*

lsh

2025-01-15 7b79b23a277e68669476dc970ebf1139dfc896fe

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

@@ -1,5 +1,6 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSONObject;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.R;
@@ -7,14 +8,11 @@
import com.zy.asrs.domain.dto.WorkChartAxis;
import com.zy.asrs.domain.vo.LocChartPie;
import com.zy.asrs.mapper.ReportQueryMapper;
import com.zy.common.model.MatDto;
import com.zy.common.service.CommonService;
import com.zy.core.CrnThread;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LedSlave;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.LedThread;
import org.springframework.beans.factory.annotation.Autowired;
@@ -158,7 +156,7 @@
            if (slave.getStaArr().contains(ledId)) {
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, slave.getId());
                if (null != ledThread) {
                    errorMsg = ledThread.getErrorMsg().toString();
                    errorMsg = JSONObject.toJSONString(ledThread.getErrorMsg());
                }
            }
        }
@@ -309,39 +307,6 @@
        Double yDistance = 0.0D;
        Double xDuration = 0.0D;
        Double yDuration = 0.0D;

        if (null != crnId) {
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnId);
            if (crnThread != null) {
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol != null) {
                    xSpeed = Double.valueOf(crnProtocol.getXSpeed());
                    ySpeed = Double.valueOf(crnProtocol.getYSpeed());
                    zSpeed = Double.valueOf(crnProtocol.getZSpeed());
                    switch (crnProtocol.getForkPos()) {
                        case 0:
                            forkPos = 1;
                            break;
                        case 1:
                            forkPos = 2;
                            break;
                        case 2:
                            forkPos = 0;
                            break;
                        default:
                            forkPos = 1;
                            break;
                    }
                    xDistance = Double.valueOf(crnProtocol.getXDistance());
                    yDistance = Double.valueOf(crnProtocol.getYDistance());
                    xDuration = Double.valueOf(crnProtocol.getXDuration());
                    yDuration = Double.valueOf(crnProtocol.getYDuration());
                }
            }
        }


//        ledContent = "ask的模块萨满大算了萨满大了\n 是窘境到埃及嗲家嗲\n 萨达姆打开萨满大凯撒麦当劳萨满大老师";

        return R.ok(
                Cools.add("xSpeed", Arith.multiplys(1, Math.abs(xSpeed), 1)) // 行走速度