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@ -194,13 +194,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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if ("1".equals(plc_to_agv)) { |
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plcToAgvDeviceDriver.writing("AGVSetOutReqUpper", "1"); |
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if (plcToAgvDeviceDriver.getAGVSetOutUpperAllowed() == 1) { |
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data = feedBackStatus(data, index, 1, inst, task,2,false); |
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data = feedBackStatus(data, index, 1, inst, task, 2, false); |
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plcToAgvDeviceDriver.writing("AGVInOP", "1"); |
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} |
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} else if ("2".equals(plc_to_agv)) { |
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plcToAgvDeviceDriver.writing("AGVSetOutReqLower", "1"); |
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if (plcToAgvDeviceDriver.getAGVSetOutLowerAllowed() == 1) { |
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data = feedBackStatus(data, index, 1, inst, task,2,false); |
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data = feedBackStatus(data, index, 1, inst, task, 2, false); |
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plcToAgvDeviceDriver.writing("AGVInOP", "1"); |
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} |
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} |
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@ -212,7 +212,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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} |
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} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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try { |
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data = feedBackStatus(data, index, 1, inst, task,1,false); |
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data = feedBackStatus(data, index, 1, inst, task, 1, false); |
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} catch (Exception e) { |
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log.info("到达取货点反馈AGV状态失败:{}", e.getMessage()); |
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} |
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@ -257,10 +257,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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} catch (Exception e) { |
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log.info("下发AGVInOP信号:{}失败", "0"); |
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} |
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data = feedBackStatus(data, index, 2, inst, task,2,false); |
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data = feedBackStatus(data, index, 2, inst, task, 2, false); |
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} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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try { |
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data = feedBackStatus(data, index, 2, inst, task,1,false); |
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data = feedBackStatus(data, index, 2, inst, task, 1, false); |
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} catch (Exception e) { |
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log.info("取货完成反馈AGV状态失败:{}", e.getMessage()); |
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} |
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@ -281,19 +281,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); |
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return; |
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} |
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/*if (agvaddr != 0) { |
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old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); |
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if (StrUtil.contains(old_device_code, "-")) { |
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String[] point = old_device_code.split("-"); |
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emptyNum = point[1]; |
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device_code = point[0]; |
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} else if (StrUtil.contains(old_device_code, ".")) { |
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String[] point = old_device_code.split("\\."); |
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device_code = point[0]; |
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} else { |
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device_code = old_device_code; |
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} |
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}*/ |
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if (agvaddr != 0) { |
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old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); |
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device_code = old_device_code; |
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@ -316,13 +303,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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if ("1".equals(plc_to_agv)) { |
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plcToAgvDeviceDriver.writing("AGVSetInReqUpper", "1"); |
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if (plcToAgvDeviceDriver.getAGVSetInUpperAllowed() == 1) { |
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data = feedBackStatus(data, index, 3, inst, task,2,false); |
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data = feedBackStatus(data, index, 3, inst, task, 2, false); |
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plcToAgvDeviceDriver.writing("AGVInOP", "1"); |
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} |
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} else if ("2".equals(plc_to_agv)) { |
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plcToAgvDeviceDriver.writing("AGVSetInReqLower", "1"); |
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if (plcToAgvDeviceDriver.getAGVSetInLowerAllowed() == 1) { |
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data = feedBackStatus(data, index, 3, inst, task,2,false); |
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data = feedBackStatus(data, index, 3, inst, task, 2, false); |
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plcToAgvDeviceDriver.writing("AGVInOP", "1"); |
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} |
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} |
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@ -334,7 +321,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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} |
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} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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try { |
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data = feedBackStatus(data, index, 2, inst, task,1,false); |
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StandardOrdinarySiteDeviceDriver standar = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); |
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Map<String, Object> extraValue = standar.getDevice().getExtraValue(); |
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if (ObjectUtil.isNotEmpty(extraValue.get("ignore_release_check")) && "true".equals(extraValue.get("ignore_release_check"))) { |
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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} else { |
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data = feedBackStatus(data, index, 2, inst, task, 1, false); |
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} |
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} catch (Exception e) { |
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log.info("到达放货点反馈AGV状态失败:{}", e.getMessage()); |
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} |
