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rev 驱动更新

master
周俊杰 1 year ago
parent
f530e9bfe5
commit
051429ebe5
6 changed files with 122 additions and 113 deletions
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  1. 15
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
  2. 2
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/conveyor_press_station/ConveyorPressStationDeviceDriver.java
  3. 166
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
  4. 16
      acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
  5. 8
      acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java
  6. 28
      acs/nladmin-system/src/main/java/org/nl/modules/logicflow/service/impl/StageServiceImpl.java

15
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@ -508,7 +508,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 0) {
message += "站点未联机，";
} else {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 1) {
message += "站点有货,";
}
if (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 3 && lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 2) {
@ -541,7 +541,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (lnshStationDeviceDriver.getMode() == 0) {
message += "站点未联机，";
} else {
if (lnshStationDeviceDriver.getMove() == 0) {
if (lnshStationDeviceDriver.getMove() == 1) {
message += "站点有货,";
}
if (lnshStationDeviceDriver.getIo_action() != 3 && lnshStationDeviceDriver.getIo_action() != 2) {
@ -574,7 +574,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (conveyorPressStationDeviceDriver.getMode() == 0) {
message += "站点未联机，";
} else {
if (conveyorPressStationDeviceDriver.getMove() == 0) {
if (conveyorPressStationDeviceDriver.getMove() == 1) {
message += "站点有货,";
}
if (conveyorPressStationDeviceDriver.getIo_action() != 3 && conveyorPressStationDeviceDriver.getIo_action() != 2) {
@ -610,7 +610,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if(device.getDeviceDriver() instanceof ConveyorBarcodeDeviceDriver){
conveyorBarcodeDeviceDriver = (ConveyorBarcodeDeviceDriver) device.getDeviceDriver();
conveyorBarcodeDeviceDriver.writing(3);
if (conveyorBarcodeDeviceDriver.getMode() == 2) {
if (conveyorBarcodeDeviceDriver.getMode() != 0) {
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
@ -621,12 +621,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (conveyorBarcodeDeviceDriver.getMode() == 0) {
message += "站点未联机，";
} else {
if (conveyorBarcodeDeviceDriver.getMove() == 0) {
if (conveyorBarcodeDeviceDriver.getMove() == 1) {
message += "站点有货,";
}
if (conveyorBarcodeDeviceDriver.getIo_action() != 3 && conveyorBarcodeDeviceDriver.getIo_action() != 2) {
message += "站点不允许离开,";
}
}
message += "不允许AGV取货后离开。";
conveyorBarcodeDeviceDriver.setMessage(message);
@ -654,7 +651,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (lnshFoldDiscSiteDeviceDriver.getMode() == 0) {
message += "站点未联机，";
} else {
if (lnshFoldDiscSiteDeviceDriver.getMove() == 0) {
if (lnshFoldDiscSiteDeviceDriver.getMove() == 1) {
message += "站点有货,";
}
// if (lnshFoldDiscSiteDeviceDriver.getIo_action() != 3 && lnshFoldDiscSiteDeviceDriver.getIo_action() != 2) {

2
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/conveyor_press_station/ConveyorPressStationDeviceDriver.java
View File

@ -709,6 +709,8 @@ public class ConveyorPressStationDeviceDriver extends AbstractOpcDeviceDriver im
}else {
this.writing(400);
message = RequestMethodEnum.getName("barcode_success_apply") + "barcode_success_apply 接口请求失败" + "没有静置完成";
message = RequestMethodEnum.getName("barcode_success_apply") + "barcode_success_apply 接口请求失败" + resp.getMessage();
lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message + "返回参数:" + JSON.toJSONString(resp)));
}
} else {
this.writing(400);

