From 5fa87742a934e9245c11b66aa72f6ddfbd8d61ad Mon Sep 17 00:00:00 2001 From: liejiu946 Date: Wed, 22 Jan 2025 16:18:26 +0800 Subject: [PATCH] =?UTF-8?q?opt:=20=E6=96=B0=E5=A2=9E=E4=B8=8A=E6=8A=A5AGV?= =?UTF-8?q?=E8=A1=8C=E8=B5=B0=E6=96=B9=E5=90=91=E3=80=81=E8=B7=AF=E7=BA=BF?= =?UTF-8?q?=E8=A1=8C=E8=B5=B0=E8=B7=9D=E7=A6=BB=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java | 2 +- .../basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java | 6 ++++++ .../src/main/java/org/nl/quartz/task/SyncDeviceStatus.java | 2 ++ 3 files changed, 9 insertions(+), 1 deletion(-) diff --git a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java index 890e92f..7be31e5 100644 --- a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java +++ b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java @@ -220,7 +220,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { //上报异常信息 //（不需要WCS反馈） - if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) { + if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75 || phase == 0x76 || phase == 0x77) { device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr)); } else { //todo NDC根据车辆编号123456进行查找特定车辆 diff --git a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 90917e2..4307305 100644 --- a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -78,6 +78,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic 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 direction = 0;// agv行走方向 + int distance = 0;// agv路线剩余距离 int error = 0; //车辆故障 int last_x = 0; @@ -708,6 +710,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic status = ikey; } else if (phase == 0x75) { is_have = ikey; + } else if (phase == 0x76) { + direction = ikey; + } else if (phase == 0x77) { + distance = ikey; } if (!ObjectUtil.isEmpty(data)) { logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); diff --git a/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java b/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java index 63656bb..fa7f35f 100644 --- a/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java +++ b/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java @@ -77,6 +77,8 @@ public class SyncDeviceStatus { json.put("positionAngle", agvNdcOneDeviceDriver.getAngle()); json.put("message", agvNdcOneDeviceDriver.getAgv_message()); json.put("isLaden", agvNdcOneDeviceDriver.getIs_have()); + json.put("direction", agvNdcOneDeviceDriver.getDirection()); + json.put("distance", agvNdcOneDeviceDriver.getDistance()); AGV.add(json); } }