agv

wcs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java

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

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

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

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

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

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

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