From 42ccec8be89cd8303aa5ad6866171e1c588e4dda Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=BC=A0=E6=B1=9F=E7=8E=AE?= Date: Tue, 14 Nov 2023 13:38:20 +0800 Subject: [PATCH] a --- .../acs/agv/server/impl/AgvServiceImpl.java | 45 ++++++++++--------- .../StandardInspectSiteDeviceDriver.java | 12 ----- 2 files changed, 24 insertions(+), 33 deletions(-) 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 74f3e9e..05d0173 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 @@ -573,7 +573,7 @@ public class AgvServiceImpl implements AgvService { if (result.getStatus() == 200) { arr.add(result.body()); } - } catch (Exception e ){ + } catch (Exception e) { e.printStackTrace(); } } @@ -825,17 +825,19 @@ public class AgvServiceImpl implements AgvService { standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); //请求取货 if ("Load".equals(action)) { + standardInspectSiteDeviceDriver.setFlag(1); standardInspectSiteDeviceDriver.writing(1); if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0 - && (standardInspectSiteDeviceDriver.getAction() == 1 || standardInspectSiteDeviceDriver.getAction() == 3)) { + && standardInspectSiteDeviceDriver.getAction() == 1) { inst.setExecute_status("1"); is_feedback = true; } //请求放货 } else if ("Unload".equals(action)) { + standardInspectSiteDeviceDriver.setFlag(3); standardInspectSiteDeviceDriver.writing(3); if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0 - && (standardInspectSiteDeviceDriver.getAction() == 2 || standardInspectSiteDeviceDriver.getAction() == 3)) { + && standardInspectSiteDeviceDriver.getAction() == 1) { inst.setExecute_status("3"); is_feedback = true; } @@ -846,7 +848,7 @@ public class AgvServiceImpl implements AgvService { //请求取货 if ("Load".equals(action)) { if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() > 0) { - if(standardSpecialInspectSiteDeviceDriver.getAction()> 0){ + if (standardSpecialInspectSiteDeviceDriver.getAction() > 0) { inst.setExecute_status("1"); is_feedback = true; } else { @@ -857,7 +859,7 @@ public class AgvServiceImpl implements AgvService { //请求放货 } else if ("Unload".equals(action)) { if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() == 0) { - if(standardSpecialInspectSiteDeviceDriver.getAction()>0){ + if (standardSpecialInspectSiteDeviceDriver.getAction() > 0) { inst.setExecute_status("1"); is_feedback = true; } else { @@ -929,7 +931,7 @@ public class AgvServiceImpl implements AgvService { yzjaSpecialDeviceDriver.setManua_confirm(0); inst.setExecute_status("1"); is_feedback = true; - } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")){ + } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")) { yzjaSpecialDeviceDriver.setManua_confirm(1); } } else { @@ -945,7 +947,7 @@ public class AgvServiceImpl implements AgvService { yzjaSpecialDeviceDriver.setManua_confirm(0); inst.setExecute_status("3"); is_feedback = true; - } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")){ + } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")) { yzjaSpecialDeviceDriver.setManua_confirm(1); } } else { @@ -973,26 +975,24 @@ public class AgvServiceImpl implements AgvService { } else if ("onStation".equals(type)) { System.out.println("取放货完成"); + if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); //取货完成 if ("Load".equals(action)) { - standardInspectSiteDeviceDriver.writing(2); if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); + standardInspectSiteDeviceDriver.setFlag(2); + inst.setExecute_status("1"); is_feedback = true; } //放货完成 } else if ("Unload".equals(action)) { - standardInspectSiteDeviceDriver.writing(4); - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) { - inst.setExecute_device_code(address); - inst.setExecute_status("4"); + if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() != 0) { + standardInspectSiteDeviceDriver.setFlag(4); + inst.setExecute_status("3"); is_feedback = true; } } - } if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteSmartDeviceDriver) { standardInspectSiteSmartDeviceDriver = (StandardInspectSiteSmartDeviceDriver) addressdevice.getDeviceDriver(); @@ -1198,7 +1198,7 @@ public class AgvServiceImpl implements AgvService { //请求进 if (StrUtil.equals(type, "07") && address.endsWith("IQ")) { sandardManipulatorInspectSiteDeviceDriver.writing(1, 7); - if ( sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 1 + if (sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 1 || sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) { is_feedback = true; } @@ -1386,18 +1386,21 @@ public class AgvServiceImpl implements AgvService { if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); - flag = true; log.info("agvstatus:" + standardInspectSiteDeviceDriver.getFlag() + ""); //取货完成离开 - if (standardInspectSiteDeviceDriver.getFlag() == 2) { - if (standardInspectSiteDeviceDriver.getMove() == 0) { + if (standardInspectSiteDeviceDriver.getFlag() == 1 || standardInspectSiteDeviceDriver.getFlag() == 2) { + standardInspectSiteDeviceDriver.writing(2); + if (standardInspectSiteDeviceDriver.getMode() != 0 + && standardInspectSiteDeviceDriver.getMove() == 0) { flag = true; standardInspectSiteDeviceDriver.setFlag(5); } } //放货完成离开 - if (standardInspectSiteDeviceDriver.getFlag() == 4) { - if (standardInspectSiteDeviceDriver.getMove() == 1) { + if (standardInspectSiteDeviceDriver.getFlag() == 3 || standardInspectSiteDeviceDriver.getFlag() == 4) { + standardInspectSiteDeviceDriver.writing(4); + if (standardInspectSiteDeviceDriver.getMode() != 0 + && standardInspectSiteDeviceDriver.getMove() != 0) { flag = true; standardInspectSiteDeviceDriver.setFlag(6); } diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java index 719eb7c..32c00b2 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java @@ -321,18 +321,6 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp break; } - switch (flag) { - //取货完成 - case 1: - writing(2); - return; - //放货完成 - case 2: - writing(3); - return; - - } - } last_mode = mode; last_error = error;