From bfa04d5842c10861c39c811be8b87b067bcbf1a2 Mon Sep 17 00:00:00 2001
From: loujf <loujingfei666@163.com>
Date: Tue, 27 Sep 2022 10:34:22 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=8A=E7=A7=91=E6=8B=9C=E5=85=8B=E6=9B=B4?=
 =?UTF-8?q?=E6=96=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../acs/agv/server/impl/AgvServiceImpl.java   | 19 +++++++++++++++++++
 .../wms/service/impl/AcsToWmsServiceImpl.java | 14 ++++++++------
 2 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
index c486077..f207502 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
@@ -813,6 +813,7 @@ public class AgvServiceImpl implements AgvService {
         SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
         YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver;
         StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver;
+        StandardManipulatorInspectSiteDeviceDriver standardManipulatorInspectSiteDeviceDriver;
         //请求进入
         if ("onEntry".equals(type)) {
 
@@ -851,6 +852,24 @@ public class AgvServiceImpl implements AgvService {
                     }
                 }
             }
+            if (addressdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
+                standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                //请求取货
+                if ("Load".equals(action)) {
+                    if (standardManipulatorInspectSiteDeviceDriver.getMove() > 0
+                            && (standardManipulatorInspectSiteDeviceDriver.getIo_action() == 3 || standardManipulatorInspectSiteDeviceDriver.getIo_action() == 1)) {
+                        inst.setExecute_status("1");
+                        is_feedback = true;
+                    }
+                    //请求放货
+                } else if ("Unload".equals(action)) {
+                    if (standardManipulatorInspectSiteDeviceDriver.getMove() == 0
+                            && (standardManipulatorInspectSiteDeviceDriver.getIo_action() == 3 || standardManipulatorInspectSiteDeviceDriver.getIo_action() == 2)) {
+                        inst.setExecute_status("3");
+                        is_feedback = true;
+                    }
+                }
+            }
             if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
                 specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
                 //请求取货
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index 7528cd9..5cc867e 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -73,7 +73,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         try {
             //{"status":400,"timestamp":"2021-10-22 16:32:22","message":"业务类型不正确!"}
             result2 = HttpRequest.post(url)
-                    .header("Authorization", token)
+//                    .header("Authorization", token)
                     .body(String.valueOf(jo))
                     .execute();
             System.out.println(result2);
@@ -117,7 +117,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         String methods_url = addressDto.getMethods_url();
         try {
             result2 = HttpRequest.post(wmsurl + methods_url)
-                    .header("Authorization", token).body(String.valueOf(data))
+                    .body(String.valueOf(data))
                     .execute();
             System.out.println(result2);
             log.info("feedbackTaskStatusToWms-----返回参数{}", result2.body());
@@ -244,7 +244,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         String methods_url = addressDto.getMethods_url();
         try {
             result2 = HttpRequest.post(wmsurl + methods_url)
-                    .header("Authorization", token).body(String.valueOf(data))
+//                    .header("Authorization", token)
+                    .body(String.valueOf(data))
                     .execute();
         } catch (Exception e) {
             String msg = e.getMessage();
@@ -324,7 +325,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
         try {
             result2 = HttpRequest.post(url)
-                    .header("Authorization", token)
+//                    .header("Authorization", token)
                     .body(String.valueOf(jo))
                     .execute().body();
             System.out.println(result2);
@@ -350,7 +351,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         log.info("apply_OutEmpty----请求参数{}", jo);
         try {
             result2 = HttpRequest.post(url)
-                    .header("Authorization", token)
+//                    .header("Authorization", token)
                     .body(String.valueOf(jo))
                     .execute().body();
             System.out.println(result2);
@@ -462,7 +463,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
         try {
             result = HttpRequest.post(url)
-                    . header("Authorization", token).body(String.valueOf(from))
+//                    . header("Authorization", token)
+                    .body(String.valueOf(from))
                     .execute();
             System.out.println(result);
             log.info("feedWeighing----返回参数{}", result);