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fix 入窑扫码

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This commit is contained in:
张江玮
2023-08-07 14:20:07 +08:00
parent 7548052384
commit 2aa2c670f7
2 changed files with 76 additions and 99 deletions
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18
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_Laminating_machine/LnshLaminatingMachineDeviceDriver.java
View File

@@ -208,12 +208,12 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
outKiln();
}
break;
case 6:
//入货架扫码
if (!requireSucess && barcode != 0) {
intoKiln();
}
break;
// case 6:
// //入货架扫码
// if (!requireSucess && barcode != 0) {
// intoKiln();
// }
// break;
case 7:
//申请输送线RGV对接位入窑任务
if (!requireSucess && this.move == 0) {
@@ -337,13 +337,11 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
if (ObjectUtil.isNotEmpty(result)) {
JSONObject jsonObject = JSONObject.parseObject(result.body());
if (result.getStatus() == 200 && StrUtil.equals(jsonObject.get("status").toString(),"200")) {
// this.writing(this.mode);
this.setRequireSucess(true);
this.setResult(true);
return true;
}
logServer.deviceExecuteLog(this.device_code, "", "", "申请组盘请求lms反馈:"+result);
}
return true;
return false;
}
}

157
acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
View File

@@ -25,6 +25,7 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.log.service.impl.DeviceExecuteLogServiceImpl;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.ThreadUtl;
import org.nl.utils.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -89,7 +90,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
InetSocketAddress socketAddress = new InetSocketAddress(ip, port);
byte[] b = new byte[1028];
socket = new Socket();
socket.connect(socketAddress,2*1000);
socket.connect(socketAddress, 2 * 1000);
socket.setKeepAlive(true);//长链接
dos = new DataOutputStream(socket.getOutputStream());
dis = new DataInputStream(socket.getInputStream());
@@ -139,8 +140,8 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
logServer.deviceExecuteLog("ndc", "","","接收agv上报信息：" + bs);
logServer.deviceExecuteLog("ndc", "","","接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
logServer.deviceExecuteLog("ndc", "", "", "接收agv上报信息：" + bs);
logServer.deviceExecuteLog("ndc", "", "", "接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
Device device = null;
String device_code = null;
String old_device_code = null;
@@ -159,7 +160,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
device = deviceAppService.findDeviceByCode(device_code);
}
logServer.deviceExecuteLog("ndc", "","","接收agv上报设备：" + device_code);
logServer.deviceExecuteLog("ndc", "", "", "接收agv上报设备：" + device_code);
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
StandardAutodoorDeviceDriver standardAutodoorDeviceDriver;
LnshStationDeviceDriver lnshStationDeviceDriver;
@@ -193,7 +194,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
// 到达取货点请求取货
else if (phase == 0x03) {
if (ObjectUtil.isEmpty(inst)) {
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey);
logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
log.info("未找到指令号{}对应的指令", ikey);
continue;
}
@@ -210,7 +211,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","", "AGV请求取货设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
}
}
//嘉耐缓存货架
@@ -222,7 +223,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","", "AGV请求取货设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
}
inst.setExecute_status("1");
instructionService.update(inst);
@@ -242,14 +243,14 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshStationDeviceDriver.getTo_command() == 5 ){
if (lnshStationDeviceDriver.getTo_command() == 5) {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于5,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货下发命令不等于5,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
}
}
//嘉耐码垛机械手工位
@@ -265,15 +266,15 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 12 ){
if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 12) {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于12,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货下发命令不等于12,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
}
}
//嘉耐音来码垛机械手工位
@@ -289,14 +290,14 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 12 ){
if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 12) {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于12,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货下发命令不等于12,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
}
}
//普通站点
@@ -314,7 +315,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
}
}
}
@@ -323,7 +324,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x05) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey);
logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue;
}
if (device_code.equals("MDJXS601")) {
@@ -338,7 +339,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
}
}
//嘉耐缓存货架
@@ -350,7 +351,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
}
inst.setExecute_status("5");
instructionService.update(inst);
@@ -362,17 +363,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
if (lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
lnshStationDeviceDriver.writing(2);
if(lnshStationDeviceDriver.getTo_command() == 2 ){
if (lnshStationDeviceDriver.getTo_command() == 2) {
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于2,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备下发命令不等于2,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
}
}
//嘉耐码垛机械手工位
@@ -387,17 +388,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
e.printStackTrace();
}
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 10 ){
if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 10) {
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于10,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备下发命令不等于10,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
}
}
@@ -414,17 +415,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
e.printStackTrace();
}
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 10 ){
