123

ZY

4 天以前 364b9ccc44bc6863280c5cc00aa8512cfff548d4

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

@@ -2,7 +2,6 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
@@ -14,12 +13,14 @@
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.*;
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.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.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
@@ -51,6 +52,7 @@
@RestController
public class CrnController {


    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
@@ -60,14 +62,12 @@
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;


    @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();
@@ -86,7 +86,7 @@
            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);
@@ -94,7 +94,7 @@

    @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) {
@@ -120,11 +120,11 @@

            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());
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
            }
        }
        return R.ok().add(list);
@@ -132,7 +132,7 @@

    @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();
@@ -155,18 +155,18 @@

        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) {
@@ -185,7 +185,7 @@
            }

            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
@@ -195,7 +195,7 @@
                    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)
@@ -210,7 +210,7 @@

    @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();
@@ -226,7 +226,7 @@
        }

        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
@@ -236,7 +236,7 @@
                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)
@@ -250,7 +250,7 @@

    @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) {
@@ -269,7 +269,7 @@
            }

            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
@@ -279,7 +279,7 @@
                    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)
@@ -290,30 +290,32 @@
            vo.setYduration(crnProtocol.getYDuration());    //  升降时长(H)

            vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            vo.setWrkStatus(crnProtocol.getStatusType().desc);     //  任务状态
            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.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());
        }
        return R.ok().add(list);
    }

    @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++;
        }
@@ -322,7 +324,7 @@


    @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<>();
@@ -337,13 +339,13 @@
    @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);
@@ -357,14 +359,17 @@
    }



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

    @ManagerAuth(memo = "入库")
    @PostMapping("/crn/operator/put")
    public R crnPut(CrnOperatorParam param){
    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
@@ -376,51 +381,66 @@
        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
        return crnControl(command)?R.ok():R.error();
        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");
//        }
        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.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
        return crnControl(command)?R.ok():R.error();
        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");
//        }
        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.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.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();
        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");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -432,12 +452,16 @@
        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");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -449,12 +473,16 @@
        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");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -464,9 +492,9 @@
        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) 34);     // 目标库位列
        command.setDestinationPosZ((short) 5);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        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();
    }

//    @ManagerAuth(memo = "坐标移动")
@@ -489,7 +517,11 @@

    @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");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -501,7 +533,8 @@
        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")
@@ -518,7 +551,11 @@

    @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 (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -533,12 +570,16 @@
        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 (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -561,7 +602,7 @@
                crnCommand.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(5, crnCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
@@ -574,7 +615,136 @@
        return R.error();
    }

    private boolean crnControl(CrnCommand command){
    @ManagerAuth(memo = "切换联机模式")
    @PostMapping("/crn/operator/auto")
    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");
//        }
        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);

        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) {
        // 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];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short) 2);

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

    @ManagerAuth(memo = "切换手动模式")
    @PostMapping("/crn/operator/hand")
    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");
//        }
        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);

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

    @ManagerAuth(memo = "申请完成任务")
    @PostMapping("/crn/operator/onlineWrk1")
    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");
//        }
        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);

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

    @ManagerAuth(memo = "申请取消任务")
    @PostMapping("/crn/operator/onlineWrk2")
    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");
//        }
        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);

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

    @ManagerAuth(memo = "清除联机任务")
    @PostMapping("/crn/operator/onlineWrk3")
    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");
//        }
        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);

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

    @ManagerAuth(memo = "恢复联机任务")
    @PostMapping("/crn/operator/onlineWrk4")
    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");
//        }
        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);

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

    @ManagerAuth(memo = "复位")
    @PostMapping("/crn/operator/reset")
    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");
//        }
        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);

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


    private boolean crnControl2(CrnCommand command) {
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -591,11 +761,11 @@
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(4, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }
@@ -604,8 +774,39 @@
        return false;
    }

    private void staNoProcess(CrnOperatorParam param, CrnCommand command){
        if (param.getSourceStaNo()!=null) {

    private boolean crnControl(CrnCommand command) {
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (command.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    throw new CoolException("堆垛机不在线");
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }
            }
        }
        return false;
    }

    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
@@ -616,7 +817,7 @@
                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
@@ -632,7 +833,7 @@
    // /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