#

whycq

2025-05-28 78489da7e2185f53faaec9356fa1a8997cedab70

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

@@ -362,6 +362,20 @@
    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        // 获取堆垛机信息
        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, param.getCrnNo());
        if (crnThread == null) {
            return R.error();
        }
        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
        if (crnProtocol == null) {
            return R.error();
        }

        //堆垛机状态不是等待WCS确认时，不能下发确认位
        if (!crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.WAITING)){
            return R.error("堆垛机不是等待WCS确认状态");
        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -394,8 +408,18 @@
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
        return R.ok("清除命令成功");
        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();
    }

    @ManagerAuth(memo = "手动复位")
@@ -420,6 +444,7 @@
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                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))) {