#

Junjie

2025-05-15 cadb481188032daabaabbda2259b98afead2c41b

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

@@ -16,11 +16,9 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.service.TaskWrkService;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.asrs.utils.CrnOperaUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -36,10 +34,8 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;

import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -53,25 +49,16 @@
@RestController
public class CrnController {

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.movePath}")
    private String movePath;



    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private MainServiceImpl mainService;
    private CrnOperaUtils crnOperaUtils;
    @Autowired
    private LocMastService locMastService;
    private TaskWrkService taskWrkService;


    @ManagerAuth(memo = "进行中的命令")
@@ -195,13 +182,13 @@

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
                if (taskWrk != null) {
                    vo.setStatus(CrnStatusType.process(taskWrk.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(null);    //  源站
                    vo.setStaNo(null);   //  目标站
                    vo.setSourceLocNo(taskWrk.getStartPoint());    //  源库位
                    vo.setLocNo(taskWrk.getTargetPoint());    //  目标库位
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
@@ -236,13 +223,13 @@

        vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
        if (crnProtocol.getTaskNo()>0) {
            WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
            if (wrkMast != null) {
                vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                vo.setLocNo(wrkMast.getLocNo());    //  目标库位
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
            if (taskWrk != null) {
                vo.setStatus(CrnStatusType.process(taskWrk.getIoType()).getDesc());   //  模式状态
                vo.setSourceStaNo(null);    //  源站
                vo.setStaNo(null);   //  目标站
                vo.setSourceLocNo(taskWrk.getStartPoint());    //  源库位
                vo.setLocNo(taskWrk.getTargetPoint());    //  目标库位
            }
        } else {
            vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
@@ -279,13 +266,13 @@

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
                if (taskWrk != null) {
                    vo.setDeviceStatus(CrnStatusType.process(taskWrk.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(null);    //  源站
                    vo.setStaNo(null);   //  目标站
                    vo.setSourceLocNo(taskWrk.getStartPoint());    //  源库位
                    vo.setLocNo(taskWrk.getTargetPoint());    //  目标库位
                }
            } else {
                vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
@@ -380,19 +367,10 @@
//        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) 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
        command.setCommand((short)1);
        return crnControl(command)?R.ok():R.error();
//        command.setCommand((short)1);

        boolean result = crnOperaUtils.crnPut(param);
        return result ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "出库")
@@ -402,19 +380,10 @@
//        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) 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
        command.setCommand((short)1);
        return crnControl(command)?R.ok():R.error();
//        command.setCommand((short)1);

        boolean result = crnOperaUtils.crnTake(param);
        return result ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "库位转移")
@@ -424,24 +393,10 @@
//        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) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
        command.setSourcePosZ(param.getSourceRow());     // 源库位排
        command.setSourcePosX(param.getSourceBay());     // 源库位列
        command.setSourcePosY(param.getSourceLev());     // 源库位层
        command.setDestinationPosZ(param.getRow());     // 目标库位排
        command.setDestinationPosX(param.getBay());     // 目标库位列
        command.setDestinationPosY(param.getLev());     // 目标库位层
        command.setCommand((short)1);
        LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())
                .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);
        return crnControl(command)?R.ok():R.error();
//        command.setCommand((short)1);

        boolean result = crnOperaUtils.crnStockMove(param);
        return result ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "站到站")
@@ -451,18 +406,9 @@
//        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) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.LOC_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
        return crnControl(command)?R.ok():R.error();

        boolean result = crnOperaUtils.crnSiteMove(param);
        return result ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "回原点")
@@ -472,18 +418,9 @@
//        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) 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();

        boolean result = crnOperaUtils.crnBacOrigin(param);
        return result ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "反原点")
@@ -493,18 +430,9 @@
//        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) 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) 22);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        return crnControl(command)?R.ok():R.error();

        boolean result = crnOperaUtils.reverseOrigin(param);
        return result ? R.ok() : R.error();
    }

//    @ManagerAuth(memo = "坐标移动")
@@ -532,19 +460,8 @@
//        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();
        boolean result = crnOperaUtils.crnTaskComplete(param.getCrnNo());
        return result ? R.ok() : R.error();
    }

//    @ManagerAuth(memo = "暂停")
@@ -569,18 +486,9 @@
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        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();

        boolean result = crnOperaUtils.crnClearCommand(param);
        return result ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "手动复位")