1 上下料 判断 传送带 是否有数据-测试

zhmes-agecal-system/src/main/java/com/zehong/system/service/impl/RobotArmCommandServiceImpl.java

@@ -93,15 +93,15 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 robotArmCommandMapper.selectPendingLoadingCommands();
         if (!loadingCommands.isEmpty()) {
 // 传送带检测先去掉
-//            boolean[] roboticArmEntryConveyorData = Modbus4jUtils.getRoboticArmEntryConveyorData();
-//            log.info("机械臂入口 conveyor 0状态: " + roboticArmEntryConveyorData[0]);
-//            log.info("机械臂入口 conveyor 1状态: " + roboticArmEntryConveyorData[1]);
-//            if(roboticArmEntryConveyorData[1]) {
-//                sendCommand(loadingCommands.get(0), "LOAD");
-//                return;
-//            }
-            log.info("开始处理上料指令: {}", loadingCommands.get(0));
+            boolean[] roboticArmEntryConveyorData = Modbus4jUtils.getRoboticArmEntryConveyorData();
+            log.info("机械臂入口 conveyor 0状态: " + roboticArmEntryConveyorData[0]);
+            log.info("机械臂入口 conveyor 1状态: " + roboticArmEntryConveyorData[1]);
+            if(roboticArmEntryConveyorData[1]) {
                 sendCommand(loadingCommands.get(0), "LOAD");
+                return;
+            }
+//            log.info("开始处理上料指令: {}", loadingCommands.get(0));
+//              sendCommand(loadingCommands.get(0), "LOAD");
         }
 
         // 2. 处理待执行的下料指令
@@ -109,11 +109,11 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 robotArmCommandMapper.selectPendingUnloadingCommands();
         if (!unloadingCommands.isEmpty()) {
 
-//            boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData();
-//            if(roboticArmExitConveyorData[1]) {
+            boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData();
+            if(roboticArmExitConveyorData[1]) {
                 log.info("开始处理下料指令: {}", unloadingCommands.get(0));
                 sendCommand(unloadingCommands.get(0), "UNLOAD");
-//            }
+            }
         }
     }