From bce9278c2be5bb14d678f978650af1e533cbbbce Mon Sep 17 00:00:00 2001 From: liejiu946 Date: Fri, 17 Jan 2025 11:10:46 +0800 Subject: [PATCH] =?UTF-8?q?opt:=E5=AF=B9NDC=20S=E6=B6=88=E6=81=AF=E8=BF=9B?= =?UTF-8?q?=E8=A1=8C=E6=B6=88=E6=81=AF=E6=A0=A1=E9=AA=8C=E5=92=8C=E6=8B=86?= =?UTF-8?q?=E5=8C=85=E5=A4=84=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/OneNDCSocketConnectionAutoRun.java | 226 ++++++++++-------- 1 file changed, 128 insertions(+), 98 deletions(-) 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 53e5359..890e92f 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 @@ -27,6 +27,7 @@ import java.io.DataInputStream; import java.io.DataOutputStream; import java.io.IOException; import java.net.Socket; +import java.util.Arrays; import java.util.Date; import java.util.List; @@ -103,120 +104,149 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { break; } - int[] arr = new int[count]; + int[] packetData = new int[count]; StringBuffer bs = new StringBuffer(); for (int i = 0; i < count; i++) { int temp = b[i]; if (temp < 0) temp += 256; - arr[i] = temp; + packetData[i] = temp; StringBuffer bs1 = new StringBuffer("0"); bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); } - - //System.out.println("收到请求参数：" + bs); - boolean flag = false; - if (arr[8] * 256 + arr[9] == 0x73) { - byte[] data = null; - System.out.println("接收agv上报信息：" + bs); - //执行阶段 - int phase = arr[16] * 256 + arr[17]; - // agv任务号 - int index = arr[12] * 256 + arr[13]; - //任务号 - int ikey = arr[26] * 256 + arr[27]; - //站点号 - int agvaddr = arr[18] * 256 + arr[19]; - //车号 - int carno = arr[20]; - //充电桩站点号 - int station = arr[25]; - Instruction link_inst = null; - Instruction inst = null; - List insts = 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; - } - log.info("接收agv上报信息：" + bs); - log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); - Device device = null; - String device_code = null; - - - // - AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; - - //开始任务/上报订单号 - if (phase == 0x01) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); - } + // 从字节流的开头开始读取 + int offset = 0; + // 循环处理字节流，逐个拆包 按照S消息解析 + while (offset < packetData.length) { + if (offset + 6 > packetData.length) { + System.out.println("错误：没有足够的字节来读取长度字段。"); + break; } - //任务完毕 - //（无车id及状态） - else if (phase == 0x0A) { - if (!ObjectUtil.isEmpty(inst)) { - instructionService.finish(inst.getInstruction_id()); - } else { - log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!"); + int messageHeader = packetData[offset] * 256 + packetData[offset+1]; + //检测消息头是否有效 + if (messageHeader == 0x87CD){ + //消息头长度 + int messageHeaderLength = packetData[offset+2] * 256 + packetData[offset+3]; + //消息数据长度 + int messageDataLength = packetData[offset+4] * 256 + packetData[offset+5]; + //消息总长度 + int messageLength = messageHeaderLength + messageDataLength; + // 检查剩余字节是否足够处理完整的数据包 + if (offset + messageLength > packetData.length) { + System.out.println("错误：检测到不完整的数据包。"); + // 数据包不完整，停止处理 + break; } - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); - log.info("指令号:{},已反馈agv任务完成!"); - } - //todo 检查协议里删除任务流程有很多个步骤，在哪体现的 - //(需要WCS反馈) - else if (phase == 0x30) { - data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0); - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { + int[] arr = Arrays.copyOfRange(packetData, offset, offset+messageLength); + boolean flag = false; + if (arr[8] * 256 + arr[9] == 0x73) { + byte[] data = null; + System.out.println("接收agv上报信息：" + bs); + //执行阶段 + int phase = arr[16] * 256 + arr[17]; + // agv任务号 + int index = arr[12] * 256 + arr[13]; + //任务号 + int ikey = arr[26] * 256 + arr[27]; + //站点号 + int agvaddr = arr[18] * 256 + arr[19]; + //车号 + int carno = arr[20]; + //充电桩站点号 + int station = arr[25]; + Instruction link_inst = null; + Instruction inst = null; + List insts = 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; + } + log.info("接收agv上报信息：" + bs); + log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); + Device device = null; + String device_code = null; + + + // + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; + + //开始任务/上报订单号 + if (phase == 0x01) { + if (!ObjectUtil.isEmpty(inst)) { + inst.setInstruction_status("1"); + inst.setAgv_jobno(String.valueOf(index)); + inst.setSend_status("1"); + instructionService.update(inst); + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } + } + //任务完毕 + //（无车id及状态） + else if (phase == 0x0A) { + if (!ObjectUtil.isEmpty(inst)) { + instructionService.finish(inst.getInstruction_id()); + } else { + log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!"); + } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + log.info("指令号:{},已反馈agv任务完成!"); + } + //todo 检查协议里删除任务流程有很多个步骤，在哪体现的 + //(需要WCS反馈) + else if (phase == 0x30) { + data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0); + } + //任务删除确认 + //(需要WCS反馈) + else if (phase == 0xFF) { + + if (!ObjectUtil.isEmpty(inst)) { + if (!ObjectUtil.isEmpty(inst)) { + instructionService.cancelNOSendAgv(inst.getInstruction_id()); + } + } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } 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) { + device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr)); + } else { + //todo NDC根据车辆编号123456进行查找特定车辆 + device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); + } + if (ObjectUtil.isNotEmpty(device)) { + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + agvNdcOneDeviceDriver.processSocket(arr); + } + } - if (!ObjectUtil.isEmpty(inst)) { - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancelNOSendAgv(inst.getInstruction_id()); } - } - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); - } 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) { - device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr)); - } else { - //todo NDC根据车辆编号123456进行查找特定车辆 - device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); - } - if (ObjectUtil.isNotEmpty(device)) { - if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { - agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); - agvNdcOneDeviceDriver.processSocket(arr); + if (!ObjectUtil.isEmpty(data)) { + write(data); } - } + } else { + System.out.println("agv上报不是0073类型动作，不处理"); + } + // 更新偏移量，继续处理下一个数据包 + offset+=messageLength; + }else { + System.out.println("消息头无效，不处理。"); + break; } - if (!ObjectUtil.isEmpty(data)) { - write(data); - } - - } else { - System.out.println("agv上报不是0073类型动作，不处理"); } }