From 08e278498ef15e39fee1cfca81fabd054e6211b0 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期六, 28 六月 2025 16:19:45 +0800
Subject: [PATCH] #
---
zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolPojoType.java | 2 ++
zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java | 7 +++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java | 2 +-
zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/AGV_B1_DOWN.java | 39 +++++++++++++++++++++++++++++++++++++++
zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolType.java | 2 ++
5 files changed, 51 insertions(+), 1 deletions(-)
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/AGV_B1_DOWN.java b/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/AGV_B1_DOWN.java
new file mode 100644
index 0000000..bd1355d
--- /dev/null
+++ b/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/AGV_B1_DOWN.java
@@ -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;
+
+/**
+ * 璺緞鏁版嵁鍖呭洖澶峚ck
+ * 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) {
+
+ }
+
+ // 娴佹按鍙� - 16
+ private String serialNo;
+
+ // 璺緞闀垮害
+ private int pathLen;
+
+}
diff --git a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolPojoType.java b/zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolPojoType.java
index 8bde267..590f527 100644
--- a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolPojoType.java
+++ b/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),
+
;
diff --git a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolType.java b/zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolType.java
index 0b72c96..6a7ae92 100644
--- a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolType.java
+++ b/zy-acs-gateway/src/main/java/com/zy/acs/gateway/constant/ProtocolType.java
@@ -24,6 +24,8 @@
ACTION_FAIL_ACK(0xA0, "鍔ㄤ綔瀹屾垚澶辫触搴旂瓟", DirectionType.DOWN),
+ PATH_ACK_RESPONSE(0xB1, "璺緞鏁版嵁鍖呭洖澶峚ck", DirectionType.DOWN),
+
// 涓婅 -------------------------------------------------------------------
PATH_ACK(0x01, "璺緞搴旂瓟鍖�", DirectionType.UP),
diff --git a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java b/zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java
index 5a9d201..49ad300 100644
--- a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java
+++ b/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: // 鍛戒护鍖� ack
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
index 43d4ac0..0bf08bd 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
+++ b/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);
}
--
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