166
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
View File

@ -95,14 +95,14 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
String device_code;
int status = 0;
int last_status = 0;
int move_1 = 0;
int last_move_1 = 0;
int move_2 = 0;
int last_move_2 = 0;
int action_1 = 0;
int last_action_1 = 0;
int action_2 = 0;
int last_action_2 = 0;
int move1 = 0;
int last_move1 = 0;
int move2 = 0;
int last_move2 = 0;
int action1 = 0;
int last_action1 = 0;
int action2 = 0;
int last_action2 = 0;
int walk_y = 0;
int last_walk_y = 0;
int task1 = 0;
@ -184,10 +184,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
device_code = this.getDeviceCode();
mode = this.itemProtocol.getMode();
status = this.itemProtocol.getStatus();
move_1 = this.itemProtocol.getMove1();
move_2 = this.itemProtocol.getMove2();
action_1 = this.itemProtocol.getAction1();
action_2 = this.itemProtocol.getAction2();
move1 = this.itemProtocol.getMove1();
move2 = this.itemProtocol.getMove2();
action1 = this.itemProtocol.getAction1();
action2 = this.itemProtocol.getAction2();
walk_y = this.itemProtocol.getWalk_y();
error = this.itemProtocol.getError();
task1 = this.itemProtocol.getTask1();
@ -224,26 +224,26 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
logServer.deviceItemValue(this.device_code, "status", String.valueOf(status));
logServer.deviceExecuteLog(this.device_code, "", "", "信号status：" + last_status + "->" + status);
}
if (move_1 != last_move_1) {
if (move_1 == 0) {
if (move1 != last_move1) {
if (move1 == 0) {
this.setRequireSucess1(false);
logServer.deviceExecuteLog(this.device_code, "", "", "前工位有货变无货，复位前工位请求标记requireSucess1:" + requireSucess1);
}
logServer.deviceItemValue(this.device_code, "move_1", String.valueOf(move_1));
logServer.deviceExecuteLog(this.device_code, "", "", "信号move_1：" + last_move_1 + "->" + move_1);
logServer.deviceItemValue(this.device_code, "move1", String.valueOf(move1));
logServer.deviceExecuteLog(this.device_code, "", "", "信号move1：" + last_move1 + "->" + move1);
}
if (move_2 != last_move_2) {
if (move_2 == 0) {
if (move2 != last_move2) {
if (move2 == 0) {
this.setRequireSucess2(false);
logServer.deviceExecuteLog(this.device_code, "", "", "后工位有货变无货，复位后工位请求标记requireSucess2:" + requireSucess2);
}
// logServer.deviceExecuteLog(this.device_code, "", "", "信号move_2：" + last_move_2 + "->" + move_2);
// logServer.deviceExecuteLog(this.device_code, "", "", "信号move2：" + last_move2 + "->" + move2);
}
if (action_1 != last_action_1) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号action_1：" + last_action_1 + "->" + action_1);
if (action1 != last_action1) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号action1：" + last_action1 + "->" + action1);
}
if (action_2 != last_action_2) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号action_2：" + last_action_2 + "->" + action_2);
if (action2 != last_action2) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号action2：" + last_action2 + "->" + action2);
}
if (walk_y != last_walk_y) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y);
@ -302,7 +302,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//前工位取货时判断取货位光电信号
if (mode == 3 && error == 0 && status != 3 && action_1 == 1 && move_1 == 0 && task1 > 0 && action_2 != 1) {
if (mode == 3 && error == 0 && status != 3 && action1 == 1 && move1 == 0 && task1 > 0 && action2 != 1) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
String start_device_code = inst1.getStart_device_code();
Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
@ -310,8 +310,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) startDevice.getDeviceDriver();
if (driver.getMode() != 0
&& driver.getMove() != 0
&& (driver.getIo_action() == 3 || driver.getIo_action() == 1)
&& (driver.getAction() == 3 || driver.getAction() == 1)) {
// && (driver.getIo_action() == 3 || driver.getIo_action() == 1)
// && (driver.getAction() == 3 || driver.getAction() == 1)
) {
this.writing("to_command1", "2");
driver.setMessage("");
logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV前工位取货。");
@ -341,7 +342,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//前工位放货时判断放货位光电信号
if (mode == 3 && error == 0 && status != 3 && action_1 == 3 && move_1 != 0 && task1 > 0 && action_2 != 3) {
if (mode == 3 && error == 0 && status != 3 && action1 == 3 && move1 != 0 && task1 > 0 && action2 != 3) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
String next_device_code = inst1.getNext_device_code();
Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
@ -405,7 +406,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//后工位取货时判断取货位光电信号
if (mode == 3 && error == 0 && status != 3 && action_2 == 1 && move_2 == 0 && task2 > 0) {
if (mode == 3 && error == 0 && status != 3 && action2 == 1 && move2 == 0 && task2 > 0) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
String start_device_code = inst1.getStart_device_code();
Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
@ -461,7 +462,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//后工位放货时判断放货位光电信号
if (mode == 3 && error == 0 && status != 3 && action_2 == 3 && move_2 != 0 && task2 > 0 && action_1 != 1) {
if (mode == 3 && error == 0 && status != 3 && action2 == 3 && move2 != 0 && task2 > 0 && action1 != 1) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
String next_device_code = inst1.getNext_device_code();
Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
@ -469,8 +470,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice.getDeviceDriver();
if (driver.getMode() != 0
&& driver.getMove() == 0
&& (driver.getIo_action() == 1 || driver.getIo_action() == 3)
&& (driver.getAction() == 2 || driver.getAction() == 3)) {
