12 changed files with 993 additions and 30 deletions
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package org.nl.acs.device_driver.basedriver.agv.ndcone; |
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import org.nl.acs.device.domain.Device; |
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import org.nl.acs.device.enums.DeviceType; |
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import org.nl.acs.device_driver.DeviceDriver; |
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import org.nl.acs.device_driver.DeviceDriverDefination; |
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import org.springframework.stereotype.Service; |
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import java.util.LinkedList; |
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import java.util.List; |
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/** |
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* NDC单工位AGV |
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*/ |
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@Service |
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public class AgvNdcOneDefination implements DeviceDriverDefination { |
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@Override |
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public String getDriverCode() { |
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return "agv_ndc_one"; |
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} |
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@Override |
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public String getDriverName() { |
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return "NDC1楼AGV"; |
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} |
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@Override |
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public String getDriverDescription() { |
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return "NDC1楼AGV"; |
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} |
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@Override |
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public DeviceDriver getDriverInstance(Device device) { |
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return (new AgvNdcOneDeviceDriver()).setDevice(device).setDriverDefination(this); |
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} |
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@Override |
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public Class<? extends DeviceDriver> getDeviceDriverType() { |
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return AgvNdcOneDeviceDriver.class; |
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} |
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@Override |
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public List<DeviceType> getFitDeviceTypes() { |
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List<DeviceType> types = new LinkedList(); |
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types.add(DeviceType.agv); |
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return types; |
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} |
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} |
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@ -0,0 +1,412 @@ |
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package org.nl.acs.device_driver.basedriver.agv.ndcone; |
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import cn.hutool.core.util.ObjectUtil; |
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import cn.hutool.core.util.StrUtil; |
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import cn.hutool.http.HttpResponse; |
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import com.alibaba.fastjson.JSONArray; |
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import com.alibaba.fastjson.JSONObject; |
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import jodd.util.StringUtil; |
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import lombok.Data; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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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.auto.run.OneNDCSocketConnectionAutoRun; |
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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.DeviceDriver; |
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import org.nl.acs.device_driver.RequestMethodEnum; |
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import org.nl.acs.device_driver.basedriver.agv.utils.AgvActionEnum; |
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import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; |
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import org.nl.acs.device_driver.driver.AbstractDeviceDriver; |
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import org.nl.acs.ext.wms.data.one.feedBackTaskStatus.FeedBackTaskStatusRequest; |
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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.LokiLog; |
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import org.nl.acs.log.LokiLogType; |
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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.acs.task.service.TaskService; |
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import org.nl.acs.task.service.dto.TaskDto; |
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import org.nl.acs.task.service.impl.TaskServiceImpl; |
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import org.nl.config.SpringContextHolder; |
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import org.nl.config.thread.ThreadPoolExecutorUtil; |
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import org.nl.system.service.lucene.LuceneExecuteLogService; |
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import org.nl.system.service.lucene.dto.LuceneLogDto; |
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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 java.util.List; |
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import java.util.concurrent.CompletableFuture; |
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import java.util.concurrent.ThreadPoolExecutor; |
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/** |
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* NDC单工位AGV |
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*/ |
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@Slf4j |
