From 1508345df6d572fa5e5a2d4bbd29fe021765e601 Mon Sep 17 00:00:00 2001
From: "USER-20220102CG\\noblelift" <546428999@qq.com>
Date: Wed, 7 Sep 2022 15:09:46 +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
---
acs/hd/README.en.md | 2 +-
acs/hd/README.md | 4 +-
acs/hd/nladmin-system/pom.xml | 2 +-
.../auto/run/NDCSocketConnectionAutoRun.java | 546 ++++++++++++++++++
.../main/resources/config/application-dev.yml | 2 +-
acs/hd/nladmin-test/pom.xml | 2 +-
acs/hd/pom.xml | 2 +-
7 files changed, 553 insertions(+), 7 deletions(-)
create mode 100644 acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
diff --git a/acs/hd/README.en.md b/acs/hd/README.en.md
index f2070da..4f70b16 100644
--- a/acs/hd/README.en.md
+++ b/acs/hd/README.en.md
@@ -1,4 +1,4 @@
-# hl_two_acs
+# shenZhenHangRui
#### Description
{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**}
diff --git a/acs/hd/README.md b/acs/hd/README.md
index e5da157..888c119 100644
--- a/acs/hd/README.md
+++ b/acs/hd/README.md
@@ -1,3 +1,3 @@
-# hl_two_acs
+# shenZhenHangRui
-海亮老车间项目
\ No newline at end of file
+深圳航瑞项目
\ No newline at end of file
diff --git a/acs/hd/nladmin-system/pom.xml b/acs/hd/nladmin-system/pom.xml
index 8f66398..6ad0bce 100644
--- a/acs/hd/nladmin-system/pom.xml
+++ b/acs/hd/nladmin-system/pom.xml
@@ -3,7 +3,7 @@
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
- hl_two_acs
+ shenZhenHangRui
org.nl
1.0-SNAPSHOT
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..7b9cec0
--- /dev/null
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
@@ -0,0 +1,546 @@
+package org.nl.start.auto.run;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+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.oumulong_plc.OumulongPlcDeviceDriver;
+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_storage.StandardStorageDeviceDriver;
+import org.nl.acs.device_driver.traffic_light.TrafficLightDeviceDriver;
+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.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.acs.task.service.impl.TaskServiceImpl;
+import org.nl.utils.SpringContextHolder;
+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;
+
+import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
+
+@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);
+ 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());
+
+ 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;
+ StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
+ StandardStorageDeviceDriver standardStorageDeviceDriver;
+ StandardAutodoorDeviceDriver standardAutodoorDeviceDriver;
+ StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver;
+ OumulongPlcDeviceDriver oumulongPlcDeviceDriver;
+ TrafficLightDeviceDriver trafficLightDeviceDriver;
+ int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
+
+ 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)) {
+ log.info("未找到指令号{}对应的指令", 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 {
+ log.info("AGV请求取货设备{}无货,无法反馈", device_code);
+ }
+ }
+ //空盘堆叠站点
+ if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
+ standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver();
+ if (standardEmptyPalletSiteDeviceDriver.getMove() != 0) {
+ inst.setExecute_status("1");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ } else {
+ log.info("AGV请求取货设备{}无货,无法反馈", device_code);
+ }
+ }
+ //输送机-控制点驱动
+ if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+ standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+ if (standardCoveyorControlDeviceDriver.getMove() != 0) {
+ inst.setExecute_status("1");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ } else {
+ log.info("AGV请求取货设备{}无货,无法反馈", device_code);
+ }
+ }
+ //标准版-货架
+ if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+ inst.setExecute_status("1");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ }
+ }
+ // 取货完成请求离开
+ else if (phase == 0x05) {
+ if (ObjectUtil.isEmpty(inst)) {
+ log.info("未找到指令号{}对应的指令", 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 {
+ log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code);
+ }
+ }
+ if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+ standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+ if (standardCoveyorControlDeviceDriver.getMove() == 0) {
+ inst.setExecute_status("5");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ standardCoveyorControlDeviceDriver.writing(1, 2);
