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2025-05-12 fcc24525fba4cbc27b0965bf18440efc38ad9150

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

@@ -51,24 +51,68 @@
        return R.ok().add(res);
    }

    @PostMapping("/run/walk")//Take  Put  Walk
    @ManagerAuth(memo = "小车行走")
    public R rgvRunWalk(@RequestParam Integer rgvNo,
                            @RequestParam Integer taskNo,
                            @RequestParam Integer rgvStaNo,
                            @RequestParam Long rgvPosDestination
    @PostMapping("/task/cache/all")
    @ManagerAuth(memo = "全部信息")
    public R allTaskCache(@RequestParam(defaultValue = "0")  Integer rgvNo){
        List<Map<String, Object>> res = new ArrayList<>();
        try{
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            for (TaskProtocol taskProtocol : allTaskProtocol.values()){
                Map<String, Object> map2 = new HashMap<>();
                map2.put("rgvNo", rgvNo);
                map2.put("taskNo", taskProtocol.getTaskNo());
                map2.put("targetPosition", taskProtocol.getTargetPosition());
                map2.put("isRunning", taskProtocol.getIsRunning());
                map2.put("taskStatus", taskProtocol.getTaskStatus());
                map2.put("direction", taskProtocol.isDirection());
                res.add(map2);
            }
        } catch (Exception e){
//            return R.error("异常"+e.getMessage());
        }
        return R.ok().add(res);
    }

    @PostMapping("/run/del")//Take  Put  Walk
    @ManagerAuth(memo = "清空任务")
    public R rgvRunDel(@RequestParam(defaultValue = "0")  Integer rgvNo
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            for (TaskProtocol taskProtocol : allTaskProtocol.values()){
                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
            }

        } catch (Exception e) {
            return R.error("任务删除失败"+e.getMessage());
        }
        if ((rgvStaNo == null || rgvStaNo == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){

        return R.ok("任务清空成功");
    }

    @PostMapping("/run/walk")//Take  Put  Walk
    @ManagerAuth(memo = "小车行走")
    public R rgvRunWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                            @RequestParam(defaultValue = "9999")  Integer taskNo,
                            @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                            @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
            return R.error("目标站点请填写");
        }
        if (rgvPosDestination == null || rgvPosDestination == 0){
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            rgvPosDestination = basDevpPosition.getPlcPosition();
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -101,18 +145,15 @@

    @PostMapping("/run/put")//Take  Put  Walk
    @ManagerAuth(memo = "小车放货")
    public R rgvPutWalk(@RequestParam Integer rgvNo,
                        @RequestParam Integer taskNo,
                        @RequestParam Integer rgvStaNo,
                        @RequestParam Long rgvPosDestination
    public R rgvPutWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                        @RequestParam(defaultValue = "9999")  Integer taskNo,
                        @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                        @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
        if (rgvStaNoPut == null || rgvStaNoPut == 0){
            return R.error("目标站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -126,7 +167,7 @@
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
@@ -145,19 +186,16 @@

    @PostMapping("/run/take")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeWalk(@RequestParam Integer rgvNo,
                        @RequestParam Integer taskNo,
                        @RequestParam Integer rgvStaNo,
                        @RequestParam Long rgvPosDestination
    public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
                        @RequestParam(defaultValue = "9999") Integer taskNo,
                        @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                        @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
            return R.error("目标站点请填写");
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
@@ -169,7 +207,7 @@
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
@@ -185,4 +223,60 @@

        return R.ok("任务生成成功");
    }

    @PostMapping("/run/TakeAndPut")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
                         @RequestParam(defaultValue = "9999") Integer taskNo,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoPut,
                         @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");
        }
        if (rgvStaNoPut == null || rgvStaNoPut == 0){
            return R.error("放货站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        TaskProtocol issuedTake = new TaskProtocol();
        TaskProtocol issuedPut = new TaskProtocol();
        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            if (allTaskProtocol.size() > 0) {
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
            issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
            issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
            issuedTake.setIsRunning(1);
            issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);

            BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
            issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
            issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
            issuedPut.setIsRunning(1);
            issuedPut.setDirection(basDevpPositionPut.getRgvSign()==1);

            taskProtocolCache.updateTaskProtocol(issuedTake);
            taskProtocolCache.updateTaskProtocol(issuedPut);

        } catch (Exception e) {
            return R.error("任务生成失败"+e.getMessage());
        }

        return R.ok("任务生成成功");
    }
}