diff --git a/opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java b/opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java index 02c4bac..190d990 100644 --- a/opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java +++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java @@ -12,6 +12,7 @@ import org.opentcs.kc.udp.agv.param.function.b1.SubscribeParam; import org.opentcs.kc.udp.agv.param.function.b1.SubscribeRsp; import org.opentcs.kc.udp.agv.param.function.navigation.*; import org.opentcs.kc.udp.agv.param.function.read.ReadParam; +import org.opentcs.kc.udp.agv.param.function.read.ReadRsp; import org.opentcs.kc.udp.agv.param.function.read.ReadStrValue; import org.opentcs.kc.udp.agv.param.function.read.ReadValueMember; import org.opentcs.kc.udp.agv.param.function.write.WriteParam; @@ -37,28 +38,28 @@ import org.opentcs.kc.udp.io.UDPClient; public class KCCommandDemo { public static void main(String[] args) throws Exception { - { - //0xAF(查询机器人状态) - AgvEvent agvEvent = queryStatus(); - printInfo(agvEvent); - RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent); - if(rcv.isOk()){ - System.out.println(); - System.out.println("received transationId : "+ "isok:"+rcv.isOk()); - for (byte b:rcv.getValue()){ - System.out.print(byteToHex(b)+" "); - } - System.out.println(); - System.out.println("---------------------"); - for (byte c:rcv.getDataBytes()){ - System.out.print(byteToHex(c)+" "); - } - QueryRobotStatusRsp queryRobotStatusRsp = new QueryRobotStatusRsp(rcv.getDataBytes()); - }else { - System.out.println(); - System.out.println("received transationId : "+ "isok:"+rcv.isOk()); - } - } +// { +// //0xAF(查询机器人状态) +// AgvEvent agvEvent = queryStatus(); +// printInfo(agvEvent); +// RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent); +// if(rcv.isOk()){ +// System.out.println(); +// System.out.println("received transationId : "+ "isok:"+rcv.isOk()); +// for (byte b:rcv.getValue()){ +// System.out.print(byteToHex(b)+" "); +// } +// System.out.println(); +// System.out.println("---------------------"); +// for (byte c:rcv.getDataBytes()){ +// System.out.print(byteToHex(c)+" "); +// } +// QueryRobotStatusRsp queryRobotStatusRsp = new QueryRobotStatusRsp(rcv.getDataBytes()); +// }else { +// System.out.println(); +// System.out.println("received transationId : "+ "isok:"+rcv.isOk()); +// } +// } // { // //0xB0(查询载货状态) @@ -210,19 +211,19 @@ public class KCCommandDemo { // } // } - { - //0xAE(导航控制导航点控制) - AgvEvent agvEvent = navigationControl(); - printInfo(agvEvent); - RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent); - if(rcv.isOk()){ - System.out.println("0xAE ok"); - }else { - System.out.println(); - System.out.println("0xAE fail"); - System.out.println("received transationId : "+ "isok:"+rcv.isOk()); - } - } +// { +// //0xAE(导航控制导航点控制) +// AgvEvent agvEvent = navigationControl(); +// printInfo(agvEvent); +// RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent); +// if(rcv.isOk()){ +// System.out.println("0xAE ok"); +// }else { +// System.out.println(); +// System.out.println("0xAE fail"); +// System.out.println("received transationId : "+ "isok:"+rcv.isOk()); +// } +// } { //0xB2(立即动作指令) @@ -238,19 +239,7 @@ public class KCCommandDemo { } } - { - //0xB2(立即动作指令) - AgvEvent agvEvent = navigationControl(); - printInfo(agvEvent); - RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent); - if(rcv.isOk()){ - System.out.println("0xAE ok"); - }else { - System.out.println(); - System.out.println("0xAE fail"); - System.out.println("received transationId : "+ "isok:"+rcv.isOk()); - } - } + } @@ -283,18 +272,18 @@ public class KCCommandDemo { /** * decs: read操作 - * 指令：0x02 + * 指令：0x01 * author: caixiang * date: 2025/1/17 16:25 */ public static AgvEvent readValue() { AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_READ); List readValueMemberList = new ArrayList<>(); - ReadValueMember readValueMember1 = new ReadValueMember(Short.valueOf("0"), Short.valueOf("1")); + ReadValueMember readValueMember1 = new ReadValueMember(Short.valueOf("10"), Short.valueOf("1")); readValueMemberList.add(readValueMember1); List readStrValueList = new ArrayList<>(); - ReadStrValue readStrValue = new ReadStrValue("Battry_SOC", 1, readValueMemberList); + ReadStrValue readStrValue = new ReadStrValue("Lift", 1, readValueMemberList); readStrValueList.add(readStrValue); ReadParam readParam = new ReadParam(agvEvent.getTransationId(), readStrValueList); @@ -351,36 +340,38 @@ public class KCCommandDemo { //TODO 构建 Integer orderId = 1; - //构建Action指令 - Action actionLiftUp = new Action( - ActionSet.stop0x00, //机器人移动到正常点 停止，2个字节 - (byte) 0x02, //只能执行当前动作 - 1, //actionID - ActionSet.fork0x12_paramsize, - ActionSet.fork0x12( - 1.1f, //升降高度 - (byte) 0x01, //1上升 2下降 - (byte)0x01 //01 开始 任务 - ) - ); - agvEvent.setBody(actionLiftUp.toBytes()); -// -// //重置 空指令 -// Action actionReset = new Action( -// ActionSet.stop0x00, //机器人移动到正常点 停止，2个字节 +// //构建Action指令 +// Action actionLiftUp = new Action( +// ActionSet.fork0x12, //机器人移动到正常点 停止，2个字节 // (byte) 0x02, //只能执行当前动作 -// 2, //actionID -// ActionSet.cancle0x03_paramsize, -// ActionSet.cancel0x12( -// 1, //订单id -// (byte)0x01 //1 立即停止， 2 正常移动到点再停止 +// 1, //actionID +// ActionSet.fork0x12_paramsize, +// ActionSet.fork0x12( +// 1.1f, //升降高度 +// (byte) 0x01, //1上升 2下降 +// (byte)0x01 //01 开始 任务 // ) // ); -// agvEvent.setBody(actionReset.toBytes()); +// agvEvent.setBody(actionLiftUp.toBytes()); + + + + //重置 空指令 + Action actionReset = new Action( + ActionSet.cancel0x03, //机器人移动到正常点 停止，2个字节 + (byte) 0x02, //只能执行当前动作 + 2, //actionID + ActionSet.cancle0x03_paramsize, + ActionSet.cancel0x12( + 1, //订单id + (byte)0x01 //1 立即停止， 2 正常移动到点再停止 + ) + ); + agvEvent.setBody(actionReset.toBytes()); // // //构建Action指令 // Action actionLiftDown = new Action( -// ActionSet.stop0x00, //机器人移动到正常点 停止，2个字节 +// ActionSet.fork0x12, //机器人移动到正常点 停止，2个字节 // (byte) 0x02, //只能执行当前动作 // 1, //actionID // ActionSet.fork0x12_paramsize, diff --git a/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/param/function/navigation/ActionSet.java b/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/param/function/navigation/ActionSet.java index 66d6a56..39f1df9 100644 --- a/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/param/function/navigation/ActionSet.java +++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/param/function/navigation/ActionSet.java @@ -11,8 +11,8 @@ public class ActionSet { } public static byte stop0x01 = 0x01; - public static byte stop0x00 = 0x00; - + public static byte fork0x12 = 0x12; + public static byte cancel0x03 = 0x03; public static byte recover0x02 = 0x02; public static byte cancelTask0x03 = 0x03; diff --git a/opentcs-common/src/main/java/org/opentcs/kc/udp/server/main.java b/opentcs-common/src/main/java/org/opentcs/kc/udp/server/main.java index e873508..61388ae 100644 --- a/opentcs-common/src/main/java/org/opentcs/kc/udp/server/main.java +++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/server/main.java @@ -10,13 +10,12 @@ import org.opentcs.kc.udp.agv.param.AgvEvent; public class main { public static void main(String[] args) { - - //size 148 ,contentSize = 148-28 = 120 - String errSrc = "d4 97 44 9c cb cf 0b 4c 95 51 d8 61 70 f1 e7 94 01 01 00 00 10 af 00 00 00 68 00 00 00 00 00 00 53 3a 48 bd 32 fb 7b bc ca 13 03 ba 01 00 00 00 0c 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 01 00 00 00 00 00 00 05 00 00 00 01 00 00 00 01 01 00 00 02 00 00 00 02 00 00 00 01 00 00 00 0c 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"; - String okSrc = "d4 97 44 9c cb cf 0b 4c 95 51 d8 61 70 f1 e7 94 01 01 03 00 10 af 00 00 64 00 00 00 01 00 00 00 73 1c 30 3d 66 ba 03 3d d9 51 59 bb 00 00 00 00 0c 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0a 01 02 00 00 00 00 00 00 00 00 00 73 1c 30 3d 66 ba 03 3d d9 51 59 bb 00 00 00 00 0c 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 "; - String[] s = errSrc.split(" "); - System.out.println("size: " + s.length); - printInfo(s); +// //size 148 ,contentSize = 148-28 = 120 +// String errSrc = "d4 97 44 9c cb cf 0b 4c 95 51 d8 61 70 f1 e7 94 01 01 00 00 10 af 00 00 00 68 00 00 00 00 00 00 53 3a 48 bd 32 fb 7b bc ca 13 03 ba 01 00 00 00 0c 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 01 00 00 00 00 00 00 05 00 00 00 01 00 00 00 01 01 00 00 02 00 00 00 02 00 00 00 01 00 00 00 0c 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"; +// String okSrc = "d4 97 44 9c cb cf 0b 4c 95 51 d8 61 70 f1 e7 94 01 01 03 00 10 af 00 00 64 00 00 00 01 00 00 00 73 1c 30 3d 66 ba 03 3d d9 51 59 bb 00 00 00 00 0c 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0a 01 02 00 00 00 00 00 00 00 00 00 73 1c 30 3d 66 ba 03 3d d9 51 59 bb 00 00 00 00 0c 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 "; +// String[] s = errSrc.split(" "); +// System.out.println("size: " + s.length); +// printInfo(s); }