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acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java

@@ -306,16 +306,32 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                             this.setNow_steps_type3(3);
                         }
                     } else {
-                        log.warn("前工位取货位无货,取货位:{},mode:{},move:{}", start_device_code, mode, move);
+                        log.warn("后工位取货位无货,取货位:{},mode:{},move:{}", start_device_code, mode, move);
                         if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) {
-                            feedMessage = "请检查输送线：mode == 2 && move == 1,此时读取到mode = " + mode + "move = " + move;
+                            feedMessage = "后工位未取货原因-->";
+                            if (mode != 2) {
+                                feedMessage += "后工位取货位工作模式不为待机(mode != 2),";
+                            } else if (move != 1) {
+                                feedMessage += "后工位取货位无货(move != 1)";
+                            }
                         }
                     }
                 }
             } else {
                 if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) {
-                    feedMessage = "请检查：mode == 3 && action2 == 1 && move2 == 0 && task2 > 0,此时读取到mode = " + mode
+                    feedMessage = "后工位未取货原因-->";
-                            + "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action2 != 1) {
+                        feedMessage += "后工位动作信号不为取货中(action2 != 1),";
+                    }
+                    if (move2 != 0) {
+                        feedMessage += "后工位光电信号不为空(move2 != 0),";
+                    }
+                    if (task2 == 0) {
+                        feedMessage += "后工位没有任务(task2 == 0)";
+                    }
                 }
             }
 
@@ -330,8 +346,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             } else {
                 if (this.getNow_steps_type2() == 3 || this.getNow_steps_type3() == 3) {
-                    feedMessage = "请检查：mode == 3 && action2 == 2 && move2 == 1 && task2 > 0,此时读取到mode = " + mode
+                    feedMessage = "后工位取货完成后未反馈原因-->";
-                            + "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action2 != 2) {
+                        feedMessage += "后工位未取货完成(action2 != 2),";
+                    }
+                    if (move2 == 0) {
+                        feedMessage += "后工位光电信号为空(move2 == 0),";
+                    }
+                    if (task2 == 0) {
+                        feedMessage += "后工位没有任务(task2 == 0)";
+                    }
                 }
             }
 
@@ -345,8 +372,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             } else {
                 if (this.getNow_steps_type1() == 2 || this.getNow_steps_type3() == 4) {
-                    feedMessage = "请检查mode == 3 && action1 == 1 && move1 == 0 && task1 > 0,此时读取到mode = " + mode
+                    feedMessage = "前工位未取货原因";
-                            + "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action1 != 1) {
+                        feedMessage += "前工位动作信号不为取货中(action2 != 1),";
+                    }
+                    if (move1 != 0) {
+                        feedMessage += "前工位光电信号不为空(move2 != 0),";
+                    }
+                    if (task1 == 0) {
+                        feedMessage += "前工位没有任务(task2 == 0)";
+                    }
                 }
             }
 
@@ -361,8 +399,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             } else {
                 if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 5) {
-                    feedMessage = "请检查:mode == 3 && action1 == 2 && move1 == 1 && task1 > 0,此时读取到mode = " + mode
+                    feedMessage = "前工位取货完成后未反馈原因";
-                            + "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action1 != 2) {
+                        feedMessage += "前工位未取货完成(action2 != 2),";
+                    }
+                    if (move1 == 0) {
+                        feedMessage += "前工位光电信号为空(move2 == 0),";
+                    }
+                    if (task1 == 0) {
+                        feedMessage += "前工位没有任务(task2 == 0)";
+                    }
                 }
             }
 
@@ -377,8 +426,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             } else {
                 if (this.getNow_steps_type2() == 4 || this.getNow_steps_type3() == 6) {
-                    feedMessage = "请检查：mode == 3 && action2 == 3 && move2 == 1 && task2 > 0,此时读取到mode = " + mode
+                    feedMessage = "后工位未放货原因-->";
-                            + "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action2 != 3) {
+                        feedMessage += "后工位动作信号不为放货中(action2 != 3),";
+                    }
+                    if (move2 == 0) {
+                        feedMessage += "后工位光电信号为空(move2 == 0),";
+                    }
+                    if (task2 == 0) {
+                        feedMessage += "后工位没有任务(task2 == 0)";
+                    }
                 }
             }
 
@@ -408,8 +468,22 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             } else {
                 if (this.getNow_steps_type2() == 5) {
-                    feedMessage = "请检查:mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2,此时读取到 " +
+                    feedMessage = "单任务后工位放货完成后未反馈原因-->";
-                            "mode =" + mode + "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2 + "type = " + type;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action2 != 4) {
+                        feedMessage += "后工位未放货完成(action2 != 4),";
+                    }
+                    if (move2 != 0) {
+                        feedMessage += "后工位光电信号为有货(move2 != 0),";
+                    }
+                    if (task2 == 0) {
+                        feedMessage += "后工位没有任务(task2 == 0),";
+                    }
+                    if (type != 2) {
+                        feedMessage += "不是后工位单任务(type != 2)";
+                    }
                 }
             }
 
