diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java index 2cf6251..f46f36c 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java @@ -35,9 +35,11 @@ public class AnnealStartCommand extends BaseCommandHandler { public CompletableFuture handle(CmdDTO cmdDTO) { //TODO 判断退火加热模块传感器是否有托盘 String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode"); - HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr); - //TODO 判断目标加热模块传感器是否有托盘 - HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04; + HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块 + HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04;//退火模块 + if(!annealHeatModuleCode.equals(targetHeatModuleCode)) {//目标加热模块不是退火模块 + //TODO 判断目标加热模块传感器是否有托盘,如果没有托盘的话提示错误 + } Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点 Double transferModuleXPickTrayMoveDistance = devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();//获取转运模块X轴拿取托盘进出卡槽移动距离