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@ -393,16 +386,16 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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} catch (Exception e) { |
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log.info("下发AGVInOP信号:{}失败", "0"); |
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} |
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data = feedBackStatus(data, index, 4, inst, task,2,false); |
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data = feedBackStatus(data, index, 4, inst, task, 2, false); |
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} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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try { |
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StandardOrdinarySiteDeviceDriver standar = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); |
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Map<String, Object> extraValue = standar.getDevice().getExtraValue(); |
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Map<String, Object> extraValue = standar.getDevice().getExtraValue(); |
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boolean is_empty = false; |
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if(ObjectUtil.isNotEmpty(extraValue.get("is_empty"))){ |
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is_empty = (boolean)extraValue.get("is_empty"); |
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if (ObjectUtil.isNotEmpty(extraValue.get("is_empty"))) { |
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is_empty = (boolean) extraValue.get("is_empty"); |
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} |
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data = feedBackStatus(data, index, 4, inst, task,1,is_empty); |
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data = feedBackStatus(data, index, 4, inst, task, 1, is_empty); |
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} catch (Exception e) { |
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log.info("放货完成反馈AGV状态失败:{},", e.getMessage()); |
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} |
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@ -436,12 +429,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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} else if (phase == 0x73) { |
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//agv电量
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electric_qty = ikey; |
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int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue()); |
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/*int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue()); |
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if (electric_qty > 0 && electric_qty < electric) { |
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log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.device_code, electric_qty, electric); |
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NDCAgvService.charge(String.valueOf(this.agvaddr)); |
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isCharge = true; |
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} |
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}*/ |
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} else if (phase == 0x74) { |
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//三色灯状态
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status = ikey; |
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@ -456,8 +449,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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String hasWms = paramService.findByCode("hasWms").getValue(); |
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if ("3".equals(task.getTask_type()) && StrUtil.isNotEmpty(hasWms) && "1".equals(hasWms)) { |
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String resp = acsToWmsService.requestTaskAgain(task.getNext_point_code(), task.getExt_task_id(), inst.getVehicle_code()); |
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if(StrUtil.isEmpty(resp)){ |
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log.info("申请分配二次点位失败,响应参数:{}",resp); |
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if (StrUtil.isEmpty(resp)) { |
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log.info("申请分配二次点位失败,响应参数:{}", resp); |
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} |
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JSONObject respjson = JSONObject.parseObject(resp); |
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String point_code = respjson.getString("point_code"); |
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@ -473,14 +466,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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return data; |
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} |
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private byte[] feedBackStatus(byte[] data, int index, int agvStatus, Instruction inst, TaskDto task,int connector_and_sorting,boolean is_empty) { |
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private byte[] feedBackStatus(byte[] data, int index, int agvStatus, Instruction inst, TaskDto task, int connector_and_sorting, boolean is_empty) { |
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String hasWms = paramService.findByCode("hasWms").getValue(); |
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if (StrUtil.isNotEmpty(hasWms) && "1".equals(hasWms)) { |
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log.info("存在LMS系统,需要反馈,指令号:{}",inst.getInstruction_code()); |
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log.info("存在LMS系统,需要反馈,指令号:{}", inst.getInstruction_code()); |
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JSONArray ja = new JSONArray(); |
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JSONObject jo = new JSONObject(); |
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jo.put("is_connector", connector_and_sorting == 1? 1:2); |
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jo.put("task_type",task.getTask_type()); |
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jo.put("is_connector", connector_and_sorting == 1 ? 1 : 2); |
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jo.put("task_type", task.getTask_type()); |
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jo.put("vehicle_code", inst.getVehicle_code()); |
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jo.put("status", agvStatus); |
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jo.put("device_code", this.device_code); |
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@ -492,7 +485,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { |
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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} else { |
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if(connector_and_sorting == 1){ |
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if (connector_and_sorting == 1) { |
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try { |
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Thread.sleep(3000); |
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} catch (InterruptedException e) { |
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@ -502,7 +495,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic |
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log.info("指令号:{},phase:{},acs反馈wms失败:{}", inst.getInstruction_code(), phase, httpResponse); |
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} |
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} else { |
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log.info("不存在LMS系统,不需要反馈直接进去取货,指令号:{}",inst.getInstruction_code()); |
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log.info("不存在LMS系统,不需要反馈直接进去取货,指令号:{}", inst.getInstruction_code()); |
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); |
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} |
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return data; |
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yanps
6 months ago