自动化立体仓库 - WCS系统
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#
Junjie
5 天以前 4c88c0606bb333ac1ad4c1ad536a848f7d27fdb7 
 src/main/java/com/zy/asrs/controller/CrnController.java


@@ -18,9 +18,8 @@


import com.zy.asrs.service.BasCrnpService;


import com.zy.asrs.service.LocMastService;


import com.zy.asrs.service.WrkMastService;


import com.zy.asrs.service.impl.MainServiceImpl;


import com.zy.asrs.utils.CommandUtils;


import com.zy.asrs.utils.VersionUtils;


import com.zy.asrs.utils.CrnOperaUtils;


import com.zy.core.CrnThread;


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


@@ -39,7 +38,6 @@


import org.springframework.beans.factory.annotation.Value;


import org.springframework.web.bind.annotation.*;




import java.io.IOException;


import java.util.ArrayList;


import java.util.HashMap;


import java.util.List;


@@ -57,9 +55,6 @@


    private String wmsUrl;


    @Value("${wms.movePath}")


    private String movePath;








    @Autowired


    private SlaveProperties slaveProperties;


    @Autowired


@@ -69,9 +64,9 @@


    @Autowired


    private BasCrnpService basCrnpService;


    @Autowired


    private MainServiceImpl mainService;


    @Autowired


    private LocMastService locMastService;


    @Autowired


    private CrnOperaUtils crnOperaUtils;






    @ManagerAuth(memo = "进行中的命令")


@@ -380,19 +375,10 @@


//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {


//            return R.error("wcs系统状态为开启");


//        }


        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.PAKIN); // 任务模式


        command.setSourcePosX(param.getSourceRow());     // 源库位排


        command.setSourcePosY(param.getSourceBay());     // 源库位列


        command.setSourcePosZ(param.getSourceLev());     // 源库位层


        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


        command.setCommand((short)1);


        return crnControl(command)?R.ok():R.error();


//        command.setCommand((short)1);




        boolean result = crnOperaUtils.crnPut(param);


        return result ? R.ok() : R.error();


    }




    @ManagerAuth(memo = "出库")


@@ -402,19 +388,10 @@


//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {


//            return R.error("wcs系统状态为开启");


//        }


        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.PAKIN); // 任务模式


        command.setSourcePosX(param.getSourceRow());     // 源库位排


        command.setSourcePosY(param.getSourceBay());     // 源库位列


        command.setSourcePosZ(param.getSourceLev());     // 源库位层


        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


        command.setCommand((short)1);


        return crnControl(command)?R.ok():R.error();


//        command.setCommand((short)1);




        boolean result = crnOperaUtils.crnTake(param);


        return result ? R.ok() : R.error();


    }




    @ManagerAuth(memo = "库位转移")


@@ -424,24 +401,10 @@


//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {


//            return R.error("wcs系统状态为开启");


//        }


        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.LOC_MOVE); // 任务模式


        command.setSourcePosZ(param.getSourceRow());     // 源库位排


        command.setSourcePosX(param.getSourceBay());     // 源库位列


        command.setSourcePosY(param.getSourceLev());     // 源库位层


        command.setDestinationPosZ(param.getRow());     // 目标库位排


        command.setDestinationPosX(param.getBay());     // 目标库位列


        command.setDestinationPosY(param.getLev());     // 目标库位层


        command.setCommand((short)1);


        LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())


                .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);


        return crnControl(command)?R.ok():R.error();


//        command.setCommand((short)1);




        boolean result = crnOperaUtils.crnStockMove(param);


        return result ? R.ok() : R.error();


    }




    @ManagerAuth(memo = "站到站")


@@ -451,18 +414,9 @@


//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {


//            return R.error("wcs系统状态为开启");


//        }


        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.LOC_MOVE); // 任务模式


        command.setSourcePosX(param.getSourceStaNo());     // 源库位排


        command.setSourcePosY((short) 0);     // 源库位列


        command.setSourcePosZ((short) 1);     // 源库位层


        command.setDestinationPosX(param.getStaNo());     // 目标库位排


        command.setDestinationPosY((short) 0);     // 目标库位列


        command.setDestinationPosZ((short) 1);     // 目标库位层


        return crnControl(command)?R.ok():R.error();




        boolean result = crnOperaUtils.crnSiteMove(param);


        return result ? R.ok() : R.error();


    }




    @ManagerAuth(memo = "回原点")


@@ -472,18 +426,9 @@


//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {


//            return R.error("wcs系统状态为开启");


//        }


        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.GO_ORIGIN); // 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();




        boolean result = crnOperaUtils.crnBacOrigin(param);


        return result ? R.ok() : R.error();


    }




    @ManagerAuth(memo = "反原点")


@@ -493,18 +438,9 @@


//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {


//            return R.error("wcs系统状态为开启");


//        }


        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.GO_ORIGIN); // 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) 22);     // 目标库位列


        command.setDestinationPosZ((short) 1);     // 目标库位层


        return crnControl(command)?R.ok():R.error();




        boolean result = crnOperaUtils.reverseOrigin(param);


        return result ? R.ok() : R.error();


    }




//    @ManagerAuth(memo = "坐标移动")


@@ -532,19 +468,8 @@


//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {


//            return R.error("wcs系统状态为开启");


//        }


        CrnCommand command = new CrnCommand();


        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


        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


        command.setCommand((short)0);


        return crnControl(command)?R.ok():R.error();


        boolean result = crnOperaUtils.crnTaskComplete(param.getCrnNo());


        return result ? R.ok() : R.error();


    }




//    @ManagerAuth(memo = "暂停")


@@ -569,18 +494,9 @@


        if (param.getCrnNo() == null) {


            throw new CoolException("请选择堆垛机");


        }


        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();




        boolean result = crnOperaUtils.crnClearCommand(param);


        return result ? R.ok() : R.error();


    }




    @ManagerAuth(memo = "手动复位")