From 27836d1b0bc74a5aa22a8b6c7cf40f2d0068db8a Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期三, 11 二月 2026 13:40:59 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java | 34 ++++++++++++++++++++++++----------
1 files changed, 24 insertions(+), 10 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
index c33d25b..e837329 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
@@ -154,16 +154,28 @@
boolean send = false;
if (station == 1) {
- if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)
- || crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)
- ) {
- send = true;
+ if (crnProtocol.getTaskSend() == 0) {
+ if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
+ if (crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)) {
+ send = true;
+ }
+ } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
+ if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
+ send = true;
+ }
+ }
}
}else {
- if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)
- || crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)
- ) {
- send = true;
+ if (crnProtocol.getTaskSendTwo() == 0) {
+ if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
+ if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)) {
+ send = true;
+ }
+ } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
+ if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
+ send = true;
+ }
+ }
}
}
@@ -308,6 +320,7 @@
crnProtocol.setForkPos(crnStatus.getForkPos());
crnProtocol.setLoaded(crnStatus.getLoaded());
crnProtocol.setTaskReceive(crnStatus.getTaskReceive());
+ crnProtocol.setTaskSend(crnStatus.getTaskSend());
//宸ヤ綅2
crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
@@ -315,6 +328,7 @@
crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
crnProtocol.setTaskReceiveTwo(crnStatus.getTaskReceiveTwo());
+ crnProtocol.setTaskSendTwo(crnStatus.getTaskSendTwo());
crnProtocol.setBay(crnStatus.getBay());
crnProtocol.setLevel(crnStatus.getLevel());
@@ -477,10 +491,10 @@
}
@Override
- public DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
+ public DualCrnCommand getResetCommand(Integer taskNo, Integer crnNo, Integer station) {
DualCrnCommand crnCommand = new DualCrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(0); // 宸ヤ綔鍙�
+ crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
crnCommand.setTaskMode(DualCrnTaskModeType.CONFIRM.id); // 浠诲姟妯″紡: 纭
crnCommand.setSourcePosX(0); // 婧愬簱浣嶆帓
crnCommand.setSourcePosY(0); // 婧愬簱浣嶅垪
--
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