#

Junjie

2025-11-11 bfe469c7fa604a6431d58ea5e5143c959d76bd86

#

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

@@ -2,7 +2,9 @@

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.domain.param.CrnCommandTakeParam;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasCrnpErr;
@@ -10,15 +12,19 @@
import com.zy.asrs.service.BasCrnpErrService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.thread.CrnThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

@@ -42,7 +48,7 @@

    @PostMapping("/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) {
@@ -62,12 +68,12 @@
            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            vo.setMode(crnProtocol.getModeType().desc);   //  模式状态
            vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
            vo.setLoading(crnProtocol.getLoaded()==1?"有物":"无物");  //  有物
            vo.setLoading(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.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)
@@ -80,7 +86,7 @@
                vo.setDeviceStatus("AUTO");
            }

            if (crnProtocol.getTaskNo()>0) {
            if (crnProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo()));    //  源站
@@ -94,7 +100,7 @@
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnpErr crnError = basCrnpErrService.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
                vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
                vo.setDeviceStatus("ERROR");
            }
        }
@@ -103,15 +109,71 @@

    @PostMapping("/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++;
        }
        return R.ok().add(str.toString());
    }

    @PostMapping("/command/take")
    public R crnCommandTake(@RequestBody CrnCommandTakeParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }

        Integer crnNo = param.getCrnNo();
        String sourceLocNo = param.getSourceLocNo();
        String targetLocNo = param.getTargetLocNo();

        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }

        CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo);
        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
        return R.ok();
    }

    @PostMapping("/command/move")
    public R crnCommandMove(@RequestBody CrnCommandTakeParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }

        Integer crnNo = param.getCrnNo();
        String targetLocNo = param.getTargetLocNo();

        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }

        CrnCommand command = crnThread.getMoveCommand(targetLocNo, 9999, crnNo);
        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
        return R.ok();
    }

    @PostMapping("/command/taskComplete")
    public R crnCommandTaskComplete(@RequestBody CrnCommandTakeParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }

        Integer crnNo = param.getCrnNo();

        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }

        CrnCommand command = crnThread.getResetCommand(crnNo);
        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
        return R.ok();
    }
}

 src/main/java/com/zy/asrs/domain/param/CrnCommandTakeParam.java

New file
@@ -0,0 +1,14 @@
package com.zy.asrs.domain.param;

import lombok.Data;

@Data
public class CrnCommandTakeParam {

    private Integer crnNo;

    private String sourceLocNo;

    private String targetLocNo;

}

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -8,6 +8,7 @@

public class Utils {

    private static final String LOC_NO_FLAG = "-";
    private static final DecimalFormat fmt = new DecimalFormat("##0.00");

    public static float scale(Float f){
@@ -36,7 +37,8 @@
     */
    public static int getRow(String locNo) {
        if (!Cools.isEmpty(locNo)) {
            return Integer.parseInt(locNo.substring(0, 2));
            String[] split = locNo.split(LOC_NO_FLAG);
            return Integer.parseInt(split[0]);
        }
        throw new RuntimeException("库位解析异常");
    }
@@ -46,7 +48,8 @@
     */
    public static int getBay(String locNo) {
        if (!Cools.isEmpty(locNo)) {
            return Integer.parseInt(locNo.substring(2, 5));
            String[] split = locNo.split(LOC_NO_FLAG);
            return Integer.parseInt(split[1]);
        }
        throw new RuntimeException("库位解析异常");
    }
@@ -56,13 +59,14 @@
     */
    public static int getLev(String locNo) {
        if (!Cools.isEmpty(locNo)) {
            return Integer.parseInt(locNo.substring(5, 7));
            String[] split = locNo.split(LOC_NO_FLAG);
            return Integer.parseInt(split[2]);
        }
        throw new RuntimeException("库位解析异常");
    }

    public static String getLocNo(Number row, Number bay, Number lev) {
        return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
        return row + LOC_NO_FLAG + bay + LOC_NO_FLAG + lev;
    }

    public static boolean isJSON(String value) {

 src/main/java/com/zy/core/network/ZyCrnConnectDriver.java

File was renamed from src/main/java/com/zy/core/network/ZyCrnConnectThread.java
@@ -11,16 +11,18 @@
import com.zy.core.network.real.ZyCrnRealConnect;
import lombok.extern.slf4j.Slf4j;


