From 50d8276ea485e11db7c83bbff64d6dd7d7831533 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=BC=A0=E6=B1=9F=E7=8E=AE?= Date: Thu, 5 Jan 2023 20:14:53 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E9=9C=80=E6=B1=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/org/nl/hand/rest/PadController.java | 22 + .../java/org/nl/hand/service/PadService.java | 8 + .../nl/hand/service/impl/PadServiceImpl.java | 49 ++ .../main/java/org/nl/hand/wql/QHAND_QUERY.wql | 36 +- .../auto/run/NDCSocketConnectionAutoRun.java | 527 ++++++++++++++++++ .../driver/standard_inspect_site_smart.vue | 31 +- 6 files changed, 671 insertions(+), 2 deletions(-) create mode 100644 acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/hand/rest/PadController.java b/acs/hd/nladmin-system/src/main/java/org/nl/hand/rest/PadController.java index b86707f..e1a90a4 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/hand/rest/PadController.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/hand/rest/PadController.java @@ -2,6 +2,7 @@ package org.nl.hand.rest; +import com.alibaba.fastjson.JSONObject; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; import lombok.RequiredArgsConstructor; @@ -62,4 +63,25 @@ public class PadController { public ResponseEntity Taskoperation(@RequestBody Map whereJson) { return new ResponseEntity<>(HandService.Taskoperation(whereJson), HttpStatus.OK); } + + @PostMapping("/area") + @Log("查询所有区域信息") + @ApiOperation("查询所有区域信息") + public ResponseEntity area() { + return new ResponseEntity<>(HandService.area(), HttpStatus.OK); + } + + @PostMapping("/point") + @Log("根据区域查询点位") + @ApiOperation("根据区域查询点位") + public ResponseEntity point(@RequestBody JSONObject param) { + return new ResponseEntity<>(HandService.point(param), HttpStatus.OK); + } + + @PostMapping("/take") + @Log("取放盖确认") + @ApiOperation("取放盖确认") + public ResponseEntity take(@RequestBody JSONObject param) { + return new ResponseEntity<>(HandService.take(param), HttpStatus.OK); + } } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/PadService.java b/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/PadService.java index c17358f..815d6c8 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/PadService.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/PadService.java @@ -2,6 +2,8 @@ package org.nl.hand.service; +import com.alibaba.fastjson.JSONObject; + import java.util.Map; /** @@ -42,4 +44,10 @@ public interface PadService { * @return Map */ Map Taskoperation(Map jsonObject); + + JSONObject area(); + + JSONObject point(JSONObject param); + + JSONObject take(JSONObject param); } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java index 58a1d0f..72bdce9 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java @@ -215,4 +215,53 @@ public class PadServiceImpl implements PadService { jo.put("result", new JSONObject()); return jo; } + + @Override + public JSONObject area() { + JSONObject resultJSON = new JSONObject(); + + JSONArray result = WQL + .getWO("QHAND_QUERY") + .addParam("flag", "6") + .process() + .getResultJSONArray(0); + + resultJSON.put("code", "1"); + resultJSON.put("desc", "操作成功"); + resultJSON.put("result", result); + return resultJSON; + } + + @Override + public JSONObject point(JSONObject param) { + JSONObject resultJSON = new JSONObject(); + + JSONArray result = WQL + .getWO("QHAND_QUERY") + .addParam("flag", "6") + .addParam("region", param.getString("region")) + .process() + .getResultJSONArray(0); + + resultJSON.put("code", "1"); + resultJSON.put("desc", "操作成功"); + resultJSON.put("result", result); + return resultJSON; + } + + @Override + public JSONObject take(JSONObject param) { + JSONObject resultJSON = new JSONObject(); + + JSONObject update_extra = new JSONObject(); + update_extra.put("extra_value", param.getString("type")); + + WQLObject + .getWQLObject("acs_device_extra") + .update(update_extra, "extra_name = 'agv_check_status' AND