#

luxiaotao1123

2021-01-04 cb1ed8e08ef13de563dc4ece9953ffadd78546ba

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

@@ -328,23 +328,23 @@
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        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.OFFSET_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
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }
//    @ManagerAuth(memo = "坐标移动")
//    @PostMapping("/operator/coorMove")
//    public R crnCoorMove(CrnOperatorParam param){
//        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.OFFSET_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
//        staNoProcess(param, command);
//        return crnControl(command)?R.ok():R.error();
//    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
@@ -403,23 +403,19 @@
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                // 只有出现指定异常才进行复位
                if (crnProtocol.getCrnError3().leftTakeNoneErr
                        || crnProtocol.getCrnError3().rightTakeNoneErr
                        || crnProtocol.getCrnError3().leftTakeThenLoadErr
                        || crnProtocol.getCrnError3().rightTakeThenLoadErr) {
                    CrnCommand command = new CrnCommand();
                    command.setCrnNo(param.getCrnNo()); // 堆垛机编号
                    command.setAckFinish((short) 1);  // 任务完成确认位
                    command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                    // 延时发送
                    Thread.sleep(3000L);
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
                crnCommand.setAckFinish((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))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }


            }
        }