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opt:对NDC S消息进行消息校验和拆包处理

1
liejiu946 3 days ago
parent
6e12d8bd8c
commit
bce9278c2b
1 changed files with 128 additions and 98 deletions
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  1. 226
      nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

226
nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
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@ -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<Instruction> 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<Instruction> 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");
}
}

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