6 changed files with 1057 additions and 32 deletions
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package org.nl.acs.auto.run; |
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import cn.hutool.core.util.ObjectUtil; |
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import lombok.extern.slf4j.Slf4j; |
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import org.apache.commons.lang3.ArrayUtils; |
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import org.nl.acs.AcsConfig; |
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import org.nl.acs.agv.server.NDCAgvService; |
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import org.nl.acs.device.domain.Device; |
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import org.nl.acs.device.service.DeviceService; |
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import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; |
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import org.nl.acs.ext.wms.service.AcsToWmsService; |
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import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; |
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import org.nl.acs.instruction.domain.Instruction; |
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import org.nl.acs.instruction.service.InstructionService; |
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import org.nl.acs.instruction.service.impl.InstructionServiceImpl; |
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import org.nl.acs.log.service.DeviceExecuteLogService; |
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import org.nl.acs.opc.DeviceAppService; |
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import org.nl.config.SpringContextHolder; |
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import org.nl.system.service.dict.ISysDictService; |
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import org.nl.system.service.lucene.LuceneExecuteLogService; |
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import org.nl.system.service.param.ISysParamService; |
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import org.nl.system.service.param.impl.SysParamServiceImpl; |
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import org.springframework.beans.factory.annotation.Autowired; |
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import org.springframework.context.annotation.Lazy; |
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import org.springframework.stereotype.Component; |
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import java.io.DataInputStream; |
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import java.io.DataOutputStream; |
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import java.io.IOException; |
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import java.net.Socket; |
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import java.util.Arrays; |
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import java.util.Date; |
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import java.util.List; |
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import java.util.stream.IntStream; |
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import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; |
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@Slf4j |
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@Component |
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@Lazy |
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public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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Socket s; |
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String ip = "192.168.10.34"; |
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int port = 1234; |
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static DataOutputStream dos; |
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static DataInputStream dis; |
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private int recordTimeOut = 10000; |
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private Date recordTime; |
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String[] ERROR = new String[]{ |
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"货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位", |
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"停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位", |
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"抬叉停止"}; |
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boolean bConnected = true; |
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boolean isReConnect = false; |
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@Autowired |
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ISysParamService paramService; |
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@Autowired |
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AutoRunService autoRunService; |
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@Autowired |
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LuceneExecuteLogService luceneExecuteLogService; |
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@Autowired |
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ISysDictService dictService; |
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public TwoNDCSocketConnectionAutoRun() { |
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this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); |
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} |
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public String getCode() { |
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return TwoNDCSocketConnectionAutoRun.class.getSimpleName(); |
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} |
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public String getName() { |
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return "NDC2在线连接"; |
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} |
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//todo NDC相关逻辑
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public void autoRun() throws IOException { |
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System.out.println("TwoNDCAgv链接开始"); |
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ISysParamService ISysParamService = SpringContextHolder.getBean(SysParamServiceImpl.class); |
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InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); |
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AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); |
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NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class); |
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DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); |
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DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); |
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DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); |
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ip = paramService.findByCode(AcsConfig.AGVURL).getValue(); |
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port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue()); |
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try { |
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byte[] b = new byte[1024]; |
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s = new Socket(ip, port); |
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dos = new DataOutputStream(s.getOutputStream()); |
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dis = new DataInputStream(s.getInputStream()); |
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System.out.println("NDCAgv链接成功"); |
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log.info("NDCAgv链接成功"); |
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while (bConnected) { |
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int count = dis.read(b); |
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if (count == -1) { |
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break; |
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} |
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int[] packetData = new int[count]; |
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StringBuffer bs = new StringBuffer(); |
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for (int i = 0; i < count; i++) { |
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int temp = b[i]; |
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if (temp < 0) |
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temp += 256; |
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packetData[i] = temp; |
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StringBuffer bs1 = new StringBuffer("0"); |
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bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); |
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} |
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log.info("接收agv上报状态信息：" + bs); |
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// 从字节流的开头开始读取
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int offset = 0; |
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// 循环处理字节流，逐个拆包 按照S消息解析
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while (offset < packetData.length) { |
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if (offset + 6 > packetData.length) { |
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System.out.println("错误：没有足够的字节来读取长度字段。"); |
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break; |
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} |
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int messageHeader = packetData[offset] * 256 + packetData[offset+1]; |
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//检测消息头是否有效
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if (messageHeader == 0x87CD){ |
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//消息头长度
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int messageHeaderLength = packetData[offset+2] * 256 + packetData[offset+3]; |
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//消息数据长度
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int messageDataLength = packetData[offset+4] * 256 + packetData[offset+5]; |
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//消息总长度
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int messageLength = messageHeaderLength + messageDataLength; |
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// 检查剩余字节是否足够处理完整的数据包
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if (offset + messageLength > packetData.length) { |
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// System.out.println("错误：检测到不完整的数据包。");
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log.info("错误：检测到不完整的数据包"); |
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// 数据包不完整，停止处理
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break; |
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} |
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int[] arr = Arrays.copyOfRange(packetData, offset, offset+messageLength); |
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boolean flag = false; |
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if (arr[8] * 256 + arr[9] == 0x73) { |
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byte[] data = null; |
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System.out.println("接收agv上报信息：" + bs); |
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//执行阶段
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int phase = arr[16] * 256 + arr[17]; |
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// agv任务号
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int index = arr[12] * 256 + arr[13]; |
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//任务号
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int ikey = arr[26] * 256 + arr[27]; |
