接口调用日志记录

pang.jiabao

8 天以前 cec9784afbf47044e8eae1d1d09ca6e6a492787a

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

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

import com.alibaba.excel.EasyExcel;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
@@ -14,12 +15,14 @@
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.*;
import com.zy.asrs.importexcle.ImportCrnErrDto;
import com.zy.asrs.importexcle.ImportCrnErrListener;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.TaskWrkMapper;
import com.zy.asrs.service.BasCrnErrorService;
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.utils.CommandUtils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
@@ -36,9 +39,11 @@
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.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;
import org.springframework.web.multipart.MultipartFile;

import javax.annotation.Resource;
import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
@@ -53,12 +58,6 @@
@RestController
public class CrnController {

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



    @Autowired
    private SlaveProperties slaveProperties;
@@ -69,14 +68,36 @@
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;

    @Resource
    private TaskWrkMapper taskWrkMapper;

    @Resource
    private BasCrnErrorService basCrnErrorService;

    @PostMapping("/importCrnErr")
    @ManagerAuth(memo = "导入堆垛机异常表")
    public R importCrnErr(@RequestParam("file") MultipartFile multipartFile) {
        try {
            importCrnErrExec(multipartFile);
        } catch (Exception e) {
            e.printStackTrace();
            return R.error(e.getMessage());
        }
        return R.ok("导入成功");
    }

    @Transactional(rollbackFor = Exception.class)
    public void importCrnErrExec(MultipartFile multipartFile) throws IOException {
        EasyExcel.read(multipartFile.getInputStream(), ImportCrnErrDto.class,
                new ImportCrnErrListener(basCrnErrorService)).sheet().doReadSync();
    }


    @ManagerAuth(memo = "进行中的命令")
    @PostMapping("/crn/command/ongoing")
    public R ongoingCommand(){
    public R ongoingCommand() {
        List<CommandLogVo> list = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            CommandLogVo vo = new CommandLogVo();
@@ -95,7 +116,7 @@
            vo.setStatus(1);    //  状态
            Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
            if (task != null) {
                vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
                vo.setCommand(JSON.toJSONString((CrnCommand) task.getData()));
            }
        }
        return R.ok().add(list);
@@ -103,7 +124,7 @@

    @PostMapping("/crn/table/crn/state")
    @ManagerAuth(memo = "堆垛机信息表")
    public R crnStateTable(){
    public R crnStateTable() {
        List<CrnStateTableVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
@@ -129,11 +150,11 @@

            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.setWalkPos(crnProtocol.getWalkPos() == 1 ? "不在定位" : "在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
                vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
            }
        }
        return R.ok().add(list);
@@ -141,7 +162,7 @@

    @PostMapping("/crn/table/crn/{id}/state")
    @ManagerAuth(memo = "堆垛机信息表")
    public R crnStateTable(@PathVariable("id") Integer id){
    public R crnStateTable(@PathVariable("id") Integer id) {
        BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
        // 表格行
        CrnStateTableVo vo = new CrnStateTableVo();
@@ -164,18 +185,18 @@

        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.setWalkPos(crnProtocol.getWalkPos() == 1 ? "不在定位" : "在定位");
        vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
        if (crnProtocol.getAlarm1() > 0) {
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
            vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
            vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
        }
        return R.ok().add(vo);
    }

    @PostMapping("/crn/table/crn/msg")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(){
    public R crnMsgTable() {
        List<CrnMsgTableVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
@@ -194,17 +215,18 @@
            }

            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
            if (crnProtocol.getTaskNo() > 0) {
//                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
                if (taskWrk != null) {
                    vo.setStatus(CrnStatusType.process(taskWrk.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(taskWrk.getStartPoint());    //  源站
                    vo.setStaNo(taskWrk.getTargetPoint());   //  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
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
@@ -219,7 +241,7 @@

    @PostMapping("/crn/table/crn/{id}/msg")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(@PathVariable("id") Integer id){
    public R crnMsgTable(@PathVariable("id") Integer id) {
        BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
        // 表格行
        CrnMsgTableVo vo = new CrnMsgTableVo();
@@ -235,7 +257,7 @@
        }

        vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
        if (crnProtocol.getTaskNo()>0) {
        if (crnProtocol.getTaskNo() > 0) {
            WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
            if (wrkMast != null) {
                vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
@@ -245,7 +267,7 @@
                vo.setLocNo(wrkMast.getLocNo());    //  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
            vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
        }
        vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
        vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
@@ -259,7 +281,7 @@

    @GetMapping("/crn/list/auth")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnList(){
    public R crnList() {
        List<CrnListVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
@@ -278,7 +300,7 @@
            }

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
            if (crnProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
@@ -288,7 +310,7 @@
                    vo.setLocNo(wrkMast.getLocNo());    //  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
                vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
@@ -306,11 +328,11 @@

            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.setWalkPos(crnProtocol.getWalkPos() == 1 ? "不在定位" : "在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
            if (crnProtocol.getAlarm1() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
                vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
            }
            vo.setInEnable(basCrnp.getInEnable());
            vo.setOutEnable(basCrnp.getOutEnable());
@@ -320,11 +342,11 @@

    @PostMapping("/crn/output/site")
    @ManagerAuth(memo = "堆垛机报文日志输出")
    public R crnOutput(){
    public R crnOutput() {
        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++;
        }
@@ -333,7 +355,7 @@