device_code = " + param.getString("device_code") + "'"); + + resultJSON.put("code", "1"); + resultJSON.put("desc", "操作成功"); + return resultJSON; + } } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/hand/wql/QHAND_QUERY.wql b/acs/hd/nladmin-system/src/main/java/org/nl/hand/wql/QHAND_QUERY.wql index 9a20999..7241822 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/hand/wql/QHAND_QUERY.wql +++ b/acs/hd/nladmin-system/src/main/java/org/nl/hand/wql/QHAND_QUERY.wql @@ -20,7 +20,8 @@ 输入.next_devicecode TYPEAS s_string 输入.detail_id TYPEAS s_string 输入.start_point TYPEAS s_string - 输入.next_point TYPEAS s_string + 输入.next_point TYPEAS s_string + 输入.region TYPEAS s_string @@ -174,3 +175,36 @@ ENDSELECT ENDQUERY ENDIF + + IF 输入.flag = "5" + QUERY + SELECT + `value` AS 'region_id', + label AS 'region_name' + FROM + `sys_dict_detail` + WHERE + `name` = 'region_type' + AND `value` = '3' + ENDSELECT + ENDQUERY + ENDIF + + IF 输入.flag = "6" + QUERY + SELECT + device.device_id, + device.device_code, + device.device_name, + device_extra.extra_value AS 'status' + FROM + acs_device device + JOIN acs_device_extra device_extra ON device.device_id = device_extra.device_id + AND extra_name = 'agv_check_status' + WHERE + device.is_delete = '0' + AND device_extra.is_delete = '0' + AND device.region = 输入.region + ENDSELECT + ENDQUERY + ENDIF diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java new file mode 100644 index 0000000..ae144ef --- /dev/null +++ b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java @@ -0,0 +1,527 @@ +package org.nl.start.auto.run; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSONObject; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.NDCAgvService; +import org.nl.acs.agv.server.dto.AgvDto; +import org.nl.acs.config.AcsConfig; +import org.nl.acs.config.server.AcsConfigService; +import org.nl.acs.config.server.impl.AcsConfigServiceImpl; +import org.nl.acs.device.service.DeviceService; +import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver; +import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver; +import org.nl.acs.device_driver.standard_emptypallet_site.StandardEmptyPalletSiteDeviceDriver; +import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver; +import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; +import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.nl.acs.instruction.service.impl.InstructionServiceImpl; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.log.service.impl.DeviceExecuteLogServiceImpl; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceAppService; +import org.nl.utils.SpringContextHolder; +import org.nl.wql.core.bean.WQLObject; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +import java.io.DataInputStream; +import java.io.DataOutputStream; +import java.io.IOException; +import java.net.Socket; +import java.util.Date; +import java.util.Map; + +@Slf4j +@Component +public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { + + Socket s; + String ip = "127.0.0.1"; + int port = 1234; + static DataOutputStream dos; + static DataInputStream dis; + private int recordTimeOut = 10000; + private Date recordTime; + String[] ERROR = new String[]{ + "货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位", + "停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位", + "抬叉停止"}; + boolean bConnected = true; + + boolean isReConnect = false; + + @Autowired + AcsConfigService acsConfigService; + @Autowired + AutoRunService autoRunService; + + + public NDCSocketConnectionAutoRun() { + this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); + } + + public String getCode() { + return NDCSocketConnectionAutoRun.class.getSimpleName(); + } + + public String getName() { + return "NDC在线连接"; + } + + public void autoRun() { + + try { + AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class); + InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + NDCAgvService