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opt: 1.解决写入plc报错导致和ndc断开连接。2.解决处理沾包时数组index超出报警。3.解决指令和任务不一致问题。4.新增定时任务自动发送充电任务给ndc。

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This commit is contained in:
liejiu946
2025-04-03 16:54:23 +08:00
parent 542b4f4066
commit 992b559873
4 changed files with 48 additions and 11 deletions
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13
nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
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@@ -200,7 +200,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
if (!ObjectUtil.isEmpty(inst)) { if (!ObjectUtil.isEmpty(inst)) {
instructionService.finish(inst.getInstruction_id()); instructionService.finish(inst.getInstruction_id());
} else { } else {
log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!"); log.info("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!");
} }
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
log.info("指令号:{},已反馈agv任务完成!"); log.info("指令号:{},已反馈agv任务完成!");
@@ -232,7 +232,11 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
if (ObjectUtil.isNotEmpty(device)) { if (ObjectUtil.isNotEmpty(device)) {
if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
agvNdcOneDeviceDriver.processSocket(arr); try {
agvNdcOneDeviceDriver.processSocket(arr);
}catch (Exception e){
log.error("处理phase:{},发生异常。异常信息:{}",phase,e.getMessage());
}
} }
} }
@@ -247,7 +251,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
// 更新偏移量，继续处理下一个数据包 // 更新偏移量，继续处理下一个数据包
offset+=messageHeaderLength; offset+=messageHeaderLength;
// ArrayUtils.indexOf() // ArrayUtils.indexOf()
int index = IntStream.range(offset, packetData.length) int index = IntStream.range(offset, packetData.length - 1)
.filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
.findFirst() .findFirst()
.orElse(-1); .orElse(-1);
@@ -260,7 +264,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} }
}else { }else {
log.info("消息头无效，不处理。"); log.info("消息头无效，不处理。");
int index = IntStream.range(offset, packetData.length) int index = IntStream.range(offset, packetData.length - 1)
.filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
.findFirst() .findFirst()
.orElse(-1); .orElse(-1);
@@ -281,6 +285,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
s.close(); s.close();
} }
System.out.println(e.getMessage()); System.out.println(e.getMessage());
log.error("异常信息:{}", e.getMessage());
e.printStackTrace(); e.printStackTrace();
} finally { } finally {

14
nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
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@@ -96,8 +96,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
s = new Socket(ip, port); s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream()); dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream()); dis = new DataInputStream(s.getInputStream());
System.out.println("NDCAgv链接成功"); System.out.println("TwoNDCAgv链接成功");
log.info("NDCAgv链接成功"); log.info("TwoNDC2Agv链接成功");
while (bConnected) { while (bConnected) {
int count = dis.read(b); int count = dis.read(b);
@@ -231,7 +231,11 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
if (ObjectUtil.isNotEmpty(device)) { if (ObjectUtil.isNotEmpty(device)) {
if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
agvNdcOneDeviceDriver.processSocket2(arr); try {
agvNdcOneDeviceDriver.processSocket2(arr);
}catch (Exception e){
log.error("处理phase:{},发生异常。异常信息:{}",phase,e.getMessage());
}
} }
} }
@@ -246,7 +250,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
// 更新偏移量，继续处理下一个数据包 // 更新偏移量，继续处理下一个数据包
offset+=messageHeaderLength; offset+=messageHeaderLength;
// ArrayUtils.indexOf() // ArrayUtils.indexOf()
int index = IntStream.range(offset, packetData.length) int index = IntStream.range(offset, packetData.length-1)
.filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
.findFirst() .findFirst()
.orElse(-1); .orElse(-1);
@@ -259,7 +263,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} }
}else { }else {
log.info("消息头无效，不处理。"); log.info("消息头无效，不处理。");
int index = IntStream.range(offset, packetData.length) int index = IntStream.range(offset, packetData.length-1)
.filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
.findFirst() .findFirst()
.orElse(-1); .orElse(-1);

8
nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
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@@ -1472,8 +1472,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
JSONObject resp = acsToWmsService.feedAgvTaskAction(ja); JSONObject resp = acsToWmsService.feedAgvTaskAction(ja);
if ("200".equals(resp.getString("code"))) { if ("200".equals(resp.getString("code"))) {
JSONObject respjson = JSONObject.parseObject(resp.getString("msg")); JSONObject respjson = JSONObject.parseObject(resp.getString("msg"));
inst.setInstruction_status("1"); //解决指令和任务不一致问题，放货完成后执行修改指令时，ndc上报phase10 先执行的修改指令状态完成，再执行这条修改导致指令完成被脏数据覆盖。
inst.setExecute_status("2"); //放货完成后 修改指令状态为完成。
if (status == 4){
inst.setInstruction_status("2");
}
inst.setExecute_status(status.toString());
instructionService.update(inst); instructionService.update(inst);
LuceneLogDto resplogDto = LuceneLogDto.builder() LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code) .device_code(device_code)

24
nlsso-server/src/main/java/org/nl/quartz/task/AutoCreateChargingTaskToNDC.java Normal file
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@@ -0,0 +1,24 @@
package org.nl.quartz.task;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
/**
* @author liejiu
*/
@Slf4j
@Component
public class AutoCreateChargingTaskToNDC {
@Autowired
NDCAgvService ndcAgvService;
public void run(String threadCode) throws Exception {
String[] threadCodes = threadCode.split(",");
for (String code : threadCodes) {
ndcAgvService.createChargingTaskToNDC(code);
}
}
}