gengby
2 years ago
12 changed files with 158 additions and 611 deletions
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package org.nl.acs.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 lombok.extern.slf4j.Slf4j; |
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import org.nl.acs.AcsConfig; |
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import org.nl.acs.agv.server.NDCAgvService; |
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import org.nl.acs.device.service.DeviceService; |
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import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver; |
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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.opc.Device; |
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import org.nl.acs.opc.DeviceAppService; |
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import org.nl.modules.system.service.ParamService; |
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import org.nl.modules.system.service.impl.ParamServiceImpl; |
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import org.nl.modules.wql.util.SpringContextHolder; |
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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 static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; |
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@Slf4j |
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@Component |
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public class TwoNDC2SocketConnectionAutoRun extends AbstractAutoRunnable { |
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Socket s; |
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String ip = "192.168.46.225"; |
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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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ParamService paramService; |
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@Autowired |
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AutoRunService autoRunService; |
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public TwoNDC2SocketConnectionAutoRun() { |
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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 TwoNDC2SocketConnectionAutoRun.class.getSimpleName(); |
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} |
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public String getName() { |
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return "2楼2区域AGV系统"; |
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} |
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public void autoRun() { |
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try { |
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System.out.println("2楼2区域AGV系统链接开始"); |
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ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.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 ndcAgvService = 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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ip = paramService.findByCode(AcsConfig.AGVURL22).getValue(); |
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port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT22).getValue()); |
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byte[] b = new byte[1028]; |
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s = new Socket(ip, port); |
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System.out.println("2楼2区域AGV链接成功"); |
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dos = new DataOutputStream(s.getOutputStream()); |
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dis = new DataInputStream(s.getInputStream()); |
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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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AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver; |
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//开始任务
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if (phase == 0x01) { |
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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 = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); |
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} |
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flag = true; |
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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 == 0x14) { |
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if (ObjectUtil.isEmpty(inst)) { |
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log.info("未找到指令号{}对应的指令", ikey); |
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break; |
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} |
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inst.setInstruction_status("2"); |
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instructionService.finish(inst); |
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data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); |
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} |
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//请求删除任务
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//(需要WCS反馈)
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else if (phase == 0x30) { |
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if (ObjectUtil.isEmpty(inst)) { |
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log.info("未找到指令号{}对应的指令", ikey); |
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break; |
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} |
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data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0); |
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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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if (ObjectUtil.isEmpty(inst)) { |
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log.info("未找到指令号{}对应的指令", ikey); |
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break; |
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} |
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instructionService.cancelNOSendAgv(inst.getInstruction_id()); |
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data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); |
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} else { |
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//上报异常信息
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//（不需要WCS反馈）
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if(phase == 0x67){ |
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device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); |
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} else { |
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device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); |
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} |
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if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { |
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agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver(); |
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agvNdcTwoDeviceDriver.processSocket(arr); |
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} |
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} |
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if (!ObjectUtil.isEmpty(data)) { |
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write(data); |
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} |
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} else { |
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System.out.println("agv上报不是0073类型动作，不处理"); |
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} |
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} |
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} catch (Exception e) { |
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} finally { |
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} |
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} |
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@Override |
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public void stop() { |
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super.after(); |
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try { |
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s.close(); |
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} catch (Exception e) { |
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e.printStackTrace(); |
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} |
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} |
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public static void write(byte[] b) { |
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try { |
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log.info("下发agv数据:" + Bytes2HexString(b)); |
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System.out.println("下发agv数据:" + Bytes2HexString(b)); |
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dos.write(b); |
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dos.flush(); |
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} catch (IOException e) { |
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// TODO Auto-generated catch block
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e.printStackTrace(); |
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} |
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} |
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} |
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@ -1,245 +0,0 @@ |
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package org.nl.acs.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 lombok.extern.slf4j.Slf4j; |
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import org.nl.acs.AcsConfig; |
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import org.nl.acs.agv.server.NDCAgvService; |
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import org.nl.acs.device.service.DeviceService; |
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import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; |
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import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver; |
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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.opc.Device; |
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import org.nl.acs.opc.DeviceAppService; |
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import org.nl.modules.system.service.ParamService; |
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import org.nl.modules.system.service.impl.ParamServiceImpl; |
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import org.nl.modules.wql.util.SpringContextHolder; |
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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.List; |
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import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; |
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@Slf4j |
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@Component |
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public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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Socket s; |
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String ip = "192.168.46.225"; |
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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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ParamService paramService; |
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@Autowired |
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AutoRunService autoRunService; |
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public TwoNDCSocketConnectionAutoRun() { |
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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 TwoNDCSocketConnectionAutoRun.class.getSimpleName(); |
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} |
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public String getName() { |
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return "2楼1区域AGV系统"; |
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} |
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public void autoRun() { |
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try { |
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System.out.println("2楼1区域AGV系统链接开始"); |
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ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.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 ndcAgvService = 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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ip = paramService.findByCode(AcsConfig.AGVURL).getValue(); |
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port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue()); |
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byte[] b = new byte[1028]; |
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s = new Socket(ip, port); |
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System.out.println("2楼1区域Agv链接成功"); |
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dos = new DataOutputStream(s.getOutputStream()); |
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dis = new DataInputStream(s.getInputStream()); |
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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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AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver; |
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//开始任务
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if (phase == 0x01) { |
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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 = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); |
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} |
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flag = true; |
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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 == 0x14) { |
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if (ObjectUtil.isEmpty(inst)) { |
|
||||
log.info("未找到指令号{}对应的指令", ikey); |
|
||||
break; |
|
||||
} |
|
||||
inst.setInstruction_status("2"); |
|
||||
instructionService.finish(inst); |
|
||||
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); |
|
||||
} |
|
||||
//请求删除任务
|
|
||||
//(需要WCS反馈)
|
|
||||
else if (phase == 0x30) { |
|
||||
if (ObjectUtil.isEmpty(inst)) { |
|
||||
log.info("未找到指令号{}对应的指令", ikey); |
|
||||
break; |
|
||||
} |
|
||||
data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0); |
|
||||
} |
|
||||
//任务删除确认
|
|
||||
//(需要WCS反馈)
|
|
||||
else if (phase == 0xFF) { |
|
||||
if (ObjectUtil.isEmpty(inst)) { |
|
||||
log.info("未找到指令号{}对应的指令", ikey); |
|
||||
break; |
|
||||
} |
|
||||
instructionService.cancelNOSendAgv(inst.getInstruction_id()); |
|
||||
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); |
|
||||
} else { |
|
||||
//上报异常信息
|
|
||||
//（不需要WCS反馈）
|
|
||||
if(phase == 0x67){ |
|
||||
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); |
|
||||
} else { |
|
||||
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); |
|
||||
} |
|
||||
if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { |
|
||||
agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver(); |
|
||||
agvNdcTwoDeviceDriver.processSocket(arr); |
|
||||
} |
|
||||
} |
|
||||
if (!ObjectUtil.isEmpty(data)) { |
|
||||
write(data); |
|
||||
} |
|
||||
|
|
||||
} 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(); |
|
||||
} |
|
||||
|
|
||||
} |
|
||||
} |
|
||||
Loading…
Reference in new issue