if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 10) {
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于10,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备下发命令不等于10,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
}
}
@@ -433,10 +434,10 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x06) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey);
logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue;
}
logServer.deviceExecuteLog("ndc","","","phase==0x06," + "指令号：" + ikey + ",address：RYSMW01");
logServer.deviceExecuteLog("ndc", "", "", "phase==0x06," + "指令号：" + ikey + ",address：RYSMW01");
//检测站点
if (ObjectUtil.isNotEmpty(device) && device.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) {
lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) device.getDeviceDriver();
@@ -444,20 +445,12 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
inst.setExecute_status("9");
instructionService.update(inst);
try {
if (!lnshLaminatingMachineDeviceDriver.getResult()) {
while (!StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_task()), inst.getInstruction_code())
|| !StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_command()), "1")) {
lnshLaminatingMachineDeviceDriver.writing("to_task", inst.getInstruction_code());
lnshLaminatingMachineDeviceDriver.writing(1);
while (!StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_task()),inst.getInstruction_code())
|| !StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_command()),"1") ) {
lnshLaminatingMachineDeviceDriver.writing("to_task", inst.getInstruction_code());
lnshLaminatingMachineDeviceDriver.writing(1);
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
ThreadUtl.sleep(500);
}
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
@@ -466,30 +459,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
//如果组盘绑定条码成功，就允许agv离开
if (lnshLaminatingMachineDeviceDriver.getMode() == 6 && lnshLaminatingMachineDeviceDriver.getResult()) {
try {
while (!StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_command()),"6") ) {
if (lnshLaminatingMachineDeviceDriver.getMode() == 6) {
boolean intoKiln = lnshLaminatingMachineDeviceDriver.intoKiln();
if (intoKiln) {
while (6 != lnshLaminatingMachineDeviceDriver.getTo_command()) {
lnshLaminatingMachineDeviceDriver.writing(6);
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
ThreadUtl.sleep(500);
}
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
}
// if(lnshLaminatingMachineDeviceDriver.getTo_command() == 6 ){
// inst.setExecute_status("5");
// instructionService.update(inst);
// data = AgvService.sendAgvOneModeInst(phase, index, 0);
// flag = true;
// } else {
// logServer.deviceExecuteLog("ndc","","","组盘绑定条码成功发命令不等于6,无法反馈");
// }
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
}
}
}
@@ -497,7 +476,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x07) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey);
logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue;
}
if (device_code.equals("MDJXS601")) {
@@ -512,7 +491,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
}
}
//嘉耐缓存货架
@@ -524,7 +503,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
}
inst.setExecute_status("7");
instructionService.update(inst);
@@ -539,24 +518,24 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
try {
lnshStationDeviceDriver.writing(6);
lnshStationDeviceDriver.writing("to_task",inst.getInstruction_code());
lnshStationDeviceDriver.writing("to_task", inst.getInstruction_code());
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshStationDeviceDriver.getTo_command() == 6 ){
if (lnshStationDeviceDriver.getTo_command() == 6) {
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于6,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备下发命令不等于6,无法反馈");
}
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
}
}
//嘉耐码垛机械手工位
@@ -570,16 +549,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 13 ){
if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 13) {
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于13,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备下发命令不等于13,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
}
}
//嘉耐音来码垛机械手工位
@@ -593,16 +572,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 13 ){
if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 13) {
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于13,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备下发命令不等于13,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
}
}
}
@@ -610,7 +589,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x09) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey);
logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue;
}
if (device_code.equals("MDJXS601")) {
@@ -625,7 +604,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
}
}
//嘉耐缓存货架
@@ -637,7 +616,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
}
inst.setExecute_status("6");
instructionService.update(inst);
@@ -656,16 +635,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshStationDeviceDriver.getTo_command() == 3 ){
if (lnshStationDeviceDriver.getTo_command() == 3) {
inst.setExecute_status("6");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于3,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开下发命令不等于3,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
}
}
@@ -680,17 +659,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 11 ){
if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 11) {
inst.setExecute_status("6");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于11,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开下发命令不等于11,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
}
}
@@ -705,16 +684,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 11 ){
if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 11) {
inst.setExecute_status("6");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于11,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开下发命令不等于11,无法反馈");
}
} else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈");
logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
}
}