From adc6d7f74d771d7ca27f613330b679a960c68aba Mon Sep 17 00:00:00 2001
From: yanps <yps00312>
Date: Tue, 26 Dec 2023 21:55:40 +0800
Subject: [PATCH] =?UTF-8?q?opt:=20=E4=BC=98=E5=8C=96=E5=86=85=E5=8C=85?=
 =?UTF-8?q?=E9=97=B4=E8=A1=8C=E6=9E=B6=E4=BB=BB=E5=8A=A1=E4=B8=8B=E5=8F=91?=
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---
 .../IndoorManipulatorDeviceDriver.java        | 50 +++++--------------
 .../wms/service/impl/AcsToWmsServiceImpl.java |  1 +
 2 files changed, 14 insertions(+), 37 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..aebcc5451 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
@@ -781,25 +781,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 if (ObjectUtil.isNotEmpty(taskDtos)) {
                     //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;
-                        }
-
-                    }
-
+                    TaskDto taskDto = taskDtos.get(0);
                     //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")) {
@@ -845,26 +827,16 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     return true;
                 } else {
                     List<TaskDto> taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode);
+                    //按照优先级排序 优先级相等按照创建时间排序
+                    taskDtoList = this.sortTask(taskDtoList);
                     if (ObjectUtil.isNotEmpty(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;
-                                if ("6".equals(task.getTruss_type())) {
-                                    flag = checkAgv(task);
-                                    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;
+                            task = taskDtoList.get(j);
+                            if ("6".equals(task.getTruss_type())) {
+                                Boolean aBoolean = checkAgv(task);
+                                if (!aBoolean) {
+                                    continue;
                                 }
-
                             }
                             // 9 行架任务
                             if (!StrUtil.equals(task.getTask_type(), "9")) {
@@ -986,8 +958,12 @@ 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 && rgv1.getMove2() == 0 ) || (rgv2.getMode() == 2 && rgv2.getMove1() == 1 && rgv2.getMove2() == 0 )) {
+                    if ((rgv1.getMode() == 2 && rgv1.getMove1() == 1 && rgv1.getMove2() == 0) || (rgv2.getMode() == 2 && rgv2.getMove1() == 1 && rgv2.getMove2() == 0)) {
                         return true;
+                    } else if (rgv1.getMode() != 2) {
+                        logServer.deviceExecuteLog(this.device_code, "", "", "创建不了指令的原因,mode:" + mode + "不等于2");
+                    } else if (rgv1.getMove1() != 1) {
+                        logServer.deviceExecuteLog(this.device_code, "", "", "创建不了指令的原因,move1:" + rgv1.getMove1() + "不等于1");
                     }
                 }
             }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index f7c9a0318..f33a496bb 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -418,6 +418,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
     @Override
     public ApplyManipulatorActionResponse applyManipulatorActionRequest(ApplyManipulatorActionRequest param) {
+        log.info("向LMS申请反馈,请求参数{}",param);
         try {
             MDC.put(log_file_type, log_type);
             ApplyManipulatorActionResponse applyManipulatorActionResponse = new ApplyManipulatorActionResponse();