张江玮
2 years ago
6 changed files with 671 additions and 2 deletions
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package org.nl.start.auto.run; |
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import cn.hutool.core.util.ObjectUtil; |
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import cn.hutool.core.util.StrUtil; |
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import com.alibaba.fastjson.JSONObject; |
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import lombok.extern.slf4j.Slf4j; |
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import org.nl.acs.agv.server.NDCAgvService; |
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import org.nl.acs.agv.server.dto.AgvDto; |
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import org.nl.acs.config.AcsConfig; |
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import org.nl.acs.config.server.AcsConfigService; |
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import org.nl.acs.config.server.impl.AcsConfigServiceImpl; |
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import org.nl.acs.device.service.DeviceService; |
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import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver; |
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import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver; |
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import org.nl.acs.device_driver.standard_emptypallet_site.StandardEmptyPalletSiteDeviceDriver; |
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import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver; |
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import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; |
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import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver; |
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import org.nl.acs.ext.wms.service.AcsToWmsService; |
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import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; |
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import org.nl.acs.instruction.service.InstructionService; |
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import org.nl.acs.instruction.service.dto.Instruction; |
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import org.nl.acs.instruction.service.impl.InstructionServiceImpl; |
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import org.nl.acs.log.service.DeviceExecuteLogService; |
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import org.nl.acs.log.service.impl.DeviceExecuteLogServiceImpl; |
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import org.nl.acs.opc.Device; |
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import org.nl.acs.opc.DeviceAppService; |
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import org.nl.utils.SpringContextHolder; |
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import org.nl.wql.core.bean.WQLObject; |
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import org.springframework.beans.factory.annotation.Autowired; |
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import org.springframework.stereotype.Component; |
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import java.io.DataInputStream; |
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import java.io.DataOutputStream; |
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import java.io.IOException; |
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import java.net.Socket; |
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import java.util.Date; |
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import java.util.Map; |
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@Slf4j |
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@Component |
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public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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Socket s; |
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String ip = "127.0.0.1"; |
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int port = 1234; |
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static DataOutputStream dos; |
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static DataInputStream dis; |
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private int recordTimeOut = 10000; |
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private Date recordTime; |
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String[] ERROR = new String[]{ |
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"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", |
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"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", |
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"抬叉停止"}; |
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boolean bConnected = true; |
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boolean isReConnect = false; |
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@Autowired |
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AcsConfigService acsConfigService; |
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@Autowired |
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AutoRunService autoRunService; |
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public NDCSocketConnectionAutoRun() { |
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this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); |
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} |
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public String getCode() { |
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return NDCSocketConnectionAutoRun.class.getSimpleName(); |
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} |
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public String getName() { |
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return "NDC在线连接"; |
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} |
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public void autoRun() { |
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try { |
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AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class); |
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InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); |
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AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); |
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NDCAgvService AgvService = SpringContextHolder.getBean(NDCAgvService.class); |
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DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); |
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DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); |
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DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogServiceImpl.class); |
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ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); |
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port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT)); |
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byte[] b = new byte[1028]; |
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s = new Socket(ip, port); |
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dos = new DataOutputStream(s.getOutputStream()); |
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dis = new DataInputStream(s.getInputStream()); |
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WQLObject device_extra_table = WQLObject.getWQLObject("acs_device_extra"); |
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while (bConnected) { |
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int count = dis.read(b); |
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if (count == -1) { |
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break; |
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} |
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int[] arr = new int[count]; |
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StringBuffer bs = new StringBuffer(); |
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for (int i = 0; i < count; i++) { |
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int temp = b[i]; |
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if (temp < 0) |
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temp += 256; |
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arr[i] = temp; |
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StringBuffer bs1 = new StringBuffer("0"); |
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bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); |
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} |
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System.out.println("收到请求参数：" + bs); |
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boolean flag = false; |
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if (arr[8] * 256 + arr[9] == 0x73) { |
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byte[] data = null; |
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System.out.println("接收agv上报信息：" + bs); |
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//执行阶段
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int phase = arr[16] * 256 + arr[17]; |
