From f961f6114eefb928d26bf637d227687e8972d0f6 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, 19 Oct 2023 22:08:47 +0800 Subject: [PATCH] =?UTF-8?q?AGV=E4=B8=8ERGV=E9=A9=B1=E5=8A=A8=E6=9B=B4?= =?UTF-8?q?=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 18 ++++---- .../StandardInspectSiteDeviceDriver.java | 3 +- .../LnshFoldDiscSiteDeviceDriver.java | 1 + ...nshPalletizingManipulatorDeviceDriver.java | 8 ++-- ...alletizingManipulatorSiteDeviceDriver.java | 9 ++-- .../lnsh/lnsh_rgv/LnshRGVDeviceDriver.java | 46 ++++++++++--------- 6 files changed, 47 insertions(+), 38 deletions(-) diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 253a9bc..a2311ac 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -493,12 +493,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //标准版-机械手对接位 if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver(); - lnshPalletizingManipulatorSiteDeviceDriver.writing(3); if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0 && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2) ) { inst.setExecute_status("5"); + lnshPalletizingManipulatorSiteDeviceDriver.writing(3); instructionService.update(inst); data = AgvService.sendAgvOneModeInst(phase, index, 0); lnshPalletizingManipulatorSiteDeviceDriver.setMessage(""); @@ -526,11 +526,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //标准版-工位(交互模板) LnshStationDeviceDriver if(device.getDeviceDriver() instanceof LnshStationDeviceDriver){ lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver(); - lnshStationDeviceDriver.writing(3); if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2) ) { + lnshStationDeviceDriver.writing(3); inst.setExecute_status("5"); instructionService.update(inst); data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -754,11 +754,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //标准版-机械手对接位 if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver(); - lnshPalletizingManipulatorSiteDeviceDriver.writing(4); if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0 && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3) && (lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 2 || lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 3)) { + lnshPalletizingManipulatorSiteDeviceDriver.writing(4); inst.setExecute_status("3"); instructionService.update(inst); data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -790,11 +790,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //标准版-工位(交互模板) if(device.getDeviceDriver() instanceof LnshStationDeviceDriver){ lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver(); - lnshStationDeviceDriver.writing(4); if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 1 || lnshStationDeviceDriver.getIo_action() == 3) && (lnshStationDeviceDriver.getAction() == 2 || lnshStationDeviceDriver.getAction() == 3)) { + lnshStationDeviceDriver.writing(4); inst.setExecute_status("3"); instructionService.update(inst); data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -831,6 +831,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic && conveyorPressStationDeviceDriver.getMove() == 0 && (conveyorPressStationDeviceDriver.getIo_action() == 1 || conveyorPressStationDeviceDriver.getIo_action() == 3) && (conveyorPressStationDeviceDriver.getAction() == 2 || conveyorPressStationDeviceDriver.getAction() == 3)) { + conveyorPressStationDeviceDriver.writing(4); inst.setExecute_status("3"); instructionService.update(inst); data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -879,10 +880,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //标准版-下发条码输送线 if(device.getDeviceDriver() instanceof ConveyorBarcodeDeviceDriver){ conveyorBarcodeDeviceDriver = (ConveyorBarcodeDeviceDriver) device.getDeviceDriver(); - conveyorBarcodeDeviceDriver.writing(4); - if (conveyorBarcodeDeviceDriver.getMode() == 2 - && conveyorBarcodeDeviceDriver.getMove() == 0 - ){ + if (conveyorBarcodeDeviceDriver.getMode() == 2&& conveyorBarcodeDeviceDriver.getMove()==0){ + conveyorBarcodeDeviceDriver.writing(4); inst.setExecute_status("3"); instructionService.update(inst); data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -908,12 +907,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //标准版-叠盘机 if(device.getDeviceDriver() instanceof LnshFoldDiscSiteDeviceDriver){ lnshFoldDiscSiteDeviceDriver = (LnshFoldDiscSiteDeviceDriver) device.getDeviceDriver(); - lnshFoldDiscSiteDeviceDriver.writing(4); if (lnshFoldDiscSiteDeviceDriver.getMode() != 0 // && lnshFoldDiscSiteDeviceDriver.getContainer_qty() == 0 // && (lnshFoldDiscSiteDeviceDriver.getIo_action() == 1 || lnshFoldDiscSiteDeviceDriver.getIo_action() == 3) // && (lnshFoldDiscSiteDeviceDriver.getAction() == 2 || lnshFoldDiscSiteDeviceDriver.getAction() == 3) ) { + lnshFoldDiscSiteDeviceDriver.writing(4); inst.setExecute_status("3"); instructionService.update(inst); data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -1053,6 +1052,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else { String message = ""; if (lnshStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; } else { if (lnshStationDeviceDriver.getMove() == 0) { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java index 9219904..fa9a513 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java @@ -406,7 +406,8 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp jo.put("isError", iserror); jo.put("isOnline", isonline); jo.put("hasGoods", hasGoods); - jo.put("message", message); + + jo.put("requireSucess",requireSucess); return jo; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java index 58d4197..d069f77 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java @@ -403,6 +403,7 @@ public class LnshFoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implem jo.put("isError", iserror); jo.put("isOnline", isonline); jo.put("message", message); + jo.put("requireSucess",requireSucess); return jo; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java index ef90089..1127093 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java @@ -71,7 +71,6 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri int mode = 0; int move = 0; - Float weight = 0f; String material_code=""; int error = 0; int action = 0; @@ -109,6 +108,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri Float last_height1=0f; Float last_height2=0f; Float last_height3=0f; + Float last_weight = 0f; Float last_height4=0f; Float last_width1=0f; Float last_width2=0f; @@ -146,6 +146,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri Float len = 0f; Float volume = 0f; Float flatness =0f; + Float weight =0f; Float unqualified_qty=0f; @@ -342,7 +343,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri last_volume = volume; last_flatness = flatness; last_unqualified_qty = unqualified_qty; - + last_weight=weight; } @@ -394,10 +395,11 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri request.setUnqualified_qty(String.valueOf(unqualified_qty)); message = RequestMethodEnum.getName("apply_one_grab") + "apply_one_grab 接口请求LMS..."; lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message + "参数:" + JSON.toJSONString(request))); + logServer.deviceExecuteLog(this.device_code, "", "", "参数：" + JSON.toJSONString(request)); ApplyTaskResponse resp = JSON.toJavaObject(JSONObject.parseObject(acsToWmsService.applyTask(request)),ApplyTaskResponse.class); - if (resp.getCode() == 200) { this.writing(200); + this.writing(0); this.setRequireSucess(true); message = RequestMethodEnum.getName("apply_one_grab") + "apply_one_grab 接口请求成功" + resp.getMessage(); lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message + "返回参数:" + JSON.toJSONString(resp))); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java index 6e4c9c8..257a259 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java @@ -357,10 +357,10 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic // logServer.deviceItemValue(this.device_code, "io_action", String.valueOf(io_action)); // logServer.deviceExecuteLog(this.device_code, "", "", "信号io_action: " + last_ioaction + " -> " + io_action); // } -// if (weight != last_weight) { -// logServer.deviceItemValue(this.device_code, "weight", String.valueOf(weight)); -// logServer.deviceExecuteLog(this.device_code, "", "", "信号weight: " + last_weight + " -> " + weight); -// } + if (weight != last_weight) { + logServer.deviceItemValue(this.device_code, "weight", String.valueOf(weight)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号weight: " + last_weight + " -> " + weight); + } // if (!StrUtil.equals(material, last_material)) { // logServer.deviceItemValue(this.device_code, "material", material); // logServer.deviceExecuteLog(this.device_code, "", "", "信号material：" + last_material + " -> " + material); @@ -1316,6 +1316,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic jo.put("isOnline", isonline); jo.put("hasGoods", hasGoods); jo.put("message", message); + jo.put("requireSucess",requireSucess); return jo; } 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 842f1d6..abd256b 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 @@ -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 && action1 == 1 && move1 == 0 && task1 > 0 && action2 != 1) { + if (mode == 3 && error == 0 && status != 3 && action1 == 0 && 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); @@ -313,7 +313,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi // && (driver.getIo_action() == 3 || driver.getIo_action() == 1) // && (driver.getAction() == 3 || driver.getAction() == 1) ) { - this.writing("to_command1", "2"); + this.writing("to_command1", "1"); driver.setMessage(""); logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV前工位取货。"); } else { @@ -336,13 +336,13 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", msg); } } else if (startDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - this.writing("to_command1", "2"); + this.writing("to_command1", "3"); logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV前工位取货。"); } } //前工位放货时判断放货位光电信号 - if (mode == 3 && error == 0 && status != 3 && action1 == 3 && move1 != 0 && task1 > 0 && action2 != 3) { + if (mode == 3 && error == 0 && status != 3 && action1 == 2 && 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); @@ -350,9 +350,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi