From 9113de4a020956d8036a411308fc2585b29f66f3 Mon Sep 17 00:00:00 2001
From: gongbaoxiong <751575283@qq.com>
Date: Tue, 1 Apr 2025 21:29:16 +0800
Subject: [PATCH] =?UTF-8?q?rev:=E6=9B=B4=E6=94=B9=E4=BA=8C=E6=A5=BC?=
 =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E6=8C=87=E5=AE=9A2=E5=8F=B7=E8=BD=A6?=
 =?UTF-8?q?=E6=89=A7=E8=A1=8C=EF=BC=8C1=E5=8F=B7=E8=BD=A6=E4=B8=8D?=
 =?UTF-8?q?=E6=89=A7=E8=A1=8C=E3=80=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../agv/server/impl/NDCAgvServiceImpl.java    | 63 ++++++++++++++-----
 1 file changed, 49 insertions(+), 14 deletions(-)

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index b6abb27..c15d108 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -1,5 +1,6 @@
 package org.nl.acs.agv.server.impl;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -85,6 +86,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
             int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
             int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
+            if (inst.getStart_point_code().contains("F2") || inst.getNext_point_code().contains("F2")) {
+                inst.setCarno("2");
+                log.info("二楼任务：起点为：{}，终点为：{}，已分配车号为：2", inst.getStart_point_code(), inst.getNext_point_code());
+            }
             byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
             byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
             byte typehigh = (byte) IntToHexHigh(type);
@@ -108,20 +113,50 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             str1 += "/priority:" + hexToString(prioritylow & 0xFF);
             System.out.println(str);
             System.out.println(str1);
-            byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
-                    (byte) 0X00, (byte) 0X08,
-                    (byte) 0X00, (byte) 0X12,
-                    (byte) 0X00, (byte) 0X01,
-                    (byte) 0X00, (byte) 0X71,
-                    (byte) 0X00, (byte) 0X0E,
-                    (byte) 0X01, prioritylow,
-                    (byte) 0X00, (byte) 0X01,
-                    (byte) ikeyhigh, (byte) ikeylow,
-                    (byte) ikeyhigh, (byte) ikeylow,
-                    (byte) typehigh, (byte) typelow,
-                    (byte) qhdhigh, (byte) qhdlow,
-                    (byte) fhdhigh, (byte) fhdlow
-            };
+            byte[] b = new byte[]{};
+            if (ObjectUtil.isNotEmpty(inst.getCarno())) {
+                int carNo = Integer.parseInt(inst.getCarno());
+                byte agvnohigh = (byte) IntToHexHigh(carNo);
+                byte agvnolow = (byte) IntToHexLow(carNo);
+                str1 += "/agvno:" +  hexToString(agvnohigh & 0xFF) + hexToString(agvnolow & 0xFF);
+                b = new byte[]{
+                        (byte) 0X87, (byte) 0XCD,
+                        (byte) 0X00, (byte) 0X08,
+                        (byte) 0X00, (byte) 0X12,
+                        (byte) 0X00, (byte) 0X01,
+                        (byte) 0X00, (byte) 0X71,
+                        (byte) 0X00, (byte) 0X0E,
+                        //任务优先级，80无优先级
+                        (byte) 0X01, prioritylow,
+                        (byte) 0X00, (byte) 0X01,
+                        //任务单号
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        //重复任务单号
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        //任务类型
+                        (byte) typehigh, (byte) typelow,
+                        //起点
+                        (byte) qhdhigh, (byte) qhdlow,
+                        //终点
+                        (byte) fhdhigh, (byte) fhdlow,
+                        (byte) agvnohigh, (byte) agvnolow,
+                };
+            } else {
+                b = new byte[]{
+                        (byte) 0X87, (byte) 0XCD,
+                        (byte) 0X00, (byte) 0X08,
+                        (byte) 0X00, (byte) 0X12,
+                        (byte) 0X00, (byte) 0X01,
+                        (byte) 0X00, (byte) 0X71,
+                        (byte) 0X00, (byte) 0X0E,
+                        (byte) 0X01, prioritylow,
+                        (byte) 0X00, (byte) 0X01,
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        (byte) typehigh, (byte) typelow,
+                        (byte) qhdhigh, (byte) qhdlow,
+                        (byte) fhdhigh, (byte) fhdlow};
+            }
             log.info("下发AGV作业指令--{}", str1);
             OneNDCSocketConnectionAutoRun.write(b);
             System.out.println("下发agv指令数据:" + Bytes2HexString(b));