add:业务逻辑开发
This commit is contained in:
@@ -27,11 +27,10 @@ public interface NDCAgvService {
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/**
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* 下发任务
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* @param agv_system_type
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* @param inst
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* @throws Exception
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*/
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public void sendAgvInstToNDC(String agv_system_type, Instruction inst) throws Exception;
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public void sendAgvInstToNDC(Instruction inst) throws Exception;
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/**
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* 一号agv指令
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@@ -7,7 +7,6 @@ import lombok.extern.slf4j.Slf4j;
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import org.nl.acs.AcsConfig;
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import org.nl.acs.agv.server.NDCAgvService;
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import org.nl.acs.agv.server.dto.AgvDto;
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import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
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import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
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import org.nl.acs.common.base.CommonFinalParam;
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import org.nl.acs.device.service.DeviceService;
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@@ -38,7 +37,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
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private final DeviceAppService deviceAppService;
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private final ISysParamService paramService;
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// private final AcsToWmsService acsToWmsService;
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// private final AcsToWmsService acsToWmsService;
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private final ISysDictService dictService;
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private final DeviceExecuteLogService logServer;
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@@ -79,194 +78,72 @@ public class NDCAgvServiceImpl implements NDCAgvService {
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@Override
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public void sendAgvInstToNDC(String agv_system_type, Instruction inst) {
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log.info("sendAgvInstToNDC 指令下发NDC:" + "inst_code:" + inst.getInstruction_code() + ",agv_system_type:" + agv_system_type + ",agv_inst_type:" + inst.getAgv_inst_type() +
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",priority:" + inst.getPriority() + ",startAddress:" + inst.getStart_point_code() +
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",nextAddress:" + inst.getNext_point_code());
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public void sendAgvInstToNDC(Instruction inst) {
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if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
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if (!StrUtil.equals(agv_system_type, "1")) {
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String instcode = inst.getInstruction_code();
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int type = Integer.parseInt(inst.getAgv_inst_type());
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int priority = Integer.parseInt(inst.getPriority()) + 128;
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DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
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DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
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int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
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int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
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int startAddress2 = deviceService.queryAddressBydeviceCode(inst.getStart_point_code2());
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int nextAddress2 = deviceService.queryAddressBydeviceCode(inst.getNext_point_code2());
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byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
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byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
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byte typehigh = (byte) IntToHexHigh(type);
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byte typelow = (byte) IntToHexLow(type);
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byte qhdhigh = (byte) IntToHexHigh(startAddress);
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byte qhdlow = (byte) IntToHexLow(startAddress);
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byte qhdhigh2 = (byte) IntToHexHigh(startAddress2);
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byte qhdlow2 = (byte) IntToHexLow(startAddress2);
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byte fhdhigh = (byte) IntToHexHigh(nextAddress);
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byte fhdlow = (byte) IntToHexLow(nextAddress);
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byte fhdhigh2 = (byte) IntToHexHigh(nextAddress2);
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byte fhdlow2 = (byte) IntToHexLow(nextAddress2);
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byte prioritylow = (byte) IntToHexLow(priority);
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String str = "十进制下发：";
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String str1 = "十六进制下发：";
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str += "任务号 ikey:" + (Integer.parseInt(instcode));
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str1 += "任务号 ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
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String instcode = inst.getInstruction_code();
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int type = Integer.parseInt(inst.getInstruction_type());
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int priority = Integer.parseInt(inst.getPriority()) + 128;
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DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
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int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
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int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
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int startAddress2 = deviceService.queryAddressBydeviceCode(inst.getStart_point_code2());
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int nextAddress2 = deviceService.queryAddressBydeviceCode(inst.getNext_point_code2());
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byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
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byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
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byte typehigh = (byte) IntToHexHigh(type);
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byte typelow = (byte) IntToHexLow(type);
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byte qhdhigh = (byte) IntToHexHigh(startAddress);
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byte qhdlow = (byte) IntToHexLow(startAddress);
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byte qhdhigh2 = (byte) IntToHexHigh(startAddress2);
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byte qhdlow2 = (byte) IntToHexLow(startAddress2);
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byte fhdhigh = (byte) IntToHexHigh(nextAddress);
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byte fhdlow = (byte) IntToHexLow(nextAddress);
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byte fhdhigh2 = (byte) IntToHexHigh(nextAddress2);
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byte fhdlow2 = (byte) IntToHexLow(nextAddress2);
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byte prioritylow = (byte) IntToHexLow(priority);
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String str = "十进制下发：";
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String str1 = "十六进制下发：";
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str += "任务号 ikey:" + (Integer.parseInt(instcode));
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str1 += "任务号 ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
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str += "指令类型 /type:" + (type);
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str1 += "指令类型 /type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
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str += "指令类型 /type:" + (type);
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str1 += "指令类型 /type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
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str += "取货点 /qhd:" + (startAddress);
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str1 += "取货点 /qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
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str += "放货点 /fhd:" + (nextAddress);
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str1 += "放货点 /fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
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str += "取货点 /qhd:" + (startAddress);
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str1 += "取货点 /qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
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str += "放货点 /fhd:" + (nextAddress);
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str1 += "放货点 /fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
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str += "取货点2 /qhd2:" + (startAddress2);
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str1 += "取货点2 /qhd2:" + hexToString(qhdhigh2 & 0xFF) + hexToString(qhdlow2 & 0xFF);
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str += "放货点2 /fhd2:" + (nextAddress2);
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str1 += "放货点2 /fhd2:" + hexToString(fhdhigh2 & 0xFF) + hexToString(fhdlow2 & 0xFF);
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str += "取货点2 /qhd2:" + (startAddress2);
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str1 += "取货点2 /qhd2:" + hexToString(qhdhigh2 & 0xFF) + hexToString(qhdlow2 & 0xFF);
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str += "放货点2 /fhd2:" + (nextAddress2);
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str1 += "放货点2 /fhd2:" + hexToString(fhdhigh2 & 0xFF) + hexToString(fhdlow2 & 0xFF);
