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fix:内包间行架rgv问题修复

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lishuai
2023-12-27 15:47:09 +08:00
parent d53c970bf0
commit c5915c8434
1 changed files with 14 additions and 15 deletions
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29
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
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@@ -831,22 +831,21 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
//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 j = 0; j < taskDtoList.size(); j++) {
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 == taskDtoList.size()-1) {
notCreateInstMessage = "rgv条件不匹配"+"任务号为："+task.getTask_code();
return false;
}
}else {
task = taskDtoList.get(j);
Boolean flag;
if ("6".equals(task.getTruss_type())) {
flag = checkAgv(task);
if (flag) {
break;
}
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")) {
task = null;
@@ -967,9 +966,9 @@ 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 {
} else {
logServer.deviceExecuteLog(device_code, "", "", "rgv条件不符合");
}