opt: NDC双工位AGV优化

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -278,7 +278,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 log.info("当前phase："+ phase +"未找到对应设备");
                             }
                         } catch (Exception e){
-                            log.info("processSocket出错:" + e.getMessage());
+                            log.info("processSocket出错:{},{}" ,e, e.getMessage());
                             e.printStackTrace();
                         }
                     }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -218,14 +218,15 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
                         && StrUtil.equals("true", device.getExtraValue().get("wait").toString())
                         && StrUtil.equals(task.getTask_type(), "1")) {
-                    //
                     if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                         String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
-                        if(!task_code.equals(task.getTask_code())){
+                        log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
+                        if (StrUtil.isEmpty(task_code) || !task_code.equals(task.getTask_code())) {
                             log.info("等待LMS系统进行确认允许取货，设备号{},指令号{},任务号{}", device_code, ikey, task.getTask_code());
                             message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
                             logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
+                        } else {
+                            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                         }
                     } else {
                         log.info("等待LMS系统进行确认允许取货，设备号{},指令号{}", device_code, ikey);
@@ -235,8 +236,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } else {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 }
-
-
             } else if (device.getDeviceDriver() instanceof PhotoelectricInspectionSiteDeviceDriver) {
                 photoelectricInspectionSiteDeviceDriver = (PhotoelectricInspectionSiteDeviceDriver) device.getDeviceDriver();
                 if (photoelectricInspectionSiteDeviceDriver.getMove() == 1)
@@ -248,17 +247,17 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-
                 if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1) || standardInspectSiteDeviceDriver.getIs_force() == 1) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 } else {
                     message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{}，不满足取货条件,指令号{}", device_code, standardInspectSiteDeviceDriver.getMove(), standardInspectSiteDeviceDriver.getAction(), ikey);
                 }
+                standardInspectSiteDeviceDriver.setIs_force(0);
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
             }
-            standardInspectSiteDeviceDriver.setIs_force(0);
+
         }
         // 取货完毕
         //(Itype=1/2/3,需要WCS反馈Phase)
@@ -368,15 +367,16 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ObjectUtil.isNotEmpty(standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait"))
                         && StrUtil.equals("true", standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait").toString())
                         && StrUtil.equals(task.getTask_type(), "1")) {
-                    //
                     if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
                         standardOrdinarySiteDeviceDriver.setAgvphase(0);
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                         String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
-                        if(!task_code.equals(task.getTask_code())){
+                        log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
+                        if (StrUtil.isEmpty(task_code) || !task_code.equals(task.getTask_code())) {
                             log.info("等待LMS系统进行确认允许取货，设备号{},指令号{},任务号{}", device_code, ikey, task.getTask_code());
                             message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
                             logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
+                        } else {
+                            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                         }
                     } else {
                         log.info("等待LMS系统进行确认允许取货，设备号{},指令号{}", device_code, ikey);
@@ -521,10 +521,10 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 if ((standardInspectSiteDeviceDriver.getMove() == 0 && standardInspectSiteDeviceDriver.getAction() == 1) || standardInspectSiteDeviceDriver.getIs_force() == 1) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 }
+                standardInspectSiteDeviceDriver.setIs_force(0);
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
             }
-            standardInspectSiteDeviceDriver.setIs_force(0);
         }
         //放货完成
         //(Itype=1/2/3,需要WCS反馈)
@@ -583,10 +583,10 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 if ((standardInspectSiteDeviceDriver.getMove() == 1) || standardInspectSiteDeviceDriver.getIs_force() == 1) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 }
+                standardInspectSiteDeviceDriver.setIs_force(0);
             } else {
                 data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
             }
-            standardInspectSiteDeviceDriver.setIs_force(0);
         }
         //到达放货点
         //（Itype=1、3,需要WCS反馈）