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rev:更改二楼任务指定2号车执行，1号车不执行。

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gongbaoxiong
2025-04-01 21:29:16 +08:00
parent 3203b5cea9
commit 9113de4a02
1 changed files with 49 additions and 14 deletions
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41
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -1,5 +1,6 @@
package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@@ -85,6 +86,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
if (inst.getStart_point_code().contains("F2") || inst.getNext_point_code().contains("F2")) {
inst.setCarno("2");
log.info("二楼任务：起点为：{}，终点为：{}，已分配车号为：2", inst.getStart_point_code(), inst.getNext_point_code());
}
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
@@ -108,7 +113,37 @@ public class NDCAgvServiceImpl implements NDCAgvService {
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
byte[] b = new byte[]{};
if (ObjectUtil.isNotEmpty(inst.getCarno())) {
int carNo = Integer.parseInt(inst.getCarno());
byte agvnohigh = (byte) IntToHexHigh(carNo);
byte agvnolow = (byte) IntToHexLow(carNo);
str1 += "/agvno:" + hexToString(agvnohigh & 0xFF) + hexToString(agvnolow & 0xFF);
b = new byte[]{
(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X0E,
//任务优先级，80无优先级
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
//任务单号
(byte) ikeyhigh, (byte) ikeylow,
//重复任务单号
(byte) ikeyhigh, (byte) ikeylow,
//任务类型
(byte) typehigh, (byte) typelow,
//起点
(byte) qhdhigh, (byte) qhdlow,
//终点
(byte) fhdhigh, (byte) fhdlow,
(byte) agvnohigh, (byte) agvnolow,
};
} else {
b = new byte[]{
(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X01,
@@ -120,8 +155,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) fhdhigh, (byte) fhdlow
};
(byte) fhdhigh, (byte) fhdlow};
}
log.info("下发AGV作业指令--{}", str1);
OneNDCSocketConnectionAutoRun.write(b);
System.out.println("下发agv指令数据:" + Bytes2HexString(b));