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str += "优先级 /priority:" + (priority);
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str1 += "优先级 /priority:" + hexToString(prioritylow & 0xFF);
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str += "优先级 /priority:" + (priority);
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str1 += "优先级 /priority:" + hexToString(prioritylow & 0xFF);
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byte[] b = new byte[]{};
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if (type == 1) {
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b = new byte[]{(byte) 0X87, (byte) 0XCD,
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(byte) 0X00, (byte) 0X08,
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(byte) 0X00, (byte) 0X16,
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(byte) 0X00, (byte) 0X01,
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(byte) 0X00, (byte) 0X71,
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(byte) 0X00, (byte) 0X12,
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(byte) 0X01, prioritylow,
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(byte) 0X00, (byte) 0X01,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) typehigh, (byte) typelow,
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(byte) qhdhigh, (byte) qhdlow,
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(byte) qhdhigh2, (byte) qhdlow2,
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(byte) fhdhigh, (byte) fhdlow,
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(byte) fhdhigh2, (byte) fhdlow2
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};
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} else if (type == 2) {
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b = new byte[]{(byte) 0X87, (byte) 0XCD,
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(byte) 0X00, (byte) 0X08,
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(byte) 0X00, (byte) 0X16,
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(byte) 0X00, (byte) 0X01,
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(byte) 0X00, (byte) 0X71,
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(byte) 0X00, (byte) 0X12,
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(byte) 0X01, prioritylow,
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(byte) 0X00, (byte) 0X01,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) typehigh, (byte) typelow,
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(byte) qhdhigh, (byte) qhdlow,
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(byte) 0X00, (byte) 0X00,
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(byte) fhdhigh, (byte) fhdlow,
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(byte) 0X00, (byte) 0X00
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};
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} else if (type == 3) {
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b = new byte[]{(byte) 0X87, (byte) 0XCD,
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(byte) 0X00, (byte) 0X08,
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(byte) 0X00, (byte) 0X16,
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(byte) 0X00, (byte) 0X01,
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(byte) 0X00, (byte) 0X71,
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(byte) 0X00, (byte) 0X12,
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(byte) 0X01, prioritylow,
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(byte) 0X00, (byte) 0X01,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) typehigh, (byte) typelow,
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(byte) qhdhigh, (byte) qhdlow,
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(byte) qhdhigh2, (byte) qhdlow2,
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(byte) fhdhigh, (byte) fhdlow,
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(byte) fhdhigh2, (byte) fhdlow2
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};
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}
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log.info("下发AGV作业指令 --{}", str1);
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log.info("下发AGV作业指令--{}", str);
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log.info("下发agv指令数据--{}", Bytes2HexString(b));
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if (StrUtil.equals(agv_system_type, "2")) {
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TwoNDCSocketConnectionAutoRun.write(b);
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}
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} else {
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String instcode = inst.getInstruction_code();
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int startHeight = Integer.parseInt(StrUtil.isEmpty(inst.getStart_height()) ? "0" : inst.getStart_height());
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int nextHeight = Integer.parseInt(StrUtil.isEmpty(inst.getNext_height()) ? "0" : inst.getNext_height());
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//默认取货放货高度都为0
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//int type = Integer.parseInt(inst.getInstruction_type());
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int type = 4;
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if (startHeight != 0 && nextHeight != 0) {
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//取货放货高度都不为0
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type = 1;
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} else if (startHeight != 0 && nextHeight == 0) {
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//取货高度不为0 放货高度为0
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type = 2;
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} else if (startHeight == 0 && nextHeight != 0) {
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//取货高度为0 放货高度不为0
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type = 3;
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}
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int priority = Integer.parseInt(inst.getPriority()) + 128;
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DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
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DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
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int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
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int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
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byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
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byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
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byte typehigh = (byte) IntToHexHigh(type);
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byte typelow = (byte) IntToHexLow(type);
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byte qhdhigh = (byte) IntToHexHigh(startAddress);
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byte qhdlow = (byte) IntToHexLow(startAddress);
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byte fhdhigh = (byte) IntToHexHigh(nextAddress);
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byte fhdlow = (byte) IntToHexLow(nextAddress);
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byte prioritylow = (byte) IntToHexLow(priority);
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byte shhigh = (byte) IntToHexHigh(startHeight);
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byte shlow = (byte) IntToHexLow(startHeight);
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byte nhhigh = (byte) IntToHexHigh(nextHeight);
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byte nhlow = (byte) IntToHexLow(nextHeight);
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String str = "十进制下发：";
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String str1 = "十六进制下发：";
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str += "ikey:" + (Integer.parseInt(instcode));
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str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
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str += "/type:" + (type);
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str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
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str += "/qhd:" + (startAddress);
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str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
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str += "/fhd:" + (nextAddress);
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str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
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str += "/priority:" + (priority);
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str1 += "/priority:" + hexToString(prioritylow & 0xFF);
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System.out.println(str);
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System.out.println(str1);
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byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
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(byte) 0X00, (byte) 0X08,
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(byte) 0X00, (byte) 0X16,
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(byte) 0X00, (byte) 0X01,
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(byte) 0X00, (byte) 0X71,
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(byte) 0X00, (byte) 0X12,
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(byte) 0X01, prioritylow,
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(byte) 0X00, (byte) 0X01,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) typehigh, (byte) typelow,
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(byte) qhdhigh, (byte) qhdlow,
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(byte) fhdhigh, (byte) fhdlow,
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(byte) shhigh, (byte) shlow,
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(byte) nhhigh, (byte) nhlow
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};
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log.info("下发AGV作业指令 --{}", str1);
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log.info("下发AGV作业指令--{}", str);
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log.info("下发agv指令数据--{}", Bytes2HexString(b));
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OneNDCSocketConnectionAutoRun.write(b);
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}
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byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
