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@@ -21,7 +21,7 @@ public class FestoXRServer {
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}
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@XRMethod(value = "rel", help = "rel")
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- public static boolean rel(int relPos, int speed) {
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+ public static String rel(int relPos, int speed) {
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try {
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logger.info("rel {}", relPos);
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int curPos=Main.fhm.readStatus().get().istPosition;
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@@ -30,7 +30,7 @@ public class FestoXRServer {
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Main.fhm.bereitschaft();
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if(!Main.fhm.readStatus().get().enabled) {
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logger.info("Controller not enabled");
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- return false;
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+ return "Controller not enabled";
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}
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Main.fhm.direktAuftrag(relPos, speed,0, true);
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Thread.sleep(10);
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@@ -41,7 +41,7 @@ public class FestoXRServer {
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boolean reached=checkPos(targetPos);
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if(reached) {
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logger.info("Reached {}", targetPos);
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- return true;
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+ return "OK";
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}
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try {
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Thread.sleep(100);
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@@ -51,18 +51,18 @@ public class FestoXRServer {
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}
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} catch (ExecutionException|InterruptedException e) {
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logger.warn("abs failed", e);
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+ return "abs failed: "+e.toString() ;
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}
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- return false;
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}
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@XRMethod(value = "abs", help = "abs")
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- public boolean abs(int targetPos, int speed) {
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+ public static String abs(int targetPos, int speed) {
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try {
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logger.info("Absolute to {} speed {}", targetPos, speed);
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Main.fhm.bereitschaft();
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if(!Main.fhm.readStatus().get().enabled) {
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logger.info("Controller not enabled");
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- return false;
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+ return "Controller not enabled";
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}
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Main.fhm.direktAuftrag(targetPos, speed, 0, false);
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Thread.sleep(100);
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@@ -72,7 +72,7 @@ public class FestoXRServer {
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boolean reached=checkPos(targetPos);
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if(reached) {
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logger.info("Reached {}", targetPos);
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- return true;
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+ return "OK";
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}
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try {
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Thread.sleep(100);
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@@ -82,8 +82,8 @@ public class FestoXRServer {
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}
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} catch (ExecutionException|InterruptedException e) {
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logger.warn("abs failed", e);
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+ return "abs failed: "+e.toString();
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}
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- return false;
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}
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@XRMethod(value = "getpos", help = "getpos")
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