#

yxFwq

2025-01-14 5083cee752a524dc48a899d55a5d53dd233c8b84

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

@@ -120,6 +120,10 @@
            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
            if (!Cools.isEmpty(crnProtocol.getCrnNo()) && crnProtocol.getCrnNo()>=3 && crnProtocol.getCrnNo()<=5){
                vo.setStatus(crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE)? crnProtocol.getStatusTypeTwo().desc:crnProtocol.getStatusType().desc);     //  状态
                vo.setLoading(crnProtocol.getLoaded()==0? crnProtocol.getLoadedTwo()==1?"有物":"无物" : "有物");  //  有物
            }
            vo.setBay(crnProtocol.getBay());    //  列
            vo.setLev(crnProtocol.getLevel());  //  层

@@ -394,8 +398,18 @@
        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 +434,7 @@
                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))) {