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@Data |
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@RequiredArgsConstructor |
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public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver { |
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LuceneExecuteLogService lucene = SpringContextHolder.getBean("luceneExecuteLogServiceImpl"); |
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ISysParamService paramService = 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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TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); |
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NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); |
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DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.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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@Autowired |
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LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl"); |
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@Autowired |
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TaskService taskserver = SpringContextHolder.getBean(TaskService.class); |
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private final static ThreadPoolExecutor EXECUTOR = ThreadPoolExecutorUtil.getPoll(); |
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int agvaddr = 0; |
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int agvaddr_copy = 0; |
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int weight = 0; |
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String device_code = ""; |
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int phase = 0; |
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boolean flag = false; |
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int x = 0; //x坐标
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int y = 0; //y坐标
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int angle = 0; //角度
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int electric_qty = 0; //电量
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int status = 0; //agv状态
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int agv_status = 0; //车辆动作状态
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int is_have = 0; //是否有货
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int error = 0; //车辆故障
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String transportOrder = ""; |
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boolean isCharge = false; |
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String message = null; |
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String agv_message = ""; |
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@LokiLog(type = LokiLogType.ACS_TO_LMS) |
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public synchronized void processSocket(int[] arr) throws Exception { |
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device_code = this.getDeviceCode(); |
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byte[] data = null; |
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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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//任务单号和其他状态信息
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int ikey = arr[26] * 256 + arr[27]; |
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//站点号
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agvaddr = arr[18] * 256 + arr[19]; |
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//车号
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int carno = arr[20]; |
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Instruction link_inst = null; |
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List<Instruction> insts = null; |
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Instruction inst = 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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if (error != 0) { |
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//todo 反馈立库AGV故障信息
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} |
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Device device = null; |
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String old_device_code = null; |
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String emptyNum = null; |
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String device_code = null; |
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if (phase == 0x67) { |
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//todo 故障信息
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if (arr[18] * 256 + arr[19] == 0) { |
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} |
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FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); |
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request.setDevice_code(this.device_code); |
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request.setState("故障"); |
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acsToWmsService.notify(request); |
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data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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} |
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TaskDto task = new TaskDto(); |
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if (ObjectUtil.isNotEmpty(inst)) { |
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task = taskService.findById(inst.getTask_id()); |
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} |
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//分配 车id
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//(不需要WCS反馈)
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if (phase == 0x02) { |
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inst.setCarno(String.valueOf(carno)); |
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instructionService.update(inst); |
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transportOrder = inst.getTask_code(); |
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//车辆分配任务时 状态为1 执行中
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task.setTask_status("1"); |
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taskserver.update(task); |
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logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data); |
