1.ndc交互粘包需要分割判断

2.空架入库会出现最后同时满料，增加软锁控制，创建任务时过滤，二次分配时可以放，任务完成或取消后解锁

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -17,6 +17,7 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.task.service.TaskService;
+import org.nl.acs.utils.ByteUtil;
 import org.nl.system.service.lucene.LuceneExecuteLogService;
 import org.nl.system.service.param.ISysParamService;
 import org.nl.config.SpringContextHolder;
@@ -28,7 +29,7 @@ import java.io.DataInputStream;
 import java.io.DataOutputStream;
 import java.io.IOException;
 import java.net.Socket;
-import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.Date;
 import java.util.List;
 
@@ -112,12 +113,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     StringBuffer bs1 = new StringBuffer("0");
                     bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
                 }
-
+                List<int[]> packets = ByteUtil.splitAndConvertPackets(bs.toString());
-                int chunkSize = 28;
+                log.info("接收agv上报信息：" + bs);
-                List<int[]> chunks = this.splitArray(arrAll, chunkSize);
+                // 打印分割后的报文
-                for (int i = 0; i < chunks.size(); i++) {
+                for (int i = 0; i < packets.size(); i++) {
-                    int[] arr = chunks.get(i);
+                    int[] arr = packets.get(i);
-                    if (arr[8] * 256 + arr[9] == 0x73) {
+                    log.info("处理当前分割部分{}", Arrays.toString(arr));
+                    if (arr.length>10&&arr[8] * 256 + arr[9] == 0x73) {
                         byte[] data = null;
                         //执行阶段
                         int phase = arr[16] * 256 + arr[17];
@@ -247,6 +249,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         if (!ObjectUtil.isEmpty(data)) {
                             write(data);
                         }
+
                     } else {
                         log.info("agv上报不是0073类型动作，不处理");
                     }
@@ -303,22 +306,5 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
 
         }
     }
-
-    public static List<int[]> splitArray(int[] array, int chunkSize) {
-        List<int[]> resultList = new ArrayList<>();
-        int length = array.length;
-
-        for (int i = 0; i < length; i += chunkSize) {
-            // 计算当前子数组的大小
-            int currentChunkSize = Math.min(chunkSize, length - i);
-
-            // 创建并填充新的子数组
-            int[] chunk = new int[currentChunkSize];
-            System.arraycopy(array, i, chunk, 0, currentChunkSize);
-            resultList.add(chunk);
-        }
-
-        return resultList;
-    }
 }
 

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/utils/ByteUtil.java

@@ -0,0 +1,90 @@
+package org.nl.acs.utils;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class ByteUtil{
+
+    public static List<int[]> splitAndConvertPackets(String data) {
+        // 将输入的十六进制字符串转换为字节数组
+        byte[] dataBytes = hexStringToByteArray(data);
+
+        // 87CD的字节表示
+        byte[] startMarker = {(byte) 0x87, (byte) 0xCD};
+
+        // 存储结果的列表
+        List<int[]> packets = new ArrayList<>();
+
+        // 当前分割点
+        int start = 0;
+
+        // 遍历整个字节数组
+        while (start < dataBytes.length) {
+            // 找到下一个87CD的起始位置
+            int nextStart = findStartMarker(dataBytes, startMarker, start + 2);
+
+            if (nextStart == -1) {
+                // 没有找到下一个87CD，说明到了最后一个包
+                packets.add(byteArrayToIntArray(dataBytes, start, dataBytes.length - start));
+                break;
+            } else {
+                // 找到一个新的87CD，将前面的部分作为一个完整的包
+                packets.add(byteArrayToIntArray(dataBytes, start, nextStart - start));
+                start = nextStart;
+            }
+        }
+
+        return packets;
+    }
+
+    private static int findStartMarker(byte[] data, byte[] marker, int start) {
+        for (int i = start; i <= data.length - marker.length; i++) {
+            boolean match = true;
+            for (int j = 0; j < marker.length; j++) {
+                if (data[i + j] != marker[j]) {
+                    match = false;
+                    break;
+                }
+            }
+            if (match) {
+                return i;
+            }
+        }
+        return -1;
+    }
+
+    private static byte[] hexStringToByteArray(String s) {
+        int len = s.length();
+        byte[] data = new byte[len / 2];
+        for (int i = 0; i < len; i += 2) {
+            data[i / 2] = (byte) ((Character.digit(s.charAt(i), 16) << 4)
+                    + Character.digit(s.charAt(i + 1), 16));
+        }
+        return data;
+    }
+
+    private static int[] byteArrayToIntArray(byte[] bytes, int offset, int length) {
+        int[] intArray = new int[length];
+        for (int i = 0; i < length; i++) {
+            intArray[i] = bytes[offset + i] & 0xFF;
+        }
+        return intArray;
+    }
+
+    public static void main(String[] args) {
+        String data = "87cd0008001400010073001000796e030003023e0300000000003f2c87cd00080014000100730010007b6e03000309370200000000003f2d87cd00080014000100730010007f6e03000309310600000000003f3087cd00080014000100730010001f6e030009085c06000001085c3eec87cd00080036000100450032002f00020000000000000000000300000085669788c40000708000000000000000000000000200000a59000000000000000087cd00080036000100450032002f00020000000000000000000300000085669788c40000708000000000000000000000000200000a59000000000000000087cd00080036000100450032002f0006000000000000000000030000012e669788c40000708000000000000000000000000400000000000000000000000087cd00080036000100450032002f00020000000000000000000300000085669788c40000708000000000000000000000000200000a59000000000000000087cd00080036000100450032002f00020000000000000000000300000085669788c50000708000000000000000000000000200000a590000000000000000";
+
+        // 处理数据
+        List<int[]> packets = splitAndConvertPackets(data);
+
+        // 打印分割后的报文
+        for (int i = 0; i < packets.size(); i++) {
+            System.out.print("Packet " + (i + 1) + ": ");
+            for (int value : packets.get(i)) {
+                System.out.print(String.format("%02x", value) + " ");
+            }
+            System.out.println();
+        }
+    }
+}
+