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(byte) 0X00, (byte) 0X08,
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(byte) 0X00, (byte) 0X18,
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(byte) 0X00, (byte) 0X01,
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(byte) 0X00, (byte) 0X71,
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(byte) 0X00, (byte) 0X14,
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(byte) 0X01, prioritylow,
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(byte) 0X00, (byte) 0X01,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) ikeyhigh, (byte) ikeylow,
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(byte) typehigh, (byte) typelow,
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(byte) qhdhigh, (byte) qhdlow,
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(byte) fhdhigh, (byte) fhdlow,
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(byte) qhdhigh2, (byte) qhdlow2,
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(byte) fhdhigh2, (byte) fhdlow2,
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(byte) 0X00, (byte) 0X00
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};
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TwoNDCSocketConnectionAutoRun.write(b);
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log.info("下发AGV作业指令 --{}", str1);
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log.info("下发AGV作业指令--{}", str);
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log.info("下发agv指令数据--{}", Bytes2HexString(b));
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}
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}
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@@ -449,18 +326,18 @@ public class NDCAgvServiceImpl implements NDCAgvService {
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public void charge(String carno) {
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//检查数据字典station为0的参数
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//分配车辆
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Dict dict = dictService.getDictByName3("station",carno,null);
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int satation=0;
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if(ObjectUtil.isNotEmpty(dict)){
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log.info("当前车辆{}已分配充电桩{}，退出后续判断",carno,dict.getPara1());
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Dict dict = dictService.getDictByName3("station", carno, null);
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int satation = 0;
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if (ObjectUtil.isNotEmpty(dict)) {
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log.info("当前车辆{}已分配充电桩{}，退出后续判断", carno, dict.getPara1());
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return;
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}
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Dict temp = dictService.getDictByName2("station");
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if(ObjectUtil.isNotEmpty(temp)){
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if (ObjectUtil.isNotEmpty(temp)) {
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satation = Integer.parseInt(temp.getPara1());
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}
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if(satation!=0){
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String instcode =CodeUtil.getNewCode("INSTRUCT_NO");
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if (satation != 0) {
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String instcode = CodeUtil.getNewCode("INSTRUCT_NO");
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byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
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byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
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byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));
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@@ -491,10 +368,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
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};
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log.info("下发AGV充电任务--{}", str1);
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try{
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OneNDCSocketConnectionAutoRun.write(b);
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} catch (Exception e){
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log.error("下发充电任务失败{}{}",e,e.getMessage());
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try {
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// OneNDCSocketConnectionAutoRun.write(b);
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} catch (Exception e) {
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log.error("下发充电任务失败{}{}", e, e.getMessage());
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}
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temp.setValue("1");
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@@ -502,8 +379,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
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temp.setPara3("下发充电");
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dictService.updateDetail(temp);
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}else{
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log.error("目前暂无可使用充电桩充电桩，暂不分配{}充电任务",carno);
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} else {
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log.error("目前暂无可使用充电桩充电桩，暂不分配{}充电任务", carno);
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}
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}
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@@ -1,274 +1,274 @@
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package org.nl.acs.auto.run;
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import cn.hutool.core.util.ObjectUtil;
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import lombok.extern.slf4j.Slf4j;
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import org.nl.acs.AcsConfig;
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import org.nl.acs.agv.server.NDCAgvService;
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import org.nl.acs.common.base.CommonFinalParam;
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import org.nl.acs.device.domain.Device;
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import org.nl.acs.device.service.DeviceService;
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import org.nl.acs.device_driver.agv.ndcone.AgvNdcOneDeviceDriver;
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import org.nl.acs.ext.wms.service.AcsToWmsService;
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import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
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||||
import org.nl.acs.instruction.domain.Instruction;
|
||||
import org.nl.acs.instruction.enums.InstructionStatusEnum;
|
||||
import org.nl.acs.instruction.service.InstructionService;
|
||||
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
|
||||
import org.nl.acs.log.service.DeviceExecuteLogService;
|
||||
import org.nl.acs.opc.DeviceAppService;
|
||||
import org.nl.config.lucene.service.LuceneExecuteLogService;
|
||||
import org.nl.system.service.param.ISysParamService;
|
||||
import org.nl.config.SpringContextHolder;
|
||||
import org.nl.system.service.param.impl.SysParamServiceImpl;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
import java.io.DataInputStream;
|
||||
import java.io.DataOutputStream;
|
||||
import java.io.IOException;
|
||||
import java.net.Socket;
|
||||
import java.util.Date;
|
||||
import java.util.List;
|
||||
|
||||
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
|
||||
/**
|
||||
* Demo class
|
||||
*
|
||||
* @author zhoujj
|
||||
* @date 2023/12/06
|
||||
*/
|
||||
@Slf4j
|
||||
@Component
|
||||
public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
|
||||
Socket s;
|
||||
String ip = "192.168.46.225";
|
||||
int port = 1234;
|
||||
static DataOutputStream dos;
|
||||
static DataInputStream dis;
|
||||
private int recordTimeOut = 10000;
|
||||
private Date recordTime;
|
||||
String[] ERROR = new String[]{
|
||||
"货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
|
||||
"停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
|
||||
"抬叉停止"};
|
||||
boolean bConnected = true;
|
||||
|
||||
boolean isReConnect = false;
|
||||
|
||||
@Autowired
|
||||
ISysParamService paramService;
|
||||
@Autowired
|
||||
AutoRunService autoRunService;
|
||||
@Autowired
|
||||
LuceneExecuteLogService luceneExecuteLogService;
|
||||
|
||||
|
||||
public OneNDCSocketConnectionAutoRun() {
|
||||
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
|
||||
}
|
||||
@Override
|
||||
public String getCode() {
|
||||
return OneNDCSocketConnectionAutoRun.class.getSimpleName();
|
||||
}
|
||||
@Override
|
||||
public String getName() {
|
||||
return "NDC在线连接";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void autoRun() throws IOException {
|
||||
System.out.println("NDCAgv链接开始");
|
||||
ISysParamService ISysParamService = SpringContextHolder.getBean(SysParamServiceImpl.class);
|
||||
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
|
||||
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
|
||||
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
|
||||
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
|
||||
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
|
||||
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
|
||||
ip = paramService.findByCode(AcsConfig.AGVURL2).getValue();
|
||||
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue());
|
||||
|
||||
|
||||
try {
|
||||
byte[] b = new byte[1024];
|
||||
s = new Socket(ip, port);
|
||||
dos = new DataOutputStream(s.getOutputStream());
|
||||
dis = new DataInputStream(s.getInputStream());
|
||||
System.out.println("NDCAgv链接成功");
|
||||
log.info("NDCAgv链接成功");
|
||||
while (bConnected) {
|
||||
int count = dis.read(b);
|
||||
|
||||
if (count == -1) {
|
||||
break;
|
||||
}
|
||||
|
||||
int[] arr = new int[count];
|
||||
StringBuffer bs = new StringBuffer();
|
||||
|
||||
for (int i = 0; i < count; i++) {
|
||||
int temp = b[i];
|
||||
if (temp < 0) {
|
||||
temp += 256;
|
||||
}
|
||||
arr[i] = temp;
|
||||
StringBuffer bs1 = new StringBuffer("0");
|
||||
bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
|
||||
}
|
||||
|
||||
boolean flag = false;
|
||||
if (arr[8] * 256 + arr[9] == 0x73) {
|
||||
byte[] data = null;
|
||||
System.out.println("接收agv上报信息：" + bs);
|
||||
//执行阶段
|
||||
int phase = arr[16] * 256 + arr[17];
|
||||
// agv任务号
|
||||
int index = arr[12] * 256 + arr[13];
|
||||
/**
|
||||
* 任务号
|
||||
*/
|
||||
int ikey = arr[26] * 256 + arr[27];
|
||||
//站点号
|
||||
int agvaddr = arr[18] * 256 + arr[19];
|
||||
//车号
|
||||
int carno = arr[20];