@@ -419,8 +493,25 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 this.setNow_steps_type3(8);
             } else {
                 if (this.getNow_steps_type3() == 7) {
-                    feedMessage = "请检查：mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3,此时读取到mode = " + mode
+                    feedMessage = "双任务后工位放货完成后未反馈原因-->";
-                            + "action2 = " + action2 + "move2 = " + move2 + "task1 = " + task1 + "task2 = " + task2 + "type = " + type;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action2 != 4) {
+                        feedMessage += "后工位未放货完成(action2 != 4),";
+                    }
+                    if (move2 != 0) {
+                        feedMessage += "后工位光电信号为有货(move2 != 0),";
+                    }
+                    if (task1 == 0) {
+                        feedMessage += "前工位没有任务(task1 == 0),";
+                    }
+                    if (task2 == 0) {
+                        feedMessage += "后工位没有任务(task2 == 0),";
+                    }
+                    if (type != 3) {
+                        feedMessage += "不是双任务(type != 3)";
+                    }
                 }
             }
 
@@ -453,14 +544,30 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                     } else {
                         log.warn("后工位放货位有货,放货位:{},mode:{},move:{}", next_device_code, mode, move);
                         if (this.getNow_steps_type1() == 4 || this.getNow_steps_type3() == 8) {
-                            feedMessage = "请检查输送线：move == 1 && mode == 2,此时读取到mode = " + mode + "move = " + move;
+                            feedMessage = "前工位未放货原因-->";
+                            if (mode != 2) {
+                                feedMessage += "前工位放货位工作模式不为待机(mode != 2),";
+                            } else if (move == 0) {
+                                feedMessage += "前工位放货位无货(move == 0)";
+                            }
                         }
                     }
                 }
             } else {
                 if (this.getNow_steps_type1() == 4 || this.getNow_steps_type3() == 8) {
-                    feedMessage = "请检查：mode == 3 && action1 == 3 && move1 == 1 && task1 > 0,此时读取到mode = " + mode + "action1 = "
+                    feedMessage = "前工位未放货原因-->";
-                            + action1 + "move1 = " + move1 + "task1 = " + task1;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action1 != 3) {
+                        feedMessage += "前工位动作信号不为放货中(action1 != 3),";
+                    }
+                    if (move1 == 0) {
+                        feedMessage += "前工位光电信号为空(move1 == 0),";
+                    }
+                    if (task1 == 0) {
+                        feedMessage += "前工位没有任务(task1 == 0),";
+                    }
                 }
             }
 
@@ -491,8 +598,22 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             } else {
                 if (this.getNow_steps_type1() == 5) {
-                    feedMessage = "请检查:mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1,此时读取到 mode = " +
+                    feedMessage = "单任务前工位放货完成后未反馈原因-->";
-                            mode + "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1 + "type = " + type;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action1 != 4) {
+                        feedMessage += "前工位未放货完成(action1 != 4),";
+                    }
+                    if (move1 != 0) {
+                        feedMessage += "前工位光电信号为有货(move1 != 0),";
+                    }
+                    if (task1 == 0) {
+                        feedMessage += "前工位没有任务(task1 == 0),";
+                    }
+                    if (type != 1) {
+                        feedMessage += "不为前工位单任务(type != 1)";
+                    }
                 }
             }
 
@@ -523,8 +644,25 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
             } else {
                 if (this.getNow_steps_type3() == 9) {
-                    feedMessage = "请检查：mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3,此时读取到mode = " + mode
+                    feedMessage = "双任务前工位放货完成后未反馈原因-->";
-                            + "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1 + "task2 = " + task2 + "type = " + type;
+                    if (mode != 3) {
+                        feedMessage += "行架工作模式不为运行中(mode != 3),";
+                    }
+                    if (action1 != 4) {
+                        feedMessage += "前工位未放货完成(action1 != 4),";
+                    }
+                    if (move1 != 0) {
+                        feedMessage += "前工位光电信号为有货(move1 != 0),";
+                    }
+                    if (task1 == 0) {
+                        feedMessage += "前工位没有任务(task1 == 0),";
+                    }
+                    if (task2 == 0) {
+                        feedMessage += "后工位没有任务(task2 == 0),";
+                    }
+                    if (type != 3) {
+                        feedMessage += "不是双任务(type != 3)";
+                    }
                 }
             }
 
@@ -592,25 +730,25 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                         if (!requireSucess) {
                             String remark = "";
                             if (mode != 2) {
-                                remark = remark + "mode不为2,";
+                                remark = remark + "行架工作模式不为待机(mode != 2),";
                             }
                             if (move1 != 0) {
-                                remark = remark + "move1不为0,";
+                                remark = remark + "前工位有货(move1 != 0),";
                             }
                             if (move2 != 0) {
-                                remark = remark + "move2不为0,";
+                                remark = remark + "后工位有货(move2 != 0),";
                             }
                             if (action1 != 0) {
-                                remark = remark + "action1不为0,";
+                                remark = remark + "前工位动作信号不为0(action1 != 0),";
                             }
                             if (action2 != 0) {
-                                remark = remark + "action2不为0,";
+                                remark = remark + "后工位动作信号不为0(action2 != 0),";
                             }
                             if (task1 != 0) {
-                                remark = remark + "task1不为0,";
+                                remark = remark + "前工位存在任务(task1 != 0),";
                             }
                             if (task2 != 0) {
-                                remark = remark + "task2不为0,";
+                                remark = remark + "后工位存在任务(task2 != 0),";
                             }
                             this.setNotCreateTaskMessage(remark);
                         }