| | |
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| | | // command.setDestinationPosZ(param.getLev()); // 目标库位层 |
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| | | command.setAuto((short)1); |
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| | | |
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| | | return crnControl(command)?R.ok():R.error(); |
|---|
| | | return crnControl2(command)?R.ok():R.error(); |
|---|
| | | } |
|---|
| | | private boolean crnControl2(CrnCommand command){ |
|---|
| | | if (command.getCrnNo() == null) { |
|---|
| | | throw new CoolException("请选择堆垛机"); |
|---|
| | | } |
|---|
| | | for (CrnSlave crn : slaveProperties.getCrn()) { |
|---|
| | | // 获取堆垛机信息 |
|---|
| | | if (command.getCrnNo().equals(crn.getId())) { |
|---|
| | | CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); |
|---|
| | | if (crnThread == null) { |
|---|
| | | throw new CoolException("堆垛机不在线"); |
|---|
| | | } |
|---|
| | | CrnProtocol crnProtocol = crnThread.getCrnProtocol(); |
|---|
| | | if (crnProtocol == null) { |
|---|
| | | throw new CoolException("堆垛机不在线"); |
|---|
| | | } |
|---|
| | | // 空闲判断 |
|---|
| | | // if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) { |
|---|
| | | if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(4, command))) { |
|---|
| | | return true; |
|---|
| | | } else { |
|---|
| | | throw new CoolException("命令下发失败"); |
|---|
| | | } |
|---|
| | | // } else { |
|---|
| | | // throw new CoolException("堆垛机不在空闲状态"); |
|---|
| | | // } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | private boolean crnControl(CrnCommand command){ |
|---|
