1

zhang

2025-09-26 3897c8800805f6e99e30d700fe0c11c5ed2df84a

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

@@ -21,7 +21,6 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -35,7 +34,6 @@
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;
@@ -121,6 +119,8 @@
            vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
            vo.setLoading(crnProtocol.getLoaded()==1?"有物":"无物");  //  有物
            vo.setLoadTwoing(crnProtocol.getLoadedTwo() == 1 ? "有物" : "无物");  //  有物

            vo.setBay(crnProtocol.getBay());    //  列
            vo.setLev(crnProtocol.getLevel());  //  层

@@ -172,6 +172,19 @@
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }

            if (crnProtocol.getTaskNoTwo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNoTwo());
                if (wrkMast != null) {
                    vo.setSourceStaNo2(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo2(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo2(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo2(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }

            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)
@@ -233,7 +246,6 @@
    }



    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/
@@ -275,7 +287,6 @@
//        command.setTraySize(locSts);
//        return crnControl(command)?R.ok():R.error();
//    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
@@ -375,6 +386,7 @@
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        CrnCommand command = new CrnCommand();
        command.setPltType(param.getC());
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 1);  // 任务完成确认位
@@ -387,7 +399,6 @@
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }



//    @ManagerAuth(memo = "暂停")
@@ -476,15 +487,12 @@
                    throw new CoolException("堆垛机不在线");
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }

            }
        }
        return false;