| | |
|---|
| | | } |
|---|
| | | // 库位移转 |
|---|
| | | this.locToLoc(crn, crnProtocol); |
|---|
| | | this.crnRebackHp(crnProtocol, crnThread); |
|---|
| | | // this.crnRebackHp(crnProtocol, crnThread); |
|---|
| | | |
|---|
| | | } |
|---|
| | | } |
|---|
| | |
|---|
| | | if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) { |
|---|
| | | return; |
|---|
| | | } |
|---|
| | | |
|---|
| | | log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点"); |
|---|
| | | // 命令下发区 -------------------------------------------------------------------------- |
|---|
| | | CrnCommand crnCommand = new CrnCommand(); |
|---|
| | |
|---|
| | | |
|---|
| | | // 已经存在吊车执行任务时，则过滤 |
|---|
| | | if (wrkMastMapper.selectWorking(slave.getId()) != null) { |
|---|
| | | return; |
|---|
| | | continue; |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 双深库位且浅库位有货，则需先对浅库位进行库位移转 |
|---|
| | |
|---|
| | | } |
|---|
| | | } |
|---|
| | | // 获取led线程 |
|---|
| | | LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId()); |
|---|
| | | LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); |
|---|
| | | // led显示默认内容 |
|---|
| | | if (reset && !ledThread.isLedMk()) { |
|---|
| | | ledThread.setLedMk(true); |
|---|