// && (driver.getIo_action() == 1 || driver.getIo_action() == 3)
// && (driver.getAction() == 2 || driver.getAction() == 3)
) {
this.writing("to_command2", "3");
driver.setMessage("");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
@ -526,7 +528,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
return;
case 2:
// 申请任务
if (move_1 == 0 && move_2 == 0 && action_1 == 0 && action_2 == 0 && task1 == 0 && task2 == 0 && !requireSucess1) {
if (move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && !requireSucess1) {
instruction_require();
}
break;
@ -550,10 +552,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
last_mode = mode;
last_error = error;
last_status = status;
last_move_1 = move_1;
last_move_2 = move_2;
last_action_1 = action_1;
last_action_2 = action_2;
last_move1 = move1;
last_move2 = move2;
last_action1 = action1;
last_action2 = action2;
last_walk_y = walk_y;
last_task1 = task1;
last_task2 = task2;
@ -658,21 +660,29 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
//创建指令后修改任务状态
task.setTask_status("1");
taskserver.update(task);
LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
Device addressdevice = appService.findDeviceByCode(start_device_code);
//下发4个点任务
if (ObjectUtil.isNotEmpty(start_device_code2) && ObjectUtil.isNotEmpty(next_device_code2)) {
sendHeadBackSignalType(instdto);
requireSucess1 = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请前后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code());
if(ObjectUtil.isNotEmpty(start_device_code)){
writing("to_command1", "1");
if (addressdevice.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) {
lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) addressdevice.getDeviceDriver();
lnshLaminatingMachineDeviceDriver.writing("to_command", "1");
}
}
} else {
sendHeadSignalType(instdto);
requireSucess1 = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code());
if(ObjectUtil.isNotEmpty(start_device_code)){
writing("to_command1", "1");
if (addressdevice.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) {
lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) addressdevice.getDeviceDriver();
lnshLaminatingMachineDeviceDriver.writing("to_command", "1");
}
}
}
} else {
@ -872,10 +882,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();
String move_1 = "";
String move_2 = "";
String action_1 = "";
String action_2 = "";
String move1 = "";
String move2 = "";
String action1 = "";
String action2 = "";
String walk_y = "";
String mode = "";
String status = "";
@ -898,40 +908,40 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
status = "故障";
}
if (this.getMove_1() == 0) {
move_1 = "无货";
} else if (this.getMove_1() == 1) {
move_1 = "有货";
} else if (this.getMove_1() == 2) {
move_1 = "有托盘有货";
if (this.getMove1() == 0) {
move1 = "无货";
} else if (this.getMove1() == 1) {
move1 = "有货";
} else if (this.getMove1() == 2) {
move1 = "有托盘有货";
}
if (this.getMove_2() == 0) {
move_2 = "无货";
} else if (this.getMove_2() == 1) {
move_2 = "有货";
} else if (this.getMove_2() == 2) {
move_2 = "有托盘有货";
if (this.getMove2() == 0) {
move2 = "无货";
} else if (this.getMove2() == 1) {
move2 = "有货";
} else if (this.getMove2() == 2) {
move2 = "有托盘有货";
}
if (this.getAction_1() == 1) {
action_1 = "取货中";
} else if (this.getAction_1() == 2) {
action_1 = "取货完成";
} else if (this.getAction_1() == 3) {
action_1 = "放货中";
} else if (this.getAction_1() == 4) {
action_1 = "放货完成";
if (this.getAction1() == 1) {
action1 = "取货中";
} else if (this.getAction1() == 2) {
action1 = "取货完成";
} else if (this.getAction1() == 3) {
action1 = "放货中";
} else if (this.getAction1() == 4) {
action1 = "放货完成";
}
if (this.getAction_2() == 1) {
action_2 = "取货中";
} else if (this.getAction_2() == 2) {
action_2 = "取货完成";
} else if (this.getAction_2() == 3) {
action_2 = "放货中";
} else if (this.getAction_2() == 4) {
action_2 = "放货完成";
if (this.getAction2() == 1) {
action2 = "取货中";
} else if (this.getAction2() == 2) {
action2 = "取货完成";
} else if (this.getAction2() == 3) {
action2 = "放货中";
} else if (this.getAction2() == 4) {
action2 = "放货完成";
}
if (this.getWalk_y() == 0) {
@ -943,10 +953,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
jo.put("device_name", this.getDevice().getDevice_name());
jo.put("mode", mode);
jo.put("status", status);
jo.put("move_1", move_1);
jo.put("move_2", move_2);
jo.put("action_1", action_1);
jo.put("action_2", action_2);
jo.put("move1", move1);
jo.put("move2", move2);
jo.put("action1", action1);
jo.put("action2", action2);
jo.put("walk_y", walk_y);
if (this.getIserror()) {
jo.put("error", "设备有故障");
@ -985,7 +995,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
} else {
this.instruction_update_time = date;
if (task1 > 0 && task2 > 0 && action_1 == 4 && action_2 == 4 && move_1 == 0 && move_2 == 0) {
if (task1 > 0 && task2 > 0 && action1 == 4 && action2 == 4 && move1 == 0 && move2 == 0) {
//inst_message
inst1 = checkInst();
if (inst1 != null) {
@ -1008,7 +1018,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
this.requireSucess1 = false;
//单独的后工位任务
} else if (action_2 == 4 && move_2 == 0 && task2 > 0 && action_1 == 0 && move_2 == 0 && task1 == 0) {
} else if (action2 == 4 && move2 == 0 && task2 > 0 && action1 == 0 && move2 == 0 && task1 == 0) {
//inst_message
inst2 = checkInst();
if (inst2 != null) {
@ -1025,7 +1035,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
this.requireSucess1 = false;
} else if (action_1 == 4 && move_1 == 0 && task1 > 0 && action_2 == 0 && move_2 == 0 && task2 == 0) {
} else if (action1 == 4 && move1 == 0 && task1 > 0 && action2 == 0 && move2 == 0 && task2 == 0) {
inst1 = checkInst();
if (inst1 != null) {
try {