    @GetMapping("/crn/demo/status")
    public R demoStatus(){
    public R demoStatus() {
        List<Map<String, Object>> res = new ArrayList<>();
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            Map<String, Object> map = new HashMap<>();
@@ -348,13 +370,13 @@
    @PostMapping("/crn/demo/switch")
    @ManagerAuth(memo = "堆垛机演示")
    public R crnDemo(CrnDemoParam param) throws InterruptedException {
        if (Cools.isEmpty(param.getCrnId())){
        if (Cools.isEmpty(param.getCrnId())) {
            return R.error();
        }
        if (Cools.isEmpty(param.getPassword())){
        if (Cools.isEmpty(param.getPassword())) {
            return R.error("请输入口令");
        }
        if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
        if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
            return R.error("口令错误");
        }
        Thread.sleep(200L);
@@ -368,61 +390,61 @@
    }



    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "入库")
    @PostMapping("/crn/operator/put")
    public R crnPut(CrnOperatorParam param){
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
    public R crnPut(CrnOperatorParam param) {
//        // 系统运行状态判断
//        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.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);
        return crnControl(command)?R.ok():R.error();
        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();
    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/crn/operator/take")
    public R crnTake(CrnOperatorParam param){
    public R crnTake(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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.PAKOUT); // 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
        return crnControl(command)?R.ok():R.error();
        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();
    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/crn/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
    public R crnStockMove(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -434,22 +456,22 @@
        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);
        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();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/crn/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
    public R crnSiteMove(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -461,16 +483,16 @@
        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();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/crn/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
    public R crnBacOrigin(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -482,16 +504,16 @@
        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();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "反原点")
    @PostMapping("/crn/operator/reverseOrigin")
    public R reverseOrigin(CrnOperatorParam param){
    public R reverseOrigin(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -503,7 +525,7 @@
        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();
        return crnControl(command) ? R.ok() : R.error();
    }

//    @ManagerAuth(memo = "坐标移动")
@@ -526,11 +548,11 @@

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/crn/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
    public R crnTaskComplete(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        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
@@ -542,7 +564,8 @@
        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();
        command.setCommand((short) 0);
        return crnControl(command) ? R.ok() : R.error();
    }

//    @ManagerAuth(memo = "暂停")
@@ -559,11 +582,11 @@

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/crn/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
    public R crnClearCommand(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -578,16 +601,16 @@
        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();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "手动复位")
    @PostMapping("/crn/operator/handleReset")
    public R handleReset(CrnOperatorParam param) throws Exception {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -610,7 +633,7 @@
                crnCommand.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand), false)) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(5, crnCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
@@ -625,129 +648,134 @@

    @ManagerAuth(memo = "切换联机模式")
    @PostMapping("/crn/operator/auto")
    public R crnAuto(CrnOperatorParam param){
    public R crnAuto(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)1);
        command.setAuto((short) 1);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "切换半手动模式")
    @PostMapping("/crn/operator/semiAutomatic")
    public R crnsemiAutomatic(CrnOperatorParam param){
    public R crnsemiAutomatic(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)2);
        command.setAuto((short) 2);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "切换手动模式")
    @PostMapping("/crn/operator/hand")
    public R onlineWrk1(CrnOperatorParam param){
    public R onlineWrk1(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)3);
        command.setAuto((short) 3);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "申请完成任务")
    @PostMapping("/crn/operator/onlineWrk1")
    public R onlineWrk2(CrnOperatorParam param){
    public R onlineWrk2(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk1((short)1);
        command.setOnlineWrk1((short) 1);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "申请取消任务")
    @PostMapping("/crn/operator/onlineWrk2")
    public R onlineWrk3(CrnOperatorParam param){
    public R onlineWrk3(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk2((short)1);
        command.setOnlineWrk2((short) 1);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "清除联机任务")
    @PostMapping("/crn/operator/onlineWrk3")
    public R onlineWrk4(CrnOperatorParam param){
    public R onlineWrk4(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk3((short)1);
        command.setOnlineWrk3((short) 1);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "恢复联机任务")
    @PostMapping("/crn/operator/onlineWrk4")
    public R crnHand(CrnOperatorParam param){
    public R crnHand(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk4((short)1);
        command.setOnlineWrk4((short) 1);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "复位")
    @PostMapping("/crn/operator/reset")
    public R crnReset(CrnOperatorParam param){
    public R crnReset(CrnOperatorParam param) {
        // 系统运行状态判断
        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
            return R.error("wcs系统状态为开启");
        }
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setReset((short)1);
        command.setReset((short) 1);

        return crnControl2(command)?R.ok():R.error();
        return crnControl2(command) ? R.ok() : R.error();
    }



    private boolean crnControl2(CrnCommand command){
    private boolean crnControl2(CrnCommand command) {
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -764,7 +792,7 @@
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(4, command), false)) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(4, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
@@ -778,10 +806,7 @@
    }





    private boolean crnControl(CrnCommand command){
    private boolean crnControl(CrnCommand command) {
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -798,7 +823,7 @@
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(2, command), false)) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
@@ -811,8 +836,8 @@
        return false;
    }

    private void staNoProcess(CrnOperatorParam param, CrnCommand command){
        if (param.getSourceStaNo()!=null) {
    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
@@ -823,7 +848,7 @@
                command.setSourcePosZ((short) 1);     // 源库位层
            }
        }
        if (param.getStaNo()!=null) {
        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
@@ -839,7 +864,7 @@
    // /crn/list/auth
    @RequestMapping(value = "/crnListQuery/auth")
    @ManagerAuth
    public R listQuery(String condition){
    public R listQuery(String condition) {
        ArrayList<HashMap<String, Object>> list = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息