From 8ac8193c4d663a61fcbdfba20eae36bd2f4f9713 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 26 May 2025 19:38:18 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E4=B8=9A=E5=8A=A1=E6=8C=87?= =?UTF-8?q?=E4=BB=A4=E5=BC=80=E5=A7=8B=E9=80=80=E7=81=AB=EF=BC=8C=E5=81=9C?= =?UTF-8?q?=E6=AD=A2=E9=80=80=E7=81=AB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) 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