+ flag = true;
+ } else {
+ log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code);
+ }
+ }
+ if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
+ standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver();
+ if (standardEmptyPalletSiteDeviceDriver.getMove() == 0) {
+ inst.setExecute_status("5");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ } else {
+ log.info("AGV请求取货设备{}无货,无法反馈", device_code);
+ }
+ }
+
+ if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+ standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
+ inst.setExecute_status("5");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ }
+
+ }
+ //请求放货
+ else if (phase == 0x07) {
+ if (ObjectUtil.isEmpty(inst)) {
+ log.info("未找到指令号{}对应的指令", 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 {
+ log.info("AGV请求放货设备{}有货,无法反馈", device_code);
+ }
+ }
+ if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+ standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+ if (standardCoveyorControlDeviceDriver.getMove() == 0) {
+ inst.setExecute_status("3");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ } else {
+ log.info("AGV请求放货设备{}有货,无法反馈", device_code);
+ }
+ }
+
+ if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+ inst.setExecute_status("3");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ }
+ }
+ // 放货完成请求离开
+ else if (phase == 0x09) {
+ if (ObjectUtil.isEmpty(inst)) {
+ log.info("未找到指令号{}对应的指令", 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 {
+ log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code);
+ }
+ }
+ if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
+ standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
+ if (standardCoveyorControlDeviceDriver.getMove() != 0) {
+ inst.setExecute_status("6");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ standardCoveyorControlDeviceDriver.writing(1, 3);
+ flag = true;
+ } else {
+ log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code);
+ }
+ }
+
+ if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+ inst.setExecute_status("6");
+ instructionService.update(inst);
+ data = AgvService.sendAgvOneModeInst(phase, index, 0);
+ flag = true;
+ }
+
+ }
+ //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);
+ }
+ }
+ if (device.getDeviceDriver() instanceof OumulongPlcDeviceDriver) {
+ oumulongPlcDeviceDriver = (OumulongPlcDeviceDriver) device.getDeviceDriver();
+ oumulongPlcDeviceDriver.OpenOrClose("1");
+ if (oumulongPlcDeviceDriver.getAction() == 1) {
+ oumulongPlcDeviceDriver.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);
+ }
+ }
+ if (device.getDeviceDriver() instanceof OumulongPlcDeviceDriver) {
+ oumulongPlcDeviceDriver = (OumulongPlcDeviceDriver) device.getDeviceDriver();
+ oumulongPlcDeviceDriver.OpenOrClose("2");
+ if (oumulongPlcDeviceDriver.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));
+ }
+
+ } 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();
+ }
+
+ }
+}
diff --git a/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml b/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml
index e17aff6..4314651 100644
--- a/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml
+++ b/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml
@@ -8,7 +8,7 @@ spring:
druid:
db-type: com.alibaba.druid.pool.DruidDataSource
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
- url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:lnsh_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+ url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:hl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
# url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:rljn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
username: ${DB_USER:root}
# password: ${DB_PWD:P@ssw0rd}
diff --git a/acs/hd/nladmin-test/pom.xml b/acs/hd/nladmin-test/pom.xml
index 3408dbe..5523019 100644
--- a/acs/hd/nladmin-test/pom.xml
+++ b/acs/hd/nladmin-test/pom.xml
@@ -3,7 +3,7 @@
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
- hl_two_acs
+ shenZhenHangRui
org.nl
1.0-SNAPSHOT
diff --git a/acs/hd/pom.xml b/acs/hd/pom.xml
index f43c526..b2f56f2 100644
--- a/acs/hd/pom.xml
+++ b/acs/hd/pom.xml
@@ -5,7 +5,7 @@
4.0.0
org.nl
- hl_two_acs
+ shenZhenHangRui
pom
1.0-SNAPSHOT
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