From a6ed0c89501a370b6126261df26cbfb22dcf2322 Mon Sep 17 00:00:00 2001 From: liuxy Date: Fri, 10 Jul 2026 15:12:42 +0800 Subject: [PATCH] =?UTF-8?q?rev=EF=BC=9A=E4=BB=BB=E5=8A=A1=E5=8F=B7?= =?UTF-8?q?=E6=A0=A1=E9=AA=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ndc/AgvNdcOneDeviceDriver.java | 25 +++++++++++++------ 1 file changed, 18 insertions(+), 7 deletions(-) diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDeviceDriver.java index aad2db9..d231ad2 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDeviceDriver.java @@ -22,6 +22,7 @@ import org.nl.acs.task.instruction.service.impl.InstructionServiceImpl; import org.nl.acs.task.task.service.TaskService; import org.nl.acs.task.task.service.dto.TaskDto; import org.nl.acs.task.task.service.impl.TaskServiceImpl; +import org.nl.common.db.CommonFinalParam; import org.nl.config.SpringContextHolder; import org.nl.config.lucene.service.LuceneExecuteLogService; import org.nl.config.thread.ThreadPoolExecutorUtil; @@ -189,8 +190,10 @@ public class AgvNdcOneDeviceDriver extends AbstractStandardDeviceDriver { agv_status = 1; //到达普通站点 if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - // 请求wms是否可以取货 - if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.APPLY_TAKE.getValue())) { + boolean canTake = StrUtil.startWith(task.getTask_code(), CommonFinalParam.HYPHEN_) + || acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.APPLY_TAKE.getValue()); + + if (canTake) { log.info("到达{}取货点开始取货", device_code + "指令号：" + ikey); inst.setExecute_status("1"); instructionService.update(inst); @@ -242,8 +245,10 @@ public class AgvNdcOneDeviceDriver extends AbstractStandardDeviceDriver { agv_status = 2; //到达普通站点取货完成 if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - // 通知wms取货完成 - if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.TAKE_FINISH.getValue())) { + boolean canTake = StrUtil.startWith(task.getTask_code(), CommonFinalParam.HYPHEN_) + || acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.TAKE_FINISH.getValue()); + + if (canTake) { data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); log.info("agv进入" + device_code + "取货完成" + "指令号：" + ikey); flag = true; @@ -299,8 +304,11 @@ public class AgvNdcOneDeviceDriver extends AbstractStandardDeviceDriver { agv_status = 3; //普通站点 if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.APPLY_PUT.getValue())) { - log.info("到达{}放货点", device_code + "指令号：" + ikey); + boolean canTake = StrUtil.startWith(task.getTask_code(), CommonFinalParam.HYPHEN_) + || acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.APPLY_PUT.getValue()); + + if (canTake) { + log.info("到达{}放货点开始放货", device_code + "指令号：" + ikey); data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); flag = true; } @@ -346,7 +354,10 @@ public class AgvNdcOneDeviceDriver extends AbstractStandardDeviceDriver { agv_status = 4; //agv普通站点放货完成 if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.PUT_FINISH.getValue())) { + boolean canTake = StrUtil.startWith(task.getTask_code(), CommonFinalParam.HYPHEN_) + || acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.PUT_FINISH.getValue()); + + if (canTake) { log.info("{}放货完成", device_code + "指令号：" + ikey); data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); flag = true;