diff --git a/web/src/main/java/com/zhehekeji/web/controller/TestController.java b/web/src/main/java/com/zhehekeji/web/controller/TestController.java index 5189acf..765b7a6 100644 --- a/web/src/main/java/com/zhehekeji/web/controller/TestController.java +++ b/web/src/main/java/com/zhehekeji/web/controller/TestController.java @@ -5,6 +5,7 @@ import com.zhehekeji.web.entity.RFID; import com.zhehekeji.web.entity.Street; import com.zhehekeji.web.service.RFID.RFIDMap; import com.zhehekeji.web.service.RFID.RFIDSocket; +import com.zhehekeji.web.service.RFID.RFIDTCPClient; import com.zhehekeji.web.service.RFIDService; import com.zhehekeji.web.service.StreetService; import com.zhehekeji.web.service.TestService; @@ -100,6 +101,23 @@ public class TestController { return Result.success(new HashSet<>()); } + @ApiOperation("rfidNewTid") + @GetMapping("/rfidNewTid") + public Result> rfidNewTid(@RequestParam String streetId) { + Street street = streetService.getStreetByPlcId(streetId); + if (street != null) { + //rfid不分左右，rfid使用同一ip和端口，依靠传递字符调整方向 + RFID rfid = rfidService.getRFIDByPlc(street.getId(), null); + if (rfid != null) { + + Set tags = RFIDStartTid(rfid.getIp(), rfid.getPort(), street.getId(), 1); + return Result.success(tags); + } + } + + return Result.success(new HashSet<>()); + } + public void RFIDStart(String ip, Integer port, Integer streetId, Integer direction) { RFIDSocket rfidSocket = new RFIDSocket(ip, port); log.info("rfid调用，ip：" + ip + ";port:" + port); @@ -107,6 +125,12 @@ public class TestController { RFIDMap.put(streetId, rfidSocket); } + public Set RFIDStartTid(String ip, Integer port, Integer streetId, Integer direction) { + + Set tags = RFIDTCPClient.checkTid(ip, port); + return tags; + } + public Set RFIDStop(Street street) { RFIDSocket rfidSocket = RFIDMap.get(street.getId()); Set tags = null; diff --git a/web/src/main/java/com/zhehekeji/web/pojo/stock/StockExportExcel.java b/web/src/main/java/com/zhehekeji/web/pojo/stock/StockExportExcel.java index b91a43f..19f24a4 100644 --- a/web/src/main/java/com/zhehekeji/web/pojo/stock/StockExportExcel.java +++ b/web/src/main/java/com/zhehekeji/web/pojo/stock/StockExportExcel.java @@ -12,7 +12,7 @@ public class StockExportExcel { private String streetName; @ExcelProperty(index = 8, value = "盘点批次号") - private String lotnum; + private String checkNum; @ExcelProperty(index = 5, value = "条码") private String code; @@ -21,10 +21,10 @@ public class StockExportExcel { private String wmsCode; @ExcelProperty(index = 1, value = "左右,1:左侧,2:右侧") - private Integer direction; + private String direction; @ExcelProperty(index = 2, value = "深浅,1:浅货位,2:深货位") - private Integer side; + private String side; // @ExcelProperty(index = 1, value = "货架号") // private String shelveId; diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java b/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java index eebbf4b..3b28e4c 100644 --- a/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java +++ b/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java @@ -3,6 +3,7 @@ package com.zhehekeji.web.service; import lombok.AllArgsConstructor; import lombok.Data; import lombok.NoArgsConstructor; +import org.apache.commons.lang3.StringUtils; @Data @AllArgsConstructor @@ -97,8 +98,8 @@ public class PlcCmdInfo { this.leftRight2 = leftRight2; this.column2 = column2; this.row2 = row2; - this.plcId = plcId; - this.orderNum = plcId + "_" + taskId; + this.plcId = StringUtils.leftPad(plcId, 3, '0');; + this.orderNum = this.plcId + "_" + taskId; this.separation1 = separation1; this.separation2 = separation2; this.lotnum = lotnum; diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcService.java b/web/src/main/java/com/zhehekeji/web/service/PlcService.java index d2273bf..f1ab421 100644 --- a/web/src/main/java/com/zhehekeji/web/service/PlcService.java +++ b/web/src/main/java/com/zhehekeji/web/service/PlcService.java @@ -14,6 +14,7 @@ import com.zhehekeji.web.pojo.OrderVO; import com.zhehekeji.web.pojo.websocket.WebSocketVo; import com.zhehekeji.web.service.RFID.RFIDMap; import com.zhehekeji.web.service.RFID.RFIDSocket; +import com.zhehekeji.web.service.RFID.RFIDTCPClient; import com.zhehekeji.web.service.hikLightSource.HikControlSocket; import com.zhehekeji.web.service.interfaces.RfidLiveService; import com.zhehekeji.web.service.ksec.KsecNettyClient; @@ -644,7 +645,7 @@ public class PlcService { log.info("camera ptz" + c); gyrateCameraByCode(cameraId, c); } else { - String c = cmdCode + "1"; + String c = cmdCode + "1"+ "-" + plcCmdInfo.getLeftRightStr(1) ; gyrateCameraByCode(cameraId, c); try { Thread.sleep(configProperties.getCameraConfig().getDelayCaptureTime()); @@ -722,25 +723,30 @@ public class PlcService { long startRfidTime = System.currentTimeMillis(); String code = ""; - Set tags = new HashSet<>(); - try { - RFIDCheck(plcCmdInfo, true); - Thread.sleep(1000 * configProperties.getRfid().getScanTime()); - } catch (Exception e) { - e.printStackTrace(); - } finally { - tags = RFIDStop(plcCmdInfo); - log.info("盘点rfid扫描结果：" + tags); - } -//镇海深巷道，进行假盘点 - if(plcCmdInfo.getSeparation1() == 1){ - if (tags.contains(wmsTrayCode)){ - code = ""; - }else code = "rfid识别失败"; - }else { - code=""; - } + if (street != null) { + //rfid不分左右，rfid使用同一ip和端口，依靠传递字符调整方向 + RFID rfid = rfidService.getRFIDByPlc(street.getId(), null); + if (rfid != null) { + + + } + + if (rfid != null) { + + tags = RFIDTCPClient.checkTid(rfid.getIp(), rfid.getPort()); + } + } + +//镇海项目，进行假盘点 + code = ""; +// if(plcCmdInfo.getSeparation1() == 1){ +// if (tags.contains(wmsTrayCode)){ +// code = ""; +// }else code = "rfid识别失败"; +// }else { +// code=""; +// } if (tags != null && tags.size() > 0) { // if ( tags.contains(wmsTrayCode)) { // log.info("扫描成功"); diff --git a/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDData.java b/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDData.java new file mode 100644 index 0000000..633d9b7 --- /dev/null +++ b/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDData.java @@ -0,0 +1,19 @@ +package com.zhehekeji.web.service.RFID; + +import lombok.Data; + +@Data +public class RFIDData { + + private String pc; + private String epc; + private String crc; + private String tid; + + public RFIDData(String pc, String epc, String crc, String tid) { + this.pc = pc; + this.epc = epc; + this.crc = crc; + this.tid = tid; + } +} diff --git a/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDSocket.java b/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDSocket.java index 60f476b..fbe7a39 100644 --- a/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDSocket.java +++ b/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDSocket.java @@ -4,9 +4,11 @@ import com.payne.connect.net.NetworkHandle; import com.payne.reader.Reader; import com.payne.reader.base.Consumer; import com.payne.reader.bean.config.AntennaCount; +import com.payne.reader.bean.config.MemBank; import com.payne.reader.bean.receive.