diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/xg_agv/XgagvDeviceDriver.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/xg_agv/XgagvDeviceDriver.java index 8248d4a..749a954 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/xg_agv/XgagvDeviceDriver.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/xg_agv/XgagvDeviceDriver.java @@ -100,7 +100,6 @@ public class XgagvDeviceDriver extends AbstractDeviceDriver implements DeviceDri tbjsocket.connect(socketAddress, 1500); //读取数据超时 String content = ""; - code = "5A 01 00 01 00 00 00" + code + "00 00 00 00 00 00"; if (ObjectUtil.isNotEmpty(jo)){ content = bytesToHexString(stringToByte(jo.toString())); } @@ -173,13 +172,13 @@ public class XgagvDeviceDriver extends AbstractDeviceDriver implements DeviceDri String id = jo.getString("point_code"); String task_id = jo.getString("task_id"); //查询定位状态 - JSONObject jsonObject1 = this.applyAgv(ip, 19204, "03FD", null); + JSONObject jsonObject1 = this.applyAgv(ip, 19204, "5A0100000000000003FD03FD00000000", null); log.info("当前设备定位信息：---------------"+jsonObject1.toString()); if (!jsonObject1.getString("reloc_status").equals("3")){ throw new BadRequestException("当前设备状态定位未完成！"); } //查询当前位置 - JSONObject jsonObject = this.applyAgv(ip, 19204, "03EC", null); + JSONObject jsonObject = this.applyAgv(ip, 19204, "5A0100000000000003EC03EC00000000", null); log.info("当前位置信息：---------------"+jsonObject.toString()); source_id = jsonObject.getString("current_station"); @@ -187,7 +186,7 @@ public class XgagvDeviceDriver extends AbstractDeviceDriver implements DeviceDri inst.put("source_id",source_id); inst.put("id",id); inst.put("task_id",task_id); - JSONObject result = this.applyAgv(ip, 19206, "0BEB", inst); + JSONObject result = this.applyAgv(ip, 19206, "5A0100000000005432FB0BEB00000000", inst); return result; } diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateXgInst.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateXgInst.java index 417603f..9583ff9 100644 --- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateXgInst.java +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateXgInst.java @@ -104,7 +104,7 @@ public class AutoCreateXgInst { //如果指令为休息指令需要撤销该指令并创建点对点指令 if (inst.getString("instruction_type").equals("02")){ //完成指令和给AGV撤销 - xgagvDeviceDriver.applyAgv((String) xgagvDeviceDriver.getDevice().getExtraValue().get("agv_ip"),19206,"3003",null); + xgagvDeviceDriver.applyAgv((String) xgagvDeviceDriver.getDevice().getExtraValue().get("agv_ip"),19206,"5A0100000000005432CB0BBB00000000",null); } Instruction instdto = new Instruction(); diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgAgvStatus.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgAgvStatus.java index 63a0c96..59b7e60 100644 --- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgAgvStatus.java +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgAgvStatus.java @@ -47,17 +47,17 @@ public class XgAgvStatus { String ip = (String) xgagvDeviceDriver.getDevice().getExtraValue().get("agv_ip"); //调用AGV接口查询当前设备的电量 1007接口 - JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip, 19204, "03EF", null); + JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip, 19204, "5A0100000000000003EF03EF00000000 ", null); log.info("AGV电量返回的参数为：-----------------"+jsonObject.toString()); double battery_level = jsonObject.getDouble("battery_level"); //查询AGV的定位状态1021，如果为失败调用重定位2002 - JSONObject jsonObject2 = xgagvDeviceDriver.applyAgv(ip, 19204, "03FD", null); + JSONObject jsonObject2 = xgagvDeviceDriver.applyAgv(ip, 19204, "5A0100000000000003FD03FD00000000", null); log.info("AGV定位返回的参数为：-----------------"+jsonObject.toString()); if (jsonObject2.getString("reloc_status").equals("0")) { JSONObject jo = new JSONObject(); jo.put("home",true); - xgagvDeviceDriver.applyAgv(ip, 19205, "07D2", jo); + xgagvDeviceDriver.applyAgv(ip, 19205, "5A0100000000000007D207D200000000", jo); } //获取最小电量 diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgInstUpdate.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgInstUpdate.java index 8cc7e48..ca44565 100644 --- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgInstUpdate.java +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/XgInstUpdate.java @@ -7,12 +7,14 @@ import lombok.extern.slf4j.Slf4j; import net.sf.json.JSONArray; import net.sf.json.JSONObject; import org.nl.acs.agv.server.AgvService; +import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.xg_agv.XgagvDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsZDService; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.opc.DeviceType; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; @@ -55,6 +57,8 @@ public class XgInstUpdate { if (!StrUtil.equals(inst.getSend_status(), "1")) { continue; } + StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); Device device = deviceAppService.findDeviceByCode(inst.getCarno()); xgagvDeviceDriver = (XgagvDeviceDriver) device.getDeviceDriver(); String ip = (String) xgagvDeviceDriver.getDevice().getExtraValue().get("agv_ip"); @@ -80,21 +84,23 @@ public class XgInstUpdate { } if (execute_status.equals("1")){ //判断AGV是否到达A点，1100接口 task_status = 4 target_id = inst_code+execute_status - JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204, "044C", null); + JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204, "5A01000000000000044C044C00000000", null); String task_status = jsonObject.getString("task_status"); String target_id = jsonObject.getString("target_id"); if (task_status.equals("4")&&target_id.equals(inst.getStart_point_code())){ - //调用中鼎接口查询A点输送线的状态是否正常是否有货 - JSONObject device_info = new JSONObject(); - device_info.put("device_code",inst.getStart_point_code()); - HttpResponse httpResponse = acsToWmsZDService.deviceStatusQuery(device_info); - if (httpResponse.getStatus() == 200){ - JSONObject jo = JSONObject.fromObject(httpResponse.body()); - if (jo.getString("responseCode").equals("1")&&jo.getString("status").equals("1")&&jo.getBoolean("hasGoods")){ + //如果起点输送线待机，给输送线下发滚筒滚动指令 + String start_device = inst.getStart_device_code(); + Device startdevice = appService.findDeviceByCode(start_device); + if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){ + standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver(); + if (standardInspectSiteDeviceDriver.getMode() == 2){ + standardInspectSiteDeviceDriver.writing(1); + } + if (standardInspectSiteDeviceDriver.getHasGoods() == 1){ //下发A的取货动作 JSONObject order = new JSONObject(); order.put("load",true); - JSONObject result = xgagvDeviceDriver.applyAgv(ip, 19206, "0BEB", order); + JSONObject result = xgagvDeviceDriver.applyAgv(ip, 19206, "5A010000000000000BEB0BEB00000000", order); if (result.getString("ret_code").equals("0")){ inst.setExecute_status("2"); instructionService.update(inst); @@ -108,7 +114,7 @@ public class XgInstUpdate { if (execute_status.equals("2")){ boolean is_ok = false; //查询是否取货完成,通过查询DO状态是否低电平 - JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,"044C", null); + JSONObject jsonObject = xgagvDeviceDriver.applyAgv(ip,19204 ,"5A01000000000000044C044C00000000", null); JSONArray do_arr = jsonObject.getJSONArray("DO"); for (int j = 0; j