From 8a0d1e2caa29004d14cf4a4869fd78a78e92684a Mon Sep 17 00:00:00 2001
From: gengby <858962040@qq.com>
Date: Wed, 26 Oct 2022 19:27:36 +0800
Subject: [PATCH] =?UTF-8?q?AGV=E6=95=85=E9=9A=9C=20=E6=9B=B4=E6=94=B9?=
 =?UTF-8?q?=E4=B8=89=E8=89=B2=E7=87=88=E7=8B=80=E6=85=8B?=
MIME-Version: 1.0
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---
 .../task/QueryMagicAgvDeviceStatus.java       | 27 ++++++++++++++-----
 1 file changed, 21 insertions(+), 6 deletions(-)

diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java
index e6b24ea..a773977 100644
--- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java
+++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java
@@ -6,6 +6,7 @@ import net.sf.json.JSONArray;
 import net.sf.json.JSONObject;
 import org.nl.acs.agv.server.AgvService;
 import org.nl.acs.device_driver.electric_fence.ElectricFenceDeviceDriver;
+import org.nl.acs.device_driver.hailiang.hailiang_packing.HaiLiangPackingDeviceDriver;
 import org.nl.acs.device_driver.ndxy_special_two.NdxySpecialTwoDeviceDriver;
 import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver;
 import org.nl.acs.instruction.service.InstructionService;
@@ -33,6 +34,7 @@ public class QueryMagicAgvDeviceStatus {
     @Autowired
     AgvService agvService;
 
+    Boolean flag = false;
 
     public void run() throws Exception {
         HttpResponse response = agvService.queryMagicAgvDeviceStatus();
@@ -48,6 +50,7 @@ public class QueryMagicAgvDeviceStatus {
                 List<Device> allDevice = appService.findAllDevice();
                 WeighingSiteDeviceDriver weighingSiteDeviceDriver;
                 NdxySpecialTwoDeviceDriver ndxySpecialTwoDeviceDriver;
+                HaiLiangPackingDeviceDriver haiLiangPackingDeviceDriver;
                 for (int z = 0; z < allDevice.size(); z++) {
                     Device deviceBycode = allDevice.get(z);
                     if (deviceBycode.getDeviceDriver() instanceof WeighingSiteDeviceDriver) {
@@ -55,12 +58,24 @@ public class QueryMagicAgvDeviceStatus {
                         mode = weighingSiteDeviceDriver.getNowMode();
                     }
 
-                    if (deviceBycode.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) {
-                        ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) deviceBycode.getDeviceDriver();
-                        if(jo.optString("state").equals("IDLE") || jo.optString("state").equals("EXECUTING")  || jo.optString("state").equals("IDLE") ){
-                            ndxySpecialTwoDeviceDriver.writing("to_agv_status",1);
-                        } else {
-                            ndxySpecialTwoDeviceDriver.writing("to_agv_status",0);
+//                    if (deviceBycode.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) {
+//                        ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) deviceBycode.getDeviceDriver();
+//                        if(jo.optString("state").equals("IDLE") || jo.optString("state").equals("EXECUTING")  || jo.optString("state").equals("IDLE") ){
+//                            ndxySpecialTwoDeviceDriver.writing("to_agv_status",1);
+//                        } else {
+//                            ndxySpecialTwoDeviceDriver.writing("to_agv_status",0);
+//                        }
+//                    }
+                    if (deviceBycode.getDeviceDriver() instanceof HaiLiangPackingDeviceDriver){
+                        haiLiangPackingDeviceDriver = (HaiLiangPackingDeviceDriver) deviceBycode.getDeviceDriver();
+                        if(jo.optString("state").equals("IDLE") || jo.optString("state").equals("EXECUTING")){
+                            haiLiangPackingDeviceDriver.writing(0);
+                            flag = false;
+                        } else if (jo.optString("state").equals("ERROR")){
+                            if (!flag){
+                                haiLiangPackingDeviceDriver.writing(3);
+                                flag = true;
+                            }
                         }
                     }
                 }