*; import com.payne.reader.bean.send.FastSwitchFourAntennaInventory; import com.payne.reader.bean.send.InventoryConfig; +import com.payne.reader.bean.send.ReadConfig; import com.payne.reader.process.ReaderImpl; import com.payne.reader.util.ArrayUtils; @@ -26,15 +28,14 @@ public class RFIDSocket { private Map tagsCount = new ConcurrentHashMap<>(); public static void main(String[] args) { - String tagStr = "363000145224505289907900"; - if(tagStr.startsWith("363000") &&tagStr.endsWith("00")){ - tagStr = tagStr.substring(0, tagStr.length() - 2); - } - System.out.println(tagStr); + RFIDSocket rfidSocket = new RFIDSocket("192.168.2.66", 2001); + rfidSocket.readTid(); } + public Set getTags() { return tags; } + public RFIDSocket(String ip, Integer port) { this.ip = ip; this.port = port; @@ -42,11 +43,11 @@ public class RFIDSocket { NetworkHandle handle = new NetworkHandle(ip, (port)); mReader = ReaderImpl.create(AntennaCount.FOUR_CHANNELS); - boolean linkSuccess =false; + boolean linkSuccess = false; try { linkSuccess = mReader.connect(handle); - }catch (Exception e) { + } catch (Exception e) { e.printStackTrace(); } if (linkSuccess) { @@ -57,40 +58,71 @@ public class RFIDSocket { } - public void startCheck(Integer direction,boolean foreach) { + public Set readTid() { + ReadConfig config = new ReadConfig.Builder().setMemBank(MemBank.TID).setWordLength((byte) 6).build(); + Set tags = new HashSet<>(); + byte[] bytes = new byte[1]; + bytes[0] = 0x01; + int count = 0; + while (count<100) { + try { + bytes[0] = (byte) (bytes[0] == 0x01 ? 0x00 : 0x01); + Thread.sleep(200); + mReader.setWorkAntenna(bytes[0], (v) -> { + System.out.println("reader1 setWorkAntenna success"); + }, (v) -> { + System.out.println("reader1 setWorkAntenna fail"); + }); + mReader.readTag(config + , (Consumer) readTag -> { + System.out.println("readTag: " + readTag.toString()); + tags.add(readTag.getStrData()); + } + , e -> System.out.println("readTag err: " + e.toString())); + count++; + } catch (Exception e) { + e.printStackTrace(); + stopCheck(); + } + } + return tags; + } + + public void startCheck(Integer direction, boolean foreach) { // Reader mReader = ReaderImpl.create(AntennaCount.SIXTEEN_CHANNELS); // Reader mReader = ReaderImpl.create(AntennaCount.EIGHT_CHANNELS); running = true; Thread thread = new Thread(new Runnable() { public void run() { + mReader.setOriginalDataCallback( new Consumer() { @Override public void accept(byte[] onSend) throws Exception { - //System.out.println("---reader 1 send :" + ArrayUtils.bytesToHexString(onSend, 0, onSend.length)); + System.out.println("---reader 1 send :" + ArrayUtils.bytesToHexString(onSend, 0, onSend.length)); } }, new Consumer() { @Override public void accept(byte[] onReceive) throws Exception { - - + System.out.println("===reader 1 recv:" + ArrayUtils.bytesToHexString(onReceive, 0, onReceive.length)); } }); FastSwitchFourAntennaInventory inventory = new FastSwitchFourAntennaInventory.Builder().build(); + InventoryConfig config = new InventoryConfig.Builder() .setInventory(inventory) .setOnInventoryTagSuccess(new Consumer() { @Override public void accept(InventoryTag tag) throws Exception { - System.out.println("reader1 inventory tag :" + tag.getEpc()); - String tagStr = tag.getEpc().replace(" ",""); + System.out.println("reader1 inventory tag :" + tag.toString()); + String tagStr = tag.getEpc().replace(" ", ""); System.out.println("tag: " + tag.getEpc()); // 去除头为0 - tagStr = tagStr.replace("0000000000",""); + tagStr = tagStr.replace("0000000000", ""); //去除尾巴为0 - if(tagStr.startsWith("363000") &&tagStr.endsWith("00")){ + if (tagStr.startsWith("363000") && tagStr.endsWith("00")) { tagStr = tagStr.substring(0, tagStr.length() - 2); } tags.add(tagStr); @@ -105,6 +137,7 @@ public class RFIDSocket { @Override public void accept(InventoryTagEnd arg0) throws Exception { + // System.out.println("reader1 InventoryTagEnd"); } }) @@ -138,11 +171,11 @@ public class RFIDSocket { while (running) { try { bytes[0] = (byte) (bytes[0] == 0x01 ? 