AgvService = SpringContextHolder.getBean(NDCAgvService.class); + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); + DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogServiceImpl.class); + ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); + port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT)); + byte[] b = new byte[1028]; + s = new Socket(ip, port); + dos = new DataOutputStream(s.getOutputStream()); + dis = new DataInputStream(s.getInputStream()); + WQLObject device_extra_table = WQLObject.getWQLObject("acs_device_extra"); + + while (bConnected) { + int count = dis.read(b); + + if (count == -1) { + break; + } + + int[] arr = 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; + 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]; + Instruction inst = null; + if (ikey != 0) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + } + 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; + String old_device_code = null; + String emptyNum = null; + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + device = deviceAppService.findDeviceByCode(device_code); + } + StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; + StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; + StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver; + StandardStorageDeviceDriver standardStorageDeviceDriver; + StandardAutodoorDeviceDriver standardAutodoorDeviceDriver; + StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver; + int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE)); + + try { + if (phase == 0x01) { + data = AgvService.sendAgvOneModeInst(phase, index); + if (!ObjectUtil.isEmpty(inst)) { + inst.setInstruction_status("1"); + inst.setAgv_jobno(String.valueOf(index)); + inst.setSend_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + } + flag = true; + } + //分配 车id + else if (phase == 0x02) { + if (!ObjectUtil.isEmpty(inst)) { + inst.setCarno(String.valueOf(carno)); + instructionService.update(inst); + } + } + // 到达取货点请求取货 + else if (phase == 0x03) { + if (ObjectUtil.isEmpty(inst)) { + logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); + break; + } + //检测站点 + if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); + if (standardInspectSiteDeviceDriver.getMove() != 0) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + logServer.deviceExecuteLog(device_code,"","", "AGV请求取货设备{}无货,无法反馈"); + } + } + //普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); + if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + if (device.getHas_goods() != 0) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + logServer.deviceExecuteLog(device_code,"","","AGV请求取货设备{}无货,无法反馈"); + } + } + } + // 检验取放货条件 + JSONObject agv_check = device_extra_table + .query("is_delete = '0' AND extra_code = 'agv_check' AND device_code = '" + device.getDevice_code() + "'") + .uniqueResult(0); + if (ObjectUtil.isNotEmpty(agv_check) && "true".equals(agv_check.getString("extra_value"))) { + JSONObject agv_check_status = device_extra_table + .query("is_delete = '0' AND extra_code = 'agv_check_status' AND device_code = '" + device.getDevice_code() + "'") + .uniqueResult(0); + if (ObjectUtil.isNotEmpty(agv_check_status) && "2".equals(agv_check_status.getString("extra_value"))) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + agv_check_status.put("extra_value", "0"); + device_extra_table.update(agv_check_status); + } else { + logServer.deviceExecuteLog(device_code,"","","AGV请求取货设备{}未放盖确认,无法反馈"); + } + } + } + // 取货完成请求离开 + else if (phase == 0x05) { + if (ObjectUtil.isEmpty(inst)) { + logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); + break; + } + if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); + if (standardInspectSiteDeviceDriver.getMove() == 0) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + logServer.deviceExecuteLog(device_code,"","","AGV取货完成请求离开设备{}有货,无法反馈"); + } + } + +// if(!inst.getTask_code().startsWith("-")) { +// //反馈wms系统动作完成 +// inst.setFinish_type("1"); +// instructionService.update(inst); +// JSONObject feedjo = new JSONObject(); +// feedjo.put("status","1"); +// feedjo.put("device_code",device_code); +// feedjo.put("vehicle_code",inst.getVehicle_code()); +// feedjo.put("task_code",inst.getTask_code()); +// JSONArray feedja = JSONArray.parseArray(String.valueOf(feedjo)); +// acsToWmsService.feedbackActionStatusToWms(feedja); +// } + + } + //请求放货 + else if (phase == 0x07) { + if (ObjectUtil.isEmpty(inst)) { + logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); + break; + } + if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); + if (standardInspectSiteDeviceDriver.getMove() == 0) { inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + logServer.deviceExecuteLog(device_code,"","","AGV请求放货设备{}有货,无法反馈"); + } + } + // 检验取放货条件 + JSONObject agv_check = device_extra_table + .query("is_delete = '0' AND extra_code = 'agv_check' AND device_code = '" + device.getDevice_code() + "'") + .uniqueResult(0); + if (ObjectUtil.isNotEmpty(agv_check) && "true".equals(agv_check.getString("extra_value"))) { + JSONObject agv_check_status = device_extra_table + .query("is_delete = '0' AND extra_code = 'agv_check_status' AND device_code = '" + device.getDevice_code() + "'") + .uniqueResult(0); + if (ObjectUtil.isNotEmpty(agv_check_status) && "1".equals(agv_check_status.getString("extra_value"))) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + agv_check_status.put("extra_value", "0"); + device_extra_table.update(agv_check_status); + } else { + logServer.deviceExecuteLog(device_code,"","","AGV请求取货设备{}未取盖确认,无法反馈"); + } + } + } + // 放货完成请求离开 + else if (phase == 0x09) { + if (ObjectUtil.isEmpty(inst)) { + logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); + break; + } + if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); + if (standardInspectSiteDeviceDriver.getMove() != 0) { + inst.setExecute_status("6"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + logServer.deviceExecuteLog(device_code,"","","AGV放货完成请求离开设备{}无货,无法反馈"); + } + } + +// if(!inst.getTask_code().startsWith("-")){ +// //反馈wms系统动作完成 +// inst.setFinish_type("1"); +// instructionService.update(inst); +// JSONObject feedjo = new JSONObject(); +// feedjo.put("status","2"); +// feedjo.put("device_code",device_code); +// feedjo.put("vehicle_code",inst.getVehicle_code()); +// feedjo.put("task_code",inst.getTask_code()); +// JSONArray feedja = new JSONArray(); +// feedja.add(feedjo); +// acsToWmsService.feedbackActionStatusToWms(feedja); +// } + + } + //任务完毕 + //（无车id及状态） + else if (phase == 0x0A) { + if (!ObjectUtil.isEmpty(inst)) { + inst.setInstruction_status("2"); + instructionService.finish(inst); + } + data = AgvService.sendAgvOneModeInst(phase, index, 0); + } + //请求删除任务 + else if (phase == 0x30) { + flag = true; + if (!ObjectUtil.isEmpty(inst)) { + data = AgvService.sendAgvOneModeInst(0x8F, index, 0); + } else { + log.info("未找到对应的指令无法删除"); + break; + } + } + //任务删除确认 + //(需要WCS反馈) + else if (phase == 0xFF) { + flag = true; + if (!ObjectUtil.isEmpty(inst)) { + instructionService.cancel(inst.getInstruction_id()); + } + data = AgvService.sendAgvOneModeInst(phase, index, 0); + } + //进入区域 + else if (phase == 0x50) { + //开门 + if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { + standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); + standardAutodoorDeviceDriver.OpenOrClose("1"); + if (standardAutodoorDeviceDriver.getAction() == 1) { + standardAutodoorDeviceDriver.OpenOrClose("1"); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + } + } + } + //离开区域 + else if (phase == 0x51) { + //关门 + if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { + standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); + standardAutodoorDeviceDriver.OpenOrClose("2"); + if (standardAutodoorDeviceDriver.getAction() == 2) { + data = AgvService.sendAgvOneModeInst(phase, index, 