From 02029d1758515a3b94fbaf32599ccca70dde5f19 Mon Sep 17 00:00:00 2001
From: "USER-20220102CG\\noblelift" <546428999@qq.com>
Date: Sun, 9 Oct 2022 15:24:54 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0rgv=E6=89=A7=E8=A1=8C?=
 =?UTF-8?q?=E5=8D=95=E4=BB=BB=E5=8A=A1?=
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---
 .../lnsh/lnsh_rgv/LnshRGVDeviceDriver.java    | 24 +++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
index 7489573..f0574cf 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
@@ -261,6 +261,11 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                 if (inst1 != null) {
                     if (StrUtil.equals(inst1.getInstruction_status(), "1")) {
                         finish_instruction(inst1);
+                        writing("to_command1","0");
+                        writing("to_onset1","0");
+                        writing("to_target1","0");
+                        writing("to_task1","0");
+
                     }
                 }
             }
@@ -281,21 +286,36 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                 if (inst2 != null) {
                     if (StrUtil.equals(inst2.getInstruction_status(), "1")) {
                         finish_instruction(inst2);
+                        writing("to_command2","0");
+                        writing("to_onset2","0");
+                        writing("to_target2","0");
+                        writing("to_task2","0");
+
                     }
                 }
             }
 
+            //执行双任务下的业务逻辑
             //给后工位下发空盘放货信号
             if(mode ==3 && action_1 == 2 && action_2 == 2 && move_1 != 0 && move_2 != 0 && task1>0 && task2>0  ){
                 writing("to_command2","2");
             }
-
-
             //给前工位下发放货信号
             if(mode ==3 && action_2 == 4 && move_1 != 0 && move_2 == 0  && task1>0 ){
                 writing("to_command1","2");
             }
 
+            //执行单任务下的业务逻辑
+            //给后工位下发空盘放货信号
+            //判断条件 前工位无任务、无货   后工位有任务取货完成
+            if(mode ==3 && action_2 == 2 && move_2 != 0 && move_1 == 0 && ObjectUtil.isNotEmpty(inst2) && ObjectUtil.isEmpty(inst1)  ){
+                writing("to_command2","2");
+            }
+            //给前工位取满托下发放货信号
+            if(mode ==3 && action_1 == 2  && move_1 != 0 && move_2 == 0  && task1>0 && ObjectUtil.isNotEmpty(inst1) && ObjectUtil.isEmpty(inst2) ){
+                writing("to_command1","2");
+            }
+
         } catch (Exception var17) {
             return;
         }