#堆垛机版本

luxiaotao1123

2020-09-29 acc22eabcb1296bf7a3072b36ebd66d136c9a466

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

@@ -1,8 +1,8 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
@@ -10,11 +10,16 @@
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnError;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnLiftPosType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -23,7 +28,7 @@
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.CrnThread;
import com.zy.core.CrnThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
@@ -32,7 +37,6 @@

import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.atomic.AtomicInteger;

/**
 * 堆垛机接口
@@ -42,11 +46,16 @@
@RestController
@RequestMapping("/crn")
public class CrnController {
    private static AtomicInteger integer = new AtomicInteger();

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private BasCrnpService basCrnpService;


    @ManagerAuth(memo = "进行中的命令")
    @PostMapping("/command/ongoing")
@@ -79,21 +88,21 @@
    @ManagerAuth(memo = "堆垛机信息表")
    public R crnStateTable(){
        List<CrnStateTableVo> list = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
            // 表格行
            CrnStateTableVo vo = new CrnStateTableVo();
            vo.setCrnNo(basCrnp.getCrnNo());   //  堆垛机号
            list.add(vo);
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                log.error("{}号堆垛机连接失败", crn.getId());
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                log.error("{}号堆垛机连接失败", crn.getId());
                continue;
            }
            // 表格行
            CrnStateTableVo vo = new CrnStateTableVo();
            vo.setCrnNo(crn.getId());   //  堆垛机号
            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
@@ -101,16 +110,19 @@
                    vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                }
            } else {
                vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc());   //  模式状态
                vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
            vo.setWarn(""); //  报警 todo
            vo.setLoading(crnProtocol.getLoaded()==1?"Y":"N");  //  有物
            vo.setLoading(crnProtocol.getLoaded()==1?"有物":"无物");  //  有物
            vo.setBay(crnProtocol.getBay());    //  列
            vo.setLev(crnProtocol.getLevel());  //  层
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    //  货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);   //  载货台位置
            list.add(vo);
            vo.setXOrigin(crnProtocol.getBay()==1?"是":"否");     //  走行原点
            vo.setYOrigin(crnProtocol.getLevel()==1?"是":"否");     // 升降原点
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setXLocation(crnProtocol.getWalkPos() == 1?"是":"否");      // 走行定位
            vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"否":"是");      // 升降定位
            vo.setStop(crnProtocol.getCrnError1().controlStop||crnProtocol.getCrnError1().mainStop||crnProtocol.getCrnError1().remoteStop?"是":"否");       //  急停
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));  //  异常码
        }
        return R.ok().add(list);
    }
@@ -119,9 +131,14 @@
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(){
        List<CrnMsgTableVo> list = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
            // 表格行
            CrnMsgTableVo vo = new CrnMsgTableVo();
            vo.setCrnNo(basCrnp.getCrnNo());   //  堆垛机号
            list.add(vo);
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
@@ -129,10 +146,12 @@
            if (crnProtocol == null) {
                continue;
            }
            // 表格行
            CrnMsgTableVo vo = new CrnMsgTableVo();
            vo.setCrnNo(crn.getId());   //  堆垛机号

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
            if (null != crnError) {
                vo.setError(crnError.getErrName());
            }
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
@@ -143,10 +162,15 @@
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc());   //  模式状态
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            list.add(vo);

            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)
            vo.setXdistance(crnProtocol.getXDistance());  //  走行距离(Km)
            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)
        }
        return R.ok().add(list);
    }
@@ -157,11 +181,10 @@
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while( (s = OutputQueue.CRN.poll()) != null && i <=10) {
        while((s = OutputQueue.CRN.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
//        str = new StringBuilder("\n" + new Date().toLocaleString() + "【2020-5-29 13:14:22】扫描plcA 目标站--273283723728327636432343234323422732837237283276364323432343234227328372372832763643234323432342");
        return R.ok().add(str.toString());
    }

