From adfc814b0b158e2ebdd8f182951e63ba09c769b5 Mon Sep 17 00:00:00 2001
From: "USER-20220102CG\\noblelift" <546428999@qq.com>
Date: Mon, 21 Aug 2023 10:44:05 +0800
Subject: [PATCH] =?UTF-8?q?add=20=E6=94=AF=E6=8C=81=E4=B8=8B=E5=8F=91?=
 =?UTF-8?q?=E6=97=8B=E8=BD=AC=E8=A7=92=E5=BA=A6?=
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---
 .../org/nl/acs/agv/server/impl/AgvServiceImpl.java | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
index 1d58135..9d8a244 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
@@ -1853,7 +1853,12 @@ public class AgvServiceImpl implements AgvService {
                 StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
                 //起点
                 if (startdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
-
+                    standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) startdevice.getDeviceDriver();
+                    if(ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_pickup_spin"),"true") &&
+                            ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin")) ){
+                        ja.add(destination2(startAddress + "IQ", "Spin", "2",
+                                standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString()));
+                    }
                     ja.add(destination2(startAddress + "IQ", "Wait", "1", startAddress + "IQ"
                             + "-" + inst_code + "-" + "07"));
                     ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN"
@@ -1883,10 +1888,17 @@ public class AgvServiceImpl implements AgvService {
 
                 //终点
                 if (nextdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
+                    standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
+                    if(ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_release_spin"),"true") &&
+                            ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin")) ){
+                        ja.add(destination2(nextAddress + "IQ", "Spin", "2",
+                                standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString()));
+                    }
                     ja.add(destination2(nextAddress + "IQ", "Wait", "1", nextAddress + "IQ"
                             + "-" + inst_code + "-" + "07"));
                     ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
                             + "-" + inst_code + "-" + "03"));
+
                     ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
                             + "-" + inst_code + "-" + "04"));
                     ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"