#改造

cpT

2025-07-01 52a57d1a6cd61009304656db35e50d4b9dbbda03

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

@@ -303,6 +303,7 @@
                }
            }
            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)
@@ -330,6 +331,7 @@
            }
            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);
    }
@@ -548,19 +550,54 @@
//        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();
        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(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")
@@ -623,6 +660,7 @@
                }
                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
@@ -780,6 +818,8 @@
                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 (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(4, command))) {
@@ -814,6 +854,8 @@
                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 (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {