opt:对NDC S消息进行消息校验和拆包处理
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@@ -27,6 +27,7 @@ import java.io.DataInputStream;
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import java.io.DataOutputStream;
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import java.io.IOException;
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import java.net.Socket;
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import java.util.Arrays;
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import java.util.Date;
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import java.util.List;
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@@ -103,120 +104,149 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
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break;
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}
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int[] arr = new int[count];
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int[] packetData = new int[count];
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StringBuffer bs = new StringBuffer();
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for (int i = 0; i < count; i++) {
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int temp = b[i];
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if (temp < 0)
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temp += 256;
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arr[i] = temp;
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packetData[i] = temp;
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StringBuffer bs1 = new StringBuffer("0");
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bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
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}
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//System.out.println("收到请求参数：" + bs);
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boolean flag = false;
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if (arr[8] * 256 + arr[9] == 0x73) {
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byte[] data = null;
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System.out.println("接收agv上报信息：" + bs);
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//执行阶段
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int phase = arr[16] * 256 + arr[17];
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// agv任务号
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int index = arr[12] * 256 + arr[13];
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//任务号
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int ikey = arr[26] * 256 + arr[27];
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//站点号
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int agvaddr = arr[18] * 256 + arr[19];
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//车号
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int carno = arr[20];
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//充电桩站点号
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int station = arr[25];
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Instruction link_inst = null;
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Instruction inst = null;
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List<Instruction> insts = null;
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boolean link_flag = false;
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Device agv_device = null;
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if (carno != 0) {
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agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
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// 从字节流的开头开始读取
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int offset = 0;
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// 循环处理字节流，逐个拆包 按照S消息解析
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while (offset < packetData.length) {
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if (offset + 6 > packetData.length) {
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System.out.println("错误：没有足够的字节来读取长度字段。");
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break;
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}
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if (ikey != 0) {
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inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
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if (ObjectUtil.isEmpty(inst)) {
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inst = instructionService.findByCode(String.valueOf(ikey));
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int messageHeader = packetData[offset] * 256 + packetData[offset+1];
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//检测消息头是否有效
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if (messageHeader == 0x87CD){
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//消息头长度
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int messageHeaderLength = packetData[offset+2] * 256 + packetData[offset+3];
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//消息数据长度
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int messageDataLength = packetData[offset+4] * 256 + packetData[offset+5];
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//消息总长度
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int messageLength = messageHeaderLength + messageDataLength;
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// 检查剩余字节是否足够处理完整的数据包
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if (offset + messageLength > packetData.length) {
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System.out.println("错误：检测到不完整的数据包。");
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// 数据包不完整，停止处理
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break;
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}
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}
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if (!ObjectUtil.isEmpty(link_inst)) {
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link_flag = true;
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}
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log.info("接收agv上报信息：" + bs);
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log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
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Device device = null;
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String device_code = null;
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//
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AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
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//开始任务/上报订单号
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if (phase == 0x01) {
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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 = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
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}
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}
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//任务完毕
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//（无车id及状态）
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else if (phase == 0x0A) {
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if (!ObjectUtil.isEmpty(inst)) {
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instructionService.finish(inst.getInstruction_id());
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} else {
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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!");
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}
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
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log.info("指令号:{},已反馈agv任务完成!");
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}
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//todo 检查协议里删除任务流程有很多个步骤，在哪体现的
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//(需要WCS反馈)
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else if (phase == 0x30) {
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data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0);
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}
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//任务删除确认
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//(需要WCS反馈)
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else if (phase == 0xFF) {
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if (!ObjectUtil.isEmpty(inst)) {
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if (!ObjectUtil.isEmpty(inst)) {
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instructionService.cancelNOSendAgv(inst.getInstruction_id());
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int[] arr = Arrays.copyOfRange(packetData, offset, offset+messageLength);
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boolean flag = false;
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if (arr[8] * 256 + arr[9] == 0x73) {
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byte[] data = null;
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System.out.println("接收agv上报信息：" + bs);
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//执行阶段
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int phase = arr[16] * 256 + arr[17];
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// agv任务号
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int index = arr[12] * 256 + arr[13];
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//任务号
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int ikey = arr[26] * 256 + arr[27];
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//站点号
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int agvaddr = arr[18] * 256 + arr[19];
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//车号
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int carno = arr[20];
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//充电桩站点号
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int station = arr[25];
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Instruction link_inst = null;
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Instruction inst = null;
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List<Instruction> insts = null;
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boolean link_flag = false;
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Device agv_device = null;
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if (carno != 0) {
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agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
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}
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}
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
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} else {
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//上报异常信息
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//（不需要WCS反馈）
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if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
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device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr));
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} else {
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//todo NDC根据车辆编号123456进行查找特定车辆
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device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
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}
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if (ObjectUtil.isNotEmpty(device)) {
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if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
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agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
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agvNdcOneDeviceDriver.processSocket(arr);
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if (ikey != 0) {
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inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
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if (ObjectUtil.isEmpty(inst)) {
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inst = instructionService.findByCode(String.valueOf(ikey));
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}
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}
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if (!ObjectUtil.isEmpty(link_inst)) {
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link_flag = true;
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}
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log.info("接收agv上报信息：" + bs);
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log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
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Device device = null;
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String device_code = null;
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//
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AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
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//开始任务/上报订单号
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if (phase == 0x01) {
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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 = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
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}
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}
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//任务完毕
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//（无车id及状态）
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else if (phase == 0x0A) {
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if (!ObjectUtil.isEmpty(inst)) {
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instructionService.finish(inst.getInstruction_id());
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} else {
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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!");
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}
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
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log.info("指令号:{},已反馈agv任务完成!");
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}
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//todo 检查协议里删除任务流程有很多个步骤，在哪体现的
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//(需要WCS反馈)
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else if (phase == 0x30) {
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data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0);
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}
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//任务删除确认
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//(需要WCS反馈)
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else if (phase == 0xFF) {
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if (!ObjectUtil.isEmpty(inst)) {
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if (!ObjectUtil.isEmpty(inst)) {
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instructionService.cancelNOSendAgv(inst.getInstruction_id());
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}
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}
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data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
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} else {
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//上报异常信息
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//（不需要WCS反馈）
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if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
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device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr));
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} else {
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//todo NDC根据车辆编号123456进行查找特定车辆
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device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
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}
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if (ObjectUtil.isNotEmpty(device)) {
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if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
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agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
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agvNdcOneDeviceDriver.processSocket(arr);
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}
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}
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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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}
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// 更新偏移量，继续处理下一个数据包
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offset+=messageLength;
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}else {
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System.out.println("消息头无效，不处理。");
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break;
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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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}
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}
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