next_point_code);
-                jo.put("start_parent_code", start_point_code);
-                jo.put("next_parent_code", next_point_code);
-                jo.put("start_device_code", start_device_code);
-                jo.put("next_device_code", next_device_code);
-                jo.put("priority", priority);
-                jo.put("vehicle_code", vehicle_code);
-//                jo.put("vehicle_type", vehicle_type);
-                jo.put("agv_system_type", "1");
-//                jo.put("remark", remark);
-//                jo.put("params", params);
-                jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type));
-
-                TaskDto task_dto = jo.toJavaObject(TaskDto.class);
-                try {
-                    taskService.create(task_dto);
-                } catch (Exception e) {
-                    log.error("操作失败{}",e,e.getMessage());
-                    response.setMessage("操作失败");
-                    return response;
-                }
-            if (ObjectUtil.isEmpty(errArr)) {
-                response.setCode(200);
-                response.setResult("true");
-                response.setMessage("操作成功");
-            } else {
-                response.setMessage("操作失败");
-            }
-            log.info("createFromWms--------------:输出参数：" + JSON.toJSONString(response));
-            return response;
-        } finally {
-            MDC.remove(log_file_type);
+        try {
+            result = HttpRequest.post(url)
+                    .body(JSONObject.toJSONString(jdFeedbackRequest))
+                    .execute();
+            System.out.println(result);
+            log.info("feedbackAgv----返回参数{}", result);
+        } catch (Exception e) {
+            String msg = e.getMessage();
+            //网络不通
+            //System.out.println(msg);
         }
-
-
+        return result;
     }
 
 

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

@@ -263,15 +263,7 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn
 
     @Override
     public List<Device> findDeviceByType(DeviceType deviceType) {
-        List<Device> list = this.findDevice(deviceType);
-        Map<String, String> map = new HashMap();
-        Iterator var4 = list.iterator();
-
-        while (var4.hasNext()) {
-            Device device = (Device) var4.next();
-            list.add(device);
-        }
-        return list;
+        return  this.findDevice(deviceType);
     }
 
 

acs/nladmin-system/src/main/java/org/nl/modules/common/utils/enums/DeviceStatusEnum.java

@@ -0,0 +1,36 @@
+package org.nl.modules.common.utils.enums;
+
+import lombok.Getter;
+
+import java.util.Arrays;
+
+@Getter
+public enum DeviceStatusEnum {
+    T1("关机", 1),
+    T2("运行中", 2),
+    T3("交通管制", 3),
+    T4("任务等待", 4),
+    T5("充电中", 5),
+    T6("故障中", 6),
+    T7("低电量", 7);
+
+    DeviceStatusEnum(String desc, Integer value) {
+        this.desc = desc;
+        this.value = value;
+    }
+
+    private String desc;
+    private Integer value;
+
+
+    /**
+     * 根据key得到枚举value
+     * Lambda表达式
+     */
+
+    public static DeviceStatusEnum getEnumValue(Integer value) {
+        return Arrays.asList(DeviceStatusEnum.values()).stream()
+                .filter(obj -> obj.value.equals(value))
+                .findFirst().orElse(null);
+    }
+}

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

@@ -1,18 +1,26 @@
 package org.nl.modules.quartz.task;
 
+import cn.hutool.core.date.DateUtil;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.server.AgvService;
-import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
+import org.nl.acs.ext.wms.data.DeviceMotion;
+import org.nl.acs.ext.wms.data.JDFeedbackRequest;
+import org.nl.acs.ext.wms.data.Payload;
+import org.nl.acs.ext.wms.data.TaskList;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.modules.mnt.websocket.MsgType;
-import org.nl.modules.mnt.websocket.SocketMsg;
-import org.nl.modules.mnt.websocket.WebSocketServer;
+import org.nl.acs.ext.wms.service.JDToAcsService;
+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.DeviceType;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
-import java.util.Map;
+import java.util.ArrayList;
+import java.util.List;
 
 /**
  * 查询AGV设备状态
@@ -22,55 +30,57 @@ import java.util.Map;
 public class ToAgvDevice {
 
     @Autowired
-    AcsToWmsService acsToWmsService;
+    JDToAcsService jdToAcsService;
     @Autowired
     AgvService agvService;
-
+    @Autowired
+    DeviceAppService deviceAppService;
     public void run() throws Exception {
-        JSONObject json = new JSONObject();
-        Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
-
-        JSONArray agv_rows = new JSONArray();
-        JSONObject row = new JSONObject();
 
