#

lsh

2024-05-16 0819a18ba9da9f51fa981906ae19ed85b4629b25

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

@@ -104,17 +104,27 @@

    @GetMapping("/demo/status")
    public R demoStatus(Integer rgvNo){
        Map<String,Object> map = new HashMap<>();
        if (Cools.isEmpty(rgvNo)){
            return R.ok("X");
            map.put("demo","X");
            map.put("rgvMode",0);
            return R.ok().add(map);
        }
        String demo = "X";
        Integer rgvMode = 0;
//        List<Map<String, Object>> res = new ArrayList<>();
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            if (rgvSlave.getId() == rgvNo){
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvSlave.getId().equals(rgvNo)){
               demo = rgvSlave.getDemo()?"Y":"N";
               rgvSlave.setRgvMode(rgvProtocol.getMode().intValue());
               rgvMode = rgvProtocol.getMode().intValue();
            }
        }
        return R.ok(demo);
        map.put("demo",demo);
        map.put("rgvMode",rgvMode);
        return R.ok().add(map);
    }

    @GetMapping("/demo/status/true")
@@ -189,15 +199,18 @@
                       break;
                   case 12://手动
                       DB="5.3";
                       rgvSlave.setRgvMode(3);
                       break;
                   case 13://手动定位
                       DB="5.4";
                       break;
                   case 14://单机
                       DB="5.5";
                       rgvSlave.setRgvMode(2);
                       break;
                   case 15://联机
                       DB="5.6";
                       rgvSlave.setRgvMode(1);
                       break;
                   case 16://货叉定位回中
                       DB="5.7";
@@ -261,6 +274,59 @@
        return rgvControl(command)? R.ok(): R.error();
    }


    @ManagerAuth(memo = "取")
    @PostMapping("/operator/single/step/one/put")
    public R rgvFetchSingleStepOnePut(RgvOperatorParam param){
        return rgvFetchSingleStepPut(param,1)?R.ok():R.error();
    }
    @ManagerAuth(memo = "放")
    @PostMapping("/operator/single/step/two/put")
    public R rgvFetchSingleStepTwoPut(RgvOperatorParam param){
        return rgvFetchSingleStepPut(param,2)?R.ok():R.error();
    }
    @ManagerAuth(memo = "X运行")
    @PostMapping("/operator/single/step/three/put")
    public R rgvFetchSingleStepThreePut(RgvOperatorParam param){
        return rgvFetchSingleStepPut(param,3)?R.ok():R.error();
    }

    public boolean rgvFetchSingleStepPut(RgvOperatorParam param ,Integer type){
        wrkNo++;
        RgvCommand command = new RgvCommand();
        RgvTaskModeType fetchPut = RgvTaskModeType.NONE;
        switch (type){
            case 1:
                fetchPut = RgvTaskModeType.FETCH;
                param.setSourceBay(0);
                break;
            case 2:
                fetchPut = RgvTaskModeType.PUT;
                param.setSourceRow(0);
                break;
            case 3:
                fetchPut = RgvTaskModeType.X_MOVE;
                break;
            default:
                return false;
        }
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(wrkNo); // 工作号
        command.setTaskMode1(fetchPut); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceRow().shortValue()); // 源站
        command.setDestinationStaNo1(param.getSourceBay().shortValue());  // 目标站
//        command.setAckFinish2((short) 0);  // 任务完成确认位
//        command.setTaskNo2((short) 0); // 工作号
//        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command);
    }


    @ManagerAuth(memo = "复位")
    @PostMapping("/operator/reset")
    public R crnReset(RgvOperatorParam param){