LnshStationDeviceDriver driver = (LnshStationDeviceDriver) nextDevice.getDeviceDriver(); if (driver.getMode() != 0 && driver.getMove() == 0 - && (driver.getAction() == 2 || driver.getAction() == 3) - && (driver.getIo_action() == 1 || driver.getIo_action() == 3)) { - this.writing("to_command1", "3"); +// && (driver.getAction() == 2 || driver.getAction() == 3) +// && (driver.getIo_action() == 1 || driver.getIo_action() == 3) + ) { + this.writing("to_command1", "2"); driver.setMessage(""); logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV前工位放货。"); } else { @@ -378,9 +379,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi LnshPackageSiteDeviceDriver driver = (LnshPackageSiteDeviceDriver) nextDevice.getDeviceDriver(); if (driver.getMode() != 0 && driver.getMove() == 0 - && (driver.getAction() == 2 || driver.getAction() == 3) - && (driver.getIoaction() == 1 || driver.getIoaction() == 3)) { - this.writing("to_command1", "3"); +// && (driver.getAction() == 2 || driver.getAction() == 3) +// && (driver.getIoaction() == 1 || driver.getIoaction() == 3) + ) { + this.writing("to_command1", "2"); driver.setMessage(""); logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV前工位放货。"); } else { @@ -405,8 +407,8 @@ 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 && action2 == 1 && move2 == 0 && task2 > 0) { + //后工位取货时判断取货位光电信号 没问题 + if (mode == 2 && 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); @@ -414,7 +416,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi LnshLaminatingMachineDeviceDriver driver = (LnshLaminatingMachineDeviceDriver) startDevice.getDeviceDriver(); if (driver.getMode() != 0 && driver.getMove() != 0) { - this.writing("to_command2", "2"); + this.writing("to_command2", "1"); driver.setMessage(""); logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV后工位取货。"); } else { @@ -436,7 +438,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi && driver.getMove() != 0 && (driver.getIo_action() == 3 || driver.getIo_action() == 1) && (driver.getAction() == 3 || driver.getAction() == 1)) { - this.writing("to_command2", "2"); + this.writing("to_command2", "1"); driver.setMessage(""); logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV后工位取货。"); } else { @@ -462,9 +464,9 @@ 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 && action2 == 3 && move2 != 0 && task2 > 0 && action1 != 1) { + if (mode == 3 && error == 0 && status != 3 && action2 == 2 && move2 != 0 && task2 > 0 && action1 == 2) { Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2)); - String next_device_code = inst1.getNext_device_code(); + String next_device_code = inst1.getNext_device_code2(); Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code); if (nextDevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice.getDeviceDriver(); @@ -473,7 +475,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi // && (driver.getIo_action() == 1 || driver.getIo_action() == 3) // && (driver.getAction() == 2 || driver.getAction() == 3) ) { - this.writing("to_command2", "3"); + this.writing("to_command2", "2"); driver.setMessage(""); logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。"); } else { @@ -496,7 +498,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi logServer.deviceExecuteLog(device_code, "", "", msg); } } else if (nextDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - this.writing("to_command2", "3"); + this.writing("to_command2", "2"); logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。"); } } @@ -608,6 +610,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String priority = task.getPriority(); String start_point_code = task.getStart_point_code(); String start_device_code = task.getStart_device_code(); + String put_device_code=task.getPut_device_code(); String start_device_code2 = task.getStart_device_code2(); String route_plan_code = task.getRoute_plan_code(); String next_point_code = task.getNext_point_code(); @@ -662,7 +665,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi taskserver.update(task); LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver; DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); - Device addressdevice = appService.findDeviceByCode(start_device_code); + Device addressdevice = appService.findDeviceByCode(put_device_code); //下发4个点任务 if (ObjectUtil.isNotEmpty(start_device_code2) && ObjectUtil.isNotEmpty(next_device_code2)) { sendHeadBackSignalType(instdto); @@ -1014,7 +1017,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_target2", "0"); writing("to_task2", "0"); writing("to_container_type", "0"); - + requireSucess1 = false; } this.requireSucess1 = false; //单独的后工位任务 @@ -1032,7 +1035,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", "0"); writing("to_target2", "0"); writing("to_task2", "0"); - + requireSucess1 = false; } this.requireSucess1 = false; } else if (action1 == 4 && move1 == 0 && task1 > 0 && action2 == 0 && move2 == 0 && task2 == 0) { @@ -1049,6 +1052,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_target1", "0"); writing("to_task1", "0"); writing("to_container_type", "0"); + requireSucess1 = false; } this.requireSucess1 = false; }