From 4d5325bf1b526b425f34342e44d49be1ccc95549 Mon Sep 17 00:00:00 2001
From: gengby <858962040@qq.com>
Date: Mon, 8 Sep 2025 09:19:32 +0800
Subject: [PATCH] =?UTF-8?q?rev:=E7=94=9F=E7=AE=94AGV=E5=8F=96=E8=B4=A7?=
 =?UTF-8?q?=E6=89=8B=E6=8C=81=E6=94=BE=E8=A1=8C=E6=8A=A5=E9=94=99?=
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---
 .../basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java        | 6 ++++++
 .../nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java    | 4 ++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index d16ea07c0..2164750fb 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -85,6 +85,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     String error_type = "agv_error_type";
     private Instruction instruction;
 
+    private Boolean is_arrive_get = false;
+
     private synchronized void setErrorInfo(int error, String error_code, String error_message) {
         this.error = error;
         this.error_code = error_code;
@@ -218,6 +220,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
                         && StrUtil.equals("true", device.getExtraValue().get("wait").toString())
                         && StrUtil.equals(task.getTask_type(), "1")) {
+                    this.is_arrive_get = true;
                     if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
                         String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
                         log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
@@ -307,6 +310,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                         && StrUtil.equals(task.getTask_type(), "1")) {
                     //
                     standardOrdinarySiteDeviceDriver.setOption(0);
+                    this.is_arrive_get = false;
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
 
                 } else {
@@ -370,6 +374,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ObjectUtil.isNotEmpty(standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait"))
                         && StrUtil.equals("true", standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait").toString())
                         && StrUtil.equals(task.getTask_type(), "1")) {
+                    this.is_arrive_get = true;
                     if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
                         standardOrdinarySiteDeviceDriver.setAgvphase(0);
                         String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
@@ -436,6 +441,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                         && StrUtil.equals("true", standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait").toString())
                         && StrUtil.equals(task.getTask_type(), "1")) {
                     standardOrdinarySiteDeviceDriver.setOption(0);
+                    this.is_arrive_get = false;
                 } else {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
index ce08aabd1..f59d95f11 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
@@ -1151,8 +1151,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                         AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
                         if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
                             agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
-                            int phase = agvNdcTwoDeviceDriver.getPhase();
-                            if (phase == 0x03 || phase == 0x05 || phase == 0x08) {
+                            Boolean is_arrive_get = agvNdcTwoDeviceDriver.getIs_arrive_get();
+                            if (is_arrive_get) {
                                 StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
                                 Device device_k = deviceAppService.findDeviceByCode(device_code + "_K");
                                 Device device_m = deviceAppService.findDeviceByCode(device_code + "_M");