From 0ae5d32353bdba9b6bac4bb8c6f2da439457ef04 Mon Sep 17 00:00:00 2001 From: psh Date: Mon, 15 Jan 2024 11:05:59 +0800 Subject: [PATCH] =?UTF-8?q?=E7=94=B5=E6=A2=AF=E4=B8=89=E6=A5=BC=E9=80=BB?= =?UTF-8?q?=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../basedriver/agv/utils/SocketUtil.java | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java index 002d5e1..06018c7 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java @@ -51,6 +51,15 @@ public class SocketUtil { (byte) 0XF8, }; } + if(agvaddr==2423){ + call = new byte[]{(byte) 0X1A, (byte) 0X1B, + (byte) 0X02, (byte) 0X01, + (byte) 0X02, (byte) 0X04, + (byte) 0X01, (byte) 0X03, + (byte) 0X00, (byte) 0XFF, + (byte) 0XF9, + }; + } if(action==0X0A) { move = new byte[]{(byte) 0X1A, (byte) 0X1B, (byte) 0X02, (byte) 0X01, @@ -73,7 +82,8 @@ public class SocketUtil { int[] arr = packageResult(); if (arr[7] == 0x00) { if ((arr[9] == 0x01 && agvaddr==2421)|| - (arr[9] == 0x02 && agvaddr==2422)) { + (arr[9] == 0x02 && agvaddr==2422)|| + (arr[9] == 0x03 && agvaddr==2423)) { log.info("电梯已就位,下发开门指令"); write(move); packageResult();