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add 支持下发旋转角度

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This commit is contained in:
USER-20220102CG\noblelift
2023-08-21 10:44:05 +08:00
parent 12e8918355
commit adfc814b0b
1 changed files with 13 additions and 1 deletions
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14
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
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@@ -1853,7 +1853,12 @@ public class AgvServiceImpl implements AgvService {
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
//起点
if (startdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) startdevice.getDeviceDriver();
if(ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_pickup_spin"),"true") &&
ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin")) ){
ja.add(destination2(startAddress + "IQ", "Spin", "2",
standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString()));
}
ja.add(destination2(startAddress + "IQ", "Wait", "1", startAddress + "IQ"
+ "-" + inst_code + "-" + "07"));
ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN"
@@ -1883,10 +1888,17 @@ public class AgvServiceImpl implements AgvService {
//终点
if (nextdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if(ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_release_spin"),"true") &&
ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin")) ){
ja.add(destination2(nextAddress + "IQ", "Spin", "2",
standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString()));
}
ja.add(destination2(nextAddress + "IQ", "Wait", "1", nextAddress + "IQ"
+ "-" + inst_code + "-" + "07"));
ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
+ "-" + inst_code + "-" + "03"));
ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
+ "-" + inst_code + "-" + "04"));
ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"