更新

acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java

@@ -1,5 +1,6 @@
 package org.nl.acs.agv.server.impl;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
@@ -28,6 +29,7 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.stereotype.Service;
@@ -271,6 +273,9 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                 JSONObject respjson = JSONObject.parseObject(resp);
 
                 if (StrUtil.equals(inst.getInstruction_type(), "3")) {
+                    if (ObjectUtil.isNotEmpty(respjson) && respjson.getInteger("status") != 200) {
+                        throw new BadRequestException(respjson.getString("message"));
+                    }
                     //2楼AGV起点追加任务
                     String start_device_code = respjson.getString("device_code");
                     String next_device_code = inst.getNext_device_code();

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -339,11 +339,16 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                     throw new BadRequestException("设备：" + nextdevice.getDevice_code() + "未设置楼层！");
                 }
                 cargoLiftConveyorDeviceDriver.writing(1, 0);
-                cargoLiftConveyorDeviceDriver.writing(1, 1);
+                cargoLiftConveyorDeviceDriver.writing(2, Integer.parseInt(address));
                 cargoLiftConveyorDeviceDriver.writing(2, Integer.parseInt(address));
                 cargoLiftConveyorDeviceDriver.writing(3, Integer.parseInt(dto.getInstruction_code()));
+                cargoLiftConveyorDeviceDriver.writing(3, Integer.parseInt(dto.getInstruction_code()));
+                cargoLiftConveyorDeviceDriver.writing(4, Integer.parseInt(door));
                 cargoLiftConveyorDeviceDriver.writing(4, Integer.parseInt(door));
                 cargoLiftConveyorDeviceDriver.writing(5, Integer.parseInt(floor));
+                cargoLiftConveyorDeviceDriver.writing(5, Integer.parseInt(floor));
+                cargoLiftConveyorDeviceDriver.writing(1, 1);
+                cargoLiftConveyorDeviceDriver.writing(1, 1);
             }
         }
         if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
@@ -364,11 +369,17 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                     throw new BadRequestException("设备：" + nextdevice.getDevice_code() + "未设置楼层！");
                 }
                 cargoLiftConveyorDeviceDriver.writing(1, 0);
-                standardCoveyorControlWithScannerDeviceDriver.writing(1, 1);
+                cargoLiftConveyorDeviceDriver.writing(1, 0);
-                standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address));
                 standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.parseInt(dto.getInstruction_code()));
+                standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.parseInt(dto.getInstruction_code()));
+                standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address));
+                standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address));
+                standardCoveyorControlWithScannerDeviceDriver.writing(4, Integer.parseInt(door));
                 standardCoveyorControlWithScannerDeviceDriver.writing(4, Integer.parseInt(door));
                 standardCoveyorControlWithScannerDeviceDriver.writing(5, Integer.parseInt(floor));
+                standardCoveyorControlWithScannerDeviceDriver.writing(5, Integer.parseInt(floor));
+                standardCoveyorControlWithScannerDeviceDriver.writing(1, 1);
+                standardCoveyorControlWithScannerDeviceDriver.writing(1, 1);
             }
         }
         if (startdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) {
@@ -429,7 +440,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             if (nextdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) {
                 log.info("创建指令:任务号:{},起点:{},终点:{},message:{}", task_code, start_device_code, next_device_code, "开始创建放叠盘架指令~");
                 logServer.createInstInfo("创建指令", task_code, start_device_code, next_device_code, "开始创建放叠盘架指令~");
-                emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) startdevice.getDeviceDriver();
+                emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) nextdevice.getDeviceDriver();
                 //已经生成指令得放空托盘数量
                 Integer emptyNum = taskService.queryEndNum(dto.getStart_device_code(), dto.getNext_device_code());
                 log.info("创建指令:任务号:{},起点:{},终点:{},message:{}", task_code, start_device_code, next_device_code, "查询到同一终点任务已经生成指令的搬运托盘的数量为:" + emptyNum);