diff --git a/wcs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/wcs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java index 107a908..e974a28 100644 --- a/wcs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java +++ b/wcs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java @@ -31,8 +31,6 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.task.service.TaskService; import org.nl.exception.BadRequestException; -import org.nl.start.auto.run.NDCSocketConnectionAutoRun; -import org.nl.start.auto.run.OneNDCSocketConnectionAutoRun; import org.nl.utils.SpringContextHolder; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; @@ -485,7 +483,7 @@ public class AgvServiceImpl implements AgvService { }; log.info("下发AGV作业指令--{}", str1); - OneNDCSocketConnectionAutoRun.write(b); +// OneNDCSocketConnectionAutoRun.write(b); System.out.println("下发agv指令数据:" + Bytes2HexString(b)); } } @@ -578,7 +576,7 @@ public class AgvServiceImpl implements AgvService { }; log.info("下发AGV作业指令--{}", str1); - NDCSocketConnectionAutoRun.write(b); +// NDCSocketConnectionAutoRun.write(b); System.out.println("下发agv指令数据:" + Bytes2HexString(b)); } @@ -843,7 +841,7 @@ public class AgvServiceImpl implements AgvService { }; 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)); } } diff --git a/wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java b/wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java index 5d1497e..c18da0b 100644 --- a/wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java +++ b/wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java @@ -19,7 +19,6 @@ import org.nl.acs.log.service.LogServer; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.route.service.RouteLineService; import org.nl.acs.task.service.TaskService; -import org.nl.start.auto.run.OneNDCSocketConnectionAutoRun; import org.nl.utils.SpringContextHolder; import org.springframework.beans.factory.annotation.Autowired; @@ -125,7 +124,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple inst.setExecute_status("1"); instructionService.update(inst); byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0); - OneNDCSocketConnectionAutoRun.write(data); +// OneNDCSocketConnectionAutoRun.write(data); agvphase = 0; index = 0; inst = null; @@ -141,7 +140,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple inst.setExecute_status("2"); instructionService.update(inst); byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0); - OneNDCSocketConnectionAutoRun.write(data); +// OneNDCSocketConnectionAutoRun.write(data); agvphase = 0; index = 0; inst = null; @@ -157,7 +156,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple inst.setExecute_status("5"); instructionService.update(inst); byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0); - OneNDCSocketConnectionAutoRun.write(data); +// OneNDCSocketConnectionAutoRun.write(data); agvphase = 0; index = 0; inst = null; @@ -172,7 +171,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple inst.setExecute_status("6"); instructionService.update(inst); byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0); - OneNDCSocketConnectionAutoRun.write(data); +// OneNDCSocketConnectionAutoRun.write(data); agvphase = 0; index = 0; inst = null; diff --git a/wcs/hd/nladmin-system/src/main/java/org/nl/acs/test/service/impl/TestServiceImpl.java b/wcs/hd/nladmin-system/src/main/java/org/nl/acs/test/service/impl/TestServiceImpl.java index 8b9fedf..5d1ff4f 100644 --- a/wcs/hd/nladmin-system/src/main/java/org/nl/acs/test/service/impl/TestServiceImpl.java +++ b/wcs/hd/nladmin-system/src/main/java/org/nl/acs/test/service/impl/TestServiceImpl.java @@ -6,7 +6,6 @@ import com.alibaba.fastjson.JSONObject; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.test.service.TestService; -import org.nl.start.auto.run.LetteringSocketConnectionAutoRun; import org.springframework.stereotype.Service; import java.io.IOException; @@ -20,92 +19,36 @@ import java.util.Map; @Service @RequiredArgsConstructor @Slf4j -public class TestServiceImpl implements TestService { +public class TestServiceImpl implements TestService +{ @Override public void test1() throws IOException { - try { - //返回编译完成信号 - LetteringSocketConnectionAutoRun.write("SETMSG 26 1" + "\r\n"); - //返回打印开始信号 - LetteringSocketConnectionAutoRun.write("SETMSG 2 1" + "\r\n"); - //返回打印完成信号 - LetteringSocketConnectionAutoRun.write("SETMSG 3 1" + "\r\n"); - //返回每次打印的内容 - LetteringSocketConnectionAutoRun.write("SETMSG 24 1" + "\r\n"); - - } catch (Exception e) { - e.printStackTrace(); - } } - @Override public void test2() throws IOException { - try { - LetteringSocketConnectionAutoRun.write("BUFFERCLEAR" + "\r\n"); - } catch (Exception e) { - e.printStackTrace(); - } + } @Override public void test3() throws IOException { - // LOADPROJECT "ZY.lbm" - //此处为模板名称 D310激光机,加载CS.lbm模版 - String str = "CS.lbm"; - try { - LetteringSocketConnectionAutoRun.write("LOADPROJECT" + " \"" + str + "\"" + "\r\n"); - } catch (Exception e) { - e.printStackTrace(); - } + } @Override public void test4(Map map) throws IOException { - String name = map.get("name").toString(); - String name2 = map.get("name2").toString(); - String name3 = map.get("name3").toString(); - String name4 = map.get("name4").toString(); - String yh = "\""; - try { - //先清空缓存 - LetteringSocketConnectionAutoRun.write("BUFFERCLEAR" + "\r\n"); -// test5(); -// LetteringSocketConnectionAutoRun.write("BUFFERDATA -1 "+ yh + name + yh +" " + yh + name2 + yh +" " -// +yh +name3 +yh + " " + yh + name4 + yh + "\r\n"); - //两行 -// LetteringSocketConnectionAutoRun.write("BUFFERDATA -1 "+ yh + name + yh +" " + yh + name2 + yh +" " -// + "\r\n"); - - LetteringSocketConnectionAutoRun.write("BUFFERDATA -1 " + yh + name + yh + " " + "\r\n"); - - } catch (Exception e) { - e.printStackTrace(); - } } @Override public void test5() throws IOException { - try { - LetteringSocketConnectionAutoRun.write("BUFFERCLEAR" + "\r\n"); - } catch (Exception e) { - e.printStackTrace(); - } + } @Override public void test6(Map map) throws IOException { - String yh = "\""; - String inst = map.get("inst").toString(); - String inst2 = map.get("inst2").toString(); - String strInst = "SETTEXT " + "S1" + " " + yh + inst + yh + "\r\n"; //2个变量 - String strInst2 = "SETTEXT " + "S2" + " " + yh + inst2 + yh + "\r\n"; //2个变量 - - LetteringSocketConnectionAutoRun.write(strInst); - LetteringSocketConnectionAutoRun.write(strInst2); } @@ -116,9 +59,6 @@ public class TestServiceImpl implements TestService { @Override public JSONObject print() throws IOException { - JSONObject jo = new JSONObject(); - jo.put("cpbh", "A1111111111"); - jo.put("cpmc", "产品名称:A1111111111"); - return jo; + return null; } } diff --git a/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/LetteringSocketConnectionAutoRun.java b/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/LetteringSocketConnectionAutoRun.java deleted file mode 100644 index 04b39cb..0000000 --- a/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/LetteringSocketConnectionAutoRun.java +++ /dev/null @@ -1,141 +0,0 @@ -package org.nl.start.auto.run; - -import cn.hutool.core.util.StrUtil; -import lombok.extern.slf4j.Slf4j; -import org.nl.acs.config.AcsConfig; -import org.nl.acs.config.server.AcsConfigService; -import org.nl.acs.config.server.impl.AcsConfigServiceImpl; -import org.nl.utils.SpringContextHolder; -import org.springframework.stereotype.Component; - -import java.io.DataInputStream; -import java.io.DataOutputStream; -import java.io.IOException; -import java.io.UnsupportedEncodingException; -import java.net.Socket; -import java.util.Date; - -@Slf4j -@Component -public class LetteringSocketConnectionAutoRun 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; - boolean bConnected = true; - - public LetteringSocketConnectionAutoRun() { - this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); - } - - @Override - public String getCode() { - return LetteringSocketConnectionAutoRun.class.getSimpleName(); - } - - @Override - public String getName() { - return "海亮激光刻字在线连接"; - } - - @Override - public void autoRun() throws IOException { - AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class); - - ip = acsConfigService.findConfigFromCache().get(AcsConfig.LETTERINGURL); - port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.LETTERINGPORT)); - byte[] b = new byte[1028]; - s = new Socket(ip, port); - dos = new DataOutputStream(s.getOutputStream()); - dis = new DataInputStream(s.getInputStream()); - - 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; - bs.append(asciiToString(String.valueOf(temp))); - } - System.out.println("收到请求参数：" + bs); - //打印完成 - if (StrUtil.equals(bs.toString(), "MSG 3")) { - - } - } - } - - public static void write(String str) throws IOException { - System.out.println(str); - dos.write(hexStringToByte(bytesToHexString(stringToByte(str)))); - } - - public static byte[] stringToByte(String str) { - byte[] bytes = str.getBytes(); - return bytes; - } - - public static String bytesToHexString(byte[] src) { - StringBuilder builder = new StringBuilder(); - for (int i = 0; i < src.length; i++) { - int v = src[i] & 0xff; - String hv = Integer.toHexString(v); - if (hv.length() < 2) { - builder.append(0); - } - builder.append(hv); - } - return builder.toString().toUpperCase(); - } - - - public static byte[] hexStringToByte(String hex) { - byte[] b = new byte[hex.length() / 2]; - int j = 0; - for (int i = 0; i < b.length; i++) { - char c0 = hex.charAt(j++); - char c1 = hex.charAt(j++); - b[i] = (byte) ((parse(c0) << 4) | parse(c1)); - } - return b; - } - - - private static int parse(char c) { - if (c >= 'a') - return (c - 'a' + 10) & 0x0f; - if (c >= 'A') - return (c - 'A' + 10) & 0x0f; - return (c - '0') & 0x0f; - } - - /* - * Ascii转换为字符串 - * - * @param value - * @return - */ - public static String asciiToString(String value) { - StringBuffer sbu = new StringBuffer(); - String[] chars = value.split(","); - for (int i = 0; i < chars.length; i++) { - sbu.append((char) Integer.parseInt(chars[i])); - } - return sbu.toString(); - } - - - public static void main(String[] args) throws UnsupportedEncodingException { - byte[] bytes = "你".getBytes("utf-8"); - } -} diff --git a/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java deleted file mode 100644 index f39e75b..0000000 --- a/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java +++ /dev/null @@ -1,226 +0,0 @@ -package org.nl.start.auto.run; - -import cn.hutool.core.util.ObjectUtil; -import lombok.extern.slf4j.Slf4j; -import org.nl.acs.agv.server.AgvService; -import org.nl.acs.config.AcsConfig; -import org.nl.acs.config.server.AcsConfigService; -import org.nl.acs.config.server.impl.AcsConfigServiceImpl; -import org.nl.acs.device.service.DeviceService; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; -import org.nl.acs.instruction.service.InstructionService; -import org.nl.acs.instruction.service.dto.Instruction; -import org.nl.acs.instruction.service.impl.InstructionServiceImpl; -import org.nl.acs.opc.Device; -import org.nl.acs.opc.DeviceAppService; -import org.nl.utils.SpringContextHolder; -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.AgvServiceImpl.Bytes2HexString; - -@Slf4j -@Component -public class NDCSocketConnectionAutoRun 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 - AcsConfigService acsConfigService; - @Autowired - AutoRunService autoRunService; - - - public NDCSocketConnectionAutoRun() { - this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); - } - - @Override - public String getCode() { - return NDCSocketConnectionAutoRun.class.getSimpleName(); - } - - @Override - public String getName() { - return "双工NDC在线连接"; - } - - @Override - public void autoRun() { - try { - AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class); - InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); - AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); - AgvService AgvService = SpringContextHolder.getBean(AgvService.class); - DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); - DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); - ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT)); - byte[] b = new byte[1028]; - s = new Socket(ip, port); - dos = new DataOutputStream(s.getOutputStream()); - dis = new DataInputStream(s.getInputStream()); - - 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)); - } - - //System.out.println("收到请求参数：" + bs); - 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; - List insts = null; - boolean link_flag = false; - Device agv_device = null; - if (carno != 0) { - agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); - } - if (ikey != 0) { - insts = instructionService.findByLinkNum(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; - - - //开始任务/上报订单号 - if (phase == 0x01) { - for (Instruction inst : insts) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - } - data = AgvService.sendAgvTwoModeInst(phase, index, 0); - - - } else if (phase == 0x1A) { - - for (Instruction inst : insts) { - if (!ObjectUtil.isEmpty(inst)) { - instructionService.finish(inst.getInstruction_id()); - } - } - data = AgvService.sendAgvTwoModeInst(phase, index, 0); - - } else if (phase == 0x30) { - data = AgvService.sendAgvTwoModeInst(143, index, 0); - - } else if (phase == 0xFF) { - - for (Instruction inst : insts) { - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - } - } - data = AgvService.sendAgvTwoModeInst(phase, index, 0); - - } else { - - if (phase == 0x67) { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); - } else { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); - } - - if (ObjectUtil.isEmpty(device)) { - return; - } - } - 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) { - - - } 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 - e.printStackTrace(); - } - - } -} diff --git a/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/OneNDCSocketConnectionAutoRun.java b/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/OneNDCSocketConnectionAutoRun.java deleted file mode 100644 index 8a64768..0000000 --- a/wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/OneNDCSocketConnectionAutoRun.java +++ /dev/null @@ -1,238 +0,0 @@ -package org.nl.start.auto.run; - -import cn.hutool.core.util.ObjectUtil; -import lombok.extern.slf4j.Slf4j; -import org.nl.acs.agv.server.AgvService; -import org.nl.acs.config.AcsConfig; -import org.nl.acs.config.server.AcsConfigService; -import org.nl.acs.config.server.impl.AcsConfigServiceImpl; -import org.nl.acs.device.service.DeviceService; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; -import org.nl.acs.instruction.service.InstructionService; -import org.nl.acs.instruction.service.dto.Instruction; -import org.nl.acs.instruction.service.impl.InstructionServiceImpl; -import org.nl.acs.opc.Device; -import org.nl.acs.opc.DeviceAppService; -import org.nl.utils.SpringContextHolder; -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.AgvServiceImpl.Bytes2HexString; - -@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 - AcsConfigService acsConfigService; - @Autowired - AutoRunService autoRunService; - - - 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 "单工NDC在线连接"; - } - - @Override - public void autoRun() throws IOException { - System.out.println("OneAgv链接开始"); - AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class); - InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); - AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); - AgvService AgvService = SpringContextHolder.getBean(AgvService.class); - DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); - DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); - ip = acsConfigService.findConfigFromCache().get(AcsConfig.ONEAGVURL); - port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.ONEAGVPORT)); - - - try { - - byte[] b = new byte[1028]; - s = new Socket(ip, port); - dos = new DataOutputStream(s.getOutputStream()); - dis = new DataInputStream(s.getInputStream()); - System.out.println("OneAgv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)); - } - - //System.out.println("收到请求参数：" + bs); - 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; - List insts = null; - boolean link_flag = false; - Device agv_device = null; - if (carno != 0) { - agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); - } - if (ikey != 0) { - insts = instructionService.findByLinkNum(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; - - - //开始任务/上报订单号 - if (phase == 0x01) { - for (Instruction inst : insts) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - - - } else if (phase == 0x0A) { - - for (Instruction inst : insts) { - if (!ObjectUtil.isEmpty(inst)) { - instructionService.finish(inst.getInstruction_id()); - } - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - - } else if (phase == 0x30) { - data = AgvService.sendAgvOneModeInst(143, index, 0); - - } else if (phase == 0xFF) { - - for (Instruction inst : insts) { - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - } - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - - } else if (phase == 0x50) {//离开区域 - data = AgvService.sendAgvOneModeInst(phase, index, 0); - - } else if (phase == 0x51) {//离开区域 - - data = AgvService.sendAgvOneModeInst(phase, index, 0); - - } else { - - if (phase == 0x67) { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); - } else { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); - } - } - 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("OneAgv链接异常"); - 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 - e.printStackTrace(); - } - - } -}