#

vincent

2020-08-18 227c4f1fc845080a70f230a2929fe76c204a9d9f

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

@@ -327,6 +327,47 @@
        return R.ok("清除命令成功");
    }

    @ManagerAuth(memo = "手动复位")
    @PostMapping("/operator/handleReset")
    public R handleReset(CrnOperatorParam param) throws Exception {
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        // 获取堆垛机缓存
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.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");
                }
                // 只有出现指定异常才进行复位
                if (crnProtocol.getCrnError2().leftTakeNoneErr
                        || crnProtocol.getCrnError2().rightTakeNoneErr
                        || crnProtocol.getCrnError2().leftPutLoadErr
                        || crnProtocol.getCrnError2().rightPutLoadErr) {
                    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");
                    }
                }
            }
        }

        return R.error();
    }

    private boolean crnControl(CrnCommand command){
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");

 src/main/java/com/zy/core/thread/CrnThread.java

@@ -249,12 +249,12 @@
//        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:  库位移转
//        command.setSourcePosX((short)1);     // 源库位排
//        command.setSourcePosY((short)4);     // 源库位列
//        command.setSourcePosX((short)2);     // 源库位排
//        command.setSourcePosY((short)2);     // 源库位列
//        command.setSourcePosZ((short)3);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)4);     // 目标库位列
//        command.setDestinationPosZ((short)3);     // 目标库位层
//        command.setDestinationPosZ((short)4);     // 目标库位层
//        crnThread.write(command);

        // 4.站位移转   源和目标都发
@@ -298,6 +298,20 @@
//        command.setDestinationPosY((short) 1);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);

        // 只有出现指定异常才进行复位
//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
//                || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
//                || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
//                || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
//            CrnCommand command = new CrnCommand();
//            command.setCrnNo(1); // 堆垛机编号
//            command.setAckFinish((short) 1);  // 任务完成确认位
//            command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
//            Thread.sleep(3000L);
//            crnThread.write(command);
//        }

    }

}

 src/main/webapp/views/crn.html

@@ -155,6 +155,7 @@
<!--                <button class="item" onclick="pause()">暂停</button>-->
<!--                <button class="item" onclick="boot()">启动</button>-->
                <button class="item" onclick="clearCommand()">清除命令</button>
                <button class="item" onclick="handleReset()">复位</button>
            </div>
        </fieldset>
    </div>
@@ -398,6 +399,13 @@
        });
    }

    // 手动复位
    function handleReset() {
        http.post(baseUrl+"/crn/operator/clearCommand", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 输送设备日志输出 -----------------------------------------------------------------------
    function getSiteOutput() {
        $.ajax({