|
||||
Instruction link_inst = null;
|
||||
Instruction inst = null;
|
||||
List<Instruction> insts = null;
|
||||
boolean link_flag = false;
|
||||
Device agv_device = null;
|
||||
if (carno != 0) {
|
||||
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
|
||||
}
|
||||
if (ikey != 0) {
|
||||
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
|
||||
if (ObjectUtil.isEmpty(inst)) {
|
||||
inst = instructionService.findByCode(String.valueOf(ikey));
|
||||
}
|
||||
}
|
||||
if (!ObjectUtil.isEmpty(link_inst)) {
|
||||
link_flag = true;
|
||||
}
|
||||
log.info("接收agv上报信息：" + bs);
|
||||
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
|
||||
Device device = null;
|
||||
String device_code = null;
|
||||
|
||||
|
||||
//
|
||||
AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
|
||||
|
||||
//开始任务/上报订单号
|
||||
if (phase == 0x01) {
|
||||
if (!ObjectUtil.isEmpty(inst)) {
|
||||
inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex());
|
||||
inst.setAgv_jobno(String.valueOf(index));
|
||||
inst.setSend_status(CommonFinalParam.ONE);
|
||||
instructionService.update(inst);
|
||||
}
|
||||
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
|
||||
}
|
||||
//任务完毕
|
||||
//（无车id及状态）
|
||||
else if (phase == 0x0A) {
|
||||
if (!ObjectUtil.isEmpty(inst)) {
|
||||
instructionService.finish(inst.getInstruction_id());
|
||||
} 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!");
|
||||
}
|
||||
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
|
||||
log.info("指令号:{},已反馈agv任务完成!");
|
||||
}
|
||||
//请求删除任务
|
||||
//(需要WCS反馈)
|
||||
else if (phase == 0x30) {
|
||||
data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0);
|
||||
}
|
||||
//任务删除确认
|
||||
//(需要WCS反馈)
|
||||
else if (phase == 0xFF) {
|
||||
|
||||
if (!ObjectUtil.isEmpty(inst)) {
|
||||
if (!ObjectUtil.isEmpty(inst)) {
|
||||
instructionService.cancelNOSendAgv(inst.getInstruction_id());
|
||||
}
|
||||
}
|
||||
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
|
||||
|
||||
} else {
|
||||
//上报异常信息
|
||||
//（不需要WCS反馈）
|
||||
if (phase == 0x67) {
|
||||
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
|
||||
} else {
|
||||
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
|
||||
}
|
||||
if (ObjectUtil.isNotEmpty(device)) {
|
||||
if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
|
||||
agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
|
||||
agvNdcOneDeviceDriver.processSocket(arr);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
if (!ObjectUtil.isEmpty(data)) {
|
||||
write(data);
|
||||
}
|
||||
|
||||
} else {
|
||||
System.out.println("agv上报不是0073类型动作，不处理");
|
||||
}
|
||||
}
|
||||
|
||||
} catch (Exception e) {
|
||||
System.out.println("Agv链接异常");
|
||||
log.info("Agv链接异常");
|
||||
log.error("agv连接出现异常:{}", e);
|
||||
if (ObjectUtil.isNotEmpty(s)) {
|
||||
s.close();
|
||||
}
|
||||
System.out.println(e.getMessage());
|
||||
e.printStackTrace();
|
||||
|
||||
} finally {
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void stop() {
|
||||
super.after();
|
||||
try {
|
||||
s.close();
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public static void write(byte[] b) {
|
||||
try {
|
||||
log.info("下发agv数据:" + Bytes2HexString(b));
|
||||
System.out.println("下发agv数据:" + Bytes2HexString(b));
|
||||
dos.write(b);
|
||||
dos.flush();
|
||||
} catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
try {
|
||||
Thread.sleep(5000L);
|
||||
log.info("再次下发agv数据:" + Bytes2HexString(b));
|
||||
System.out.println("再次下发agv数据:" + Bytes2HexString(b));
|
||||
dos.write(b);
|
||||
dos.flush();
|
||||
} catch (Exception e1) {
|
||||
e1.printStackTrace();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//package org.nl.acs.auto.run;
|
||||
//
|
||||
//import cn.hutool.core.util.ObjectUtil;
|
||||
//import lombok.extern.slf4j.Slf4j;
|
||||
//import org.nl.acs.AcsConfig;
|
||||
//import org.nl.acs.agv.server.NDCAgvService;
|
||||
//import org.nl.acs.common.base.CommonFinalParam;
|
||||
//import org.nl.acs.device.domain.Device;
|
||||
//import org.nl.acs.device.service.DeviceService;
|
||||
//import org.nl.acs.device_driver.agv.ndcone.AgvNdcOneDeviceDriver;
|
||||
//import org.nl.acs.ext.wms.service.AcsToWmsService;
|
||||
//import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
|
||||
//import org.nl.acs.instruction.domain.Instruction;
|
||||
//import org.nl.acs.instruction.enums.InstructionStatusEnum;
|
||||
//import org.nl.acs.instruction.service.InstructionService;
|
||||
//import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
|
||||
//import org.nl.acs.log.service.DeviceExecuteLogService;
|
||||
//import org.nl.acs.opc.DeviceAppService;
|
||||
//import org.nl.config.lucene.service.LuceneExecuteLogService;
|
||||
//import org.nl.system.service.param.ISysParamService;
|
||||
//import org.nl.config.SpringContextHolder;
|
||||
//import org.nl.system.service.param.impl.SysParamServiceImpl;
|
||||
//import org.springframework.beans.factory.annotation.Autowired;
|
||||
//import org.springframework.stereotype.Component;
|
||||
//
|
||||
//import java.io.DataInputStream;
|
||||
//import java.io.DataOutputStream;
|
||||
//import java.io.IOException;
|
||||
//import java.net.Socket;
|
||||
//import java.util.Date;
|
||||
//import java.util.List;
|
||||
//
|
||||
//import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
|
||||
///**
|
||||
// * Demo class
|
||||
// *
|
||||
// * @author zhoujj
|
||||
// * @date 2023/12/06
|
||||
// */
|
||||
//@Slf4j
|
||||
//@Component
|
||||
//public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
//
|
||||
// Socket s;
|
||||
// String ip = "192.168.46.225";
|
||||
// int port = 1234;
|
||||
// static DataOutputStream dos;
|
||||
// static DataInputStream dis;
|
||||
// private int recordTimeOut = 10000;
|
||||
// private Date recordTime;
|
||||
// String[] ERROR = new String[]{
|
||||
// "货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
|
||||
// "停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
|
||||
// "抬叉停止"};
|
||||
// boolean bConnected = true;
|
||||
//
|
||||
// boolean isReConnect = false;
|
||||
//
|
||||
// @Autowired
|
||||
// ISysParamService paramService;
|
||||
// @Autowired
|
||||
// AutoRunService autoRunService;
|
||||
// @Autowired
|
||||
// LuceneExecuteLogService luceneExecuteLogService;
|
||||
//
|
||||
//
|
||||
// public OneNDCSocketConnectionAutoRun() {
|
||||
// this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
|
||||
// }
|
||||
// @Override
|
||||
// public String getCode() {
|
||||
// return OneNDCSocketConnectionAutoRun.class.getSimpleName();
|
||||
// }
|
||||
// @Override
|
||||
// public String getName() {
|
||||
// return "NDC在线连接";
|
||||
// }
|
||||
//
|
||||
// @Override
|
||||
// public void autoRun() throws IOException {
|
||||
// System.out.println("NDCAgv链接开始");
|
||||
// ISysParamService ISysParamService = SpringContextHolder.getBean(SysParamServiceImpl.class);
|
||||
// InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
|
||||
// AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
|
||||
// NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
|
||||
// DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
|
||||
// DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
|
||||
// DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
|
||||
// ip = paramService.findByCode(AcsConfig.AGVURL2).getValue();
|
||||
// port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue());
|
||||
//
|
||||
//
|
||||
// try {
|
||||
// byte[] b = new byte[1024];
|
||||
// s = new Socket(ip, port);
|
||||
// dos = new DataOutputStream(s.getOutputStream());
|
||||
// dis = new DataInputStream(s.getInputStream());
|
||||
// System.out.println("NDCAgv链接成功");
|
||||
// log.info("NDCAgv链接成功");
|
||||
// while (bConnected) {
|
||||
// int count = dis.read(b);
|
||||
//
|
||||
// if (count == -1) {
|
||||
// break;
|
||||
// }
|
||||
//
|
||||
// int[] arr = new int[count];
|
||||
// StringBuffer bs = new StringBuffer();
|
||||
//
|
||||
// for (int i = 0; i < count; i++) {
|
||||
// int temp = b[i];
|
||||
// if (temp < 0) {
|
||||
// temp += 256;
|
||||
// }
|
||||
// arr[i] = temp;
|
||||
// StringBuffer bs1 = new StringBuffer("0");
|
||||
// bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
|
||||
// }
|
||||
//
|
||||
// boolean flag = false;
|
||||
// if (arr[8] * 256 + arr[9] == 0x73) {
|
||||
// byte[] data = null;
|
||||
// System.out.println("接收agv上报信息：" + bs);
|
||||
// //执行阶段
|
||||
// int phase = arr[16] * 256 + arr[17];
|
||||
// // agv任务号
|
||||
// int index = arr[12] * 256 + arr[13];
|
||||
// /**
|
||||
// * 任务号
|
||||
// */
|
||||
// int ikey = arr[26] * 256 + arr[27];
|
||||
// //站点号
|
||||
// int agvaddr = arr[18] * 256 + arr[19];
|
||||
// //车号
|
||||
// int carno = arr[20];
|
||||
// Instruction link_inst = null;
|
||||
// Instruction inst = null;
|
||||
// List<Instruction> insts = null;
|
||||
// boolean link_flag = false;
|
||||
// Device agv_device = null;
|
||||
// if (carno != 0) {
|
||||
// agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
|
||||
// }
|
||||
// if (ikey != 0) {
|
||||
// inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
|
||||
// if (ObjectUtil.isEmpty(inst)) {
|
||||
// inst = instructionService.findByCode(String.valueOf(ikey));
|
||||
// }
|
||||
// }
|
||||
// if (!ObjectUtil.isEmpty(link_inst)) {
|
||||
// link_flag = true;
|
||||
// }
|
||||
// log.info("接收agv上报信息：" + bs);
|
||||
// log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
|
||||
// Device device = null;
|
||||
// String device_code = null;
|
||||
//
|
||||
//
|
||||
// //
|
||||
// AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
|
||||
//
|
||||
// //开始任务/上报订单号
|
||||
// if (phase == 0x01) {
|
||||
// if (!ObjectUtil.isEmpty(inst)) {
|
||||
// inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex());
|
||||
// inst.setAgv_jobno(String.valueOf(index));
|
||||
// inst.setSend_status(CommonFinalParam.ONE);
|
||||
// instructionService.update(inst);
|
||||
// }
|
||||
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
|
||||
// }
|
||||
// //任务完毕
|
||||
// //（无车id及状态）
|
||||
// else if (phase == 0x0A) {
|
||||
// if (!ObjectUtil.isEmpty(inst)) {
|
||||
// instructionService.finish(inst.getInstruction_id());
|
||||
// } 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!");
|
||||
// }
|
||||
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
|
||||
// log.info("指令号:{},已反馈agv任务完成!");
|
||||
// }
|
||||
// //请求删除任务
|
||||
// //(需要WCS反馈)
|
||||
// else if (phase == 0x30) {
|
||||
// data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0);
|
||||
// }
|
||||
// //任务删除确认
|
||||
// //(需要WCS反馈)
|
||||
// else if (phase == 0xFF) {
|
||||
//
|
||||
// if (!ObjectUtil.isEmpty(inst)) {
|
||||
// if (!ObjectUtil.isEmpty(inst)) {
|
||||
// instructionService.cancelNOSendAgv(inst.getInstruction_id());
|
||||
// }
|
||||
// }
|
||||
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
|
||||
//
|
||||
// } else {
|
||||
