与电气逻辑交互更新
This commit is contained in:
张江玮
@@ -13,6 +13,7 @@ import org.nl.acs.agv.server.dto.AgvDto;
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import org.nl.acs.config.AcsConfig;
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import org.nl.acs.config.AcsConfig;
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import org.nl.acs.config.server.AcsConfigService;
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import org.nl.acs.config.server.AcsConfigService;
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import org.nl.acs.device_driver.autodoor.standard_autodoor.StandardAutodoorDeviceDriver;
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import org.nl.acs.device_driver.autodoor.standard_autodoor.StandardAutodoorDeviceDriver;
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import org.nl.acs.device_driver.inspect_site.modbus_inspect_site.ModbusInspectSiteDeviceDriver;
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import org.nl.acs.device_driver.inspect_site.standard_inspect_site.StandardInspectSiteDeviceDriver;
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import org.nl.acs.device_driver.inspect_site.standard_inspect_site.StandardInspectSiteDeviceDriver;
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import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
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import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
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import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
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import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
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@@ -419,78 +420,46 @@ public class MagicAgvServiceImpl implements MagicAgvService {
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//请求进入
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//请求进入
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if ("onEntry".equals(type)) {
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if ("onEntry".equals(type)) {
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if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
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if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
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ModbusInspectSiteDeviceDriver driver = (ModbusInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
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standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
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//请求取货
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//请求取货
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if ("Load".equals(action)) {
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if ("Load".equals(action)) {
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if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
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driver.writing(1);
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inst.setExecute_status("1");
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if (driver.getAction() == 1) {
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is_feedback = true;
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if ("1".equals(addressdevice.getExtraValue().get("inspect_in_stocck"))) {
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if (driver.getMove() == 1) {
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driver.writing(2);
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inst.setExecute_status("1");
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is_feedback = true;
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}
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} else {
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driver.writing(2);
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inst.setExecute_status("1");
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is_feedback = true;
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}
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}
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}
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//请求放货
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//请求放货
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} else if ("Unload".equals(action)) {
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} else if ("Unload".equals(action)) {
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if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
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driver.writing(1);
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inst.setExecute_status("3");
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if (driver.getAction() == 1) {
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is_feedback = true;
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if ("1".equals(addressdevice.getExtraValue().get("inspect_in_stocck"))) {
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if (driver.getMove() == 0) {
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driver.writing(2);
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inst.setExecute_status("1");
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is_feedback = true;
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}
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} else {
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driver.writing(2);
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inst.setExecute_status("1");
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is_feedback = true;
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}
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}
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}
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}
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}
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}
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}
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if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
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standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
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//请求取货
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if ("Load".equals(action)) {
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if (addressdevice.getHas_goods() > 0) {
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inst.setExecute_status("1");
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is_feedback = true;
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}
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//请求放货
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} else if ("Unload".equals(action)) {
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if (addressdevice.getHas_goods() == 0) {
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inst.setExecute_status("3");
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is_feedback = true;
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}
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}
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}
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if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
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//请求取货
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if ("Load".equals(action)) {
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inst.setExecute_status("1");
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is_feedback = true;
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//请求放货
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} else if ("Unload".equals(action)) {
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inst.setExecute_status("3");
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if (!instructionService.hasInstInOneRow(inst)) {
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is_feedback = true;
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}
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}
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}
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//取放货完成
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//取放货完成
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} else if ("onStation".equals(type)) {
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} else if ("onStation".equals(type)) {
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System.out.println("取放货完成");
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if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
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standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
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//取货完成
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if ("Load".equals(action)) {
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if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
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inst.setExecute_device_code(processingVehicle);
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inst.setExecute_status("2");
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is_feedback = true;
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}
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//放货完成
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} else if ("Unload".equals(action)) {
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if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
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inst.setExecute_device_code(address);
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inst.setExecute_status("4");
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is_feedback = true;
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}
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}
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}
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if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
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if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
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standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
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//取货完成
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//取货完成
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if ("Load".equals(action)) {
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if ("Load".equals(action)) {
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inst.setExecute_device_code(processingVehicle);
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inst.setExecute_device_code(processingVehicle);
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@@ -504,19 +473,6 @@ public class MagicAgvServiceImpl implements MagicAgvService {
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}
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}
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}
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}
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if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
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//取货完成
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if ("Load".equals(action)) {
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inst.setExecute_device_code(processingVehicle);
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inst.setExecute_status("2");
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is_feedback = true;
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//放货完成
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} else if ("Unload".equals(action)) {
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inst.setExecute_device_code(processingVehicle);
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inst.setExecute_status("4");
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is_feedback = true;
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}
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}
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}
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}
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JSONObject requestjo = new JSONObject();
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JSONObject requestjo = new JSONObject();
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@@ -577,9 +533,6 @@ public class MagicAgvServiceImpl implements MagicAgvService {
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DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
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DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
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Device addressdevice = appService.findDeviceByCode(address);
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Device addressdevice = appService.findDeviceByCode(address);
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StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
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StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
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StandardStorageDeviceDriver standardStorageDeviceDriver;
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//mes = AgvClientXZ.mes(zlbh, device, type);
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//mes = AgvClientXZ.mes(zlbh, device, type);
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//暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
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//暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
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@@ -587,42 +540,11 @@ public class MagicAgvServiceImpl implements MagicAgvService {
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flag = true;
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flag = true;
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}
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}
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if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
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standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
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if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
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ModbusInspectSiteDeviceDriver driver = (ModbusInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
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flag = true;
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flag = true;
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log.info("agvstatus:" + standardInspectSiteDeviceDriver.getFlag() + "");
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driver.writing(3);
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//取货完成离开
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if (standardInspectSiteDeviceDriver.getFlag() == 2) {
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if (standardInspectSiteDeviceDriver.getMove() == 0) {
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flag = true;
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standardInspectSiteDeviceDriver.setFlag(5);
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}
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}
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//放货完成离开
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if (standardInspectSiteDeviceDriver.getFlag() == 4) {
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if (standardInspectSiteDeviceDriver.getMove() == 1) {
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flag = true;
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standardInspectSiteDeviceDriver.setFlag(6);
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}
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}
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}
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if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
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standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
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flag = true;
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log.info("agvstatus:" + standardOrdinarySiteDeviceDriver.getFlag() + "");
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//取货完成离开
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if (standardOrdinarySiteDeviceDriver.getFlag() == 2) {
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flag = true;
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standardOrdinarySiteDeviceDriver.setFlag(5);
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}
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//放货完成离开
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if (standardOrdinarySiteDeviceDriver.getFlag() == 4) {
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flag = true;
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standardOrdinarySiteDeviceDriver.setFlag(6);
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}
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}
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}
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if (flag) {
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if (flag) {
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