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//车辆状态归零
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agv_status = 0; |
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//到达取货点
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//(需要WCS反馈)
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} else if (phase == 0x03) { |
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if (agvaddr == 0) { |
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agvaddr = agvaddr_copy; |
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} |
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if (agvaddr < 1) { |
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logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); |
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return; |
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} |
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device_code = deviceService.queryDeviceCodeByAddress(agvaddr); |
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if (agvaddr != 0) { |
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old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); |
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if (StrUtil.contains(old_device_code, "-")) { |
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String[] point = old_device_code.split("-"); |
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device_code = point[0]; |
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} else if (StrUtil.contains(old_device_code, ".")) { |
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String[] point = old_device_code.split("\\."); |
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device_code = point[0]; |
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emptyNum = point[1]; |
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} else { |
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device_code = old_device_code; |
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} |
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} |
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device = deviceAppService.findDeviceByCode(device_code); |
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if (ObjectUtil.isEmpty(device_code)) { |
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log.info(agvaddr + "对应设备号为空!"); |
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logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); |
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return; |
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} |
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//校验agv上报站点编号与指令起始点相同
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if (ObjectUtil.isEmpty(inst)) { |
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log.info("未找到编号{}对应的指令", ikey); |
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logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); |
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return; |
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} |
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// "========================================================================请求取货================================================================================="
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agv_status = 1; |
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//到达普通站点
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if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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log.info("到达{}取货点开始取货", device_code); |
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inst.setExecute_status("1"); |
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instructionService.update(inst); |
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data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} |
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if (flag) { |
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// log.info("==================允许AGV取货==================");
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// logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
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//log.info("{},{}", device_code, "允许AGV取货。");
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// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV取货。"));
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} |
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//到达取货等待点
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//(需要WCS反馈)
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} else if (phase == 0x04) { |
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data = getData(data, index, inst, task); |
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//取货完毕
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//(需要WCS反馈)
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} else if (phase == 0x05) { |
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if (agvaddr == 0) { |
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agvaddr = agvaddr_copy; |
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} |
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if (agvaddr < 1) { |
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logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); |
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return; |
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} |
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if (agvaddr != 0) { |
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old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); |
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if (StrUtil.contains(old_device_code, "-")) { |
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String[] point = old_device_code.split("-"); |
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device_code = point[0]; |
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} else if (StrUtil.contains(old_device_code, ".")) { |
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String[] point = old_device_code.split("\\."); |
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device_code = point[0]; |
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emptyNum = point[1]; |
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} else { |
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device_code = old_device_code; |
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} |
