| | |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | |
|---|
| | | //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令 |
|---|
| | | if (!shuttleProtocol.getIdle() |
|---|
| | | || shuttleProtocol.getTaskNo() == 0 |
|---|
| | | || !shuttleProtocol.getPakMk()) { |
|---|
| | | //判断设备是否空闲 |
|---|
| | | if (!shuttleThread.isIdle()) { |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | |
|---|
| | |
|---|
| | | if (!shuttleProtocol.getHasLift()) { |
|---|
| | | command.setComplete(true); |
|---|
| | | } |
|---|
| | | } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) { |
|---|
| | | // 充电开关 |
|---|
| | | } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) { |
|---|
| | | // 充电开 |
|---|
| | | //判断小车充电状态 |
|---|
| | | if (shuttleProtocol.getHasCharge()) { |
|---|
| | | command.setComplete(true); |
|---|
| | |
|---|
| | | } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id |
|---|
| | | || command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//顶升 |
|---|
| | | result = shuttleThread.lift(command); |
|---|
| | | } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {//充电 |
|---|
| | | } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id |
|---|
| | | || command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {//充电 |
|---|
| | | result = shuttleThread.charge(command); |
|---|
| | | } else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位 |
|---|
| | | result = shuttleThread.reset(command); |
|---|
