add 支持下发旋转角度

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"