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// agv任务号
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int index = arr[12] * 256 + arr[13]; |
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//任务号
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int ikey = arr[26] * 256 + arr[27]; |
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//站点号
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int agvaddr = arr[18] * 256 + arr[19]; |
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//车号
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int carno = arr[20]; |
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Instruction inst = null; |
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if (ikey != 0) { |
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inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); |
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} |
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log.info("接收agv上报信息：" + bs); |
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log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); |
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Device device = null; |
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String device_code = null; |
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String old_device_code = null; |
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String emptyNum = null; |
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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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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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emptyNum = point[1]; |
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} else { |
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device_code = old_device_code; |
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} |
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device = deviceAppService.findDeviceByCode(device_code); |
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} |
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StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; |
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StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; |
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StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver; |
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StandardStorageDeviceDriver standardStorageDeviceDriver; |
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StandardAutodoorDeviceDriver standardAutodoorDeviceDriver; |
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StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver; |
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int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE)); |
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try { |
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if (phase == 0x01) { |
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data = AgvService.sendAgvOneModeInst(phase, index); |
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if (!ObjectUtil.isEmpty(inst)) { |
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inst.setInstruction_status("1"); |
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inst.setAgv_jobno(String.valueOf(index)); |
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inst.setSend_status("1"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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} |
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flag = true; |
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} |
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//分配 车id
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else if (phase == 0x02) { |
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if (!ObjectUtil.isEmpty(inst)) { |
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inst.setCarno(String.valueOf(carno)); |
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instructionService.update(inst); |
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} |
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} |
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// 到达取货点请求取货
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else if (phase == 0x03) { |
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if (ObjectUtil.isEmpty(inst)) { |
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logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); |
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break; |
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} |
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//检测站点
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if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { |
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standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); |
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if (standardInspectSiteDeviceDriver.getMove() != 0) { |
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inst.setExecute_status("1"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} else { |
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logServer.deviceExecuteLog(device_code,"","", "AGV请求取货设备{}无货,无法反馈"); |
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} |
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} |
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//普通站点
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if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); |
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if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { |
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inst.setExecute_status("1"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} else { |
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if (device.getHas_goods() != 0) { |
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inst.setExecute_status("1"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} else { |
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logServer.deviceExecuteLog(device_code,"","","AGV请求取货设备{}无货,无法反馈"); |
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} |
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} |
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} |
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// 检验取放货条件
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JSONObject agv_check = device_extra_table |
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.query("is_delete = '0' AND extra_code = 'agv_check' AND device_code = '" + device.getDevice_code() + "'") |
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.uniqueResult(0); |
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if (ObjectUtil.isNotEmpty(agv_check) && "true".equals(agv_check.getString("extra_value"))) { |
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JSONObject agv_check_status = device_extra_table |
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.query("is_delete = '0' AND extra_code = 'agv_check_status' AND device_code = '" + device.getDevice_code() + "'") |
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.uniqueResult(0); |
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if (ObjectUtil.isNotEmpty(agv_check_status) && "2".equals(agv_check_status.getString("extra_value"))) { |
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inst.setExecute_status("1"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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agv_check_status.put("extra_value", "0"); |
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device_extra_table.update(agv_check_status); |
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} else { |
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logServer.deviceExecuteLog(device_code,"","","AGV请求取货设备{}未放盖确认,无法反馈"); |
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} |
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} |
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} |
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// 取货完成请求离开
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else if (phase == 0x05) { |
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if (ObjectUtil.isEmpty(inst)) { |
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logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); |
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break; |
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} |
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if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { |
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standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); |
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if (standardInspectSiteDeviceDriver.getMove() == 0) { |
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inst.setExecute_status("5"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} else { |
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logServer.deviceExecuteLog(device_code,"","","AGV取货完成请求离开设备{}有货,无法反馈"); |
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} |
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} |
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// if(!inst.getTask_code().startsWith("-")) {
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// //反馈wms系统动作完成
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// inst.setFinish_type("1");