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} |
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device = deviceAppService.findDeviceByCode(device_code); |
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if (ObjectUtil.isEmpty(device_code)) { |
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log.info(agvaddr + "对应设备号为空!"); |
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logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code); |
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return; |
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} |
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//校验agv上报站点编号与指令起始点相同
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if (ObjectUtil.isEmpty(inst)) { |
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log.info("未找到关联编号{}对应的指令", ikey); |
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logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); |
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return; |
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} |
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// "========================================================================取货完成================================================================================="
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//反馈车辆动作
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agv_status = 2; |
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//到达普通站点取货完成
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if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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data = actionComplete(index, inst, device_code, 0, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成"); |
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log.info("agv进入" + device_code + "取货完成"); |
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flag = true; |
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} |
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//到达放货等待点
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//(需要WCS反馈)
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} else if (phase == 0x06) { |
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data = getData(data, index, inst, task); |
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//到达放货点
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//(需要WCS反馈)
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} else if (phase == 0x07) { |
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if (agvaddr == 0) { |
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agvaddr = agvaddr_copy; |
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} |
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if (agvaddr < 1) { |
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logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); |
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return; |
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} |
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if (agvaddr != 0) { |
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old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); |
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if (StrUtil.contains(old_device_code, "-")) { |
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String[] point = old_device_code.split("-"); |
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device_code = point[0]; |
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} else if (StrUtil.contains(old_device_code, ".")) { |
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String[] point = old_device_code.split("\\."); |
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device_code = point[0]; |
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emptyNum = point[1]; |
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} else { |
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device_code = old_device_code; |
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} |
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} |
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device = deviceAppService.findDeviceByCode(device_code); |
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if (ObjectUtil.isEmpty(device_code) && !device_code.equals("0")) { |
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log.info(agvaddr + "对应设备号为空!"); |
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return; |
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} |
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//校验agv上报站点编号与指令起始点相同
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if (ObjectUtil.isEmpty(inst)) { |
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log.info("未找到关联编号{}对应的指令", ikey); |
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return; |
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} |
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// "========================================================================请求放货================================================================================="
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agv_status = 3; |
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//普通站点
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if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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log.info("到达{}放货点", device_code); |
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data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} |
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if (flag) { |
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// log.info("==================允许AGV放货==================");
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// logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
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// log.info("{},{}", device_code, "允许AGV放货。");
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// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV放货。"));
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} |
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//放货完毕
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//(需要WCS反馈)
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} else if (phase == 0x09) { |
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if (agvaddr == 0) { |
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agvaddr = agvaddr_copy; |
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} |