/**
 * 连接驱动
 */
@Slf4j
public class ZyCrnConnectThread implements ThreadHandler{
public class ZyCrnConnectDriver implements ThreadHandler{

    private boolean connected = false;
    private SiemensS7Net siemensNet;
    private DeviceConfig deviceConfig;
    private ZyCrnConnectApi zyCrnConnectApi;

    public ZyCrnConnectThread(SiemensS7Net siemensS7Net, DeviceConfig deviceConfig) {
    public ZyCrnConnectDriver(SiemensS7Net siemensS7Net, DeviceConfig deviceConfig) {
        this.siemensNet = siemensS7Net;
        this.deviceConfig = deviceConfig;
    }

 src/main/java/com/zy/core/network/fake/ZyCrnFakeConnect.java

@@ -2,15 +2,20 @@

import com.alibaba.fastjson.JSON;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.network.api.ZyCrnConnectApi;
import com.zy.core.network.entity.ZyCrnStatusEntity;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;

public class ZyCrnFakeConnect implements ZyCrnConnectApi {

    private ZyCrnStatusEntity crnStatus;
    private DeviceConfig deviceConfig;
    private final ExecutorService executor = Executors.newSingleThreadExecutor();

    public ZyCrnFakeConnect(DeviceConfig deviceConfig) {
        this.deviceConfig = deviceConfig;
@@ -35,6 +40,127 @@
    @Override
    public CommandResponse sendCommand(CrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        if (command.getTaskMode().intValue() == CrnTaskModeType.LOC_MOVE.id) {
            //取放货
            executor.submit(() -> commandTake(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.CRN_MOVE.id) {
            //移动
            executor.submit(() -> commandMove(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.NONE.id) {
            //复位
            executor.submit(() -> commandTaskComplete(command));
        }
        response.setResult(true);
        return response;
    }

    private void commandTaskComplete(CrnCommand command) {
        this.crnStatus.setTaskNo(0);
        this.crnStatus.setStatus(CrnStatusType.IDLE.id);
    }

    private void commandMove(CrnCommand command) {
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();

        this.crnStatus.setTaskNo(taskNo);
        this.crnStatus.setStatus(CrnStatusType.MOVING.id);
        moveY(this.crnStatus.getBay(), destinationPosY);
        moveZ(this.crnStatus.getLevel(), destinationPosZ);
        this.crnStatus.setStatus(CrnStatusType.WAITING.id);
    }

    private void commandTake(CrnCommand command) {
        int sourcePosX = command.getSourcePosX().intValue();
        int sourcePosY = command.getSourcePosY().intValue();
        int sourcePosZ = command.getSourcePosZ().intValue();
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();

        this.crnStatus.setTaskNo(taskNo);
        this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
        moveY(this.crnStatus.getBay(), sourcePosY);
        moveZ(this.crnStatus.getLevel(), sourcePosZ);
        this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
        try {
            Thread.sleep(2000);
        } catch (InterruptedException e) {
            e.printStackTrace();
        }

        this.crnStatus.setLoaded(1);
        this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
        moveY(this.crnStatus.getBay(), destinationPosY);
        moveZ(this.crnStatus.getLevel(), destinationPosZ);
        this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
        try {
            Thread.sleep(2000);
        } catch (InterruptedException e) {
            e.printStackTrace();
        }
        this.crnStatus.setLoaded(0);
        this.crnStatus.setStatus(CrnStatusType.WAITING.id);
    }

    private void moveZ(int sourcePosZ, int destinationPosZ) {
        if(destinationPosZ - sourcePosZ > 0) {
            int moveLength = destinationPosZ - sourcePosZ;
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ++;
                this.crnStatus.setLevel(initSourcePosZ);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }else {
            int moveLength = sourcePosZ - destinationPosZ;
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ--;
                this.crnStatus.setLevel(initSourcePosZ);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }
    }

    private void moveY(int sourcePosY, int destinationPosY) {
        if(destinationPosY - sourcePosY > 0) {
            int moveLength = destinationPosY - sourcePosY;
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY++;
                this.crnStatus.setBay(initSourcePosY);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }else {
            int moveLength = sourcePosY - destinationPosY;
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY--;
                this.crnStatus.setBay(initSourcePosY);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }
    }
}

