#

zjj

2024-10-14 056cf9d0311e1345017ab4c52c5946144fb4ccb8

 src/main/java/com/zy/asrs/controller/CrnController.java

@@ -35,6 +35,7 @@
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
@@ -248,6 +249,8 @@
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        short locSts = isLocSts(param.getRow(), param.getBay(), param.getLev());
        command.setTraySize(locSts);
        return crnControl(command)?R.ok():R.error();
    }

@@ -265,6 +268,8 @@
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        short locSts = isLocSts(param.getSourceRow(), param.getSourceBay(), param.getSourceLev());
        command.setTraySize(locSts);
        return crnControl(command)?R.ok():R.error();
    }

@@ -286,7 +291,16 @@
                .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
        LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
                .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        if (sourceLoc.getLocType1() != loc.getLocType1()){
            return R.error("库位类型不一致");
        }
        short locSts1 = isLocSts(param.getRow(), param.getBay(), param.getLev());
        short locSts2 = isLocSts(param.getSourceRow(), param.getSourceBay(), param.getSourceLev());
        if (locSts1 != locSts2){
            return R.error("库位不匹配");
        }
        command.setTraySize(locSts1);
//        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        return crnControl(command)?R.ok():R.error();
    }

@@ -376,6 +390,8 @@
        return crnControl(command)?R.ok():R.error();
    }



//    @ManagerAuth(memo = "暂停")
//    @PostMapping("/operator/pause")
//    public R crnPause(CrnOperatorParam param){
@@ -394,8 +410,18 @@
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
        return R.ok("清除命令成功");
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "手动复位")
@@ -420,6 +446,7 @@
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
@@ -490,5 +517,16 @@
        }
    }

    private short isLocSts(Short row,Short bay,Short lev){
//        String loc = String.format("%2d",row)+String.format("%3d",bay)+String.format("%2d",lev);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("row1", row).eq("bay1", bay).eq("lev1", lev));
        if (Cools.isEmpty(locMast)){
            return 0;
        }

        return locMast.getLocType1();
    }


}