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rev：一楼诺宝车取货完成反馈和agv与纸管抓取位交互代码优化

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tuqiang
2025-06-12 14:57:51 +08:00
parent d97e61912e
commit 031cc72b49
2 changed files with 15 additions and 19 deletions
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4
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java
View File

@@ -159,7 +159,6 @@ public class AgvWaitUtil {
}
private void applyLmsGetOut(Instruction inst) {
try {
JSONObject param = new JSONObject();
param.put("taskCode", inst.getTask_code());
param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString());
@@ -187,9 +186,6 @@ public class AgvWaitUtil {
luceneExecuteLogService.deviceExecuteLog(logDto2);
throw new BadRequestException("追加动诺宝作块返回失败");
}
} catch (Exception e) {
e.printStackTrace();
}
}
//放货前等待

30
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -309,7 +309,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -563,7 +563,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -623,7 +623,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getAction() == 0) {
if (paperTubePickSiteDeviceDriver.getAction() == 0 && paperTubePickSiteDeviceDriver.getError() == 0 && paperTubePickSiteDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
@@ -798,7 +798,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1002,7 +1002,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1029,7 +1029,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1056,7 +1056,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1083,7 +1083,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1222,7 +1222,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
@@ -1407,7 +1407,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getAction() == 1) {
if (paperTubePickSiteDeviceDriver.getAction() == 1 && paperTubePickSiteDeviceDriver.getError() == 0 && paperTubePickSiteDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
@@ -1434,7 +1434,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1661,7 +1661,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1744,7 +1744,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getAction() == 0) {
if (paperTubePickSiteDeviceDriver.getAction() == 0 && paperTubePickSiteDeviceDriver.getError() == 0 && paperTubePickSiteDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
@@ -1888,7 +1888,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -2098,7 +2098,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())