rev 修改ndc协程改成驱动

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -11,9 +11,13 @@ import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.basedriver.agv.utils.OneAgvPhase;
+import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
+import org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.LnshPalletizingManipulatorSiteDeviceDriver;
+import org.nl.acs.device_driver.lnsh.lnsh_station.LnshStationDeviceDriver;
+import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
@@ -129,6 +133,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
         //货架
         StandardStorageDeviceDriver standardStorageDeviceDriver;
+        //工位模板
+        LnshStationDeviceDriver lnshStationDeviceDriver;
+        //码垛机械手工位
+        LnshPalletizingManipulatorSiteDeviceDriver lnshPalletizingManipulatorSiteDeviceDriver;
+
 
 
         //分配 车id
@@ -183,7 +192,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 standardOrdinarySiteDeviceDriver.setInst(inst);
             }
 
-
             if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             }
@@ -351,6 +359,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             if (ikey == 0) {
                 this.setErrorInfo(ikey, "0", "正常");
             } else {
+               // 故障
+            }
+            if (error != last_error) {
 
             }
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
@@ -370,6 +381,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         } else if (phase == 0x74) {
             //三色灯状态
             status = ikey;
+
         }
         if (!ObjectUtil.isEmpty(data)) {
             phase = 0;

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_station/LnshStationDeviceDriver.java

@@ -485,7 +485,7 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
 
         JSONObject jo = new JSONObject();
         jo.put("device_name", this.getDevice().getDevice_name());
-        jo.put("mode", getModeName(this.getDevice().getExtraValue().get(mode).toString()));
+        jo.put("mode", mode);
         jo.put("move", move);
         jo.put("action", action);
         jo.put("io_action", io_action);