From 416a5b0da303b7574b8b120a9892afd67778713b Mon Sep 17 00:00:00 2001
From: "USER-20220102CG\\noblelift" <546428999@qq.com>
Date: Tue, 18 Jul 2023 15:13:10 +0800
Subject: [PATCH] =?UTF-8?q?fix=20=E6=9B=B4=E6=96=B0RGV=E4=B8=9A=E5=8A=A1?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../lnsh/lnsh_rgv/LnshRGVDeviceDriver.java             | 10 +++++-----
 .../nl/start/auto/run/NDCSocketConnectionAutoRun.java  |  2 +-
 2 files changed, 6 insertions(+), 6 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 37f485d..9ea7c2e 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
@@ -369,35 +369,35 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
 //            }
 
             //双任务下  后工位取货完成，然后给前工位下发取满盘任务取货命令
-            if (mode == 3 && action_2 == 2 && action_1 == 0 && move_2 != 0 && move_1 == 0 && task2 > 0) {
+            if (mode == 3 && action_2 == 2 && action_1 == 0 && move_2 != 0 && move_1 == 0 && task2 > 0 && to_task1>0 && to_task2>0 ) {
                 if(to_command1 !=1 ){
                     writing("to_command1", "1");
                 }
             }
 
             //双任务下发 前后工位取货完成 给后工位放货命令
-            if (mode == 3 && action_2 == 2 && action_1 == 2  && move_2 != 0 && move_1 != 0 && task2 > 0 && task1 > 0) {
+            if (mode == 3 && action_2 == 2 && action_1 == 2  && move_2 != 0 && move_1 != 0 && task2 > 0 && task1 > 0 ) {
                 if(to_command2 !=2 ) {
                     writing("to_command2", "2");
                 }
             }
 
             //双任务下发 后工位放货完成 给前工位下发放货
-            if (mode == 3 && action_2 == 4 && action_1 == 2  && move_2 != 0 && move_1 != 0 && task2 > 0 && task1 > 0) {
+            if (mode == 3 && action_2 == 4 && action_1 == 2  && move_2 == 0 && move_1 != 0 && task2 > 0 && task1 > 0) {
                 if(to_command1 !=2 ) {
                     writing("to_command1", "2");
                 }
             }
 
             //后工位单任务下发 空托或者半托缓存任务
-            if (mode == 3 && action_2 == 2  && action_1 == 0  && move_2 > 0 && move_1 == 0 && task2 > 0 && task1 == 0) {
+            if (mode == 3 && action_2 == 2  && action_1 == 0  && move_2 > 0 && move_1 == 0 && task2 > 0 && task1 == 0 && to_task1==0 ) {
                 if(to_command2 !=2 ) {
                     writing("to_command2", "2");
                 }
             }
 
             //前工位单任务下发 强制包装的任务
-            if (mode == 3 && action_1 == 2  && action_2 == 0  && move_1 > 0 && move_2 == 0 && task1 > 0 && task2 == 0) {
+            if (mode == 3 && action_1 == 2  && action_2 == 0  && move_1 > 0 && move_2 == 0 && task1 > 0 && task2 == 0 && to_task2==0 ) {
                 if(to_command1 !=2 ) {
                     writing("to_command1", "2");
                 }
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
index fa0631d..ddf4e8b 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
@@ -88,7 +88,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
             port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT));
             InetSocketAddress socketAddress = new InetSocketAddress(ip, port);
             byte[] b = new byte[1028];
-            socket = new Socket(ip, port);
+            socket = new Socket();
             socket.connect(socketAddress,2*1000);
             socket.setKeepAlive(true);//长链接
             dos = new DataOutputStream(socket.getOutputStream());