// //上报异常信息
|
||||
// //（不需要WCS反馈）
|
||||
// if (phase == 0x67) {
|
||||
// device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
|
||||
// } else {
|
||||
// device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
|
||||
// }
|
||||
// if (ObjectUtil.isNotEmpty(device)) {
|
||||
// if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
|
||||
// agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
|
||||
// agvNdcOneDeviceDriver.processSocket(arr);
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// }
|
||||
// if (!ObjectUtil.isEmpty(data)) {
|
||||
// write(data);
|
||||
// }
|
||||
//
|
||||
// } else {
|
||||
// System.out.println("agv上报不是0073类型动作，不处理");
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// } catch (Exception e) {
|
||||
// System.out.println("Agv链接异常");
|
||||
// log.info("Agv链接异常");
|
||||
// log.error("agv连接出现异常:{}", e);
|
||||
// if (ObjectUtil.isNotEmpty(s)) {
|
||||
// s.close();
|
||||
// }
|
||||
// System.out.println(e.getMessage());
|
||||
// e.printStackTrace();
|
||||
//
|
||||
// } finally {
|
||||
//
|
||||
//
|
||||
// }
|
||||
//
|
||||
// }
|
||||
//
|
||||
//
|
||||
// @Override
|
||||
// public void stop() {
|
||||
// super.after();
|
||||
// try {
|
||||
// s.close();
|
||||
// } catch (Exception e) {
|
||||
// e.printStackTrace();
|
||||
// }
|
||||
// }
|
||||
//
|
||||
//
|
||||
// public static void write(byte[] b) {
|
||||
// try {
|
||||
// log.info("下发agv数据:" + Bytes2HexString(b));
|
||||
// System.out.println("下发agv数据:" + Bytes2HexString(b));
|
||||
// dos.write(b);
|
||||
// dos.flush();
|
||||
// } catch (IOException e) {
|
||||
// // TODO Auto-generated catch block
|
||||
// try {
|
||||
// Thread.sleep(5000L);
|
||||
// log.info("再次下发agv数据:" + Bytes2HexString(b));
|
||||
// System.out.println("再次下发agv数据:" + Bytes2HexString(b));
|
||||
// dos.write(b);
|
||||
// dos.flush();
|
||||
// } catch (Exception e1) {
|
||||
// e1.printStackTrace();
|
||||
// }
|
||||
//
|
||||
// }
|
||||
// }
|
||||
//}
|
||||
//
|
||||
|
||||
@@ -83,7 +83,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "2楼1区域AGV系统";
|
||||
return "NDC_AGV系统";
|
||||
}
|
||||
|
||||
@Override
|
||||
@@ -97,7 +97,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
|
||||
|
||||
try {
|
||||
log.info("2楼1区域AGV系统链接开始");
|
||||
log.info("NDC_AGV系统链接开始");
|
||||
ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
|
||||
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue());
|
||||
// byte[] b = new byte[1024];
|
||||
@@ -112,14 +112,14 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
socket = new Socket();
|
||||
socket.connect(socketAddress, 5 * 1000);
|
||||
socket.setKeepAlive(true);//长链接
|
||||
socket.setSoTimeout(30000);//读取超时时间
|
||||
socket.setSoTimeout(300000);//读取超时时间
|
||||
dos = new DataOutputStream(socket.getOutputStream());
|
||||
dis = new DataInputStream(socket.getInputStream());
|
||||
|
||||
while (socket.isConnected()) {
|
||||
System.out.println("当前socket状态："+socket.isConnected());
|
||||
System.out.println("当前socket状态：" + socket.isConnected());
|
||||
|
||||
int count = dis.read(b);
|
||||
// System.out.println("当前count值："+count);
|
||||
if (count == -1) {
|
||||
log.error("agv连接出现异常:服务端被关闭");
|
||||
if (ObjectUtil.isNotEmpty(socket)) {
|
||||
@@ -205,11 +205,10 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
instructionService.update(inst);
|
||||
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
|
||||
}
|
||||
flag = true;
|
||||
}
|
||||
//任务完毕
|
||||
//（无车id及状态）
|
||||
else if (phase == 0x14) {
|
||||
else if (phase == 0x12) {
|
||||
if (ObjectUtil.isEmpty(inst)) {
|
||||
log.info("未找到指令号{}对应的指令", ikey);
|
||||
} else {
|
||||
@@ -248,6 +247,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
instructionService.cancelNOSendAgv(inst.getInstruction_id());
|
||||
}
|
||||
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
|
||||
} else if (phase == 0x4D) {
|
||||
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
|
||||
} else if (phase == 0x50) {
|
||||
if (ObjectUtil.isEmpty(device_code)) {
|
||||
log.info(agvaddr + "对应设备号为空!");
|
||||
@@ -299,30 +300,29 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
} else {
|
||||
log.info(device_code + "对应设备号为空!");
|
||||
}
|
||||
} else if (phase == 0x64){
|
||||
log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station);
|
||||
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
|
||||
if (ObjectUtil.isNotEmpty(dict)){
|
||||
} else if (phase == 0x64) {
|
||||
log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}", agvaddr, station);
|
||||
Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
|
||||
if (ObjectUtil.isNotEmpty(dict)) {
|
||||
dict.setValue("1");
|
||||
dict.setPara2(String.valueOf(agvaddr));
|
||||
dict.setPara3("下发成功");
|
||||
dictService.updateDetail(dict);
|
||||
}
|
||||
//充电成功
|
||||
}else if (phase == 0x65){
|
||||
log.info("AGV车号{}反馈充电中，充电桩{}",agvaddr,station);
|
||||
} else if (phase == 0x65) {
|
||||
log.info("AGV车号{}反馈充电中，充电桩{}", agvaddr, station);
|
||||
//充电取消上报
|
||||
}else if (phase == 0x66){
|
||||
log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}",agvaddr,station);
|
||||
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
|
||||
if (ObjectUtil.isNotEmpty(dict)){
|
||||
} else if (phase == 0x66) {
|
||||
log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}", agvaddr, station);
|
||||
Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
|
||||
if (ObjectUtil.isNotEmpty(dict)) {
|
||||
dict.setValue("0");
|
||||
dict.setPara2("");
|
||||
dict.setPara3("充电桩空闲");
|
||||
dictService.updateDetail(dict);
|
||||
}
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
//上报异常信息
|
||||
//（不需要WCS反馈）
|
||||
if (phase == 0x67 || phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74) {
|
||||
|
||||
@@ -15,9 +15,6 @@ public class StandardInspectSiteDevice extends AbstractDriverService {
|
||||
public JSONObject getDeviceInfo(Device device) {
|
||||
StandardInspectSiteDeviceDriver standardInspectSiteDevicedriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
JSONObject jo = super.getCommonDeviceInfo(standardInspectSiteDevicedriver, 0, 0);
|
||||
jo.put("error", standardInspectSiteDevicedriver.getError());
|
||||
jo.put("isError", standardInspectSiteDevicedriver.getIserror());
|
||||
jo.put("container", standardInspectSiteDevicedriver.getContainer());
|
||||
jo.put("message", standardInspectSiteDevicedriver.getMessage());
|
||||
return jo;
|
||||
}
|
||||
|
||||
@@ -999,8 +999,6 @@ public class DeviceServiceImpl extends CommonServiceImpl<DeviceMapper, Device> i
|
||||
}
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
standardInspectSiteDeviceDriver.setMaterial(material_type);
|
||||
standardInspectSiteDeviceDriver.setBatch(batch);
|
||||
device.setMaterial_type(material_type);
|
||||
device.setBatch(batch);
|
||||
}else if (device.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
|
||||
|
||||
@@ -8,7 +8,6 @@ import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.AgvService;
|
||||
import org.nl.acs.agv.server.NDCAgvService;
|
||||
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
|
||||
import org.nl.acs.common.base.CommonFinalParam;
|
||||
import org.nl.acs.device.domain.Device;
|
||||
import org.nl.acs.device.service.DeviceService;
|
||||
@@ -449,7 +448,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
if (!ObjectUtil.isEmpty(data)) {
|
||||
phase = 0;
|
||||
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));
|
||||
OneNDCSocketConnectionAutoRun.write(data);
|
||||
// OneNDCSocketConnectionAutoRun.write(data);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -36,17 +36,13 @@ import org.nl.acs.task.service.dto.TaskDto;
|
||||
import org.nl.acs.task.service.impl.TaskServiceImpl;
|
||||
import org.nl.config.lucene.service.LuceneExecuteLogService;
|
||||
import org.nl.config.lucene.service.dto.LuceneLogDto;
|
||||
import org.nl.config.thread.ThreadPoolExecutorUtil;
|
||||
import org.nl.system.service.dict.ISysDictService;
|
||||
import org.nl.system.service.dict.dao.Dict;
|
||||
import org.nl.system.service.param.ISysParamService;
|
||||
import org.nl.config.SpringContextHolder;
|
||||
|
||||
import java.time.LocalTime;
|
||||
import java.util.HashMap;
|
||||
import java.util.LinkedHashMap;
|
||||
import java.util.Map;
|
||||
import java.util.concurrent.ThreadPoolExecutor;
|
||||
|
||||
|
||||
/**
|
||||
@@ -161,7 +157,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
device_code = old_device_code;
|
||||
}
|
||||
}
|
||||
device = deviceAppService.findDeviceByCode(device_code);
|
||||
|
||||
//普通站点
|
||||
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
|
||||
@@ -223,6 +218,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
instructionService.update(inst);
|
||||
}
|
||||
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
@@ -233,6 +229,24 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
standardOrdinarySiteDeviceDriver.setOption(0);
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() != 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + ", 不允许取货")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
@@ -243,7 +257,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
|
||||
// 取货完毕
|
||||
//(Itype=1/2/3,需要WCS反馈Phase)
|
||||
else if (phase == 0x05) {
|
||||
@@ -293,7 +306,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
inst.setCarno(String.valueOf(carno));
|
||||
instructionService.update(inst);
|
||||
}
|
||||
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
@@ -306,6 +319,24 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
|
||||
standardOrdinarySiteDeviceDriver.setIndex(index);
|
||||
standardOrdinarySiteDeviceDriver.setInst(inst);
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getMode() > 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + "工作模式为" + standardInspectSiteDeviceDriver.getMode() + ", 取货完成不允许离开")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
@@ -316,7 +347,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
|
||||
// 到达放货点
|
||||
//（Itype=1/2/3,需要WCS反馈）
|
||||
else if (phase == 0x07) {
|
||||
@@ -356,6 +386,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
log.info("未找到指令号{}对应的指令", ikey);
|
||||
return;
|
||||
}
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
@@ -367,6 +398,24 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
standardOrdinarySiteDeviceDriver.setOption(0);
|
||||
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getMode() > 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + "工作模式为" + standardInspectSiteDeviceDriver.getMode() + ", 到达放货点不允许放货")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
@@ -377,8 +426,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//放货完成
|
||||
//(Itype=1/2/3,需要WCS反馈)
|
||||
else if (phase == 0x09) {
|
||||
@@ -418,6 +465,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
log.info("未找到指令号{}对应的指令", ikey);
|
||||
return;
|
||||
}
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
@@ -430,6 +478,24 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
