From f1e4d5f3f87ebca0501ac96714896fa5b197fe10 Mon Sep 17 00:00:00 2001
From: lishuai <1793460677@qq.com>
Date: Wed, 27 Dec 2023 16:51:41 +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             | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 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 21557324a..2f8827f57 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
@@ -837,17 +837,14 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                                 flag = checkAgv(task);
                                 if (flag) {
                                     break;
+                                }else {
+                                    task =null;
+                                    continue;
                                 }
-                                if (!flag && j == taskDtoList.size() - 1) {
-                                    notCreateInstMessage = "rgv条件不匹配" + "任务号为：" + task.getTask_code();
-                                    return false;
-                                }
-                            } else {
-                                break;
-                            }
 
+                            }
                             // 9 行架任务
-                            if (!StrUtil.equals(task.getTask_type(), "9")) {
+                            if (ObjectUtil.isNotEmpty(task) && !StrUtil.equals(task.getTask_type(), "9")) {
                                 task = null;
                                 continue;
                             }
@@ -969,6 +966,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     if ((rgv1.getMode() == 2 && rgv1.getMove1() == 1 && rgv1.getMove2() == 0) || (rgv2.getMode() == 2 && rgv2.getMove1() == 1 && rgv2.getMove2() == 0)) {
                         return true;
                     } else {
+                        log.info("rgv条件不符合");
                         logServer.deviceExecuteLog(device_code, "", "", "rgv条件不符合");
 
                     }