From 41a4e19bda4f04f9e24d5576986a185dc599160c Mon Sep 17 00:00:00 2001 From: liejiu946 Date: Mon, 16 Jun 2025 19:07:33 +0800 Subject: [PATCH] =?UTF-8?q?opt:1.ACS=E6=B7=BB=E5=8A=A0NDC=E9=A9=B1?= =?UTF-8?q?=E5=8A=A8=E3=80=81=E8=87=AA=E5=8A=A8=E9=97=A8=E9=A9=B1=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/OneNDCSocketConnectionAutoRun.java | 107 ++++- .../org/nl/acs/device/enums/DeviceType.java | 2 +- .../StandardAutodoorDefination.java | 2 +- .../StandardAutodoorDeviceDriver.java | 28 +- .../agv/ndcone/AgvNdcOneDefination.java | 49 +++ .../agv/ndcone/AgvNdcOneDeviceDriver.java | 412 ++++++++++++++++++ .../basedriver/agv/utils/AgvActionEnum.java | 45 ++ .../basedriver/agv/utils/IAgv.java | 5 + .../basedriver/agv/utils/OneAgvPhase.java | 34 ++ .../basedriver/agv/utils/TwoAgvPhase.java | 56 +++ .../StandardOrdinarySiteDefination.java | 49 +++ .../StandardOrdinarySiteDeviceDriver.java | 234 ++++++++++ 12 files changed, 993 insertions(+), 30 deletions(-) create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDefination.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/AgvActionEnum.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/IAgv.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/TwoAgvPhase.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDefination.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java index 2bf2959..0cb602c 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java @@ -1,12 +1,16 @@ package org.nl.acs.auto.run; import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; import lombok.extern.slf4j.Slf4j; import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.common.base.CommonFinalParam; import org.nl.acs.device.domain.Device; import org.nl.acs.device.service.DeviceService; +import org.nl.acs.device_driver.autodoor.standard_autodoor.ItemProtocol; +import org.nl.acs.device_driver.autodoor.standard_autodoor.StandardAutodoorDeviceDriver; +import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.domain.Instruction; @@ -125,8 +129,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { // agv任务号 int index = arr[12] * 256 + arr[13]; /** - * 任务号 - */ + * 任务号 + */ int ikey = arr[26] * 256 + arr[27]; //站点号 int agvaddr = arr[18] * 256 + arr[19]; @@ -137,6 +141,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { List insts = null; boolean link_flag = false; Device agv_device = null; + String old_device_code = null; if (carno != 0) { agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); } @@ -156,7 +161,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { // - + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; //开始任务/上报订单号 if (phase == 0x01) { @@ -195,6 +200,93 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } else if (phase == 0x50) {//进入区域 + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + + if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { + StandardAutodoorDeviceDriver driver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); + + log.info("agv车号为"+carno+",进入自动门:"+device_code+"区域，请求开门中"); + if (driver.getMode() != 0) { + flag = true; + } else { + String message = "自动门未联机，无法开门。"; + driver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + log.error("agv车号为"+carno+",进入自动门区域:"+"自动门:"+device_code+"未联机，无法开门。"); + } + if (flag) { + driver.writing(ItemProtocol.item_to_command,1); + driver.setMessage(""); + log.info("agv车号为"+carno+",进入自动门区域"+"自动门:"+device_code+"已联机，允许开门。"); + logServer.deviceExecuteLog(device_code, "", "", "允许开门。"); + } + log.info("自动门:"+device_code+"开门的action的值此时为："+driver.getAction()+"该值应为1"); + if (driver.getAction() == 1) { + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + log.info("自动门:"+device_code+"返回开门到位,"+"agv车号为"+carno+",进入自动门。"); + } + } + } else if (phase == 0x51) {//离开区域 + + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + + if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { + StandardAutodoorDeviceDriver driver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); + log.info("agv车号为"+carno+",准备离开自动门:"+device_code+"区域，请求关门中"); + if (driver.getMode() != 0) { + flag = true; + } else { + String message = "自动门未联机，无法关门。"; + log.error("agv车号为"+carno+",准备离开自动门区域:"+"自动门:"+device_code+"未联机，无法关门。"); + driver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + log.info("自动门:"+device_code+"关门的action的值此时为："+driver.getAction()+"该值应为0"); + if (flag) { + driver.writing(ItemProtocol.item_to_command,2); + driver.setMessage(""); + log.info("自动门:"+device_code+"工作模式正常,"+"agv车号为"+carno+",写入关门信号2，准备离开自动门。"); + logServer.deviceExecuteLog(device_code, "", "", "允许关门。"); + } + //百济没有2已关，0就当作已关门 + if (driver.getAction() == 0) { + log.info("自动门:"+device_code+"接收到agv写入2信号，返回action信号为0,交互成功,"+"agv车号为"+carno+",离开自动门。"); + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } + } } else { //上报异常信息 //（不需要WCS反馈） @@ -204,7 +296,14 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); } if (ObjectUtil.isNotEmpty(device)) { - + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + try { + agvNdcOneDeviceDriver.processSocket(arr); + }catch (Exception e){ + log.error("处理phase:{},发生异常。