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//站点号
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int agvaddr = arr[18] * 256 + arr[19]; |
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//车号
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int carno = arr[20]; |
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//充电桩站点号
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int station = arr[25]; |
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Instruction link_inst = null; |
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Instruction inst = null; |
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List<Instruction> insts = null; |
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boolean link_flag = false; |
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Device agv_device = null; |
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if (carno != 0) { |
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agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); |
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} |
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if (ikey != 0) { |
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inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); |
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if (ObjectUtil.isEmpty(inst)) { |
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inst = instructionService.findByCode(String.valueOf(ikey)); |
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} |
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} |
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if (!ObjectUtil.isEmpty(link_inst)) { |
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link_flag = true; |
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} |
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log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); |
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Device device = null; |
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String device_code = null; |
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//
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AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; |
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//开始任务/上报订单号
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if (phase == 0x01) { |
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if (!ObjectUtil.isEmpty(inst)) { |
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inst.setInstruction_status("1"); |
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inst.setAgv_jobno(String.valueOf(index)); |
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inst.setSend_status("1"); |
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instructionService.update(inst); |
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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} |
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} |
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//任务完毕
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//（无车id及状态）
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else if (phase == 0x0A) { |
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if (!ObjectUtil.isEmpty(inst)) { |
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instructionService.finish(inst.getInstruction_id()); |
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} else { |
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log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!"); |
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} |
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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log.info("指令号:{},已反馈agv任务完成!"); |
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} |
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//todo 检查协议里删除任务流程有很多个步骤，在哪体现的
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//(需要WCS反馈)
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else if (phase == 0x30) { |
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data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0); |
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} |
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//任务删除确认
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//(需要WCS反馈)
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else if (phase == 0xFF) { |
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if (!ObjectUtil.isEmpty(inst)) { |
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if (!ObjectUtil.isEmpty(inst)) { |
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instructionService.cancelNOSendAgv(inst.getInstruction_id()); |
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} |
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} |
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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} else { |
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//上报异常信息
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//（不需要WCS反馈）
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if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75 || phase == 0x76 || phase == 0x77) { |
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device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr)); |
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} else { |
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//todo NDC根据车辆编号123456进行查找特定车辆
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device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); |
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} |
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if (ObjectUtil.isNotEmpty(device)) { |
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if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { |
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agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); |
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agvNdcOneDeviceDriver.processSocket2(arr); |
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} |
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} |
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} |
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if (!ObjectUtil.isEmpty(data)) { |
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write(data); |
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} |
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// 更新偏移量，继续处理下一个数据包
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offset+=messageLength; |
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} else { |
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log.info("agv上报不是0073类型动作，不处理"); |
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// 更新偏移量，继续处理下一个数据包
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offset+=messageHeaderLength; |
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// ArrayUtils.indexOf()
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int index = IntStream.range(offset, packetData.length) |
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.filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) |
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.findFirst() |
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.orElse(-1); |
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// 如果未找到，返回 -1
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if (index == -1) { |
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break; |
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}else { |
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offset = index; |
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} |
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} |
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}else { |
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log.info("消息头无效，不处理。"); |
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int index = IntStream.range(offset, packetData.length) |
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.filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) |
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.findFirst() |
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.orElse(-1); |
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if (index == -1) { |
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break; |
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}else { |
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offset = index; |
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} |
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} |
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} |
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} |
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} catch (Exception e) { |
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System.out.println("Agv链接异常"); |
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log.info("Agv链接异常"); |
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log.error("agv连接出现异常:{}", e); |
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if (ObjectUtil.isNotEmpty(s)) { |
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s.close(); |
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} |
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System.out.println(e.getMessage()); |
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e.printStackTrace(); |
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} finally { |
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} |
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} |
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@Override |
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public void stop() { |
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super.after(); |
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try { |
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s.close(); |
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} catch (Exception e) { |
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e.printStackTrace(); |
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} |
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} |
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public static void write(byte[] b) { |
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try { |
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log.info("下发agv数据:" + Bytes2HexString(b)); |
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System.out.println("下发agv数据:" + Bytes2HexString(b)); |
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dos.write(b); |
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dos.flush(); |
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} catch (IOException e) { |
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// TODO Auto-generated catch block
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try { |
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Thread.sleep(5000L); |
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log.error("tofix下发agv数据失败，再次下发，再次下发agv数据:" + Bytes2HexString(b) + "失败原因：" + e.getMessage()); |
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System.out.println("再次下发agv数据:" + Bytes2HexString(b)); |
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dos.write(b); |
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dos.flush(); |
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} catch (Exception e1) { |
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log.error("tofix下发agv数据失败，再次下发，下发agv数据:" + Bytes2HexString(b) + "失败原因：" + e1.getMessage()); |
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e1.printStackTrace(); |
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} |
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} |
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} |
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} |
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