|
||||
standardOrdinarySiteDeviceDriver.setIndex(index);
|
||||
standardOrdinarySiteDeviceDriver.setInst(inst);
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() != 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + ", 放货完成不允许离开")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
@@ -440,7 +506,336 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
//上传AGV电量
|
||||
//到达取货点2
|
||||
else if (phase == 0x0B) {
|
||||
if (agvaddr == 0) {
|
||||
agvaddr = agvaddr_copy;
|
||||
}
|
||||
if (agvaddr < 1) {
|
||||
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
|
||||
return;
|
||||
}
|
||||
device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
|
||||
if (agvaddr != 0) {
|
||||
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
|
||||
CommonFinalParam commonFinalParam = new CommonFinalParam();
|
||||
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
|
||||
String[] point = old_device_code.split(commonFinalParam.getBARRE());
|
||||
device_code = point[0];
|
||||
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
|
||||
String[] point = old_device_code.split("\\.");
|
||||
device_code = point[0];
|
||||
emptyNum = point[1];
|
||||
} else {
|
||||
device_code = old_device_code;
|
||||
}
|
||||
}
|
||||
|
||||
device = deviceAppService.findDeviceByCode(device_code);
|
||||
if (ObjectUtil.isEmpty(device_code)) {
|
||||
log.info(agvaddr + "对应设备号为空!");
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(device_code)
|
||||
.content(agvaddr + "对应设备号为空")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
return;
|
||||
}
|
||||
if (ObjectUtil.isEmpty(inst)) {
|
||||
log.info("未找到指令号{}对应的指令", ikey);
|
||||
return;
|
||||
}
|
||||
if (ObjectUtil.isEmpty(inst.getCarno())) {
|
||||
inst.setCarno(String.valueOf(carno));
|
||||
instructionService.update(inst);
|
||||
}
|
||||
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
standardOrdinarySiteDeviceDriver.setOption(0);
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() != 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + ", 到达取货点不允许取货")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
//取货2完毕
|
||||
else if (phase == 0x0D) {
|
||||
if (agvaddr == 0) {
|
||||
agvaddr = agvaddr_copy;
|
||||
}
|
||||
if (agvaddr < 1) {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agv地址参数有误,phase:" + phase)
|
||||
.build();
|
||||
logDto.setLog_level(2);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
return;
|
||||
}
|
||||
if (agvaddr != 0) {
|
||||
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
|
||||
CommonFinalParam commonFinalParam = new CommonFinalParam();
|
||||
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
|
||||
String[] point = old_device_code.split(commonFinalParam.getBARRE());
|
||||
device_code = point[0];
|
||||
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
|
||||
String[] point = old_device_code.split("\\.");
|
||||
device_code = point[0];
|
||||
emptyNum = point[1];
|
||||
} else {
|
||||
device_code = old_device_code;
|
||||
}
|
||||
}
|
||||
device = deviceAppService.findDeviceByCode(device_code);
|
||||
|
||||
if (ObjectUtil.isEmpty(device_code)) {
|
||||
log.info(agvaddr + "对应设备号为空!");
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("对应设备号为空" + device_code)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
return;
|
||||
}
|
||||
if (ObjectUtil.isEmpty(inst)) {
|
||||
log.info("未找到指令号{}对应的指令", ikey);
|
||||
return;
|
||||
}
|
||||
if (ObjectUtil.isEmpty(inst.getCarno())) {
|
||||
inst.setCarno(String.valueOf(carno));
|
||||
instructionService.update(inst);
|
||||
}
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
|
||||
standardOrdinarySiteDeviceDriver.setIndex(index);
|
||||
standardOrdinarySiteDeviceDriver.setInst(inst);
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getMode() > 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + "工作模式为" + standardInspectSiteDeviceDriver.getMode() + ", 取货完毕,不允许离开")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
//到达放货点2
|
||||
else if (phase == 0x0F) {
|
||||
if (agvaddr == 0) {
|
||||
agvaddr = agvaddr_copy;
|
||||
}
|
||||
if (agvaddr < 1) {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(device_code)
|
||||
.content("agv地址参数有误,phase:" + phase)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
return;
|
||||
}
|
||||
if (agvaddr != 0) {
|
||||
CommonFinalParam commonFinalParam = new CommonFinalParam();
|
||||
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
|
||||
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
|
||||
String[] point = old_device_code.split(commonFinalParam.getBARRE());
|
||||
device_code = point[0];
|
||||
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
|
||||
String[] point = old_device_code.split("\\.");
|
||||
device_code = point[0];
|
||||
emptyNum = point[1];
|
||||
} else {
|
||||
device_code = old_device_code;
|
||||
}
|
||||
}
|
||||
|
||||
device = deviceAppService.findDeviceByCode(device_code);
|
||||
if (ObjectUtil.isEmpty(device_code)) {
|
||||
log.info(agvaddr + "对应设备号为空!");
|
||||
return;
|
||||
}
|
||||
if (ObjectUtil.isEmpty(inst)) {
|
||||
log.info("未找到指令号{}对应的指令", ikey);
|
||||
return;
|
||||
}
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
standardOrdinarySiteDeviceDriver.setOption(0);
|
||||
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getMode() > 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + "工作模式为" + standardInspectSiteDeviceDriver.getMode() + ", 到达放货点不允许放货")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
//放货2完毕
|
||||
else if (phase == 0x11) {
|
||||
if (agvaddr == 0) {
|
||||
agvaddr = agvaddr_copy;
|
||||
}
|
||||
if (agvaddr < 1) {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(device_code)
|
||||
.content("agv地址参数有误,phase:" + phase)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
return;
|
||||
}
|
||||
if (agvaddr != 0) {
|
||||
CommonFinalParam commonFinalParam = new CommonFinalParam();
|
||||
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
|
||||
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
|
||||
String[] point = old_device_code.split(commonFinalParam.getBARRE());
|
||||
device_code = point[0];
|
||||
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
|
||||
String[] point = old_device_code.split("\\.");
|
||||
device_code = point[0];
|
||||
emptyNum = point[1];
|
||||
} else {
|
||||
device_code = old_device_code;
|
||||
}
|
||||
}
|
||||
|
||||
device = deviceAppService.findDeviceByCode(device_code);
|
||||
if (ObjectUtil.isEmpty(device_code)) {
|
||||
log.info(agvaddr + "对应设备号为空!");
|
||||
return;
|
||||
}
|
||||
if (ObjectUtil.isEmpty(inst)) {
|
||||
log.info("未找到指令号{}对应的指令", ikey);
|
||||
return;
|
||||
}
|
||||
//TODO 检测站点
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
standardOrdinarySiteDeviceDriver.setOption(0);
|
||||
|
||||
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
if (standardInspectSiteDeviceDriver.getMove() != 0) {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("设备:" + device.getDevice_code() + "光电信号为" + standardInspectSiteDeviceDriver.getMove() + ", 放货完成不允许离开")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
} else {
|
||||
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(this.getDeviceCode())
|
||||
.content("agvphase:" + phase + "反馈:" + data)
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
}
|
||||
//上传x坐标
|
||||
else if (phase == 0x70) {
|
||||
//x坐标
|
||||
x = ikey;
|
||||
@@ -450,7 +845,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else if (phase == 0x71) {
|
||||
}
|
||||
//上报y坐标
|
||||
else if (phase == 0x71) {
|
||||
//y坐标
|
||||
y = ikey;
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
@@ -459,7 +856,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else if (phase == 0x72) {
|
||||
}
|
||||
//上报角度
|
||||
else if (phase == 0x72) {
|
||||
//车辆角度
|
||||
angle = ikey;
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
@@ -468,7 +867,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
} else if (phase == 0x73) {
|
||||
}
|
||||
//上报电量
|
||||
else if (phase == 0x73) {
|
||||
log.info("接收agv上报信息,phase == 0x73：" + phase);
|
||||
//agv电量
|
||||
electric_qty = ikey;
|
||||
@@ -483,11 +884,11 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
//当前上报的车号
|
||||
String now_car = String.valueOf(this.agvaddr);
|
||||
//如果配置的车号是诺宝车号
|
||||
if(now_car.equals(is_atuo_car)){
|
||||
if (now_car.equals(is_atuo_car)) {
|
||||
//是否开启自动充电
|
||||
String is_atuo_electric = ISysParamService.findByCode(AcsConfig.IS_ATUO_ELECTRIC).getValue();
|
||||
log.info("接收agv上报信息,is_atuo_electric：" + is_atuo_electric);
|
||||
if("1".equals(is_atuo_electric)){
|
||||
if ("1".equals(is_atuo_electric)) {
|
||||
String electric_begin = ISysParamService.findByCode(AcsConfig.ELECTRIC_BEGIN).getValue();
|
||||
String[] begins = electric_begin.split(":");
|
||||
String electric_end = ISysParamService.findByCode(AcsConfig.ELECTRIC_END).getValue();
|
||||
@@ -499,33 +900,35 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
LocalTime now = LocalTime.now();
|
||||
// 判断当前时间是否在时间段内
|
||||
boolean isInRange = !now.isBefore(startTime) && !now.isAfter(endTime);
|
||||
int electric = 0 ;
|
||||
int electric = 0;
|
||||
//早上8-22点
|
||||
if(isInRange){
|
||||
if (isInRange) {
|
||||
electric = Integer.parseInt(ISysParamService.findByCode(AcsConfig.ELECTRIC).getValue());
|
||||
}else{
|
||||
} else {
|
||||
electric = Integer.parseInt(ISysParamService.findByCode(AcsConfig.ELECTRIC2).getValue());
|
||||
}
|
||||
if (electric_qty>0 && electric_qty < electric) {
|
||||
log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.agvaddr, electric_qty,electric);
|
||||
if (electric_qty > 0 && electric_qty < electric) {
|
||||
log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.agvaddr, electric_qty, electric);
|
||||
//判断是否已下发充电任务
|
||||
Dict dict1 = dictService.getDictByName3("station",String.valueOf(this.agvaddr),null);
|
||||
if(ObjectUtil.isNotEmpty(dict1)){
|
||||
log.info("当前车辆{}已分配充电桩{}，退出后续判断",this.agvaddr,dict1.getPara1());
|
||||
}else{
|
||||
Dict dict1 = dictService.getDictByName3("station", String.valueOf(this.agvaddr), null);
|
||||
if (ObjectUtil.isNotEmpty(dict1)) {
|
||||
log.info("当前车辆{}已分配充电桩{}，退出后续判断", this.agvaddr, dict1.getPara1());
|
||||
} else {
|
||||
//未下发，判断是否有空闲充电桩
|
||||
Dict dict = dictService.getDictByName2("station");
|
||||
if(ObjectUtil.isNotEmpty(dict)){
|
||||
if (ObjectUtil.isNotEmpty(dict)) {
|
||||
ndcAgvService.charge(String.valueOf(this.agvaddr));
|
||||
isCharge =true;
|
||||
}else{
|
||||
log.info("当前车辆{}电量为{}低于{}，但无空闲充电桩!", this.agvaddr, electric_qty,electric);
|
||||
isCharge = true;
|
||||
} else {
|
||||
log.info("当前车辆{}电量为{}低于{}，但无空闲充电桩!", this.agvaddr, electric_qty, electric);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} else if (phase == 0x74) {
|
||||
}
|
||||
//上报车状态
|
||||
else if (phase == 0x74) {
|
||||
//三色灯状态
|
||||
status = ikey;
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
@@ -559,23 +962,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
|
||||
