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1

2025-05-09 3ceabb21c1fd2b7fbdbc5c77c23f26152ec7f9aa

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

@@ -51,12 +51,36 @@
        return R.ok().add(res);
    }

    @PostMapping("/task/cache/all")
    @ManagerAuth(memo = "全部信息")
    public R allTaskCache(@RequestParam(defaultValue = "0")  Integer rgvNo){
        List<Map<String, Object>> res = new ArrayList<>();
        try{
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            for (TaskProtocol taskProtocol : allTaskProtocol.values()){
                Map<String, Object> map2 = new HashMap<>();
                map2.put("rgvNo", rgvNo);
                map2.put("taskNo", taskProtocol.getTaskNo());
                map2.put("targetPosition", taskProtocol.getTargetPosition());
                map2.put("isRunning", taskProtocol.getIsRunning());
                map2.put("taskStatus", taskProtocol.getTaskStatus());
                map2.put("direction", taskProtocol.isDirection());
                res.add(map2);
            }
        } catch (Exception e){
//            return R.error("异常"+e.getMessage());
        }
        return R.ok().add(res);
    }

    @PostMapping("/run/walk")//Take  Put  Walk
    @ManagerAuth(memo = "小车行走")
    public R rgvRunWalk(@RequestParam Integer rgvNo,
                            @RequestParam Integer taskNo,
                            @RequestParam Integer rgvStaNo,
                            @RequestParam Long rgvPosDestination
    public R rgvRunWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                            @RequestParam(defaultValue = "0")  Integer taskNo,
                            @RequestParam(defaultValue = "0")  Integer rgvStaNo,
                            @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
@@ -101,10 +125,10 @@

    @PostMapping("/run/put")//Take  Put  Walk
    @ManagerAuth(memo = "小车放货")
    public R rgvPutWalk(@RequestParam Integer rgvNo,
                        @RequestParam Integer taskNo,
                        @RequestParam Integer rgvStaNo,
                        @RequestParam Long rgvPosDestination
    public R rgvPutWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                        @RequestParam(defaultValue = "0")  Integer taskNo,
                        @RequestParam(defaultValue = "0")  Integer rgvStaNo,
                        @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
@@ -145,10 +169,10 @@

    @PostMapping("/run/take")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeWalk(@RequestParam Integer rgvNo,
                        @RequestParam Integer taskNo,
                        @RequestParam Integer rgvStaNo,
                        @RequestParam Long rgvPosDestination
    public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
                        @RequestParam(defaultValue = "0") Integer taskNo,
                        @RequestParam(defaultValue = "0") Integer rgvStaNo,
                        @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");