From 7739e9062bcf013b8cd5544a7b95a5c5d000ef6b Mon Sep 17 00:00:00 2001
From: lishuai <1793460677@qq.com>
Date: Tue, 26 Dec 2023 19:33:19 +0800
Subject: [PATCH] =?UTF-8?q?fix:rgv=E8=A1=8C=E6=9E=B6=E5=86=B2=E7=AA=81?=
 =?UTF-8?q?=E9=97=AE=E9=A2=98?=
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---
 .../IndoorManipulatorDeviceDriver.java               | 12 ++++++++++--
 .../ext/wms/service/impl/WmsToAcsServiceImpl.java    |  2 +-
 2 files changed, 11 insertions(+), 3 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 64c010385..8cf99a20c 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
@@ -785,11 +785,15 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     for (int i1 = 0; i1 < taskDtos.size(); i1++) {
                         taskDto = taskDtos.get(i1);
                         Boolean flag;
-                        if ("6".equals(task.getTruss_type())) {
+                        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;
                         }
@@ -853,6 +857,10 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                                     if (flag){
                                         break;
                                     }
+                                    if (!flag && i1 == taskDtos.size()-1) {
+                                        notCreateInstMessage = "rgv条件不匹配"+"任务号为："+task.getTask_code();
+                                        return false;
+                                    }
                                 }else {
                                     break;
                                 }
@@ -978,7 +986,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 if (agv1.getDeviceDriver() instanceof RgvDeviceDriver && agv2.getDeviceDriver() instanceof RgvDeviceDriver) {
                     rgv1 = (RgvDeviceDriver) agv1.getDeviceDriver();
                     rgv2 = (RgvDeviceDriver) agv2.getDeviceDriver();
-                    if ((rgv1.getMode() == 2 && rgv1.getMove1() == 1) || (rgv2.getMode() == 2 && rgv2.getMove1() == 1)) {
+                    if ((rgv1.getMode() == 2 && rgv1.getMove1() == 1 && rgv1.getMove2() == 0 ) || (rgv2.getMode() == 2 && rgv2.getMove1() == 1 && rgv2.getMove2() == 0 )) {
                         return true;
                     }
                 }
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 418da8889..dc95f6734 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
@@ -190,7 +190,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     public PutActionResponse putAction(String jsonObject) throws Exception {
         try {
             MDC.put(log_file_type, log_type);
-            log.info("putAction--------------:输出参数" + jsonObject);
+            log.info("putAction--------------:输入参数" + jsonObject);
             JSONArray datas = JSONArray.parseArray(jsonObject);
             PutActionResponse response = new PutActionResponse();
             JSONArray errArr = new JSONArray();