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@ -3,9 +3,9 @@ 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 cn.hutool.http.HttpResponse; |
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import com.alibaba.fastjson.JSONArray; |
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import com.alibaba.fastjson.JSONObject; |
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import lombok.extern.slf4j.Slf4j; |
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import net.sf.json.JSONArray; |
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import net.sf.json.JSONObject; |
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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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@ -17,6 +17,7 @@ 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.device_driver.traffic_light.TrafficLightDeviceDriver; |
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import org.nl.acs.ext.wms.service.AcsToWmsService; |
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@ -26,10 +27,6 @@ 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.acs.opc.DeviceAppServiceImpl; |
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import org.nl.acs.task.service.TaskService; |
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import org.nl.acs.task.service.dto.TaskDto; |
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import org.nl.acs.task.service.impl.TaskServiceImpl; |
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import org.nl.utils.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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@ -93,6 +90,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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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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System.out.println("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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@ -159,18 +157,28 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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StandardStorageDeviceDriver standardStorageDeviceDriver; |
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StandardAutodoorDeviceDriver standardAutodoorDeviceDriver; |
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StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver; |
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StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; |
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OumulongPlcDeviceDriver oumulongPlcDeviceDriver; |
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TrafficLightDeviceDriver trafficLightDeviceDriver; |
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int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE)); |
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if (phase == 0x01) { |
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data = AgvService.sendAgvOneModeInst(phase, index); |
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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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// 反馈wms任务状态---执行中
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JSONObject feed_jo = new JSONObject(); |
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feed_jo.put("task_code", inst.getTask_code()); |
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feed_jo.put("task_status", "1"); |
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JSONArray ja = new JSONArray(); |
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ja.add(feed_jo); |
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acsToWmsService.feedbackTaskStatusToWms(ja); |
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log.info("agv任务状态-执行中反馈成功,设备号{},任务号{}", device_code, inst.getTask_code()); |
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} |
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flag = true; |
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} |
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@ -187,6 +195,29 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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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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//普通站点
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if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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JSONObject map = new JSONObject(); |
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map.put("task_code", inst.getTask_code()); |
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map.put("status", "1"); |
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map.put("device_code", device_code); |
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map.put("vehicle_code", inst.getVehicle_code()); |
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HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map); |
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String body = httpResponse.body(); |
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JSONObject resJson = JSONObject.parseObject(body); |
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String message = resJson.getString("message"); |
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int status = Integer.parseInt(resJson.getString("status")); |
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if (status == 200) { |
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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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log.info("agv请求取货反馈成功,设备号{},任务号{}", device_code, inst.getTask_code()); |
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} else { |
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log.info("agv请求取货,wms系统不允许取货,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message); |
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} |
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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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@ -238,6 +269,29 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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break; |
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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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JSONObject map = new JSONObject(); |
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map.put("task_code", inst.getTask_code()); |
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map.put("status", "2"); |
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map.put("device_code", device_code); |
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map.put("vehicle_code", inst.getVehicle_code()); |
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HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map); |
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String body = httpResponse.body(); |
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JSONObject resJson = JSONObject.parseObject(body); |
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String message = resJson.getString("message"); |
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int status = Integer.parseInt(resJson.getString("status")); |
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if (status == 200) { |
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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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log.info("agv取货完成反馈成功,设备号{},任务号{}", device_code, inst.getTask_code()); |
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} else { |
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log.info("agv请求取货完成请求离开,wms系统不允许离开,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message); |
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} |
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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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@ -288,6 +342,30 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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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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//普通站点
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if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { |
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JSONObject map = new JSONObject(); |
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map.put("task_code", inst.getTask_code()); |
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map.put("status", "3"); |
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map.put("device_code", device_code); |
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map.put("vehicle_code", inst.getVehicle_code()); |
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HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map); |
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String body = httpResponse.body(); |
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JSONObject resJson = JSONObject.parseObject(body); |
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String message = resJson.getString("message"); |
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int status = Integer.parseInt(resJson.getString("status")); |
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if (status == 200) { |
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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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log.info("agv请求放货反馈成功,设备号{},任务号{}", device_code, inst.getTask_code()); |
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} else { |
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log.info("agv请求放货,wms系统不允许放货,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message); |
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} |
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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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@ -325,6 +403,29 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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break; |
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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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JSONObject map = new JSONObject(); |
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map.put("task_code", inst.getTask_code()); |
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map.put("status", "4"); |
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map.put("device_code", device_code); |
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map.put("vehicle_code", inst.getVehicle_code()); |
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HttpResponse httpResponse = acsToWmsService.feedbackAgvTakePutStatus(map); |
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String body = httpResponse.body(); |
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JSONObject resJson = JSONObject.parseObject(body); |
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String message = resJson.getString("message"); |
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int status = Integer.parseInt(resJson.getString("status")); |
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if (status == 200) { |
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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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log.info("agv放货完成反馈成功,设备号{},任务号{}", device_code, inst.getTask_code()); |
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} else { |
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log.info("agv放货完成请求离开,wms系统不允许离开,设备号{},任务号{},原因{}", device_code, inst.getTask_code(), message); |
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} |
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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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@ -363,6 +464,15 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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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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//反馈wms任务状态---完成
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JSONObject feed_jo = new JSONObject(); |
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feed_jo.put("task_code", inst.getTask_code()); |
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feed_jo.put("task_status", "2"); |
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JSONArray ja = new JSONArray(); |
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ja.add(feed_jo); |
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acsToWmsService.feedbackTaskStatusToWms(ja); |
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log.info("agv任务完成反馈成功,设备号{},任务号{}", device_code, inst.getTask_code()); |
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} |
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data = AgvService.sendAgvOneModeInst(phase, index, 0); |
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} |
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@ -503,6 +613,9 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { |
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dto.setName(String.valueOf(carno)); |
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dto.setEnergyLevel(String.valueOf(ikey)); |
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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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gengby
2 years ago