0x00 : 0x01); - Thread.sleep(1000); - if(foreach){ - mReader.setWorkAntenna(bytes[0],(v)->{ + Thread.sleep(200); + if (foreach) { + mReader.setWorkAntenna(bytes[0], (v) -> { System.out.println("reader1 setWorkAntenna success"); - },(v)->{ + }, (v) -> { System.out.println("reader1 setWorkAntenna fail"); }); } diff --git a/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDTCPClient.java b/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDTCPClient.java new file mode 100644 index 0000000..3bb0bd7 --- /dev/null +++ b/web/src/main/java/com/zhehekeji/web/service/RFID/RFIDTCPClient.java @@ -0,0 +1,231 @@ +package com.zhehekeji.web.service.RFID; + +import lombok.extern.slf4j.Slf4j; + +import java.io.ByteArrayOutputStream; +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.net.Socket; +import java.net.SocketTimeoutException; +import java.util.Arrays; +import java.util.HashSet; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +public class RFIDTCPClient { + + private Socket socket; + private OutputStream outputStream; + private InputStream inputStream; + private String host; + private int port; + + public RFIDTCPClient(String host, int port) { + this.host = host; + this.port = port; + } + + public boolean connect() { + try { + socket = new Socket(host, port); + socket.setSoTimeout(200); + outputStream = socket.getOutputStream(); + inputStream = socket.getInputStream(); + return true; + } catch (IOException e) { + e.printStackTrace(); + return false; + } + } + + public void disconnect() { + try { + if (outputStream != null) { + outputStream.close(); + } + if (inputStream != null) { + inputStream.close(); + } + if (socket != null) { + socket.close(); + } + } catch (IOException e) { + e.printStackTrace(); + } + } + + public void sendHexCommand(String hexCommand) throws IOException { + byte[] bytes = hexStringToByteArray(hexCommand); + outputStream.write(bytes); + outputStream.flush(); + } + + + public Set receiveRFIDData() throws IOException { + Set dataSet = new HashSet<>(); + + // 创建一个缓冲区来存储接收到的数据 + ByteArrayOutputStream buffer = new ByteArrayOutputStream(); + + // 设置一个超时机制，避免无限等待 + // 先读取一批数据到缓冲区 + byte[] tempBuffer = new byte[1024]; + + + try { + int bytesRead; + while ((bytesRead = inputStream.read(tempBuffer)) != -1) { + buffer.write(tempBuffer, 0, bytesRead); // 记录读取的数据到日志 + log.info("读取到 {} 字节数据: {}", bytesRead, bytesToHex(Arrays.copyOfRange(tempBuffer, 0, bytesRead))); + + // 如果读取到足够数据就停止 + if (buffer.size() > 4096) { + break; + } + } + log.info("总共读取到 {} 字节数据", buffer.size()); + } catch (SocketTimeoutException e) { + // 超时正常，继续处理已接收的数据 + log.info("读取数据超时，继续处理已接收的数据"); + } + + // 处理缓冲区中的数据 + byte[] receivedData = buffer.toByteArray(); + int position = 0; + + // 循环查找并解析所有以A0开头的数据包 + while (position < receivedData.length - 2) { + // 查找A0起始字节 + if (receivedData[position] == (byte) 0xA0) { + // 确保有足够的数据读取长度字节 + if (position + 1 >= receivedData.length) { + break; + } + + // 读取长度 + int length = receivedData[position + 1] & 0xFF; + + // 确保有足够的数据 + if (position + 2 + length > receivedData.length) { + break; + } + + // 提取数据部分 + byte[] data = Arrays.copyOfRange(receivedData, position + 2, position + 2 + length); + + // 解析数据 + RFIDData rfidData = parseRFIDData(data); + if (rfidData != null) { + dataSet.add(rfidData); + } + + // 移动到下一个数据包 + position += 2 + length; + } else { + // 移动到下一个字节 + position++; + } + } + + return dataSet; + } + private RFIDData parseRFIDData(byte[] data) { + try { + // 检查数据长度是否足够 + if (data.length < 21) { // 至少需要21个字节 + return null; + } + + // 检查固定值是否正确 + if((data[1] & 0xFF) != 0X81){ + return null; + } + + // 0x01 是固定值 (data[0]) + // 81 00 0C 1C 是其他数据 (data[1]-data[4]) + // 接下来2个字节是PC值 (data[5], data[6]) + String pc = bytesToHex(Arrays.copyOfRange(data, 5, 7)); + + // 接下来12个字节是EPC值 (data[7] 到 data[18]) + String epc = bytesToHex(Arrays.copyOfRange(data, 7, 19)); + + // 接下来2个字节是CRC值 (data[19], data[20]) + String crc = bytesToHex(Arrays.copyOfRange(data, 19, 21)); + + // 剩余字节是TID值 (data[21] 到 data[33]，共12个字节) + // 确保不会越界 + int tidStart = 21; + int tidEnd = tidStart + 12; // TID固定为12个字节 + if (tidEnd <= data.length) { + String tid = bytesToHex(Arrays.copyOfRange(data, tidStart, tidEnd)); + RFIDData rfidData = new RFIDData(pc, epc, crc, tid); + log.info("rfidData:{}", rfidData); + return rfidData; + } + + // 如果没有TID数据，创建一个空的TID + RFIDData rfidData = new RFIDData(pc, epc, crc, ""); + log.info("rfidData:{}", rfidData); + return rfidData; + } catch (Exception e) { + log.error("解析RFID数据时出错: ", e); + return null; + } + } + + private byte[] hexStringToByteArray(String hex) { + hex = hex.replaceAll(" ", ""); // 移除空格 + int len = hex.length(); + byte[] data = new byte[len / 2]; + for (int i = 0; i < len; i += 2) { + data[i / 2] = (byte) ((Character.digit(hex.charAt(i), 16) << 4) + + Character.digit(hex.charAt(i+1), 16)); + } + return data; + } + + private String bytesToHex(byte[] bytes) { + StringBuilder sb = new StringBuilder(); + for (byte b : bytes) { + sb.append(String.format("%02X", b)); + } + return sb.toString(); + } + + public static Set checkTid(String ip ,int port){ + RFIDTCPClient client = new RFIDTCPClient(ip, port); + + Set data = new HashSet<>(); + if (client.connect()) { + try { + for (int i = 0; i < 8; i++){ + if (i%2==0) + client.sendHexCommand("A0 04 01 74 01 E6"); + else + client.sendHexCommand("A0 04 01 74 00 E7"); + + client.sendHexCommand("A0 0A FF 81 02 00 06 00 00 00 00 CE"); + + data.addAll(client.receiveRFIDData()); + } + if (data != null) { + log.info("接收到RFID数据: " + data.toString()); + } + } catch (IOException e) { + e.printStackTrace(); + } finally { + client.disconnect(); + } + } else { + System.out.println("连接失败"); + } + Set setData = data.stream().map(RFIDData::getTid).collect(Collectors.toSet()); + log.info("接收到的RFID数据: " + setData); + return setData; + } + public static void main(String[] args) { + checkTid("127.0.0.1", 4002); + } +} diff --git a/web/src/main/java/com/zhehekeji/web/service/StockService.java b/web/src/main/java/com/zhehekeji/web/service/StockService.java index 7e8a1ea..d4d6d72 100644 --- a/web/src/main/java/com/zhehekeji/web/service/StockService.java +++ b/web/src/main/java/com/zhehekeji/web/service/StockService.java @@ -270,15 +270,15 @@ public class StockService { stocks.forEach(stock -> { StockExportExcel stockExportExcel = new StockExportExcel(); stockExportExcel.setCode(stock.getTrayCode()); - stockExportExcel.setLotnum(stock.getLotnum()); + stockExportExcel.setCheckNum(stock.getCheckNum()); stockExportExcel.setColumn(stock.getColumn()); stockExportExcel.setWmsCode(stock.getWmsTrayCode()); //stockExportExcel.setCount(stock.getCount()); stockExportExcel.setRow(stock.getRow()); stockExportExcel.setStreetName(street.getName()); stockExportExcel.setExportTime(stock.getExportTime()); - stockExportExcel.setDirection(stock.getDirection()); - stockExportExcel.setSide(stock.getSide()); + stockExportExcel.setDirection(stock.getDirection()==1?"