From 3d137e3c2a800ac296e605536043061e91daff59 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=91=A8=E4=BF=8A=E6=9D=B0?=
 <9463626+zhou-junjiezjj@user.noreply.gitee.com>
Date: Thu, 26 Oct 2023 14:53:20 +0800
Subject: [PATCH] =?UTF-8?q?add=20rgv=E9=A9=B1=E5=8A=A8=EF=BC=8C=E6=8B=86?=
 =?UTF-8?q?=E5=9E=9B=E4=BD=8D=E5=88=9A=E6=89=98=E7=9B=98=E6=95=B0=E9=87=8F?=
 =?UTF-8?q?=E4=B8=8B=E5=8F=91=EF=BC=8C=E5=BC=BA=E5=88=B6=E5=85=A5=E5=BA=93?=
 =?UTF-8?q?20?=
MIME-Version: 1.0
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---
 .../lnsh/lnsh_rgv/LnshRGVDeviceDriver.java    | 19 ++++++++++++++-----
 .../applyTask/ApplyTaskResponse.java          |  5 +++++
 .../getVehicle/GetPalletizeResponse.java      |  5 +++++
 3 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
index c2bfcbd..7d61ea8 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
@@ -546,10 +546,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                     log.debug("设备运转模式:等待工作");
                     return;
                 case 2:
-                    if (move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && requireSucess1) {
-                        log.info("没有复位");
-                    }
-                    if (move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && !requireSucess1) {
+                    if (move1 == 0 && move2 == 0 && !requireSucess1 &&mode==2) {
                         instruction_require();
                     }
                     break;
@@ -961,8 +958,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
             action1 = "放货中";
         } else if (this.getAction1() == 4) {
             action1 = "放货完成";
+        }else if (this.getAction1() == 0) {
+            action1 = "无动作";
         }
-
         if (this.getAction2() == 1) {
             action2 = "取货中";
         } else if (this.getAction2() == 2) {
@@ -971,6 +969,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
             action2 = "放货中";
         } else if (this.getAction2() == 4) {
             action2 = "放货完成";
+        }else if (this.getAction2() == 0) {
+            action2 = "无动作";
         }
 
         if (this.getWalk_y() == 0) {
@@ -1004,6 +1004,12 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
         jo.put("batch", this.getBatch());
         jo.put("specifications", this.getSpecifications());
         jo.put("qty", this.getQty());
+        if(requireSucess1==false) {
+            jo.put("requireSucess1","1");
+        }
+        if(requireSucess1==true) {
+            jo.put("requireSucess1","0");
+        }
         return jo;
     }
 
@@ -1035,6 +1041,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                         logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage());
                     }
                     log.info("五点任务完成");
+                    this.setRequireSucess1(false);
                     writing("to_command1", "0");
                     writing("to_command1", "0");
                     writing("to_onset1", "0");
@@ -1068,6 +1075,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                         logServer.deviceExecuteLog(this.device_code, "", "", "后工位指令" + task1 + "完成异常，异常原因：" + e.getMessage());
                     }
                     log.info("后工位任务完成");
+                    this.setRequireSucess1(false);
                     writing("to_command2", "0");
                     writing("to_command2", "0");
                     writing("to_onset2", "0");
@@ -1089,6 +1097,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                         logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage());
                     }
                     log.info("前工位任务完成");
+                    this.setRequireSucess1(false);
                     writing("to_command1", "0");
                     writing("to_command1", "0");
                     writing("to_onset1", "0");
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/applyTask/ApplyTaskResponse.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/applyTask/ApplyTaskResponse.java
index 7c34404..b8645c3 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/applyTask/ApplyTaskResponse.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/applyTask/ApplyTaskResponse.java
@@ -28,4 +28,9 @@ public class ApplyTaskResponse extends BaseResponse {
      */
     private String label_message;
 
+    /**
+     * 是否码满规定托盘数
+     */
+    private int is_satisfy;
+
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/getVehicle/GetPalletizeResponse.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/getVehicle/GetPalletizeResponse.java
index 219c1b1..cdc4460 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/getVehicle/GetPalletizeResponse.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/AcsToWmsData/getVehicle/GetPalletizeResponse.java
@@ -7,4 +7,9 @@ import org.nl.acs.ext.wms.data.PalletizeDto;
 public class GetPalletizeResponse extends BaseResponse {
 
     private PalletizeDto palletizeDto;
+
+    /**
+     * 刚托盘上的砖块数量
+     */
+    private int material_qty;
 }