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

@@ -11,7 +11,7 @@

    CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo);//取放货

    CrnCommand getMoveCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo);//移动
    CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo);//移动

    CrnCommand getResetCommand(Integer crnNo);//复位


 src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java

@@ -14,7 +14,6 @@
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnTaskModeType;
@@ -24,7 +23,7 @@
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyCrnConnectThread;
import com.zy.core.network.ZyCrnConnectDriver;
import com.zy.core.network.entity.ZyCrnStatusEntity;
import com.zy.core.thread.CrnThread;
import lombok.Data;
@@ -43,7 +42,7 @@

    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ZyCrnConnectThread zyCrnConnectThread;
    private ZyCrnConnectDriver zyCrnConnectDriver;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

@@ -112,9 +111,9 @@
    @Override
    public boolean connect() {
        SiemensS7Net siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
        zyCrnConnectThread = new ZyCrnConnectThread(siemensS7Net, deviceConfig);
        new Thread(zyCrnConnectThread).start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectThread);
        zyCrnConnectDriver = new ZyCrnConnectDriver(siemensS7Net, deviceConfig);
        new Thread(zyCrnConnectDriver).start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectDriver);
        return true;
    }

@@ -122,7 +121,7 @@
     * 读取状态
     */
    private void readStatus(){
        ZyCrnStatusEntity crnStatus = zyCrnConnectThread.getStatus();
        ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
        if (crnStatus == null) {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
@@ -206,7 +205,7 @@

    @Override
    public void close() {
        zyCrnConnectThread.close();
        zyCrnConnectDriver.close();
    }

    @Override
@@ -231,18 +230,15 @@
    }

    @Override
    public CrnCommand getMoveCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
    public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 任务模式:  堆垛机移动
        crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX((short) 0);     // 目标库位排
        crnCommand.setDestinationPosY((short) 0);     // 目标库位列
        crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        return crnCommand;
    }
@@ -267,6 +263,6 @@
    @Override
    public synchronized CommandResponse sendCommand(CrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        return zyCrnConnectThread.sendCommand(command);
        return zyCrnConnectDriver.sendCommand(command);
    }
}

 src/main/webapp/views/components/WatchCrnCard.js

@@ -1,9 +1,22 @@
Vue.component('watch-crn-card', {
    template: `
Vue.component("watch-crn-card", {
  template: `
    <div>
        <div style="display: flex;margin-bottom: 10px;">
            <div style="width: 100%;">堆垛机监控</div>
            <div style="width: 100%;text-align: right;display: flex;"><el-input size="mini" v-model="searchCrnNo" placeholder="请输入堆垛机号"></el-input><el-button @click="getCrnStateInfo" size="mini">查询</el-button></div>
        </div>
        <div style="margin-bottom: 10px;">
            <div style="margin-bottom: 5px;">
               <el-button @click="openControl" size="mini">控制中心</el-button>
            </div>
            <div v-if="showControl" style="display: flex;justify-content: space-between;flex-wrap: wrap;">
                <div style="margin-bottom: 10px;width: 33%;"><el-input size="mini" v-model="controlParam.crnNo" placeholder="堆垛机号"></el-input></div>
                <div style="margin-bottom: 10px;width: 33%;"><el-input size="mini" v-model="controlParam.sourceLocNo" placeholder="源点"></el-input></div>
                <div style="margin-bottom: 10px;width: 33%;"><el-input size="mini" v-model="controlParam.targetLocNo" placeholder="目标点"></el-input></div>
                <div style="margin-bottom: 10px;"><el-button @click="controlCommandTransport()" size="mini">取放货</el-button></div>
                <div style="margin-bottom: 10px;"><el-button @click="controlCommandMove()" size="mini">移动</el-button></div>
                <div style="margin-bottom: 10px;"><el-button @click="controlCommandTaskComplete()" size="mini">任务完成</el-button></div>
            </div>
        </div>
        <el-collapse v-model="activeNames">
          <el-collapse-item v-for="(item) in crnList" :name="item.crnNo">
@@ -45,58 +58,143 @@
        </el-collapse>
    </div>
    `,
    props: ['param'],
    data() {
        return {
            crnList: [],
            activeNames: '',
            searchCrnNo: ''
  props: ["param"],
  data() {
    return {
      crnList: [],
      activeNames: "",
      searchCrnNo: "",
      showControl: true,
      controlParam: {
        crnNo: "",
        sourceLocNo: "",
        targetLocNo: "",
      },
    };
  },
  created() {
    setInterval(() => {
      this.getCrnStateInfo();
    }, 1000);
  },
  watch: {
    param: {
      handler(newVal, oldVal) {
        if (newVal.crnNo != 0) {
          this.activeNames = newVal.crnNo;
        }
      },
      deep: true, // 深度监听嵌套属性
      immediate: true, // 立即触发一次（可选）
    },
    created() {
        setInterval(() => {
            this.getCrnStateInfo()
        },1000)
    },
    watch: {
        param: {
            handler(newVal, oldVal) {
                if(newVal.crnNo != 0) {
                    this.activeNames = newVal.crnNo
                }
            },
            deep: true,       // 深度监听嵌套属性
            immediate: true   // 立即触发一次（可选）
        }
    },
    methods: {
        getCrnStateInfo() {
            let that = this
            $.ajax({
                url: baseUrl + "/crn/table/crn/state",
                headers: {
                    'token': localStorage.getItem('token')
                },
                method: "post",
                success: (res) => {
                    // 堆垛机信息表获取
                    if (res.code == 200) {
                        let list = res.data;