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if (agvaddr < 1) { |
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logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); |
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return; |
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} |
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if (agvaddr != 0) { |
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old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); |
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if (StrUtil.contains(old_device_code, "-")) { |
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String[] point = old_device_code.split("-"); |
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device_code = point[0]; |
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} else if (StrUtil.contains(old_device_code, ".")) { |
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String[] point = old_device_code.split("\\."); |
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device_code = point[0]; |
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emptyNum = point[1]; |
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} else { |
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device_code = old_device_code; |
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} |
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} |
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device = deviceAppService.findDeviceByCode(device_code); |
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if (ObjectUtil.isEmpty(device_code)) { |
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log.info(agvaddr + "对应设备号为空!"); |
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return; |
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} |
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//校验agv上报站点编号与指令起始点相同
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if (ObjectUtil.isEmpty(inst)) { |
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log.info("未找到编号{}对应的指令", ikey); |
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return; |
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} |
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transportOrder = ""; |
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// "========================================================================放货完成================================================================================="
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agv_status = 4; |
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//agv普通站点放货完成
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if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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log.info("{}放货完成", device_code); |
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data = actionComplete(index, inst, device_code, 0, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); |
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flag = true; |
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} |
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if (flag) { |
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//log.info("================允许AGV放货后离开=================");
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//logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
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// log.info("{},{}", device_code, "允许AGV放货后离开。");
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//lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV放货后离开。"));
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} |
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} |
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//到达位置点
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//(需要WCS反馈)
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else if (phase == 0x64) {//param,agv货位id待定
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//1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备
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agvaddr = arr[18] * 256 + arr[19]; |
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agvaddr_copy = agvaddr; |
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data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); |
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} else if (phase == 0x50) {//进入交通灯区域
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data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); |
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} else if (phase == 0x51) {//离开交通灯区域
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data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); |
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} else if (phase == 0x70) { |
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//x坐标
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x = ikey; |
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} else if (phase == 0x71) { |
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//y坐标
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y = ikey; |
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} else if (phase == 0x72) { |
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//车辆角度
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angle = ikey; |
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} else if (phase == 0x73) { |
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//agv电量
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electric_qty = ikey; |
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// 电量不足充电
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// int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue());
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// if (electric_qty > 0 && electric_qty < electric) {
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// log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.device_code, electric_qty, electric);
|
|||
// ndcAgvService.charge(String.valueOf(this.agvaddr));
|
|||
// isCharge = true;
|
|||
// }
|
|||
} else if (phase == 0x74) { |
|||
status = ikey; |
|||
} else if (phase == 0x75) { |
|||
is_have = ikey; |
|||
} |
|||
if (!ObjectUtil.isEmpty(data)) { |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); |
|||
OneNDCSocketConnectionAutoRun.write(data); |
|||
} |
|||
} |
|||
|
|||
private byte[] actionComplete(int index, Instruction inst, String device_code, int to_command, int status, String action) { |
|||
byte[] data; |