-        for (AgvDto agvDto : agv_map.values()) {
-            row.put("device_code", agvDto.getName());
-            row.put("energyLevel", agvDto.getEnergyLevel());
-            if (agvDto.getState().equals("UNKNOWN")) {
-                row.put("status_name", "有任务");
-                row.put("flag", "1");
-            }
-            if (agvDto.getState().equals("UNAVAILABLE")) {
-                row.put("status_name", "网络异常");
-                row.put("flag", "1");
-            }
-            if (agvDto.getState().equals("ERROR")) {
-                row.put("status_name", "机器错误");
-                row.put("flag", "1");
+        AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
+        JDFeedbackRequest jdFeedbackRequest=new JDFeedbackRequest();
+        jdFeedbackRequest.setCallCode("");
+        try {
+            List<Device> deviceList = deviceAppService.findDeviceByType(DeviceType.agv);
+            List<Payload> payloadList=new ArrayList<>();
+            for(Device device:deviceList) {
+                if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+                    agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
+                    Payload payload=new Payload();
+                    payload.setDeviceType("30");
+                    payload.setDeviceNo(agvNdcOneDeviceDriver.getDevice_code());
+                    payload.setCurrentTime(DateUtil.current());
+                    payload.setWorkMode("1");
+                    payload.setWorkStatus("1");
+                    payload.setFaultStatus(agvNdcOneDeviceDriver.getStatus()!=2?"1":"0");
+                    payload.setFaultStatus(String.valueOf(agvNdcOneDeviceDriver.getError()));
+                    payload.setConnectStatus(agvNdcOneDeviceDriver.isStop()==false?"0":"1");
+                    payload.setExistGoods(String.valueOf(agvNdcOneDeviceDriver.getGoods()));
+                    payload.setCharging(agvNdcOneDeviceDriver.getError()==64?"1":"0");
+                    payload.setBattery(String.valueOf(agvNdcOneDeviceDriver.getElectric_qty()));
+                    DeviceMotion deviceMotion=new DeviceMotion();
+                    deviceMotion.setDirection(String.valueOf(agvNdcOneDeviceDriver.getAngle()));
+                    deviceMotion.setLogicalY(String.valueOf(agvNdcOneDeviceDriver.getX()));
+                    deviceMotion.setLogicalY(String.valueOf(agvNdcOneDeviceDriver.getY()));
+                    payload.setDeviceMotion(deviceMotion);
+                    List<TaskList> taskLists=new ArrayList<>();
+                    TaskList taskList=new TaskList();
+                    Instruction inst=agvNdcOneDeviceDriver.getGlobal_inst();
+                    taskList.setContainerNo(inst!=null?inst.getTask_code():"");
+                    taskList.setMapNo("0");
+                    taskList.setFromPoint(inst!=null?inst.getStart_point_code():"");
+                    taskList.setToPoint(inst!=null?inst.getNext_point_code():"");
+                    taskList.setTaskStatus(String.valueOf(agvNdcOneDeviceDriver.getInst_status()));
+                    taskLists.add(taskList);
+                    payload.setTaskList(taskLists);
+                    payloadList.add(payload);
+                }
             }
-            if (agvDto.getState().equals("IDLE")) {
-                row.put("status_name", "空闲");
-                row.put("flag", "0");
-            }
-            if (agvDto.getState().equals("EXECUTING")) {
-                row.put("status_name", "运行中");
-                row.put("flag", "0");
-            }
-            if (agvDto.getState().equals("CHARGING")) {
-                row.put("status_name", "充电中");
-                row.put("flag", "0");
-            }
-            row.put("transportOrder", agvDto.getTransportOrder());
-            row.put("positionX", agvDto.getPositionX());
-            row.put("positionY", agvDto.getPositionY());
-            row.put("positionAngle", agvDto.getPositionAngle());
-            agv_rows.add(row);
+            jdFeedbackRequest.setPayload(payloadList);
+        }catch (Exception e){
+            System.out.println(e.getMessage());
         }
-        json.put("agv_rows", agv_rows);
-        SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
-        WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
-
-       // acsToWmsService.feedbackAgv(row);
+        jdToAcsService.feedbackAgv(jdFeedbackRequest);
     }
 
 }

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

@@ -12,11 +12,12 @@ spring:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
       #      url: jdbc:log4jdbc:mysql://${DB_HOST:10.1.3.91}:${DB_PORT:3306}/${DB_NAME:acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:shiyaozhongchen_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:shiyaozhongchen_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
 #      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:wzgj_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
       #      password: ${DB_PWD:P@ssw0rd}
-      password: ${DB_PWD:Root.123456}
+#      password: ${DB_PWD:Root.123456}
+      password: ${DB_PWD:123456}
 #      password: ${DB_PWD:password}
 
       # 初始连接数