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agv

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This commit is contained in:
gengby
2022-07-29 09:42:36 +08:00
parent 2a35785f71
commit fed6636a3e
4 changed files with 95 additions and 8 deletions
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7
wcs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@@ -757,9 +757,10 @@ public class AgvServiceImpl implements AgvService {
(byte) indexhigh, (byte) indexlow,
};
log.info("下发删除AGV指令--{}", Bytes2HexString(b));
NDCSocketConnectionAutoRun.write(b);
System.out.println("下发删除agv指令数据:" + Bytes2HexString(b));
if (ObjectUtil.isNotEmpty(b)){
NDCSocketConnectionAutoRun.write(b);
System.out.println("下发删除agv指令数据:" + Bytes2HexString(b));
}
}
}

44
wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -58,6 +58,20 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
int weight = 0;
String device_code = "";
int phase = 0;
int x = 0; //x坐标
int y = 0; //y坐标
int angle = 0; //角度
int electric_qty = 0; //电量
int status = 0; //三色灯状态
int error = 0; //车辆故障
int last_x = 0;
int last_y = 0;
int last_angle = 0;
int last_electric_qty = 0;
int last_status = 0;
int last_error = 0;
public synchronized void processSocket(int[] arr) throws Exception {
device_code = this.getDeviceCode();
byte[] data = null;
@@ -423,6 +437,36 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
logServer.deviceLogToacs(this.device_code,"","","agvphase:" + phase + "反馈:"+data);
} else if (phase == 0x71){
x = ikey;
if (x != last_x){
logServer.deviceLog(this.device_code, "x", String.valueOf(x));
}
} else if (phase == 0x72){
y = ikey;
if (y != last_y){
logServer.deviceLog(this.device_code, "y", String.valueOf(y));
}
} else if (phase == 0x73){
angle = last_angle;
if (angle != last_angle){
logServer.deviceLog(this.device_code, "angle", String.valueOf(angle));
}
} else if (phase == 0x74){
electric_qty = ikey;
if (electric_qty != last_electric_qty){
logServer.deviceLog(this.device_code, "electric_qty", String.valueOf(electric_qty));
}
} else if (phase == 0x75){
status = ikey;
if (status != last_status){
logServer.deviceLog(this.device_code, "status", String.valueOf(status));
}
} else if (phase == 0x76){
error = ikey;
if (error != last_error){
logServer.deviceLog(this.device_code, "error", String.valueOf(error));
}
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceLogToacs(this.device_code,"","","agvphase:" + phase + "反馈:"+data);

42
wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -55,7 +55,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
String device_code = "";
int phase = 0;
int x = 0; //x坐标
int y = 0; //y坐标
int angle = 0; //角度
int electric_qty = 0; //电量
int status = 0; //三色灯状态
int error = 0; //车辆故障
int last_x = 0;
int last_y = 0;
int last_angle = 0;
int last_electric_qty = 0;
int last_status = 0;
int last_error = 0;
public synchronized void processSocket(int[] arr) throws Exception {
device_code = this.getDeviceCode();
logServer.deviceLogToacs(this.device_code,"","","接收AGV上报信息:" + arr);
@@ -686,6 +698,36 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
data = AgvService.sendAgvTwoModeInst(143, index, 0);
logServer.deviceLogToacs(this.device_code,"","","agvphase:" + phase + "反馈:"+data);
} else if (phase == 0x71){
x = ikey;
if (x != last_x){
logServer.deviceLog(this.device_code, "x", String.valueOf(x));
}
} else if (phase == 0x72){
y = ikey;
if (y != last_y){
logServer.deviceLog(this.device_code, "y", String.valueOf(y));
}
} else if (phase == 0x73){
angle = last_angle;
if (angle != last_angle){
logServer.deviceLog(this.device_code, "angle", String.valueOf(angle));
}
} else if (phase == 0x74){
electric_qty = ikey;
if (electric_qty != last_electric_qty){
logServer.deviceLog(this.device_code, "electric_qty", String.valueOf(electric_qty));
}
} else if (phase == 0x75){
status = ikey;
if (status != last_status){
logServer.deviceLog(this.device_code, "status", String.valueOf(status));
}
} else if (phase == 0x76){
error = ikey;
if (error != last_error){
logServer.deviceLog(this.device_code, "error", String.valueOf(error));
}
}
if (!ObjectUtil.isEmpty(data)) {

10
wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_one/hailiang_packer_station/HailiangPackerStationDeviceDriver.java
View File

@@ -191,7 +191,7 @@ public class HailiangPackerStationDeviceDriver extends AbstractOpcDeviceDriver i
logServer.deviceLog(this.device_code, "packer_ready", String.valueOf(packer_ready));
logServer.deviceLogToacs(this.device_code, "", "", "信号packer_ready:" + last_packer_ready + "->" + packer_ready);
}
if (lack_req != last_lack_req) {
if (lack_req != last_lack_req) {
if (lack_req == 0) {
this.setRequireSucess(false);
}
@@ -228,14 +228,14 @@ public class HailiangPackerStationDeviceDriver extends AbstractOpcDeviceDriver i
logServer.deviceLogToacs(this.device_code, "", "", "信号order_now:" + last_order_now + "->" + order_now);
}
if (open_ready_time != last_open_ready_time) {
/* if (open_ready_time != last_open_ready_time) {
logServer.deviceLog(this.device_code, "open_ready_time", String.valueOf(open_ready_time));
logServer.deviceLogToacs(this.device_code, "", "", "信号open_ready_time:" + last_open_ready_time + "->" + open_ready_time);
}
if (device_running_time != last_device_running_time) {
}*/
/* if (device_running_time != last_device_running_time) {
logServer.deviceLog(this.device_code, "device_running_time", String.valueOf(device_running_time));
logServer.deviceLogToacs(this.device_code, "", "", "信号device_running_time:" + last_device_running_time + "->" + device_running_time);
}
}*/
if (await_time != last_await_time) {
logServer.deviceLog(this.device_code, "await_time", String.valueOf(await_time));
logServer.deviceLogToacs(this.device_code, "", "", "信号await_time:" + last_await_time + "->" + await_time);