@@ -173,147 +196,42 @@
    @ManagerAuth(memo = "入库")
    @PostMapping("/operator/put")
    public R crnPut(CrnOperatorParam param){
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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.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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
        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.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
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/operator/take")
    public R crnTake(CrnOperatorParam param){
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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.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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
        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.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
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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.LOC_MOVE); // 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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
        return R.ok("站到站成功");
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        return R.ok("坐标移动成功");
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -325,31 +243,158 @@
        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
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
        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.SITE_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceStaNo());     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 1);     // 源库位层
        command.setDestinationPosX(param.getStaNo());     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
        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.GO_ORIGIN); // 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 = "反原点")
    @PostMapping("/operator/reverseOrigin")
    public R reverseOrigin(CrnOperatorParam param){
        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.GO_ORIGIN); // 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) 34);     // 目标库位列
        command.setDestinationPosZ((short) 5);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        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.OFFSET_MOVE); // 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
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        return R.ok("任务完成");
        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();
    }

    @ManagerAuth(memo = "暂停")
    @PostMapping("/operator/pause")
    public R crnPause(CrnOperatorParam param){
        return R.ok("暂停成功");
    }

    @ManagerAuth(memo = "启动")
    @PostMapping("/operator/boot")
    public R crnBoot(CrnOperatorParam param){
        return R.ok("启动成功");
    }
//    @ManagerAuth(memo = "暂停")
//    @PostMapping("/operator/pause")
//    public R crnPause(CrnOperatorParam param){
//        return R.ok("暂停成功");
//    }
//
//    @ManagerAuth(memo = "启动")
//    @PostMapping("/operator/boot")
//    public R crnBoot(CrnOperatorParam param){
//        return R.ok("启动成功");
//    }

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
        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");
    }

    @ManagerAuth(memo = "手动复位")
    @PostMapping("/operator/handleReset")
    public R handleReset(CrnOperatorParam param) throws Exception {
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        // 获取堆垛机缓存
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    throw new CoolException("堆垛机不在线");
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                // 只有出现指定异常才进行复位
                if (crnProtocol.getCrnError3().leftTakeNoneErr
                        || crnProtocol.getCrnError3().rightTakeNoneErr
                        || crnProtocol.getCrnError3().leftTakeThenLoadErr
                        || crnProtocol.getCrnError3().rightTakeThenLoadErr) {
                    CrnCommand command = new CrnCommand();
                    command.setCrnNo(param.getCrnNo()); // 堆垛机编号
                    command.setAckFinish((short) 1);  // 任务完成确认位
                    command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                    // 延时发送
                    Thread.sleep(3000L);
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                }
            }
        }

        return R.error();
    }

    private boolean crnControl(CrnCommand command){
@@ -368,18 +413,44 @@
                    throw new CoolException("堆垛机不在线");
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else {
                    throw new CoolException("堆垛机不在空闲状态");
                }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }
            }
        }
        return false;
    }

    private void staNoProcess(CrnOperatorParam param, CrnCommand command){
        if (param.getSourceStaNo()!=null) {
            if (param.getSourceStaNo() == 5) {
                command.setSourcePosX((short) 2);     // 源库位排
                command.setSourcePosY((short) 0);     // 源库位列
                command.setSourcePosZ((short) 1);     // 源库位层
            } else if (param.getSourceStaNo() == 6) {
                command.setSourcePosX((short) 1);     // 源库位排
                command.setSourcePosY((short) 0);     // 源库位列
                command.setSourcePosZ((short) 1);     // 源库位层
            }
        }
        if (param.getStaNo()!=null) {
            if (param.getStaNo() == 5) {
                command.setDestinationPosX((short) 2);     // 目标库位排
                command.setDestinationPosY((short) 0);     // 目标库位列
                command.setDestinationPosZ((short) 1);     // 目标库位层
            } else if (param.getStaNo() == 6) {
                command.setDestinationPosX((short) 1);     // 目标库位排
                command.setDestinationPosY((short) 0);     // 目标库位列
                command.setDestinationPosZ((short) 1);     // 目标库位层
            }
        }
    }


}