From 6e5ba088853becbbeebf5b5f05a8886495414ffa Mon Sep 17 00:00:00 2001
From: lishuai <1793460677@qq.com>
Date: Wed, 27 Dec 2023 10:29:08 +0800
Subject: [PATCH] =?UTF-8?q?fix:=E5=86=85=E5=8C=85=E9=97=B4=E8=A1=8C?=
 =?UTF-8?q?=E6=9E=B6rgv=E9=97=AE=E9=A2=98=E4=BF=AE=E5=A4=8D?=
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---
 .../IndoorManipulatorDeviceDriver.java        | 27 +++++--------------
 1 file changed, 6 insertions(+), 21 deletions(-)

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
index 8cf99a20c..2cfed9f10 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
@@ -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");
+
                     }
                 }
             }