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放货时需要重新请求高度

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This commit is contained in:
psh
2023-08-16 17:22:23 +08:00
parent 43299dbcb6
commit 9c788a00d8
2 changed files with 38 additions and 24 deletions
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4
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -173,8 +173,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
(byte) indexhigh, (byte) indexlow,
(byte) 0X01, (byte) 0X14,
(byte) phasehigh, (byte) phaselow,
(byte) phasehigh, (byte) phaselow,
(byte) phasehigh, (byte) phaselow
(byte) pickuphigh, (byte) pickuplow,
(byte) releasehigh, (byte) releaselow
};

58
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -297,30 +297,41 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("未找到关联编号{}对应的指令", ikey);
return;
}
TaskDto task =taskService.findById(inst.getTask_id());
int start_height= ObjectUtil.isNotEmpty(task.getStart_height())?Integer.parseInt(task.getStart_height()):0;
int next_height= ObjectUtil.isNotEmpty(task.getNext_height())?Integer.parseInt(task.getNext_height()):0;
// Object reqWms = device.getExtraValue().get("reqWms");
// if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
// JSONArray req = new JSONArray();
// JSONObject map = new JSONObject();
// map.put("vehicle_code", inst.getVehicle_code());
// map.put("status", "3");
// map.put("device_code", inst.getNext_point_code());
// map.put("task_code", inst.getTask_code());
// req.add(map);
// HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
// if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
// JSONObject resp = JSONObject.parseObject(httpResponse.body());
// if (resp.getInteger("status") == 200) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
// } else {
// log.warn("指令号:{},acs请求wms放货申请成功,wms不允许agv申请放货,未反馈agv允许放货", inst.getInstruction_code());
// }
// } else {
// log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
// }
// } else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// }
if(!StrUtil.startWith(task.getTask_code(), '-')){
// Object reqWms = device.getExtraValue().get("reqWms");
// if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "3");
map.put("device_code", inst.getNext_point_code());
map.put("task_code", inst.getTask_code());
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body()).getJSONObject("data");
if (resp.getInteger("status") == 200) {
start_height=resp.getInteger("start_height");
next_height=resp.getInteger("next_height");
task.setStart_height(String.valueOf(start_height));
task.setNext_height(String.valueOf(next_height));
taskService.update(task);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms放货申请成功,wms不允许agv申请放货,未反馈agv允许放货", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
}
//放货完毕
//(需要WCS反馈)
} else if (phase == 0x09) {
@@ -422,6 +433,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} else if (phase == 0x74) {
//三色灯状态
status = ikey;
if(status==4) {
order = "";
}
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);