左侧":"右侧"); + stockExportExcel.setSide(stock.getSide() == 1?"浅货位":"深货位"); //stockExportExcel.setShelveId(stock.getShelveId()); stockExportExcel.setStatus(stock.getStatus()); stockExportExcels.add(stockExportExcel); @@ -299,14 +299,15 @@ public class StockService { stocks.forEach(stock -> { StockExportExcel stockExportExcel = new StockExportExcel(); stockExportExcel.setCode(stock.getTrayCode()); - stockExportExcel.setLotnum(stock.getLotnum()); + stockExportExcel.setCheckNum(stock.getCheckNum()); stockExportExcel.setColumn(stock.getColumn()); + stockExportExcel.setWmsCode(stock.getWmsTrayCode()); //stockExportExcel.setCount(stock.getCount()); stockExportExcel.setRow(stock.getRow()); stockExportExcel.setStreetName(streetMap.get(stock.getStreetId())); stockExportExcel.setExportTime(stock.getExportTime()); - stockExportExcel.setDirection(stock.getDirection()); - stockExportExcel.setSide(stock.getSide()); + stockExportExcel.setDirection(stock.getDirection()==1?"左侧":"右侧"); + stockExportExcel.setSide(stock.getSide() == 1?"浅货位":"深货位"); stockExportExcel.setStatus(stock.getStatus()); stockExportExcels.add(stockExportExcel); }); diff --git a/web/src/main/java/com/zhehekeji/web/service/ksec/KescEncoder.java b/web/src/main/java/com/zhehekeji/web/service/ksec/KescEncoder.java index 44d121d..f9d7fb5 100644 --- a/web/src/main/java/com/zhehekeji/web/service/ksec/KescEncoder.java +++ b/web/src/main/java/com/zhehekeji/web/service/ksec/KescEncoder.java @@ -4,18 +4,24 @@ import com.alibaba.fastjson.JSONObject; import io.netty.buffer.ByteBuf; import io.netty.channel.ChannelHandlerContext; import io.netty.handler.codec.MessageToByteEncoder; +import lombok.extern.slf4j.Slf4j; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; import java.nio.charset.StandardCharsets; /** * 昆船JSON版发送 首尾加上 < > */ +@Slf4j public class KescEncoder extends MessageToByteEncoder { + private static final Logger tcpLogger = LoggerFactory.getLogger("tcp"); @Override protected void encode(ChannelHandlerContext channelHandlerContext, KsecInfo ksecInfo, ByteBuf byteBuf) throws Exception { String body = "<" + JSONObject.toJSONString(ksecInfo) + ">"; + tcpLogger.info("send ksecInfo:{}",body); byteBuf.writeBytes(body.getBytes(StandardCharsets.UTF_8)); } } diff --git a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java index 98f532e..4f03204 100644 --- a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java +++ b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java @@ -128,13 +128,10 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder { if (Cmd.B1.name().equals(cmdName)) { //昆船盘点模式下也会发B1 ,但是不会发送B2 //这里判断下，是否存在盘点批次号 若存在，既是盘点的B1,无需处理；若不存在lotnum，则是随行的B1 - if(StringUtils.isEmpty(dataInfo.getLotnum())){ - //任务开始 旋转到原点位 - plcService.gyrateCamera(plcCmdInfo,Cmd.C5.name()); - plcService.orderStart(plcCmdInfo); - }else { - log.info("check move"); - } + //任务开始 旋转到原点位 + plcService.gyrateCamera(plcCmdInfo,Cmd.C5.name()); + plcService.orderStart(plcCmdInfo); + } else if (Cmd.B2.name().equals(cmdName)) { //B2 C4 一起发的，需要停止等B2 @@ -201,7 +198,7 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder { //rfid的逻辑 String code = dataInfo.getCmdName(); log.info("盘点指令：{}", ksecInfo); - plcService.check(plcCmdInfo,ksecInfo.getType(),dataInfo.getCode(),dataInfo.getTrayCode()); + plcService.check(plcCmdInfo,ksecInfo.getType(),dataInfo.getLotnum(),dataInfo.getLotnum()); ksecInfo.getData().setAckStatus(1); ctx.channel().writeAndFlush(ksecInfo);