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| | | import HslCommunication.Profinet.Siemens.SiemensS7Net; |
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| | | import com.alibaba.fastjson.JSON; |
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| | | import com.alibaba.fastjson.JSONObject; |
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| | | import com.baomidou.mybatisplus.mapper.EntityWrapper; |
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| | | import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; |
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| | | import com.core.common.DateUtils; |
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| | | import com.core.common.SpringUtils; |
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| | | import com.zy.asrs.entity.BasDevp; |
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| | |
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| | | } |
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| | | |
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| | | BasDevp basDevp = basDevpService |
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| | | .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo())); |
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| | | .getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo())); |
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| | | if (basDevp == null) { |
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| | | return Collections.emptyList(); |
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| | | } |
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| | | |
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| | | boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, i * 10 + 7, 1); |
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| | | statusEntity.setEnableIn(status2[1]);//启动入库 |
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| | | statusEntity.setRunBlock(status2[2]);//重新规划路线 |
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| | | |
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| | | Integer palletHeight = null; |
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| | | if (status[7]) { |
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| | |
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| | | int stationIdx = findIndex(command.getStationId()); |
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| | | |
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| | | short[] data = new short[2]; |
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| | | data[0] = command.getStationId().shortValue(); |
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| | | data[0] = (short) 0; |
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| | | data[1] = command.getTargetStaNo().shortValue(); |
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| | | |
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| | | OperateResult writeTaskNo = siemensNet.Write("DB13." + (stationIdx * 48 + (taskWriteIdx * 12)), command.getTaskNo()); |
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