last_status = status;
|
||||
} //进入区域（phase值）
|
||||
else if (phase == 0x50) {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(device_code)
|
||||
.content("agvphase:" + phase + "自动门开门")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
//离开区域（phase值）
|
||||
else if (phase == 0x51) {
|
||||
LuceneLogDto logDto = LuceneLogDto.builder()
|
||||
.device_code(device_code)
|
||||
.content("agvphase:" + phase + "自动门关门")
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
}
|
||||
//上报异常信息
|
||||
//（不需要WCS反馈）
|
||||
else if (phase == 0x67) {
|
||||
@@ -619,12 +1005,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
|
||||
.build();
|
||||
logDto.setLog_level(4);
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
// if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
|
||||
// TwoNDCSocketConnectionAutoRun.write(data);
|
||||
// }
|
||||
// else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
|
||||
// TwoNDC2SocketConnectionAutoRun.write(data);
|
||||
// }
|
||||
if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
|
||||
TwoNDCSocketConnectionAutoRun.write(data);
|
||||
}
|
||||
|
||||
@@ -11,17 +11,10 @@ import java.util.List;
|
||||
@Data
|
||||
public class ItemProtocol {
|
||||
|
||||
public static String item_heartbeat = "heartbeat";
|
||||
public static String item_mode = "mode";
|
||||
public static String item_move = "move";
|
||||
public static String item_action = "action";
|
||||
public static String item_error = "error";
|
||||
public static String item_mix_code = "mix_code";
|
||||
public static String item_to_command = "to_command";
|
||||
public static String item_to_target = "to_target";
|
||||
public static String item_to_task = "to_task";
|
||||
public static String item_weight = "weight";
|
||||
/*public static String item_material_type = "material_type";
|
||||
public static String item_barcode = "barcode";*/
|
||||
|
||||
private StandardInspectSiteDeviceDriver driver;
|
||||
|
||||
@@ -38,54 +31,29 @@ public class ItemProtocol {
|
||||
return this.getOpcIntegerValue(item_move);
|
||||
}
|
||||
|
||||
public int getAction() {
|
||||
return this.getOpcIntegerValue(item_action);
|
||||
public int getMix_code() {
|
||||
return this.getOpcIntegerValue(item_mix_code);
|
||||
}
|
||||
|
||||
public int getError() {
|
||||
return this.getOpcIntegerValue(item_error);
|
||||
}
|
||||
|
||||
|
||||
|
||||
public int getToCommand() {
|
||||
return this.getOpcIntegerValue(item_to_command);
|
||||
}
|
||||
|
||||
public int getToTarget() {
|
||||
return this.getOpcIntegerValue(item_to_target);
|
||||
}
|
||||
|
||||
public int getToTask() {
|
||||
return this.getOpcIntegerValue(item_to_task);
|
||||
}
|
||||
|
||||
/**
|
||||
*是否有货
|
||||
*/
|
||||
public int hasGoods(int move) {
|
||||
return move;
|
||||
}
|
||||
|
||||
Boolean isonline;
|
||||
|
||||
public int getOpcIntegerValue(String protocol) {
|
||||
Integer value = this.driver.getIntegeregerValue(protocol);
|
||||
if (value == null) {
|
||||
// log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
|
||||
setIsonline(false);
|
||||
} else {
|
||||
setIsonline(true);
|
||||
return value;
|
||||
}
|
||||
return -1;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
public static List<ItemDto> getReadableItemDtos() {
|
||||
ArrayList list = new ArrayList();
|
||||
list.add(new ItemDto(item_mode, "工作状态", "DB600.B2", Boolean.valueOf(true)));
|
||||
list.add(new ItemDto(item_move, "光电开关信号", "DB600.B3"));
|
||||
list.add(new ItemDto(item_mix_code, "终点", "DB600.B3"));
|
||||
return list;
|
||||
}
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -186,8 +186,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
|
||||
void create(Instruction dto) throws Exception;
|
||||
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* 创建2
|
||||
*
|
||||
@@ -367,6 +365,7 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
|
||||
|
||||
/**
|
||||
* 根据终点查询指令
|
||||
*
|
||||
* @param devicecode
|
||||
* @return
|
||||
*/
|
||||
@@ -495,13 +494,16 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
|
||||
*/
|
||||
Boolean querySameNextDeviceCodeInstByOut(String nextDeviceCode);
|
||||
|
||||
List<Instruction> findByCodeAndExcute(String nextDeviceCode);
|
||||
List<Instruction> findByCodeAndExcute(String nextDeviceCode);
|
||||
|
||||
|
||||
List<Instruction> findByNextCode(String nextDeviceCode);
|
||||
|
||||
List<Instruction> findReadyIns();
|
||||
|
||||
List<Instruction> findReadyIns2();
|
||||
|
||||
Instruction findByStarCodeAndExcute(String deviceCode);
|
||||
|
||||
void cancelInstAndTaskByDeviceCode(String device_code) throws Exception;
|
||||
}
|
||||
|
||||
@@ -456,12 +456,12 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
|
||||
if (ObjectUtils.isEmpty(shortPathsList)) {
|
||||
throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通");
|
||||
}
|
||||
if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
|
||||
if (!StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
|
||||
throw new BadRequestException(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由类型不是agv类型");
|
||||
}
|
||||
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
|
||||
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
|
||||
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
|
||||
ndcAgvService.sendAgvInstToNDC( dto);
|
||||
}
|
||||
//判断是否是仙工AGV
|
||||
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
|
||||
@@ -647,7 +647,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
|
||||
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
|
||||
log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type());
|
||||
try {
|
||||
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
|
||||
ndcAgvService.sendAgvInstToNDC( dto);
|
||||
dto.setSend_status("1");
|
||||
} catch (Exception e) {
|
||||
dto.setSend_status("2");
|
||||
@@ -1193,7 +1193,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
|
||||
//
|
||||
// } else
|
||||
//1=XZ 2=NDC
|
||||
if (ObjectUtil.isNotEmpty(entity.getAgv_system_type()) && entity.getAgv_system_type().equals(CommonFinalParam.TWO)) {
|
||||
if (ObjectUtil.isNotEmpty(entity.getAgv_system_type()) && entity.getAgv_system_type().equals(CommonFinalParam.ONE)) {
|
||||
// NDC agv指令不当场取消指令,需要等agv上报
|
||||
if ("1".equals(entity.getSend_status())) {
|
||||
ndcAgvService.deleteAgvInstToNDC(BeanUtil.copyProperties(entity, Instruction.class));
|
||||
@@ -1201,7 +1201,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
|
||||
} else {
|
||||
flag = true;
|
||||
}
|
||||
} else if (ObjectUtil.isNotEmpty(entity.getAgv_system_type()) && entity.getAgv_system_type().equals(CommonFinalParam.ONE)
|
||||
} else if (ObjectUtil.isNotEmpty(entity.getAgv_system_type()) && entity.getAgv_system_type().equals(CommonFinalParam.TWO)
|
||||
&& !StrUtil.equals(entity.getSend_status(), "2")) {
|
||||
XianGongAgvService xianGongAgvService = SpringContextHolder.getBean(XianGongAgvService.class);
|
||||
xianGongAgvService.deleteXZAgvInst(entity.getInstruction_code());
|
||||
@@ -2071,4 +2071,17 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
@Transactional(rollbackFor = Exception.class)
|
||||
public void cancelInstAndTaskByDeviceCode(String device_code) throws Exception {
|
||||
List<Instruction> instructionList = Optional.ofNullable(this.instructions)
|
||||
.orElse(new ArrayList<>())
|
||||
.stream()
|
||||
.filter(instruction -> instruction.getStart_device_code().equals(device_code) || instruction.getNext_device_code().equals(device_code))
|
||||
.collect(Collectors.toList());
|
||||
for (Instruction instruction : instructionList) {
|
||||
taskService.cancelAndInst(instruction.getTask_id());
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -4,6 +4,7 @@ import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.AllArgsConstructor;
|
||||
import lombok.Getter;
|
||||
|
||||
/**
|
||||
* @author 20220102CG\noblelift
|
||||
*/
|
||||
@@ -14,7 +15,7 @@ public enum AgvSystemTypeEnum {
|
||||
* 二期一楼AGV任务
|
||||
* 一期1楼叉车NDC系统
|
||||
*/
|
||||
One_NDC_System_Type("1", "1", "一期1楼叉车NDC系统"),
|
||||
One_NDC_System_Type("1", "1", "叉车NDC系统"),
|
||||
/**
|
||||
* 二期二楼NDC系统
|
||||
* 一期2楼NDC系统
|
||||
@@ -45,6 +46,7 @@ public enum AgvSystemTypeEnum {
|
||||
|
||||
/**
|
||||
* 构造方法
|
||||
*
|
||||
* @param index
|
||||
* @param code
|
||||
* @param name
|
||||
|
||||
@@ -4,6 +4,7 @@ import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.AllArgsConstructor;
|
||||
import lombok.Getter;
|
||||
|
||||
/**
|
||||
* @author 20220102CG\noblelift
|
||||
*/
|
||||
@@ -12,9 +13,9 @@ import lombok.Getter;
|
||||
public enum TaskTypeEnum {
|
||||
/**
|
||||
* 任务类型
|
||||
*/
|
||||
Raw_Foil_AGV_Task("1", "1", "生箔AGV任务"),
|
||||
Cutting_AGV_Task("2", "2", "分切AGV任务"),
|
||||
*/
|
||||
TWO_AGV_Task("1", "1", "两点AGV任务"),
|
||||
FOUR_AGV_Task("2", "2", "四点AGV任务"),
|
||||
Standard_AGV_Task("3", "3", "普通AGV任务"),
|
||||
Forklift_AGV_Task("4", "4", "叉车AGV任务"),
|
||||
Conveyor_Task("5", "5", "输送线任务"),
|
||||
@@ -52,6 +53,7 @@ public enum TaskTypeEnum {
|
||||
|
||||
/**
|
||||
* 构造方法
|
||||
*
|
||||
* @param index
|
||||
* @param code
|
||||
* @param name
|
||||
|
||||
@@ -1139,29 +1139,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
|
||||
instdto.setStart_height(start_height);
|
||||
instdto.setNext_height(next_height);
|
||||
instdto.setAgv_action_type(acsTask.getAgv_action_type());
|
||||
if (StrUtil.equals(agv_system_type, CommonFinalParam.TWO)) {
|
||||
// task_type
|
||||
//1、生箔； Itype=1:取空，取满，放空，放满；
|
||||
//2、分切 Itype=3取满、取空、放满、放空；
|
||||
//3、普通任务 Itype=2:取货、放货；
|
||||
//4、叉车任务
|
||||
//5、输送任务
|
||||
//6、行架
|
||||
//7、立库
|
||||
if (StrUtil.equals(task_type, CommonFinalParam.ONE)) {
|
||||
instdto.setAgv_inst_type(CommonFinalParam.ONE);
|
||||
} else if (StrUtil.equals(task_type, "3")) {
|
||||
instdto.setAgv_inst_type("2");
|
||||
} else if (StrUtil.equals(task_type, "2")) {
|
||||
instdto.setAgv_inst_type("3");
|
||||
} else if (StrUtil.equals(task_type, "8")) {
|
||||
instdto.setAgv_inst_type("2");
|
||||
} else {
|
||||
log.info("未找到对应的AGV指令类型，任务号:" + acsTask.getTask_code() + ",task_type:" + acsTask.getTask_type());
|
||||
}
|
||||
} else {
|
||||
instdto.setAgv_inst_type("4");
|
||||
}
|
||||
instructionservice.create2(instdto);
|
||||
acsTask.setTask_status(CommonFinalParam.ONE);
|
||||
this.update(acsTask);
|
||||
|
||||
@@ -57,12 +57,6 @@ public class AutoCreateInst {
|
||||
List<TaskDto> list = taskserver.queryAllByStatus("0");
|
||||
for (int i = 0; i < list.size(); i++) {
|
||||
TaskDto acsTask = list.get(i);
|
||||
if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.AGV_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) {
|
||||
continue;
|
||||
}
|
||||
if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.Truss_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) {
|
||||
continue;
|
||||
}
|
||||
String taskid = acsTask.getTask_id();
|
||||
String taskcode = acsTask.getTask_code();
|
||||
String task_type = acsTask.getTask_type();
|
||||
@@ -147,9 +141,6 @@ public class AutoCreateInst {