|||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); |
|||
logServer.deviceExecuteLog(this.device_code, "", "", action); |
|||
return data; |
|||
} |
|||
|
|||
private byte[] getData(byte[] data, int index, Instruction inst, TaskDto task) { |
|||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
|||
return data; |
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,45 @@ |
|||
package org.nl.acs.device_driver.basedriver.agv.utils; |
|||
|
|||
import lombok.AllArgsConstructor; |
|||
import lombok.Getter; |
|||
import org.apache.commons.lang3.StringUtils; |
|||
import org.nl.common.exception.BadRequestException; |
|||
import org.nl.config.MapOf; |
|||
|
|||
import java.util.Map; |
|||
|
|||
@AllArgsConstructor |
|||
@Getter |
|||
public enum AgvActionEnum { |
|||
//agv动作类型
|
|||
ACTION_STATUS(MapOf.of("待机", "0","请求取货", "1", "取货完成", "2", "请求放货", "3", "放货完成", "4", "请求开门", "5", "请求关门", "6", "请求充电", "7")), |
|||
//agv状态类型
|
|||
DEVICE_STATUS(MapOf.of("待机", "0","关机", "1", "运行中", "2", "交通管制", "3", "任务等待", "4", "充电中", "5", "故障中", "6", "低电量", "7")); |
|||
|
|||
private Map<String, String> code; |
|||
|
|||
public String code(String desc) { |
|||
String code = this.getCode().get(desc); |
|||
if (StringUtils.isNotEmpty(code)) { |
|||
return code; |
|||
} |
|||
throw new BadRequestException(this.name() + "对应类型" + desc + "未定义"); |
|||
} |
|||
|
|||
public Long longCode(String desc) { |
|||
String code = this.getCode().get(desc); |
|||
if (StringUtils.isNotEmpty(code)) { |
|||
return Long.valueOf(code); |
|||
} |
|||
throw new BadRequestException(this.name() + "对应类型" + desc + "未定义"); |
|||
} |
|||
|
|||
public String check(String code) { |
|||
for (Map.Entry<String, String> entry : this.getCode().entrySet()) { |
|||
if (entry.getValue().equals(code)) { |
|||
return entry.getKey(); |
|||
} |
|||
} |
|||
throw new BadRequestException(this.name() + "对应类型" + code + "未定义"); |
|||
} |
|||
} |
|||
@ -0,0 +1,5 @@ |
|||
package org.nl.acs.device_driver.basedriver.agv.utils; |
|||
|
|||
public interface IAgv { |
|||
String getPhaseName(Integer phase); |
|||
} |
|||
@ -0,0 +1,34 @@ |
|||
package org.nl.acs.device_driver.basedriver.agv.utils; |
|||
|
|||
import org.springframework.stereotype.Service; |
|||
|
|||
@Service |
|||
public class OneAgvPhase implements IAgv{ |
|||
@Override |
|||
public String getPhaseName(Integer phase) { |
|||
if (phase == 0x01) { |
|||
return "开始任务/上报订单号"; |
|||
} else if (phase == 0x02){ |
|||
return "分配车id"; |
|||
} else if (phase == 0x03){ |
|||
return "到达取货点"; |
|||
} else if (phase == 0x05){ |
|||
return "取货完毕"; |
|||
} else if (phase == 0x07){ |
|||
return "到达放货点"; |
|||
} else if (phase == 0x09){ |
|||
return "放货完毕"; |
|||
} else if (phase == 0x0A){ |
|||
return "任务完毕"; |
|||
} else if (phase == 0x30){ |
|||
return "请求删除任务"; |
|||
} else if (phase == 0xFF){ |
|||
return "任务删除确认"; |
|||
} else if (phase == 0x64){ |
|||
return "到达位置点"; |
|||
} else if (phase == 0x65){ |
|||
return "称重就绪"; |
|||
} |
|||
return null; |
|||
} |
|||
} |
|||
@ -0,0 +1,56 @@ |
|||
package org.nl.acs.device_driver.basedriver.agv.utils; |
|||
|
|||
import org.springframework.stereotype.Service; |
|||
|
|||
@Service |
|||
public class TwoAgvPhase implements IAgv { |
|||
@Override |
|||
public String getPhaseName(Integer phase) { |
|||
if (phase == 0x01) { |
|||
return "开始任务/上报订单号"; |
|||
} else if (phase == 0x02){ |
|||
return "分配车id"; |
|||
} else if (phase == 0x03){ |
|||
return "到达取货点1"; |
|||
} else if (phase == 0x05){ |
|||
return "取货点1取货完毕"; |
|||
} else if (phase == 0x07){ |
|||
return "到达取货点2"; |
|||
} else if (phase == 0x09){ |
|||
return "取货点2取货完毕"; |
|||
} else if (phase == 0x0A){ |
|||
return "自动缓存线--到达送满框1"; |
|||
} else if (phase == 0x0B){ |
|||
return "到达倒料点1"; |
|||
} else if (phase == 0x0C){ |
|||
return "自动缓存线--送满框完毕1"; |
|||
} else if (phase == 0x0D){ |
|||
return "倒料点1倒料完毕"; |
|||
} else if (phase == 0x0E){ |
|||
return "自动缓存线--到达取空框1"; |
|||
} else if (phase == 0x0F){ |
|||
return "到达倒料点2"; |
|||
} else if (phase == 0x11){ |
|||
return "倒料点2倒料完毕"; |
|||
} else if (phase == 0x13){ |
|||
return "到达送箱点1"; |
|||
} else if (phase == 0x15){ |
|||
return "送箱点1送箱完毕"; |
|||
} else if (phase == 0x17){ |
|||
return "到达送箱点2"; |
|||
} else if (phase == 0x19){ |
|||
return "送箱完毕/送空框完毕2"; |
|||
} else if (phase == 0x30){ |
|||
return "请求删除任务"; |
|||
} else if (phase == 0xFF){ |
|||
return "任务删除确认"; |
|||
} else if (phase == 0x64){ |
|||
return "取货完毕/取满框完毕1/点对点取货完毕"; |
|||
} else if (phase == 0x65){ |
|||
return "称重就绪"; |
|||
} else if (phase == 0x1A){ |
|||
return "任务完毕"; |
|||
} |
|||
return null; |
|||
} |
|||
} |
|||
@ -0,0 +1,49 @@ |
|||
package org.nl.acs.device_driver.basedriver.standard_ordinary_site; |
|||
|
|||
import org.nl.acs.device.domain.Device; |
|||
import org.nl.acs.device.enums.DeviceType; |
|||
import org.nl.acs.device_driver.DeviceDriver; |
|||
import org.nl.acs.device_driver.DeviceDriverDefination; |
|||
import org.springframework.stereotype.Service; |
|||
|
|||
import java.util.LinkedList; |
|||
import java.util.List; |
|||
|
|||
/** |
|||
* 普通站点定义 |
|||
*/ |
|||
@Service |
|||
public class StandardOrdinarySiteDefination implements DeviceDriverDefination { |
|||
@Override |
|||
public String getDriverCode() { |
|||
return "standard_ordinary_site"; |
|||
} |
|||
|
|||
@Override |
|||
public String getDriverName() { |
|||
return "标准版-无光电普通站点"; |
|||
} |
|||
|
|||
@Override |
|||
public String getDriverDescription() { |
|||
return "标准版-无光电普通站点"; |
|||
} |
|||
|
|||
@Override |
|||
public DeviceDriver getDriverInstance(Device device) { |
|||
return (new StandardOrdinarySiteDeviceDriver()).setDevice(device).setDriverDefination(this); |
|||
|
|||
} |
|||
|
|||
@Override |
|||
public Class<? extends DeviceDriver> getDeviceDriverType() { |
|||
return StandardOrdinarySiteDeviceDriver.class; |
|||
} |
|||
|
|||
@Override |
|||
public List<DeviceType> getFitDeviceTypes() { |
|||
List<DeviceType> types = new LinkedList(); |
|||
types.add(DeviceType.conveyor); |
|||
return types; |
|||
} |
|||
} |
|||
@ -0,0 +1,234 @@ |
|||
package org.nl.acs.device_driver.basedriver.standard_ordinary_site; |
|||
|
|||
import cn.hutool.core.util.ObjectUtil; |
|||
import com.alibaba.fastjson.JSONObject; |
|||
import lombok.Data; |
|||
import lombok.RequiredArgsConstructor; |
|||
import lombok.extern.slf4j.Slf4j; |
|||
import org.nl.acs.agv.server.NDCAgvService; |
|||
import org.nl.acs.device.service.DeviceService; |
|||
import org.nl.acs.device_driver.DeviceDriver; |
|||
import org.nl.acs.device_driver.RouteableDeviceDriver; |
|||
import org.nl.acs.device_driver.driver.AbstractDeviceDriver; |