                        if (that.searchCrnNo == '') {
                            that.crnList = list;
                        }else {
                            let tmp = []
                            list.forEach((item) => {
                                if(item.crnNo == that.searchCrnNo) {
                                    tmp.push(item)
                                }
                            })
                            that.crnList = tmp;
                        }
                    }
                }
            })
  },
  methods: {
    getCrnStateInfo() {
      let that = this;
      $.ajax({
        url: baseUrl + "/crn/table/crn/state",
        headers: {
          token: localStorage.getItem("token"),
        },
    }
});
        method: "post",
        success: (res) => {
          // 堆垛机信息表获取
          if (res.code == 200) {
            let list = res.data;

            if (that.searchCrnNo == "") {
              that.crnList = list;
            } else {
              let tmp = [];
              list.forEach((item) => {
                if (item.crnNo == that.searchCrnNo) {
                  tmp.push(item);
                }
              });
              that.crnList = tmp;
            }
          }
        },
      });
    },
    openControl() {
      this.showControl = !this.showControl;
    },
    controlCommandTransport() {
      let that = this;
      //取放货
      $.ajax({
        url: baseUrl + "/crn/command/take",
        headers: {
          token: localStorage.getItem("token"),
        },
        contentType: "application/json",
        method: "post",
        data: JSON.stringify(that.controlParam),
        success: (res) => {
          if (res.code == 200) {
            that.$message({
              message: res.msg,
              type: "success",
            });
          } else {
            that.$message({
              message: res.msg,
              type: "warning",
            });
          }
        },
      });
    },
    controlCommandMove() {
      let that = this;
      $.ajax({
        url: baseUrl + "/crn/command/move",
        headers: {
          token: localStorage.getItem("token"),
        },
        contentType: "application/json",
        method: "post",
        data: JSON.stringify(that.controlParam),
        success: (res) => {
          if (res.code == 200) {
            that.$message({
              message: res.msg,
              type: "success",
            });
          } else {
            that.$message({
              message: res.msg,
              type: "warning",
            });
          }
        },
      });
    },
    controlCommandTaskComplete() {
      let that = this;
      $.ajax({
        url: baseUrl + "/crn/command/taskComplete",
        headers: {
          token: localStorage.getItem("token"),
        },
        contentType: "application/json",
        method: "post",
        data: JSON.stringify(that.controlParam),
        success: (res) => {
          if (res.code == 200) {
            that.$message({
              message: res.msg,
              type: "success",
            });
          } else {
            that.$message({
              message: res.msg,
              type: "warning",
            });
          }
        },
      });
    },
  },
});