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/point/service/dao/SchBasePoint.java

@@ -137,6 +137,9 @@ public class SchBasePoint implements Serializable {
     @TableField(exist = false)
     private String point_status_name;
 
+    @ApiModelProperty(value = "是否锁定")
+    private Boolean is_lock;
+
     // 组盘标识
     @TableField(exist = false)
     private String group_id;

lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/KGHJRKTask.java

@@ -76,7 +76,8 @@ public class KGHJRKTask extends AbstractTask {
             // 找终点
             SchBasePoint startPoint = pointService.getOne(new LambdaQueryWrapper<SchBasePoint>()
                     .eq(SchBasePoint::getPoint_code, task.getPoint_code1()));
-            SchBasePoint point = findNextPoint(startPoint, task.getVehicle_type());
+            //创建任务时判断软锁，已锁则不能创建，下发任务时不考虑
+            SchBasePoint point = findNextPoint(startPoint, task.getVehicle_type(),0);
             if (ObjectUtil.isEmpty(point)) {
                 task.setRemark("未找到所需点位!");
                 taskService.update(task);
@@ -97,9 +98,9 @@ public class KGHJRKTask extends AbstractTask {
             task.setRemark("");
             taskService.update(task);
 
-//            //发起任务时先把点位占用，防止发起重复任务
+            //发起任务时先把点位占用，防止发起重复任务
-//            point.setIng_task_code(task.getTask_code());
+            point.setIs_lock(true);
-//            pointService.update(point);
+            pointService.update(point);
 
             //下发
             this.renotifyAcs(task);
@@ -112,7 +113,7 @@ public class KGHJRKTask extends AbstractTask {
      * 2.倒叙查找，找到满足当前位置数量不足3的即可
      * 3.负极板优先放到HCQ7，放满了再放到HCQ1
      */
-    private SchBasePoint findNextPoint(SchBasePoint startPoint, String vehicleType) {
+    private SchBasePoint findNextPoint(SchBasePoint startPoint, String vehicleType,int type) {
         String regionCode = null;
         String regionCode2 = null;
         if ("A1".equals(startPoint.getWorkshop_code())) {
@@ -139,6 +140,9 @@ public class KGHJRKTask extends AbstractTask {
                 if (!temp.getPoint_code().endsWith("01")) {
                     continue;
                 }
+                if(type==0&&temp.getIs_lock()){
+                    log.info("当前点位{}已被软锁，寻找终点时默认跳过",temp.getPoint_code());
+                }
                 //如果当列已放满，跳过到下一列最后一个点位0501开始判断
                 if (flag && !temp.getPoint_code().endsWith("0501")) {
                     continue;
@@ -235,14 +239,17 @@ public class KGHJRKTask extends AbstractTask {
             // 终点解锁,库存增加
             endPointObj.setIng_task_code("");
             endPointObj.setVehicle_qty(1);
+            endPointObj.setIs_lock(false);
             pointService.update(endPointObj);
             endPointObj = pointService.getById(endPoint.substring(0, endPoint.length() - 1) + "2");
             endPointObj.setIng_task_code("");
             endPointObj.setVehicle_qty(1);
+            endPointObj.setIs_lock(false);
             pointService.update(endPointObj);
             endPointObj = pointService.getById(endPoint.substring(0, endPoint.length() - 1) + "3");
             endPointObj.setIng_task_code("");
             endPointObj.setVehicle_qty(1);
+            endPointObj.setIs_lock(false);
             pointService.update(endPointObj);
 
 
@@ -254,6 +261,7 @@ public class KGHJRKTask extends AbstractTask {
             // 终点解锁
             if (ObjectUtil.isNotEmpty(endPointObj)) {
                 endPointObj.setIng_task_code("");
+                endPointObj.setIs_lock(false);
                 pointService.update(endPointObj);
             }
             taskObj.setRemark("任务取消");
@@ -282,7 +290,7 @@ public class KGHJRKTask extends AbstractTask {
         }
         SchBasePoint startPoint = pointService.getOne(new LambdaQueryWrapper<SchBasePoint>()
                 .eq(SchBasePoint::getPoint_code, schBaseTask.getPoint_code1()));
-        SchBasePoint point = findNextPoint(startPoint, schBaseTask.getVehicle_type());
+        SchBasePoint point = findNextPoint(startPoint, schBaseTask.getVehicle_type(),1);
         if ("ZJBKGHJDJW".equals(point.getRegion_code())) {
             schBaseTask.setPoint_code2(point.getPoint_code() + "0" + (point.getVehicle_qty() + 1));
         } else {