|
||||
Instruction instdto = new Instruction();
|
||||
instdto.setInstruction_type(task_type);
|
||||
instdto.setInstruction_id(IdUtil.simpleUUID());
|
||||
if (acsTask.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())){
|
||||
instdto.setInstruction_code(CodeUtil.getNewCode("INSTRUCT_NO"));
|
||||
}
|
||||
instdto.setRoute_plan_code(route_plan_code);
|
||||
instdto.setRemark(acsTask.getRemark());
|
||||
instdto.setMaterial(acsTask.getMaterial());
|
||||
@@ -182,34 +173,6 @@ public class AutoCreateInst {
|
||||
instdto.setStart_height(start_height);
|
||||
instdto.setNext_height(next_height);
|
||||
instdto.setAgv_action_type(agvActionType);
|
||||
//判断agv系统
|
||||
//1、1楼叉车系统
|
||||
//2、2楼1区域AGV系统
|
||||
//3、2楼2区域AGV系统 -已废弃
|
||||
if (StrUtil.equals(agv_system_type, CommonFinalParam.TWO)) {
|
||||
// task_type
|
||||
//1、生箔； Itype=1:取空，取满，放空，放满；
|
||||
//2、分切 Itype=3取满、取空、放满、放空；
|
||||
//3、普通任务 Itype=2:取货、放货；
|
||||
//4、叉车任务
|
||||
//5、输送任务
|
||||
//6、行架
|
||||
//7、立库
|
||||
if (StrUtil.equals(task_type, CommonFinalParam.ONE)) {
|
||||
instdto.setAgv_inst_type(CommonFinalParam.ONE);
|
||||
} else if (StrUtil.equals(task_type, "3")) {
|
||||
instdto.setAgv_inst_type("2");
|
||||
} else if (StrUtil.equals(task_type, "2")) {
|
||||
instdto.setAgv_inst_type("3");
|
||||
} else if (StrUtil.equals(task_type, "8")) {
|
||||
instdto.setAgv_inst_type("2");
|
||||
} else {
|
||||
log.info("未找到对应的AGV指令类型，任务号:" + acsTask.getTask_code() + ",task_type:" + acsTask.getTask_type());
|
||||
continue;
|
||||
}
|
||||
} else {
|
||||
instdto.setAgv_inst_type("4");
|
||||
}
|
||||
try {
|
||||
instructionService.create(instdto);
|
||||
} catch (Exception e) {
|
||||
@@ -223,7 +186,7 @@ public class AutoCreateInst {
|
||||
luceneExecuteLogService.deviceExecuteLog(logDto);
|
||||
continue;
|
||||
}
|
||||
//创建指令后修改任务状态
|
||||
//创建指令后修改任务状态
|
||||
acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
|
||||
acsTask.setUpdate_time(DateUtil.now());
|
||||
acsTask.setRemark(" ");
|
||||
|
||||
@@ -10,11 +10,11 @@ spring:
|
||||
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
|
||||
# url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:stand_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
|
||||
# url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
|
||||
url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3307}/${DB_NAME:hhck_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
|
||||
url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:huaHaiCK_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
|
||||
|
||||
username: ${DB_USER:root}
|
||||
# password: ${DB_PWD:Root.123456}
|
||||
password: ${DB_PWD:123456}
|
||||
password: ${DB_PWD:password}
|
||||
# 初始连接数
|
||||
initial-size: 5
|
||||
# 最小连接数
|
||||
|
||||
@@ -89,10 +89,13 @@ https://juejin.cn/post/6844903775631572999
|
||||
<logger name="org.redisson" level="ERROR" additivity="true">
|
||||
<appender-ref ref="asyncFileAppender"/>
|
||||
</logger>
|
||||
<logger name="org.nl.modules.wql" level="ERROR" additivity="true">
|
||||
<logger name="org.springframework.data" level="ERROR" additivity="true">
|
||||
<appender-ref ref="asyncFileAppender"/>
|
||||
</logger>
|
||||
<logger name="org.springframework.data" level="ERROR" additivity="true">
|
||||
<logger name="org.jinterop" level="ERROR" additivity="true">
|
||||
<appender-ref ref="asyncFileAppender"/>
|
||||
</logger>
|
||||
<logger name="org.openscada" level="ERROR" additivity="true">
|
||||
<appender-ref ref="asyncFileAppender"/>
|
||||
</logger>
|
||||
</springProfile>
|
||||
|
||||
@@ -0,0 +1,114 @@
|
||||
<template>
|
||||
<!--agv双工位-->
|
||||
<div>
|
||||
<el-card class="box-card" shadow="never">
|
||||
<div slot="header" class="clearfix">
|
||||
<span class="role-span">设备协议：</span>
|
||||
</div>
|
||||
|
||||
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
|
||||
<el-col :span="12">
|
||||
<el-form-item label="扫码器ip：" label-width="150px" prop="x">
|
||||
<el-input v-model.trim="form.ip_address" />
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
</el-form>
|
||||
</el-card>
|
||||
<el-card class="box-card" shadow="never">
|
||||
<div slot="header" class="clearfix">
|
||||
<span class="role-span" />
|
||||
<el-button
|
||||
:loading="false"
|
||||
icon="el-icon-check"
|
||||
size="mini"
|
||||
style="float: right; padding: 6px 9px"
|
||||
type="primary"
|
||||
@click="doSubmit"
|
||||
>保存
|
||||
</el-button>
|
||||
</div>
|
||||
</el-card>
|
||||
</div>
|
||||
</template>
|
||||
|
||||
<script>
|
||||
|
||||
import {
|
||||
queryDriverConfig,
|
||||
updateConfig
|
||||
} from '@/api/acs/device/driverConfig'
|
||||
|
||||
import crud from '@/mixins/crud'
|
||||
import deviceCrud from '@/api/acs/device/device'
|
||||
export default {
|
||||
name: 'StandardScanner',
|
||||
mixins: [crud],
|
||||
props: {
|
||||
parentForm: {
|
||||
type: Object,
|
||||
required: true
|
||||
}
|
||||
},
|
||||
data() {
|
||||
return {
|
||||
form: {
|
||||
scannerIP: ''
|
||||
},
|
||||
rules: {
|
||||
}
|
||||
}
|
||||
},
|
||||
created() {
|
||||
this.$nextTick(() => {
|
||||
// 从父表单获取设备编码
|
||||
this.device_id = this.$props.parentForm.device_id
|
||||
this.device_code = this.$props.parentForm.device_code
|
||||
queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
|
||||
// 给表单赋值，并且属性不能为空
|
||||
if (data.form) {
|
||||
const arr = Object.keys(data.form)
|
||||
// 不为空
|
||||
if (arr.length > 0) {
|
||||
this.form = data.form
|
||||
}
|
||||
}
|
||||
|
||||
// 给表单赋值，并且属性不能为空
|
||||
if (data.parentForm) {
|
||||
const arr = Object.keys(data.parentForm)
|
||||
// 不为空
|
||||
if (arr.length > 0) {
|
||||
this.opc_code = data.parentForm.opc_code
|
||||
this.plc_code = data.parentForm.plc_code
|
||||
}
|
||||
}
|
||||
})
|
||||
deviceCrud.selectDeviceList().then(data => {
|
||||
this.deviceList = data
|
||||
})
|
||||
})
|
||||
},
|
||||
methods: {
|
||||
doSubmit() {
|
||||
this.$refs['form'].validate((valid) => {
|
||||
if (valid) {
|
||||
this.configLoading = true
|
||||
// 根据驱动类型判断是否为路由设备
|
||||
const parentForm = this.parentForm
|
||||
updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
|
||||
this.notify('保存成功', 'success')
|
||||
this.configLoading = false
|
||||
}).catch(err => {
|
||||
this.configLoading = false
|
||||
console.log(err.response.data.message)
|
||||
})
|
||||
}
|
||||
})
|
||||
}
|
||||
}
|
||||
}
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
|
||||
</style>
|
||||
|
||||
@@ -101,7 +101,7 @@
|
||||
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
|
||||
<el-row>
|
||||
<el-col :span="8">
|
||||
<el-form-item label="检验有货">
|
||||
<el-form-item label="检验有货" label-width="150px">
|
||||
<el-switch v-model="form.inspect_in_stocck" />
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
@@ -119,7 +119,7 @@
|
||||
|
||||
<el-row>
|
||||
<el-col :span="8">
|
||||
<el-form-item label="呼叫">
|
||||
<el-form-item label="呼叫" label-width="150px">
|
||||
<el-switch v-model="form.apply_task" />
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
@@ -128,13 +128,18 @@
|
||||
<el-switch v-model="form.manual_create_task" />
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
<el-col :span="8">
|
||||
<el-form-item label="是否自动补空" label-width="150px">
|
||||
<el-switch v-model="form.apply_empty" />
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
</el-row>
|
||||
|
||||
<el-row>
|
||||
<el-col :span="8">
|
||||
<el-form-item label="关联设备" prop="device_code">
|
||||
<el-form-item label="放满设备" prop="device_code" label-width="150px">
|
||||
<el-select
|
||||
v-model="form.link_device_code"
|
||||
v-model="form.fmDeviceList"
|
||||
filterable
|
||||
multiple
|
||||
placeholder="请选择"
|
||||
@@ -149,11 +154,11 @@
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
<el-col :span="8">
|
||||
<el-form-item label="关联三色灯" prop="device_code" label-width="100px">
|
||||
<el-form-item label="产线补空设备" prop="device_code" label-width="150px">
|
||||
<el-select
|
||||
v-model="form.link_three_lamp"
|
||||
v-model="form.cxBkDeviceList"
|
||||
filterable
|
||||
clearable
|
||||
multiple
|
||||
placeholder="请选择"
|
||||
>
|
||||
<el-option
|
||||
@@ -166,8 +171,20 @@
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
<el-col :span="8">
|
||||
<el-form-item label="是否需要光电" label-width="150px">
|
||||
<el-switch v-model="form.input_move" />
|
||||
<el-form-item label="人工补空设备" prop="device_code" label-width="150px">
|
||||
<el-select
|
||||
v-model="form.rgBkDeviceList"
|
||||
filterable
|
||||
multiple
|
||||
placeholder="请选择"
|
||||
>
|
||||
<el-option
|
||||
v-for="item in deviceList"
|
||||
:key="item.device_code"
|
||||
:label="item.device_name"
|
||||
:value="item.device_code"
|
||||
/>
|
||||
</el-select>
|
||||
</el-form-item>
|
||||
</el-col>
|
||||
</el-row>
|
||||
|
||||
@@ -104,12 +104,11 @@
|
||||
<el-table
|
||||
v-loading="crud.loading"
|
||||
:data="crud.data"
|
||||
highlight-current-row
|
||||
style="width: 100%"
|
||||
highlight-current-row style="width: 100%"
|
||||
row-key="opc_id"
|
||||
border
|
||||
default-expand-all
|
||||
:tree-props="{children: 'children', has_children: 'has_children'}"
|
||||
:default-expand-all="true"
|
||||
:tree-props="{children: 'children', hasChildren: 'hasChildren'}"
|
||||
@select="crud.selectChange"
|
||||
@select-all="crud.selectAllChange"
|
||||
@selection-change="crud.selectionChangeHandler"
|
||||
@@ -232,6 +231,25 @@ export default {
|
||||
[CRUD.HOOK.beforeRefresh]() {
|
||||
return true
|
||||
},
|
||||
[CRUD.HOOK.afterRefresh]() {
|
||||
this.crud.data = this.processTreeData(this.crud.data);
|
||||
},
|
||||
processTreeData(data) {
|
||||
if (!data || !Array.isArray(data)) return data;
|
||||
return data.map(item => {
|
||||
if (item.hasOwnProperty('hasChildren')) {
|
||||
item.hasChildren = item.hasChildren === "1" || item.hasChildren === 1 || item.hasChildren === true;
|
||||
} else if (item.children && item.children.length > 0) {
|
||||
item.hasChildren = true;
|
||||
} else {
|
||||
item.hasChildren = false;
|
||||
}
|
||||
if (item.children && Array.isArray(item.children)) {
|
||||
item.children = this.processTreeData(item.children);
|
||||
}
|
||||
return item;
|
||||
});
|
||||
},
|
||||
handleClick(row, flag) {
|
||||
// flag为0是新增，flag为1是编辑，flag为2是删除
|
||||
// 如果是父类操作
|
||||
|
||||
@@ -504,7 +504,7 @@ import CRUD, { crud, header, presenter } from '@crud/crud'
|
||||
import crudOperation from '@crud/CRUD.operation'
|
||||
import rrOperation from '@crud/RR.operation'
|
||||
import pagination from '@crud/Pagination'
|
||||
hasgoods
|
||||
import deviceCrud from '@/api/acs/device/device'
|
||||
import routeCurd from '@/api/acs/route/routePlan'
|
||||
import { getDicts } from '@/views/system/dict/dict'
|
||||
import i18n from '@/i18n'
|
||||
@@ -633,7 +633,7 @@ export default {
|
||||
to_x2: null,
|
||||
to_y2: null,
|
||||
to_z2: null,
|
||||
agv_system_type: '',
|
||||
agv_system_type: '1',
|
||||
interactionJson: null
|
||||
},
|
||||
taskStatus: {
|
||||
|
||||
Reference in New Issue
Block a user