16
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@ -872,10 +872,10 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
jo.put("device_code", device.getDevice_code());
jo.put("mode", lnshRGVDeviceDriver.getMode());
jo.put("status", lnshRGVDeviceDriver.getStatus());
jo.put("move1", lnshRGVDeviceDriver.getMove_1());
jo.put("move2", lnshRGVDeviceDriver.getMove_2());
jo.put("action1", lnshRGVDeviceDriver.getAction_1());
jo.put("action2", lnshRGVDeviceDriver.getAction_2());
jo.put("move1", lnshRGVDeviceDriver.getMove1());
jo.put("move2", lnshRGVDeviceDriver.getMove2());
jo.put("action1", lnshRGVDeviceDriver.getAction1());
jo.put("action2", lnshRGVDeviceDriver.getAction2());
jo.put("walk_y", lnshRGVDeviceDriver.getWalk_y());
jo.put("error", lnshRGVDeviceDriver.getError());
jo.put("task1", lnshRGVDeviceDriver.getTask1());
@ -1081,10 +1081,10 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
jo.put("device_code", device.getDevice_code());
jo.put("mode", lnshRGVDeviceDriver.getMode());
jo.put("status", lnshRGVDeviceDriver.getStatus());
jo.put("move_1", lnshRGVDeviceDriver.getMove_1());
jo.put("move_2", lnshRGVDeviceDriver.getMove_2());
jo.put("action_1", lnshRGVDeviceDriver.getAction_1());
jo.put("action_2", lnshRGVDeviceDriver.getAction_2());
jo.put("move_1", lnshRGVDeviceDriver.getMove1());
jo.put("move_2", lnshRGVDeviceDriver.getMove2());
jo.put("action_1", lnshRGVDeviceDriver.getAction1());
jo.put("action_2", lnshRGVDeviceDriver.getAction2());
jo.put("walk_y", lnshRGVDeviceDriver.getWalk_y());
jo.put("error", lnshRGVDeviceDriver.getError());
jo.put("task1", lnshRGVDeviceDriver.getTask1());

