From dc7548ee87670ff12f25e81863802106211380ff Mon Sep 17 00:00:00 2001
From: gengby <858962040@qq.com>
Date: Thu, 5 Jan 2023 15:01:32 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../agv/server/impl/XianGongAgvServiceImpl.java  |  2 +-
 .../device_driver/agv/MaGangAgvDeviceDriver.java |  6 +++---
 .../quartz/task/QueryXZAgvDeviceStatus.java      | 16 +++++++++++++---
 3 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
index a833e57..05cdfdf 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
@@ -124,7 +124,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             HttpResponse result = HttpRequest.get(agvurl)
                     .timeout(20000)//超时，毫秒
                     .execute();
-
+            log.info("queryXZAgvDeviceStatus----查询agv状态数据数据:{}" + result.body());
             return result;
         } else {
             return null;
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/agv/MaGangAgvDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/agv/MaGangAgvDeviceDriver.java
index 9984b8b..3ebacc0 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/agv/MaGangAgvDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/agv/MaGangAgvDeviceDriver.java
@@ -109,18 +109,18 @@ public class MaGangAgvDeviceDriver extends AbstractOpcDeviceDriver implements De
     }
 
 
-    public void writing(String param, String value) {
+    public void writing1(String param, String value) {
         String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
                 + "." + param;
         String opcservcerid = this.getDevice().getOpc_server_id();
         Server server = ReadUtil.getServer(opcservcerid);
         Map<String, Object> itemMap = new HashMap<String, Object>();
-        itemMap.put(to_command, value);
+        itemMap.put(to_command, Integer.parseInt(value));
         ReadUtil.write(itemMap, server);
         log.info("设备号{},kep点位名称{},下发信号{}", this.getDevice().getDevice_code(), to_command, value);
     }
 
-    public void writing(String param, float value) {
+    public void writing(String param, String value) {
         String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
                 + "." + param;
         String opcservcerid = this.getDevice().getOpc_server_id();
diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java
index 8f79835..627cbae 100644
--- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java
+++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java
@@ -44,6 +44,11 @@ public class QueryXZAgvDeviceStatus {
                     JSONObject body = JSONObject.parseObject(response.body());
                     JSONArray ja = body.getJSONArray("report");
                     for (int i = 0; i < ja.size(); i++) {
+                        System.out.println(ja.getJSONObject(1));
+                        if (i == 1){
+                            System.out.println(i);
+                        }
+                        System.out.println("此刻i=" + i);
                         JSONObject jo = ja.getJSONObject(i);
                         //机器人编码
                         String agv_code = jo.getString("uuid");
@@ -76,6 +81,7 @@ public class QueryXZAgvDeviceStatus {
                         String status = "0";
                         if (connectionStatus == 0) {
                             status = "5";
+                            task_type = "0";
                         } else {
                             if (procBusiness) {
                                 //工作中
@@ -84,13 +90,16 @@ public class QueryXZAgvDeviceStatus {
                                 if (charging) {
                                     //充电中
                                     status = "2";
+                                    task_type = "0";
                                 } else {
                                     if (is_error) {
                                         //故障
                                         status = "3";
+                                        task_type = "0";
                                     } else {
                                         //休息中
                                         status = "4";
+                                        task_type = "0";
                                     }
                                 }
                             }
@@ -102,10 +111,10 @@ public class QueryXZAgvDeviceStatus {
                             String kepStatus = String.valueOf(maGangAgvDeviceDriver.getStatus());
                             String kepType = String.valueOf(maGangAgvDeviceDriver.getType());
                             if (!StrUtil.equals(kepStatus, status)) {
-                                maGangAgvDeviceDriver.writing("status", Integer.parseInt(status));
+                                maGangAgvDeviceDriver.writing1("status", status);
                             }
                             if (!StrUtil.equals(kepType, task_type)) {
-                                maGangAgvDeviceDriver.writing("type", Integer.parseInt(task_type));
+                                maGangAgvDeviceDriver.writing1("type", task_type);
                             }
                             maGangAgvDeviceDriver.writing("x_coordinate", hisFormat.format(x));
                             maGangAgvDeviceDriver.writing("y_coordinate", hisFormat.format(y));
@@ -114,7 +123,8 @@ public class QueryXZAgvDeviceStatus {
                 }
             }
         } catch (Exception e) {
-
+            System.out.println("出现异常");
+            e.printStackTrace();
         }
 
         try {