fix rgv任务

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_Laminating_machine/LnshLaminatingMachineDeviceDriver.java

@@ -76,6 +76,8 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
     int last_barcode = 0;
     int to_command =0;
     int last_to_command =0;
+    int to_task =0;
+    int last_to_task =0;
     Boolean isonline = true;
     int hasGoods = 0;
     String message = null;
@@ -129,7 +131,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
             hasGoods = this.itemProtocol.getMove();
             container_type = this.itemProtocol.getContainer_type();
             to_command = this.itemProtocol.getToCommand();
-
+            to_task = this.itemProtocol.getToTask();
             if (mode != last_mode) {
                 this.setRequireSucess(false);
                 this.setResult(false);
@@ -162,6 +164,9 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
             if (to_command != last_to_command) {
                 logServer.deviceExecuteLog(this.device_code,"","","信号to_command：" + last_to_command + "->" + to_command);
             }
+            if (to_task != last_to_task) {
+                logServer.deviceExecuteLog(this.device_code,"","","信号to_task：" + last_to_task + "->" + to_task);
+            }
 
         } catch (Exception var17) {
             logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
@@ -238,6 +243,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
         last_container_type = container_type;
         last_to_command= to_command;
         last_barcode = barcode;
+        last_to_task = to_task;
     }
 
 
@@ -319,12 +325,14 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
         } else {
             this.instruction_require_time = date;
             Instruction inst = instructionService.findByCodeFromCache(String.valueOf(task));
-
+            if(ObjectUtil.isEmpty(inst)){
+                logServer.deviceExecuteLog(this.device_code, "", "", "申请组盘task:"+task+"未找到对应指令");
+            }
             JSONObject json = new JSONObject();
             json.put("device_code",this.device_code);
             json.put("vehicle_code",this.autoGenericCode(String.valueOf(barcode)));
             json.put("task_code",inst.getTask_code());
-
+            logServer.deviceExecuteLog(this.device_code, "", "", "申请组盘请求lms:"+json);
             HttpResponse result = acsToWmsService.applyIntoKiln(json);
             if (ObjectUtil.isNotEmpty(result)) {
                 JSONObject jsonObject = JSONObject.parseObject(result.body());
@@ -333,7 +341,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
                     this.setRequireSucess(true);
                     this.setResult(true);
                 }
-
+                logServer.deviceExecuteLog(this.device_code, "", "", "申请组盘请求lms反馈:"+result);
             }
             return true;
         }

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java

@@ -55,6 +55,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
 
+    Instruction inst = null;
+
     //当前指令1
     Instruction inst1 = null;
     //当前指令2
@@ -201,6 +203,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
 
             if (mode != last_mode) {
                 if(mode==2){
+                    inst = null;
                     this.setRequireSucess1(false);
                     logServer.deviceExecuteLog(this.device_code, "", "", "模式变待机，复位前工位请求标记requireSucess1:" + requireSucess1);
                     this.setRequireSucess2(false);
@@ -647,7 +650,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                         writing("to_onset2", start_addr);
                         writing("to_target2", next_addr);
                         writing("to_task2", instdto.getInstruction_code());
-                        while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task1").toString()
+                        while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString()
                                 , instdto.getInstruction_code())) {
                             writing("to_command2", "1");
                             writing("to_onset2", start_addr);
@@ -812,7 +815,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                             writing("to_onset2", start_addr);
                             writing("to_target2", next_addr);
                             writing("to_task2", instdto.getInstruction_code());
-                            while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task1").toString()
+                            while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString()
                                     , instdto.getInstruction_code())) {
                                 writing("to_command2", "1");
                                 writing("to_onset2", start_addr);
@@ -1157,7 +1160,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
 
             if(task1 >0 && task2>0 && action_1 == 4 && action_2 == 4 && move_1 ==0 && move_2==0){
                 //inst_message
-                inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
+                inst1 = checkInst();
                 if (inst1 != null) {
                     try {
                         finish_instruction(inst1);
@@ -1178,7 +1181,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                 //单独的后工位任务
             } else if (action_2 == 4 && move_2 == 0 && task2 > 0 && action_1 == 0 && move_2 == 0 && task1 == 0 ) {
                     //inst_message
-                    inst2 = instructionService.findByCodeFromCache(String.valueOf(task2));
+                    inst2 = checkInst();
                     if (inst2 != null) {
                         try {
                             finish_instruction(inst2);
@@ -1194,7 +1197,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                     }
                     this.requireSucess1 = false;
             } else if (action_1 == 4 && move_1 == 0 && task1 > 0 && action_2 == 0 && move_2 == 0 && task2 == 0 ) {
-                inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
+                inst1 = checkInst();
                 if (inst1 != null) {
                     try {
                         finish_instruction(inst1);
@@ -1213,7 +1216,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
 
 
             if (task1 > 0) {
-                inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
+                inst1 = checkInst();
                 if (inst1 != null) {
                     if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
                         inst1.setInstruction_status("1");
@@ -1222,7 +1225,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                 }
             }
             if (task2 > 0) {
-                inst2 = instructionService.findByCodeFromCache(String.valueOf(task2));
+                inst2 = checkInst();
                 if (inst2 != null) {
                     if (StrUtil.equals(inst2.getInstruction_status(), "0")) {
                         inst2.setInstruction_status("1");
@@ -1233,4 +1236,33 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
         }
     }
 
+    public Instruction checkInst(){
+        if(ObjectUtil.isNotEmpty(this.inst)){
+            if(this.task1>0){
+                if(this.inst.getInstruction_code().equals(String.valueOf(this.task1))){
+                    return this.inst;
+                } else {
+                    inst = instructionService.findByCodeFromCache(String.valueOf(task1));
+                    return inst;
+                }
+            } else {
+                if(this.inst.getInstruction_code().equals(String.valueOf(this.task2))){
+                    return this.inst;
+                } else {
+                    inst = instructionService.findByCodeFromCache(String.valueOf(task2));
+                    return inst;
+                }
+            }
+
+        } else {
+
+            if(this.task1>0){
+                inst = instructionService.findByCodeFromCache(String.valueOf(task1));
+            } else {
+                inst = instructionService.findByCodeFromCache(String.valueOf(task2));
+            }
+            return inst;
+        }
+    }
+
 }

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

@@ -447,6 +447,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                                 if (!lnshLaminatingMachineDeviceDriver.getResult()) {
                                                     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();
+                                                        }
+                                                    }
                                                 }
                                             } catch (Exception e) {
                                                 log.info("下发电气信号失败:" + e.getMessage());
@@ -457,7 +468,14 @@ 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 {
-                                                lnshLaminatingMachineDeviceDriver.writing(6);
+                                                while (!StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_command()),"6") ) {
+                                                    lnshLaminatingMachineDeviceDriver.writing(6);
+                                                    try {
+                                                        Thread.sleep(500);
+                                                    } catch (InterruptedException e) {
+                                                        e.printStackTrace();
+                                                    }
+                                                }
                                             } catch (Exception e) {
                                                 log.info("下发电气信号失败:" + e.getMessage());
                                                 e.printStackTrace();