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fix:内包间行架rgv问题修复

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lishuai
2023-12-27 10:29:08 +08:00
parent 116f8a0cfe
commit 6e5ba08885
1 changed files with 6 additions and 21 deletions
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27
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
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@@ -782,24 +782,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
//按照优先级排序 优先级相等按照创建时间排序
taskDtos = this.sortTask(taskDtos);
TaskDto taskDto = null;
for (int i1 = 0; i1 < taskDtos.size(); i1++) {
taskDto = taskDtos.get(i1);
Boolean flag;
if ("6".equals(taskDto.getTruss_type())) {
flag = checkAgv(taskDto);
if (flag){
break;
}
if (!flag && i1 == taskDtos.size()-1) {
notCreateInstMessage = "rgv条件不匹配"+"任务号为："+taskDto.getTask_code();
return false;
}
}else {
break;
}
}
//存在行架->暂存的AGV任务 需要过滤
// 9 行架任务
if (!StrUtil.equals(taskDto.getTask_type(), "9")) {
@@ -846,9 +828,9 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
} else {
List<TaskDto> taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode);
if (ObjectUtil.isNotEmpty(taskDtoList)) {
//按照优先级排序 优先级相等按照创建时间排序
taskDtoList = this.sortTask(taskDtoList);
for (int j = 0; j < taskDtoList.size(); j++) {
//按照优先级排序 优先级相等按照创建时间排序
taskDtoList = this.sortTask(taskDtoList);
for (int i1 = 0; i1 < taskDtoList.size(); i1++) {
task = taskDtoList.get(i1);
Boolean flag;
@@ -857,7 +839,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
if (flag){
break;
}
if (!flag && i1 == taskDtos.size()-1) {
if (!flag && i1 == taskDtoList.size()-1) {
notCreateInstMessage = "rgv条件不匹配"+"任务号为："+task.getTask_code();
return false;
}
@@ -988,6 +970,9 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
rgv2 = (RgvDeviceDriver) agv2.getDeviceDriver();
if ((rgv1.getMode() == 2 && rgv1.getMove1() == 1 && rgv1.getMove2() == 0 ) || (rgv2.getMode() == 2 && rgv2.getMove1() == 1 && rgv2.getMove2() == 0 )) {
return true;
}else {
logServer.deviceExecuteLog(device_code, "", "", "rgv条件不符合");
}
}
}