*

lsh

2025-11-25 c289447144f4599fe2e13d342c28a3c4d49f750f

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

@@ -10,12 +10,10 @@
import com.zy.asrs.domain.param.CrnDemoParam;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnListVo;
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.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
@@ -35,6 +33,7 @@
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
@@ -248,6 +247,8 @@
        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
        boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString());
        command.setTraySize(locSts);
        return crnControl(command)?R.ok():R.error();
    }

@@ -265,6 +266,8 @@
        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
        boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString());
        command.setTraySize(locSts);
        return crnControl(command)?R.ok():R.error();
    }

@@ -286,7 +289,11 @@
                .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
        LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
                .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        if (sourceLoc.getLocType1() != loc.getLocType1()){
            return R.error("库位类型不一致");
        }
        command.setTraySize(loc.getLocType1() == 2);
//        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        return crnControl(command)?R.ok():R.error();
    }

@@ -376,6 +383,8 @@
        return crnControl(command)?R.ok():R.error();
    }



//    @ManagerAuth(memo = "暂停")
//    @PostMapping("/operator/pause")
//    public R crnPause(CrnOperatorParam param){
@@ -394,8 +403,18 @@
        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");
        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.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 = "手动复位")
@@ -491,5 +510,97 @@
        }
    }

    private boolean isLocSts(String row,String bay,String lev){
        String loc = String.format("%2d",row)+String.format("%3d",bay)+String.format("%2d",lev);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", loc));
        if (Cools.isEmpty(locMast)){
            return false;
        }
        if (locMast.getLocType1() == 2){
            return true;
        }
        return false;
    }

    @GetMapping("/crn/list/auth")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnList(){
        List<CrnListVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
            // 表格行
            CrnListVo vo = new CrnListVo();
            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, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
//                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getLocNo());    //  源站
                    vo.setStaNo(wrkMast.getStaNo().toString());   //  目标站
//                    vo.setSourceLocNo(taskWrk.getTargetPoint());    //  源库位
//                    vo.setLocNo(taskWrk.getLocNo());    //  目标库位
                }
            } else {
                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.getCrnNo());  //
            vo.setErrorCrn("-");  //
            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)
            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
            vo.setLev(crnProtocol.getLevel());  //  层

            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.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.setHpMk(basCrnp.getHpMk());
//            vo.setTaskComplete(crnThread.getResetFlag()? "任务完成下发等待":"-");
            vo.setTaskComplete("-");
            vo.setDemo(SystemProperties.WCS_RUNNING_STATUS_DEMO.get()? "开启":"关闭");
            vo.setDemoValue(SystemProperties.WCS_RUNNING_STATUS_DEMO_VALUE);
            if (vo.getHpMk().equals("N")){
                vo.setDemo("未开启");
                vo.setDemoValue(0);
            }
        }
        return R.ok().add(list);
    }


}