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// instructionService.update(inst);
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// JSONObject feedjo = new JSONObject();
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// feedjo.put("status","1");
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// feedjo.put("device_code",device_code);
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// feedjo.put("vehicle_code",inst.getVehicle_code());
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// feedjo.put("task_code",inst.getTask_code());
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// JSONArray feedja = JSONArray.parseArray(String.valueOf(feedjo));
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// acsToWmsService.feedbackActionStatusToWms(feedja);
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// }
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} |
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//请求放货
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else if (phase == 0x07) { |
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if (ObjectUtil.isEmpty(inst)) { |
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logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); |
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break; |
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} |
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if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { |
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standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); |
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if (standardInspectSiteDeviceDriver.getMove() == 0) { inst.setExecute_status("3"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} else { |
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logServer.deviceExecuteLog(device_code,"","","AGV请求放货设备{}有货,无法反馈"); |
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} |
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} |
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// 检验取放货条件
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JSONObject agv_check = device_extra_table |
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.query("is_delete = '0' AND extra_code = 'agv_check' AND device_code = '" + device.getDevice_code() + "'") |
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.uniqueResult(0); |
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if (ObjectUtil.isNotEmpty(agv_check) && "true".equals(agv_check.getString("extra_value"))) { |
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JSONObject agv_check_status = device_extra_table |
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.query("is_delete = '0' AND extra_code = 'agv_check_status' AND device_code = '" + device.getDevice_code() + "'") |
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.uniqueResult(0); |
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if (ObjectUtil.isNotEmpty(agv_check_status) && "1".equals(agv_check_status.getString("extra_value"))) { |
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inst.setExecute_status("1"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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agv_check_status.put("extra_value", "0"); |
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device_extra_table.update(agv_check_status); |
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} else { |
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logServer.deviceExecuteLog(device_code,"","","AGV请求取货设备{}未取盖确认,无法反馈"); |
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} |
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} |
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} |
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// 放货完成请求离开
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else if (phase == 0x09) { |
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if (ObjectUtil.isEmpty(inst)) { |
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logServer.deviceExecuteLog("未找到指令号对应的指令：", "","",String.valueOf(ikey)); |
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break; |
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} |
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if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { |
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standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); |
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if (standardInspectSiteDeviceDriver.getMove() != 0) { |
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inst.setExecute_status("6"); |
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instructionService.update(inst); |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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flag = true; |
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} else { |
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logServer.deviceExecuteLog(device_code,"","","AGV放货完成请求离开设备{}无货,无法反馈"); |
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} |
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} |
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// if(!inst.getTask_code().startsWith("-")){
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// //反馈wms系统动作完成
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// inst.setFinish_type("1");
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// instructionService.update(inst);
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// JSONObject feedjo = new JSONObject();
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// feedjo.put("status","2");
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// feedjo.put("device_code",device_code);
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// feedjo.put("vehicle_code",inst.getVehicle_code());
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// feedjo.put("task_code",inst.getTask_code());
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// JSONArray feedja = new JSONArray();
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// feedja.add(feedjo);
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// acsToWmsService.feedbackActionStatusToWms(feedja);
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// }
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} |
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//任务完毕
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//（无车id及状态）
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else if (phase == 0x0A) { |
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if (!ObjectUtil.isEmpty(inst)) { |
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inst.setInstruction_status("2"); |
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instructionService.finish(inst); |
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} |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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} |
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//请求删除任务
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else if (phase == 0x30) { |
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flag = true; |
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if (!ObjectUtil.isEmpty(inst)) { |
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data = AgvService.sendAgvOneModeInst(0x8F, index, 0); |
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} else { |
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log.info("未找到对应的指令无法删除"); |
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break; |
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} |
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} |
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//任务删除确认
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//(需要WCS反馈)
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else if (phase == 0xFF) { |
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flag = true; |
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if (!ObjectUtil.isEmpty(inst)) { |
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instructionService.cancel(inst.getInstruction_id()); |
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} |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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} |
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//进入区域
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else if (phase == 0x50) { |
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//开门
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if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { |
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standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); |
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standardAutodoorDeviceDriver.OpenOrClose("1"); |
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if (standardAutodoorDeviceDriver.getAction() == 1) { |
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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<String, AgvDto> 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<String, AgvDto> 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<String, AgvDto> 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<String, AgvDto> 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<String, AgvDto> 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; |
||||
|
} |
||||
|
} |
||||
Loading…
Reference in new issue