#

Junjie

2025-05-24 7f76ee82f932af805ed8cc5f12d9a9c02da00077

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

@@ -5,6 +5,7 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.RgvStatusType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.param.RgvOperatorParam;
import com.zy.asrs.domain.vo.RgvMsgTableVo;
import com.zy.asrs.domain.vo.RgvStateTableVo;
@@ -59,6 +60,14 @@
    @Autowired
    private LocMastService locMastService;

    @ManagerAuth(memo = "解锁小车")
    @PostMapping("/lock")
    public R lock(CrnOperatorParam param){
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, param.getRgvNo());
        rgvThread.setPakMk(true);
        return R.ok();
    }

    @PostMapping("/table/rgv/state")
    @ManagerAuth(memo = "RGV信息表")
    public R rgvStateTable(){
@@ -84,10 +93,12 @@
            vo.setStatus1(rgvProtocol.getStatusType1().desc);  // 工位1状态
            vo.setLoading1(rgvProtocol.getLoaded1()==1?"有物":"无物");  // 工位1有物
            vo.setRgvPos(rgvProtocol.getRgvPos());
            vo.setWalkPos(rgvProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWorkNo2(rgvProtocol.getTaskNo2());  //  工位2任务号
            vo.setStatus2(rgvProtocol.getStatusType2().desc);  // 工位2状态
            vo.setLoading2(rgvProtocol.getLoaded2()==1?"有物":"无物");  // 工位2有物
            vo.setRgvPos1(rgvProtocol.getRgvPosI());
            vo.setWalkPos(rgvProtocol.getWalkPos()==1?"在定位":"不在定位");
            vo.setPakMk(rgvThread.isPakMk()?"无锁":"锁定");
//            vo.setWorkNo2(rgvProtocol.getTaskNo2());  //  工位2任务号
//            vo.setStatus2(rgvProtocol.getStatusType2().desc);  // 工位2状态
//            vo.setLoading2(rgvProtocol.getLoaded2()==1?"有物":"无物");  // 工位2有物

            vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
            if (rgvProtocol.getAlarm() > 0) {
@@ -165,11 +176,11 @@
        command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
//        command.setAckFinish2((short) 0);  // 任务完成确认位
//        command.setTaskNo2((short) 0); // 工作号
//        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
@@ -214,6 +225,8 @@

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



    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
@@ -284,7 +297,7 @@
                Command.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, Command))) {
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, Command))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
@@ -310,7 +323,7 @@
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) {
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");