|||
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; |
|||
import org.nl.acs.ext.wms.service.AcsToWmsService; |
|||
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; |
|||
import org.nl.acs.instruction.domain.Instruction; |
|||
import org.nl.acs.instruction.service.InstructionService; |
|||
import org.nl.acs.log.service.DeviceExecuteLogService; |
|||
import org.nl.acs.monitor.DeviceStageMonitor; |
|||
import org.nl.acs.opc.DeviceAppService; |
|||
import org.nl.acs.route.service.RouteLineService; |
|||
import org.nl.acs.task.service.TaskService; |
|||
import org.nl.config.SpringContextHolder; |
|||
import org.springframework.beans.factory.annotation.Autowired; |
|||
|
|||
import java.util.Date; |
|||
|
|||
|
|||
/** |
|||
* 普通站点 |
|||
*/ |
|||
@Slf4j |
|||
@Data |
|||
@RequiredArgsConstructor |
|||
public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver , DeviceStageMonitor { |
|||
@Autowired |
|||
DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class); |
|||
@Autowired |
|||
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); |
|||
@Autowired |
|||
DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); |
|||
@Autowired |
|||
RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); |
|||
@Autowired |
|||
TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); |
|||
@Autowired |
|||
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class); |
|||
@Autowired |
|||
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); |
|||
@Autowired |
|||
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); |
|||
@Autowired |
|||
NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class); |
|||
|
|||
|
|||
Integer hasGoods = 0; |
|||
int error = 0; |
|||
Boolean iserror = false; |
|||
Boolean islock = false; |
|||
|
|||
int branchProtocol = 0; |
|||
int last_branchProtocol = 0; |
|||
//是否需要输入物料
|
|||
String input_material = "0"; |
|||
//备注
|
|||
String remark = ""; |
|||
//数量
|
|||
String qty = ""; |
|||
//批次
|
|||
String batch = ""; |
|||
//物料
|
|||
String material = ""; |
|||
//目标点位
|
|||
String purpose = ""; |
|||
//当前指令
|
|||
Instruction inst = null; |
|||
//上次指令
|
|||
Instruction last_inst = null; |
|||
|
|||
boolean requireSucess = false; |
|||
|
|||
//触摸屏手动触发任务
|
|||
private Boolean is_has_task = false; |
|||
|
|||
//申请搬运任务
|
|||
private Boolean apply_handling = false; |
|||
//申请物料
|
|||
private Boolean apply_material = false; |
|||
|
|||
// 1取货完成 2放货完成 3进入区域 4离开区域
|
|||
private int flag; |
|||
|
|||
//人工确认信号 默认0 agv到达后请求置1 等人工确认后变为2 反馈agv后继续为0
|
|||
private int manua_confirm = 0; |
|||
|
|||
String device_code = null; |
|||
String container; |
|||
String container_type_desc; |
|||
String last_container_type_desc; |
|||
String last_container; |
|||
private Date instruction_require_time = new Date(); |
|||
private Date instruction_finished_time = new Date(); |
|||
|
|||
private int instruction_require_time_out; |
|||
|
|||
String message; |
|||
|
|||
// 1 上位系统允许进入 2 上位系统允许离开
|
|||
int status = 0; |
|||
|
|||
int agvphase = 0; |
|||
int index = 0; |
|||
|
|||
int mode = 2; |
|||
|
|||
int move; |
|||
|
|||
@Override |
|||
public void execute() { |
|||
hasGoods = this.getDevice().getHas_goods(); |
|||
batch = this.getDevice().getBatch(); |
|||
device_code = this.getDeviceCode(); |
|||
|
|||
if (agvphase == 0x03) { |
|||
if (ObjectUtil.isNotEmpty(inst)) { |
|||
inst.setExecute_status("1"); |
|||
instructionService.update(inst); |
|||
log.info("agvphase:" + agvphase + "反馈成功,到达普通站点。"); |
|||
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0,0,0); |
|||
agvphase = 0; |
|||
index = 0; |
|||
inst = null; |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "反馈成功"); |
|||
} else { |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "等待反馈"); |
|||
|
|||
} |
|||
} |
|||
|
|||
if (agvphase == 0x05) { |
|||
if (ObjectUtil.isNotEmpty(inst)) { |
|||
inst.setExecute_status("2"); |
|||
instructionService.update(inst); |
|||
log.info("agvphase:" + agvphase + "反馈成功,取货完成离开普通站点。"); |
|||
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0,0,0); |
|||
// OneNDCSocketConnectionAutoRun.write(data);
|
|||
agvphase = 0; |
|||
index = 0; |
|||
inst = null; |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "反馈成功"); |
|||
} else { |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "等待反馈"); |
|||
|
|||
} |
|||
} |
|||
|
|||
if (agvphase == 0x07) { |
|||
if (ObjectUtil.isNotEmpty(inst)) { |
|||
inst.setExecute_status("5"); |
|||
instructionService.update(inst); |
|||
log.info("agvphase:" + agvphase + "反馈成功,放货完成。"); |
|||
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0,0,0); |
|||
// OneNDCSocketConnectionAutoRun.write(data);
|
|||
agvphase = 0; |
|||
index = 0; |
|||
inst = null; |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "反馈成功"); |
|||
} else { |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "等待反馈"); |
|||
} |
|||
} |
|||
|
|||
if (agvphase == 0x09) { |
|||
if (ObjectUtil.isNotEmpty(inst)) { |
|||
inst.setExecute_status("6"); |
|||
instructionService.update(inst); |
|||
log.info("agvphase:" + agvphase + "反馈成功,取货完成请求离开普通站点。"); |
|||
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0,0,0); |
|||
// OneNDCSocketConnectionAutoRun.write(data);
|
|||
agvphase = 0; |
|||
index = 0; |
|||
inst = null; |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "反馈成功"); |
|||
} else { |
|||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + agvphase + "等待反馈"); |
|||
|
|||
} |
|||
} |
|||
|
|||
} |
|||
|
|||
@Override |
|||
public JSONObject getDeviceStatusName() { |
|||
JSONObject jo = new JSONObject(); |
|||
String mode = ""; |
|||
String action = ""; |
|||
String move = ""; |
|||
if (this.getMode() == 0) { |
|||
mode = "未联机"; |
|||
} else if (this.getMode() == 1) { |
|||
mode = "单机"; |
|||
} else if (this.getMode() == 2) { |
|||
mode = "联机"; |
|||
} else if (this.getMode() == 3) { |
|||
mode = "运行中"; |
|||
} |
|||
|
|||
if (this.getMove() == 0) { |
|||
move = "无货"; |
|||
jo.put("hasGoods", false); |
|||
} else if (this.getMove() == 1) { |
|||
move = "有货"; |
|||
jo.put("hasGoods", true); |
|||
} else if (this.getMove() == 2) { |
|||
move = "有托盘有货"; |
|||
jo.put("hasGoods", true); |
|||
} |
|||
jo.put("device_name", this.getDevice().getDevice_name()); |
|||
jo.put("mode", mode); |
|||
jo.put("move", move); |
|||
jo.put("action", action); |
|||
jo.put("isOnline", true); |
|||
jo.put("error", this.getError()); |
|||
jo.put("isError", this.getIserror()); |
|||
return jo; |
|||
} |
|||
|
|||
|
|||
@Override |
|||
public void setDeviceStatus(JSONObject data) { |
|||
|
|||
} |
|||
} |
|||
|
|||
Loading…
Reference in new issue