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This commit is contained in:
gengby
2022-10-24 16:51:32 +08:00
parent 8c2e043dbe
commit 3302c9ba91
1 changed files with 17 additions and 8 deletions
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25
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
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@@ -42,6 +42,7 @@ import org.nl.exception.BadRequestException;
import org.nl.logger.BusinessLogger;
import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
import org.nl.utils.SpringContextHolder;
import org.nl.wql.core.bean.WQLObject;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -266,21 +267,29 @@ public class AgvServiceImpl implements AgvService {
String compound_inst_data = inst.getCompound_inst_data();
String[] str = null;
List<String> pathlist = null;
WQLObject wo = WQLObject.getWQLObject("acs_device_extra");
if (StrUtil.equals("2", inst.getInstruction_type()) && !StrUtil.isEmpty(compound_inst_data)) {
str = compound_inst_data.split("->");
pathlist = Arrays.asList(str);
for (int i = 0; i < pathlist.size(); i++) {
String device_code = pathlist.get(i);
Device device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device)) {
throw new BadRequestException("未找到该设备【" + device_code + "】");
}
String inspect_in_stocck = device.getExtraValue().get("inspect_in_stocck").toString();
if (i == 0) {
ja.add(destination(device_code, "Load", "1", "1"));
if (!StrUtil.equals(inspect_in_stocck,"true")){
ja.add(destination(device_code, "Load", "1", "1"));
} else {
ja.add(destination(device_code, "OP_PICK", "1", "1"));
}
} else if (i == pathlist.size() - 1) {
ja.add(destination(device_code, "Unload", "1", "1"));
if (!StrUtil.equals(inspect_in_stocck,"true")){
ja.add(destination(device_code, "Unload", "1", "1"));
} else {
ja.add(destination(device_code, "OP_DUMP", "1", "1"));
}
} else {
ja.add(destination(device_code, "OP_DUMP", "1", "4"));
}
@@ -571,7 +580,7 @@ public class AgvServiceImpl implements AgvService {
if (result.getStatus() == 200) {
arr.add(result.body());
}
} catch (Exception e ){
} catch (Exception e) {
e.printStackTrace();
}
}
@@ -876,7 +885,7 @@ public class AgvServiceImpl implements AgvService {
yzjaSpecialDeviceDriver.setManua_confirm(0);
inst.setExecute_status("1");
is_feedback = true;
} else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")){
} else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")) {
yzjaSpecialDeviceDriver.setManua_confirm(1);
}
} else {
@@ -892,7 +901,7 @@ public class AgvServiceImpl implements AgvService {
yzjaSpecialDeviceDriver.setManua_confirm(0);
inst.setExecute_status("3");
is_feedback = true;
} else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")){
} else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")) {
yzjaSpecialDeviceDriver.setManua_confirm(1);
}
} else {
@@ -1106,7 +1115,7 @@ public class AgvServiceImpl implements AgvService {
//请求进
if (StrUtil.equals(type, "07") && address.endsWith("IQ")) {
sandardManipulatorInspectSiteDeviceDriver.writing(1, 7);
if ( sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 1
if (sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 1
|| sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) {
is_feedback = true;
}