#改造

cpT

2025-07-01 52a57d1a6cd61009304656db35e50d4b9dbbda03

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

@@ -19,6 +19,7 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.service.impl.TaskWrkServiceImpl;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
@@ -53,10 +54,10 @@
@RestController
public class CrnController {

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.movePath}")
    private String movePath;
//    @Value("${wms.url}")
//    private String wmsUrl;
//    @Value("${wms.movePath}")
//    private String movePath;



@@ -72,6 +73,8 @@
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private TaskWrkServiceImpl taskWrkService;


    @ManagerAuth(memo = "进行中的命令")
@@ -130,7 +133,7 @@
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
@@ -165,9 +168,9 @@
        vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
        vo.setLiftPos(crnProtocol.getLiftPosType().desc);
        vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
        vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
        if (crnProtocol.getAlarm1() > 0) {
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
        vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
        if (crnProtocol.getAlarm() > 0) {
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
            vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
        }
        return R.ok().add(vo);
@@ -195,13 +198,12 @@

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
                if (taskWrk != null) {
//                    vo.setWrkSts(taskWrk.getWrkSts$());   // 工作状态
//                    vo.setIoType(taskWrk.getIoType$());   //  入出库类型
                    vo.setSourceStaNo(taskWrk.getStartPoint());
                    vo.setStaNo(taskWrk.getTargetPoint());
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
@@ -236,13 +238,18 @@

        vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
        if (crnProtocol.getTaskNo()>0) {
            WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
            if (wrkMast != null) {
                vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                vo.setLocNo(wrkMast.getLocNo());    //  目标库位
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
            if (taskWrk != null) {
//                vo.setWrkSts(taskWrk.getWrkSts$());   // 工作状态
//                vo.setIoType(taskWrk.getIoType$());   //  入出库类型
                vo.setSourceStaNo(taskWrk.getStartPoint());
                vo.setStaNo(taskWrk.getTargetPoint());
//            if (wrkMast != null) {
//                vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
//                vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
//                vo.setStaNo(wrkMast.getStaNo$());   //  目标站
//                vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
//                vo.setLocNo(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
@@ -279,17 +286,24 @@

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
//                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (taskWrk != null) {
                    vo.setDeviceStatus(CrnStatusType.process(taskWrk.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(taskWrk.getStartPoint());    //  源站
                    vo.setStaNo(taskWrk.getTargetPoint());   //  目标站
//                    vo.setSourceLocNo(taskWrk.getTargetPoint());    //  源库位
//                    vo.setLocNo(taskWrk.getLocNo());    //  目标库位
                }
            } else {
                vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
                if (Cools.isEmpty(crnProtocol.modeType)){
                    vo.setDeviceStatus(CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
                } else {
                    vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
                }
            }
            vo.setLaneNo(crnProtocol.getLaneNo());  //
            vo.setErrorCrn(crnProtocol.getErrCrn());  //
            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)
@@ -297,8 +311,11 @@
            vo.setYdistance(crnProtocol.getYDistance());  //  升降距离(Km)
            vo.setXduration(crnProtocol.getXDuration());    //  走行时长(H)
            vo.setYduration(crnProtocol.getYDuration());    //  升降时长(H)

            vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            if (Cools.isEmpty(crnProtocol.modeType)){
                vo.setStatusType(CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            } else {
                vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            }
            vo.setWrkStatus(crnProtocol.getStatusType().id);     //  任务状态
            vo.setLoading((crnProtocol.getLoaded() != null && crnProtocol.getLoaded() == 1) ? "有物" : "无物");  //  有物
            vo.setBay(crnProtocol.getBay());    //  列
@@ -307,13 +324,14 @@
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
            if (crnProtocol.getAlarm1() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
            }
            vo.setInEnable(basCrnp.getInEnable());
            vo.setOutEnable(basCrnp.getOutEnable());
            vo.setTaskComplete(crnThread.getResetFlag()? "任务完成下发等待":"-");
        }
        return R.ok().add(list);
    }
@@ -376,21 +394,21 @@
    @ManagerAuth(memo = "入库")
    @PostMapping("/crn/operator/put")
    public R crnPut(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        // 系统运行状态判断
//        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.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.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();
    }
@@ -399,20 +417,21 @@
    @PostMapping("/crn/operator/take")
    public R crnTake(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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.PAKOUT); // 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.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();
    }

@@ -420,9 +439,9 @@
    @PostMapping("/crn/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -447,9 +466,9 @@
    @PostMapping("/crn/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -468,9 +487,9 @@
    @PostMapping("/crn/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -489,9 +508,9 @@
    @PostMapping("/crn/operator/reverseOrigin")
    public R reverseOrigin(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -528,21 +547,57 @@
    @PostMapping("/crn/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        if (Cools.isEmpty(param.getCrnNo()) || param.getCrnNo() == 0) {
            return R.error("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) 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
        return crnControl(command)?R.ok():R.error();
        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, param.getCrnNo());
        crnThread.setResetFlag(true);
        return R.ok();
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(); // 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();
    }

    @ManagerAuth(memo = "任务完成指令清除")
    @PostMapping("/crn/operator/taskCompleteClearCommand")
    public R crnTaskCompleteClearCommand(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        // 系统运行状态判断
        if (Cools.isEmpty(param.getCrnNo()) || param.getCrnNo() == 0) {
            return R.error("请选择堆垛机");
        }
        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, param.getCrnNo());
        crnThread.setResetFlag(false);
        return R.ok();
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(); // 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();
    }

//    @ManagerAuth(memo = "暂停")
@@ -561,9 +616,9 @@
    @PostMapping("/crn/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -585,9 +640,9 @@
    @PostMapping("/crn/operator/handleReset")
    public R handleReset(CrnOperatorParam param) throws Exception {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -605,12 +660,13 @@
                }
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道号
                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 (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand), false)) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(5, crnCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
@@ -627,9 +683,9 @@
    @PostMapping("/crn/operator/auto")
    public R crnAuto(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
@@ -642,9 +698,9 @@
    @PostMapping("/crn/operator/semiAutomatic")
    public R crnsemiAutomatic(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
@@ -657,9 +713,9 @@
    @PostMapping("/crn/operator/hand")
    public R onlineWrk1(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
@@ -672,9 +728,9 @@
    @PostMapping("/crn/operator/onlineWrk1")
    public R onlineWrk2(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
@@ -687,9 +743,9 @@
    @PostMapping("/crn/operator/onlineWrk2")
    public R onlineWrk3(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
@@ -702,9 +758,9 @@
    @PostMapping("/crn/operator/onlineWrk3")
    public R onlineWrk4(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
@@ -717,14 +773,30 @@
    @PostMapping("/crn/operator/onlineWrk4")
    public R crnHand(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk4((short)1);

        return crnControl2(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "复位")
    @PostMapping("/crn/operator/reset")
    public R crnReset(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setReset((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
@@ -746,9 +818,11 @@
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                command.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道号

                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(4, command), false)) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(4, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
@@ -780,9 +854,11 @@
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                command.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道号

                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(2, command), false)) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");