异常信息:{}",phase,e.getMessage()); + } + } } } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/enums/DeviceType.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/enums/DeviceType.java index 6061a80..05e7e12 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/enums/DeviceType.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/enums/DeviceType.java @@ -13,7 +13,7 @@ public enum DeviceType { screen("LED点阵屏", 7), storage("货架", 8), robot("机械手", 9), - autodoor("自动门", 10), + autodoor("自动门-autodoor", 10), plc("plc", 11), group("设备组", 12), plcDb("plcDb块", 13), diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java index 479ff71..fa6d61c 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java @@ -45,7 +45,7 @@ public class StandardAutodoorDefination implements OpcDeviceDriverDefination { @Override public List getFitDeviceTypes() { List types = new LinkedList(); - types.add(DeviceType.conveyor); + types.add(DeviceType.autodoor); return types; } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java index 06a7365..576acb7 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java @@ -57,8 +57,6 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem int move = 0; int task = 0; - int state = 0; - int last_state = 0; int last_action = 0; int last_mode = 0; int last_error = 0; @@ -92,6 +90,8 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem int branchProtocol = 0; + String message = ""; + @Override public Device getDevice() { return this.device; @@ -100,34 +100,14 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem @Override public void execute() { - String message = null; - - String device_code = this.getDevice().getDevice_code(); + devicecode = this.getDevice().getDevice_code(); mode = this.itemProtocol.getMode(); action = this.itemProtocol.getAction(); error = this.itemProtocol.getError(); - if (mode != last_mode) { - } - if (action != last_action) { - } - if (error != last_error) { - } - if (state != last_state) { - //固化室状态变更后通知lms更新固化室状态 - FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); - request.setState(String.valueOf(state)); - request.setDevice_code(this.devicecode); - request.setType(CommonFinalParam.ONE); - acsToWmsService.notify(request); - } + last_action = action; last_mode = mode; last_error = error; - last_state = state; - //message = StringFormatUtl.format("设备报警:{}", new Object[]{}); - -// String manual_create_task = this.getDevice().getExtraValue().get("manual_create_task").toString(); - } public synchronized String getStatus() { diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDefination.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDefination.java new file mode 100644 index 0000000..d5671ed --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDefination.java @@ -0,0 +1,49 @@ +package org.nl.acs.device_driver.basedriver.agv.ndcone; + +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; + +/** + * NDC单工位AGV + */ +@Service +public class AgvNdcOneDefination implements DeviceDriverDefination { + @Override + public String getDriverCode() { + return "agv_ndc_one"; + } + + @Override + public String getDriverName() { + return "NDC1楼AGV"; + } + + @Override + public String getDriverDescription() { + return "NDC1楼AGV"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new AgvNdcOneDeviceDriver()).setDevice(device).setDriverDefination(this); + + } + + @Override + public Class getDeviceDriverType() { + return AgvNdcOneDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.agv); + return types; + } +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java new file mode 100644 index 0000000..b6df756 --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -0,0 +1,412 @@ +package org.nl.acs.device_driver.basedriver.agv.ndcone; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import jodd.util.StringUtil; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.AcsConfig; +import org.nl.acs.agv.server.NDCAgvService; +import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.service.DeviceService; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.RequestMethodEnum; +import org.nl.acs.device_driver.basedriver.agv.utils.AgvActionEnum; +import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; +import org.nl.acs.device_driver.driver.AbstractDeviceDriver; +import org.nl.acs.ext.wms.data.one.feedBackTaskStatus.FeedBackTaskStatusRequest; +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.instruction.service.impl.InstructionServiceImpl; +import org.nl.acs.log.LokiLog; +import org.nl.acs.log.LokiLogType; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; +import