From 5a2fe103bc7ef2ac7087721b197b9a7195b57826 Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期三, 11 二月 2026 12:00:06 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java | 30 ++++++++++++++++++++++--------
1 files changed, 22 insertions(+), 8 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..826f343 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());
--
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