8
acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java
View File

@ -96,10 +96,10 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
log.trace("清理server...");
}
group =opcServerService.getServer(this.getOpcServer().getOpc_code());
// this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain());
// this.server.addStateListener(this);
// group = this.server.addGroup();
// group =opcServerService.getServer(this.getOpcServer().getOpc_code());
this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain());
this.server.addStateListener(this);
group = this.server.addGroup();
List<String> itemsString = new ArrayList();
Iterator var3 = this.protocols.iterator();

28
acs/nladmin-system/src/main/java/org/nl/modules/logicflow/service/impl/StageServiceImpl.java
View File

@ -740,39 +740,39 @@ public class StageServiceImpl implements StageService {
status = "故障";
}
if (lnshRGVDeviceDriver.getMove_1() == 0) {
if (lnshRGVDeviceDriver.getMove1() == 0) {
move_1 = "无货";
} else if (lnshRGVDeviceDriver.getMove_1() == 1) {
} else if (lnshRGVDeviceDriver.getMove1() == 1) {
move_1 = "有货";
} else if (lnshRGVDeviceDriver.getMove_1() == 2) {
} else if (lnshRGVDeviceDriver.getMove1() == 2) {
move_1 = "有托盘有货";
}
if (lnshRGVDeviceDriver.getMove_2() == 0) {
if (lnshRGVDeviceDriver.getMove2() == 0) {
move_2 = "无货";
} else if (lnshRGVDeviceDriver.getMove_2() == 1) {
} else if (lnshRGVDeviceDriver.getMove2() == 1) {
move_2 = "有货";
} else if (lnshRGVDeviceDriver.getMove_2() == 2) {
} else if (lnshRGVDeviceDriver.getMove2() == 2) {
move_2 = "有托盘有货";
}
if (lnshRGVDeviceDriver.getAction_1() == 1) {
if (lnshRGVDeviceDriver.getAction1() == 1) {
action_1 = "取货中";
} else if (lnshRGVDeviceDriver.getAction_1() == 2) {
} else if (lnshRGVDeviceDriver.getAction1() == 2) {
action_1 = "取货完成";
} else if (lnshRGVDeviceDriver.getAction_1() == 3) {
} else if (lnshRGVDeviceDriver.getAction1() == 3) {
action_1 = "放货中";
} else if (lnshRGVDeviceDriver.getAction_1() == 4) {
} else if (lnshRGVDeviceDriver.getAction1() == 4) {
action_1 = "放货完成";
}
if (lnshRGVDeviceDriver.getAction_2() == 1) {
if (lnshRGVDeviceDriver.getAction2() == 1) {
action_2 = "取货中";
} else if (lnshRGVDeviceDriver.getAction_2() == 2) {
} else if (lnshRGVDeviceDriver.getAction2() == 2) {
action_2 = "取货完成";
} else if (lnshRGVDeviceDriver.getAction_2() == 3) {
} else if (lnshRGVDeviceDriver.getAction2() == 3) {
action_2 = "放货中";
} else if (lnshRGVDeviceDriver.getAction_2() == 4) {
} else if (lnshRGVDeviceDriver.getAction2() == 4) {
action_2 = "放货完成";
}

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