0); + } + } + } else if (phase == 0x64) { + data = AgvService.sendAgvOneModeInst(phase, index, 0); + } + //上报异常 + else if (phase == 0x67) { + AgvDto dto = null; + Map map = AgvService.findAllAgvFromCache(); + if (map.containsKey(String.valueOf(carno))) { + dto = map.get(String.valueOf(carno)); + } else { + dto = new AgvDto(); + } + dto.setName(String.valueOf(carno)); + if (arr[18] * 256 + arr[19] == 0) { + dto.setState("IDLE"); + acsToWmsService.feedbackAgvStatus(String.valueOf(carno), "0", ""); + } else { + StringBuffer errbs = new StringBuffer(); + for (int i = 0; i < ERROR.length; i++) { + if (((arr[18] * 256 + arr[19]) & (1 << i)) > 0) + errbs.append("," + ERROR[i]); + //反馈故障 + } + dto.setState("ERROR"); + acsToWmsService.feedbackAgvStatus(String.valueOf(carno), "1", "error"); + } + } + //X坐标 + else if (phase == 0x70) { + AgvDto dto = null; + Map map = AgvService.findAllAgvFromCache(); + carno = arr[18] * 256 + arr[19]; + if (map.containsKey(String.valueOf(carno))) { + dto = map.get(String.valueOf(carno)); + } else { + dto = new AgvDto(); + } + dto.setName(String.valueOf(carno)); + dto.setPositionX(String.valueOf(ikey)); + } + //Y坐标 + else if (phase == 0x71) { + AgvDto dto = null; + Map map = AgvService.findAllAgvFromCache(); + carno = arr[18] * 256 + arr[19]; + if (map.containsKey(String.valueOf(carno))) { + dto = map.get(String.valueOf(carno)); + } else { + dto = new AgvDto(); + } + dto.setName(String.valueOf(carno)); + dto.setPositionY(String.valueOf(ikey)); + } + //角度 + else if (phase == 0x72) { + AgvDto dto = null; + Map map = AgvService.findAllAgvFromCache(); + carno = arr[18] * 256 + arr[19]; + if (map.containsKey(String.valueOf(carno))) { + dto = map.get(String.valueOf(carno)); + } else { + dto = new AgvDto(); + } + dto.setName(String.valueOf(carno)); + dto.setPositionAngle(String.valueOf(ikey)); + } + //电量 + else if (phase == 0x73) { + AgvDto dto = null; + Map map = AgvService.findAllAgvFromCache(); + carno = arr[18] * 256 + arr[19]; + if (map.containsKey(String.valueOf(carno))) { + dto = map.get(String.valueOf(carno)); + } else { + dto = new AgvDto(); + } + dto.setName(String.valueOf(carno)); + dto.setEnergyLevel(String.valueOf(ikey)); + } + if (!ObjectUtil.isEmpty(data)) { + write(data); + } + } catch (Exception e) { + System.out.println(e); + log.info(e.toString()); + log.info(e.getMessage()); + e.printStackTrace(); + } + } else { + System.out.println("agv上报不是0073类型动作，不处理"); + } + } + + } catch (Exception e) { + + + } finally { + + + } + + } + + + @Override + public void stop() { + super.after(); + try { + s.close(); + } catch (Exception e) { + e.printStackTrace(); + } + } + + + public static void write(byte[] b) { + try { + log.info("下发agv数据:" + Bytes2HexString(b)); + System.out.println("下发agv数据:" + Bytes2HexString(b)); + dos.write(b); + dos.flush(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + + } + + public static String Bytes2HexString(byte[] b) { + String ret = ""; + for (int i = 0; i < b.length; i++) { + String hex = Integer.toHexString(b[i] & 0xFF); + if (hex.length() == 1) { + hex = '0' + hex; + } + ret += hex.toUpperCase(); + } + return ret; + } +} diff --git a/acs/qd/src/views/acs/device/driver/standard_inspect_site_smart.vue b/acs/qd/src/views/acs/device/driver/standard_inspect_site_smart.vue index 39f2c9a..caab0bf 100644 --- a/acs/qd/src/views/acs/device/driver/standard_inspect_site_smart.vue +++ b/acs/qd/src/views/acs/device/driver/standard_inspect_site_smart.vue @@ -160,6 +160,32 @@ + + + + + + + + + + + + + + + + @@ -271,6 +297,7 @@ import deviceCrud from '@/api/acs/device/device' export default { name: 'StandardInspectSite', + dicts: ['agv_check_status'], mixins: [crud], props: { parentForm: { @@ -301,7 +328,9 @@ export default { manual_create_task: true, is_pickup: true, is_release: true, - link_device_code: [] + link_device_code: [], + agv_check: true, + agv_check_status: '' }, rules: {} }