From 713243190050169695c580b385b34b585ed05402 Mon Sep 17 00:00:00 2001
From: gengby <858962040@qq.com>
Date: Thu, 22 Dec 2022 18:27:24 +0800
Subject: [PATCH] =?UTF-8?q?=E5=89=8D=E5=90=8E=E5=B7=A5=E4=BD=8D=E6=9B=B4?=
 =?UTF-8?q?=E6=96=B0?=
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---
 .../SlitTwoManipulatorDeviceDriver.java       | 38 +++++++++----------
 1 file changed, 18 insertions(+), 20 deletions(-)

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
index 4647d2fa6..eec4c69d1 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
@@ -251,7 +251,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
 //                            }
 //                        }
                         ;
-                       // this.setNow_steps_type2(1);
+                        // this.setNow_steps_type2(1);
                     }
                 }
             }
@@ -318,15 +318,15 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             }
 
             //单任务/或双任务 后工位收到取货完成信号并反馈
-            if (mode == 3 && action2 == 2 && move2 == 1 && task2 > 0){
-                this.writing("to_command2","3");
-                if (type == 2){
+            if (mode == 3 && action2 == 2 && move2 == 1 && task2 > 0) {
+                this.writing("to_command2", "3");
+                if (type == 2) {
                     this.setNow_steps_type2(4);
                 }
-                if (type == 3){
+                if (type == 3) {
                     this.setNow_steps_type3(4);
                 }
-            }else {
+            } else {
                 if (this.getNow_steps_type2() == 3 || this.getNow_steps_type3() == 3) {
                     feedMessage = "请检查：mode == 3 && action2 == 2 && move2 == 1 && task2 > 0";
                 }
@@ -347,15 +347,15 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             }
 
             //单任务/双任务 前工位取货完成并反馈
-            if (mode == 3 && action1 == 2 && move1 == 1 && task1 > 0){
-                this.writing("to_command1","3");
-                if (type == 1){
+            if (mode == 3 && action1 == 2 && move1 == 1 && task1 > 0) {
+                this.writing("to_command1", "3");
+                if (type == 1) {
                     this.setNow_steps_type1(4);
                 }
-                if (type == 3){
+                if (type == 3) {
                     this.setNow_steps_type3(6);
                 }
-            }else {
+            } else {
                 if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 5) {
                     feedMessage = "请检查:mode == 3 && action1 == 2 && move1 == 1 && task1 > 0";
                 }
@@ -478,7 +478,6 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             }
 
 
-
             //双工位  任务完成 前工位反馈4
             if (mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3) {
                 //inst_message
@@ -510,7 +509,6 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             }
 
 
-
         } catch (Exception var17) {
             return;
         }
@@ -956,12 +954,12 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             Device nextDevice2 = deviceAppservice.findDeviceByCode(next_device_code2);
             String start_addr2 = startDevice2.getExtraValue().get("address").toString();
             String next_addr2 = nextDevice2.getExtraValue().get("address").toString();
-            this.writing("to_onset1", start_addr);
-            this.writing("to_target1", next_addr);
+            this.writing("to_onset1", start_addr2);
+            this.writing("to_target1", next_addr2);
             this.writing("to_task1", dto.getInstruction_code());
             this.writing("to_command1", "1");
-            this.writing("to_onset2", start_addr2);
-            this.writing("to_target2", next_addr2);
+            this.writing("to_onset2", start_addr);
+            this.writing("to_target2", next_addr);
             this.writing("to_task2", dto.getInstruction_code());
             this.writing("to_command2", "1");
             this.writing("to_type", "3");
@@ -1060,7 +1058,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
     //将扩展表中的字符串数组数据转换成集合
     public List<String> getExtraDeviceCodes(String extraName) {
         String extraValue = (String) this.getDevice().getExtraValue().get(extraName);
-        if (StrUtil.isEmpty(extraValue)){
+        if (StrUtil.isEmpty(extraValue)) {
             return new ArrayList<>();
         }
         String devicesString = extraValue.substring(1, extraValue.length() - 1);
@@ -1073,14 +1071,14 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         return devicesList;
     }
 
-    public List<TaskDto> sortTask(List<TaskDto> taskDtos){
+    public List<TaskDto> sortTask(List<TaskDto> taskDtos) {
         Collections.sort(taskDtos, new Comparator<TaskDto>() {
             @Override
             public int compare(TaskDto t1, TaskDto t2) {
                 //优先级从大到小
                 int i = t2.getPriority().compareTo(t1.getPriority());
                 //如果优先级相等
-                if (i == 0){
+                if (i == 0) {
                     //时间从早到晚
                     i = t1.getCreate_time().compareTo(t2.getCreate_time());
                 }