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luxiaotao1123

6 天以前 08e278498ef15e39fee1cfca81fabd054e6211b0

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 zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/AGV_B1_DOWN.java

New file
@@ -0,0 +1,39 @@
package com.zy.acs.common.domain.protocol;

import com.zy.acs.common.utils.Utils;
import lombok.Data;

import java.io.Serializable;

/**
 * 路径数据包回复ack
 * Created by vincent on 2023/3/16
 */
@Data
public class AGV_B1_DOWN implements IMessageBody, Serializable {

    private static final long serialVersionUID = 6922520569887812372L;

    @Override
    public byte[] writeToBytes() {

        String serialNo = Utils.zeroFill(this.serialNo, 16);
        byte[] serialNoBytes = Utils.reverse(serialNo.getBytes());

        byte pathLen0 = (byte) this.pathLen;

        return Utils.merge(serialNoBytes, pathLen0);
    }

    @Override
    public void readFromBytes(byte[] messageBodyBytes) {

    }

    // 流水号 - 16
    private String serialNo;

    // 路径长度
    private int pathLen;

}

 zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolPojoType.java

@@ -20,6 +20,8 @@

    HEARTBEAT_COMMAND(ProtocolType.HEARTBEAT_COMMAND, AGV_03_DOWN.class),

    PATH_ACK_COMMAND(ProtocolType.PATH_ACK_RESPONSE, AGV_B1_DOWN.class),

    ;



 zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolType.java

@@ -24,6 +24,8 @@

    ACTION_FAIL_ACK(0xA0, "动作完成失败应答", DirectionType.DOWN),

    PATH_ACK_RESPONSE(0xB1, "路径数据包回复ack", DirectionType.DOWN),

    // 上行 -------------------------------------------------------------------

    PATH_ACK(0x01, "路径应答包", DirectionType.UP),

 zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java

@@ -48,6 +48,13 @@
                        , pac.getHeader().getUniqueNo() + "_" + agv_01_up.getSerialNo()
                        , agv_01_up);

                AgvPackage pathAckPac = AckMsgBuilder.ofSuccess(pac, ProtocolType.PATH_ACK_RESPONSE);

                AGV_B1_DOWN agv_b1_down = (AGV_B1_DOWN) pathAckPac.getBody().getMessageBody();
                agv_b1_down.setSerialNo(agv_01_up.getSerialNo());
                agv_b1_down.setPathLen(agv_01_up.getPathLen());
                ctx.writeAndFlush(pathAckPac);

                break label;

            case COMMAND_ACK:   // 命令包 ack

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java

@@ -73,7 +73,7 @@
    private void startupBus() throws InterruptedException {
//        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
        if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
        List<Bus> busList = busService.selectBySts(BusStsType.RECEIVE);
        List<Bus> busList = busService.selectInSts(BusStsType.RECEIVE, BusStsType.PROGRESS);
        for (Bus bus : busList) {
            mainService.allocateTask(bus);
        }