| | |
|---|
| | | public Boolean accept(Motion motion) { |
|---|
| | | Integer deviceNo = Integer.parseInt(motion.getDevice()); |
|---|
| | | ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo); |
|---|
| | | if (shuttleThread == null) { |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); |
|---|
| | | if (null == shuttleProtocol) { |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | if (!shuttleProtocol.getIdle()) {//设备不空闲 |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | if (!shuttleProtocol.getPakMk()) { |
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| | | if (!shuttleThread.isIdle()) {//设备不空闲 |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | if (motionService.count(new LambdaQueryWrapper<Motion>() |
|---|
| | |
|---|
| | | |
|---|
| | | LiftThread liftThread = null; |
|---|
| | | LiftProtocol liftProtocol = null; |
|---|
| | | |
|---|
| | | //判断小车状态 |
|---|
| | | if (shuttleProtocol.getIdle() |
|---|
| | | && shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE) |
|---|
| | | && shuttleProtocol.getTaskNo() != 0 |
|---|
| | | ) { |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | |
|---|
| | | switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){ |
|---|
| | | case SHUTTLE_MOVE: |
|---|
