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This commit is contained in:
USER-20220102CG\noblelift
2022-09-13 17:52:47 +08:00
parent f972efb2d6
commit 3967dbab75
6 changed files with 13 additions and 681 deletions
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8
wcs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@@ -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));
}
}

9
wcs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
View File

@@ -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;

72
wcs/hd/nladmin-system/src/main/java/org/nl/acs/test/service/impl/TestServiceImpl.java
View File

@@ -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;
}
}

141
wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/LetteringSocketConnectionAutoRun.java
View File

@@ -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");
}
}

226
wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
View File

@@ -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<Instruction> 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();
}
}
}

238
wcs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -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<Instruction> 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();
}
}
}