org.nl.acs.task.service.impl.TaskServiceImpl; +import org.nl.config.SpringContextHolder; +import org.nl.config.thread.ThreadPoolExecutorUtil; +import org.nl.system.service.lucene.LuceneExecuteLogService; +import org.nl.system.service.lucene.dto.LuceneLogDto; +import org.nl.system.service.param.ISysParamService; +import org.nl.system.service.param.impl.SysParamServiceImpl; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.List; +import java.util.concurrent.CompletableFuture; +import java.util.concurrent.ThreadPoolExecutor; + +/** + * NDC单工位AGV + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver { + LuceneExecuteLogService lucene = SpringContextHolder.getBean("luceneExecuteLogServiceImpl"); + ISysParamService paramService = SpringContextHolder.getBean(SysParamServiceImpl.class); + InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); + NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); + DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); + @Autowired + LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean(TaskService.class); + private final static ThreadPoolExecutor EXECUTOR = ThreadPoolExecutorUtil.getPoll(); + int agvaddr = 0; + int agvaddr_copy = 0; + int weight = 0; + String device_code = ""; + int phase = 0; + boolean flag = false; + int x = 0; //x坐标 + int y = 0; //y坐标 + int angle = 0; //角度 + int electric_qty = 0; //电量 + int status = 0; //agv状态 + int agv_status = 0; //车辆动作状态 + int is_have = 0; //是否有货 + int error = 0; //车辆故障 + + String transportOrder = ""; + boolean isCharge = false; + String message = null; + String agv_message = ""; + + @LokiLog(type = LokiLogType.ACS_TO_LMS) + public synchronized void processSocket(int[] arr) throws Exception { + device_code = this.getDeviceCode(); + byte[] data = null; + phase = arr[16] * 256 + arr[17]; + // agv任务号 + int index = arr[12] * 256 + arr[13]; + //任务单号和其他状态信息 + int ikey = arr[26] * 256 + arr[27]; + //站点号 + agvaddr = arr[18] * 256 + arr[19]; + //车号 + int carno = arr[20]; + Instruction link_inst = null; + List insts = null; + Instruction inst = null; + boolean link_flag = false; + Device agv_device = null; + if (carno != 0) { + agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); + } + if (ikey != 0) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (ObjectUtil.isEmpty(inst)) { + inst = instructionService.findByCode(String.valueOf(ikey)); + } + } + if (!ObjectUtil.isEmpty(link_inst)) { + link_flag = true; + } + if (error != 0) { + //todo 反馈立库AGV故障信息 + } + Device device = null; + String old_device_code = null; + String emptyNum = null; + String device_code = null; + + if (phase == 0x67) { + //todo 故障信息 + if (arr[18] * 256 + arr[19] == 0) { + + } + FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); + request.setDevice_code(this.device_code); + request.setState("故障"); + acsToWmsService.notify(request); + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } + TaskDto task = new TaskDto(); + + if (ObjectUtil.isNotEmpty(inst)) { + task = taskService.findById(inst.getTask_id()); + } + //分配 车id + //(不需要WCS反馈) + if (phase == 0x02) { + inst.setCarno(String.valueOf(carno)); + instructionService.update(inst); + transportOrder = inst.getTask_code(); + //车辆分配任务时 状态为1 执行中 + task.setTask_status("1"); + taskserver.update(task); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data); + //车辆状态归零 + agv_status = 0; + //到达取货点 + //(需要WCS反馈) + } else if (phase == 0x03) { + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); + return; + } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到编号{}对应的指令", ikey); + logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); + return; + } + // "========================================================================请求取货=================================================================================" + agv_status = 1; + //到达普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + log.info("到达{}取货点开始取货", device_code); + inst.setExecute_status("1"); + instructionService.update(inst); + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + if (flag) { + // log.info("==================允许AGV取货=================="); + // logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。"); + //log.info("{},{}", device_code, "允许AGV取货。"); + // lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV取货。")); + } + //到达取货等待点 + //(需要WCS反馈) + } else if (phase == 0x04) { + data = getData(data, index, inst, task); + //取货完毕 + //(需要WCS反馈) + } else if (phase == 0x05) { + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code); + return; + } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到关联编号{}对应的指令", ikey); + logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); + return; + } +// "========================================================================取货完成=================================================================================" + //反馈车辆动作 + agv_status = 2; + //到达普通站点取货完成 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + data = actionComplete(index, inst, device_code, 0, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成"); + log.info("agv进入" + device_code + "取货完成"); + flag = true; + } + //到达放货等待点 + //(需要WCS反馈) + } else if (phase == 0x06) { + data = getData(data, index, inst, task); + //到达放货点 + //(需要WCS反馈) + } else if (phase == 0x07) { + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code) && !device_code.equals("0")) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到关联编号{}对应的指令", ikey); + return; + } +// "========================================================================请求放货=================================================================================" + agv_status = 3; + //普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + log.info("到达{}放货点", device_code); + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + if (flag) { + // log.info("==================允许AGV放货=================="); + // logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。"); + // log.info("{},{}", device_code, "允许AGV放货。"); + // lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV放货。")); + } + //放货完毕 + //(需要WCS反馈) + } else if (phase == 0x09) { + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到编号{}对应的指令", ikey); + return; + } + transportOrder = ""; +// "========================================================================放货完成=================================================================================" + agv_status = 4; + //agv普通站点放货完成 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + log.info("{}放货完成", device_code); + data = actionComplete(index, inst, device_code, 0, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); + flag = true; + } + if (flag) { + //log.info("================允许AGV放货后离开================="); + //logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。"); + // log.info("{},{}", device_code, "允许AGV放货后离开。"); + //lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV放货后离开。")); + } + } + //到达位置点 + //(需要WCS反馈) + else if (phase == 0x64) {//param,agv货位id待定 + //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 + agvaddr = arr[18] * 256 + arr[19]; + agvaddr_copy = agvaddr; + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else if (phase == 0x50) {//进入交通灯区域 + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else if (phase == 0x51) {//离开交通灯区域 + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 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; + // 电量不足充电 + // int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue()); + // if (electric_qty > 0 && electric_qty < electric) { + // 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; + } + +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/AgvActionEnum.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/AgvActionEnum.java new file mode 100644 index 0000000..61e3a57 --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/AgvActionEnum.java @@ -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 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 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"); + } +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/IAgv.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/IAgv.java new file mode 100644 index 0000000..33c98fd --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/IAgv.java @@ -0,0 +1,5 @@ +package org.nl.acs.device_driver.basedriver.agv.utils; + +public interface IAgv { + String getPhaseName(Integer phase); +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java new file mode 100644 index 0000000..4a1586d --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java @@ -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; + } +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/TwoAgvPhase.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/TwoAgvPhase.java new file mode 100644 index 0000000..8d75d33 --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/TwoAgvPhase.java @@ -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; + } +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDefination.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDefination.java new file mode 100644 index 0000000..af8f99b --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDefination.java @@ -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 getDeviceDriverType() { + return StandardOrdinarySiteDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.conveyor); + return types; + } +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java new file mode 100644 index 0000000..94bedb0 --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java @@ -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) { + + } +} +