#

zjj

2025-07-02 d3f3d4b309cfb285fcbbc48b91c4046111c7e9cd

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

@@ -4,6 +4,7 @@
import com.core.annotations.ManagerAuth;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
import com.zy.asrs.domain.enums.RgvStatusType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.param.RgvOperatorParam;
@@ -11,13 +12,16 @@
import com.zy.asrs.domain.vo.RgvStateTableVo;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErr;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.TaskWrkService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.CrnThread;
import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -63,20 +67,57 @@
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private TaskWrkService taskWrkService;


    @ManagerAuth(memo = "复位")
    @PostMapping("/rgv/operator/reset")
    @PostMapping("/operator/reset")
    public R crnReset(RgvOperatorParam 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");
//        }
        short[] array = new short[9];
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setReset(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "联机")
    @PostMapping("/operator/auto")
    public R crnAuto(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setAuto(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "恢复任务")
    @PostMapping("/operator/restoreTask")
    public R crnRestoreTask(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setRestoreTask(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "完成任务")
    @PostMapping("/operator/compTask")
    public R rgvCompTask(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setCompTask(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "急停")
    @PostMapping("/operator/stop")
    public R rgvStop(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setStop(true);
        return rgvControl2(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "取消急停")
    @PostMapping("/operator/noStop")
    public R rgvNoStop(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setNoStop(true);
        return rgvControl2(command)?R.ok():R.error();
    }

@@ -87,12 +128,12 @@
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取堆垛机信息
            if (command.getRgvNo().equals(rgv.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (crnThread == null) {
                SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (rgvThread == null) {
                    throw new CoolException("RGV不在线");
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                // 空闲判断
@@ -132,17 +173,19 @@
            vo.setStatusType(rgvProtocol.modeType.desc);   //  模式状态
            vo.setStatus(rgvProtocol.getStatusType().desc);     //  状态
            vo.setWorkNo1(rgvProtocol.getTaskNo1());  //  工位1任务号
            vo.setStatus1(rgvProtocol.getStatusType1().desc);  // 工位1状态
            vo.setLoading1(rgvProtocol.getLoaded1()==1?"有物":"无物");  // 工位1有物
            vo.setRgvPos(rgvProtocol.getRgvPos());
            vo.setRgvPos1(rgvProtocol.getRgvPosI());
            vo.setWalkPos(rgvProtocol.getWalkPos()==1?"在定位":"不在定位");
            vo.setPakMk(rgvThread.isPakMk()?"无锁":"锁定");
//            vo.setWorkNo2(rgvProtocol.getTaskNo2());  //  工位2任务号
//            vo.setStatus2(rgvProtocol.getStatusType2().desc);  // 工位2状态
//            vo.setLoading2(rgvProtocol.getLoaded2()==1?"有物":"无物");  // 工位2有物

            vo.setWalkPos(rgvProtocol.getAlarm() == 0?"正常":"报警");
            vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
            if (rgvProtocol.getTaskNo1()>0) {
                TaskWrk taskWrk = taskWrkService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                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.setBarcode(taskWrk.getBarcode());
                }
            }
            if (rgvProtocol.getAlarm() > 0) {
                BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                vo.setAlarm(rgvErr==null?"未知异常":rgvErr.getErrName());
@@ -173,13 +216,12 @@

            vo.setWorkNo(rgvProtocol.getTaskNo1());  //  任务号
            if (rgvProtocol.getTaskNo1()>0) {
                WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
                if (wrkMast != null) {
                    vo.setStatus(RgvStatusType.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(rgvProtocol.getTaskNo1().intValue());
                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.setOrigin(taskWrk.getBarcode());
                }
            } else {
                vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc);   //  模式状态