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2025-05-11 ddb1d3cc65d174d768912ee08f4d08d719c197d0

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

@@ -102,7 +102,7 @@
    @ManagerAuth(memo = "小车行走")
    public R rgvRunWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                            @RequestParam(defaultValue = "0")  Integer taskNo,
                            @RequestParam(defaultValue = "0")  Integer rgvStaNo,
                            @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                            @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
@@ -111,11 +111,11 @@
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if ((rgvStaNo == null || rgvStaNo == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
        if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
            return R.error("目标站点请填写");
        }
        if (rgvPosDestination == null || rgvPosDestination == 0){
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            rgvPosDestination = basDevpPosition.getPlcPosition();
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -150,7 +150,7 @@
    @ManagerAuth(memo = "小车放货")
    public R rgvPutWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                        @RequestParam(defaultValue = "0")  Integer taskNo,
                        @RequestParam(defaultValue = "0")  Integer rgvStaNo,
                        @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                        @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
@@ -159,7 +159,7 @@
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
        if (rgvStaNoPut == null || rgvStaNoPut == 0){
            return R.error("目标站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -173,7 +173,7 @@
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
@@ -194,7 +194,7 @@
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
                        @RequestParam(defaultValue = "0") Integer taskNo,
                        @RequestParam(defaultValue = "0") Integer rgvStaNo,
                        @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                        @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
@@ -203,8 +203,8 @@
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
            return R.error("目标站点请填写");
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
@@ -216,7 +216,7 @@
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
@@ -232,4 +232,63 @@

        return R.ok("任务生成成功");
    }

    @PostMapping("/run/TakeAndPut")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
                         @RequestParam(defaultValue = "0") Integer taskNo,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoPut,
                         @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");
        }
        if (rgvStaNoPut == null || rgvStaNoPut == 0){
            return R.error("放货站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        TaskProtocol issuedTake = new TaskProtocol();
        TaskProtocol issuedPut = new TaskProtocol();
        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            if (allTaskProtocol.size() > 0) {
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
            issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
            issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
            issuedTake.setIsRunning(1);
            issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);

            BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
            issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
            issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
            issuedPut.setIsRunning(1);
            issuedPut.setDirection(basDevpPositionPut.getRgvSign()==1);

            taskProtocolCache.updateTaskProtocol(issuedTake);
            taskProtocolCache.updateTaskProtocol(issuedPut);

        } catch (Exception e) {
            return R.error("任务生成失败"+e.getMessage());
        }

        return R.ok("任务生成成功");
    }
}

 src/main/webapp/views/deviceOperate/rgvOperate.html

@@ -47,13 +47,17 @@
                            <el-form-item label="目标定位置">
                                <el-input v-model="formParam.rgvPosDestination" placeholder="目标定位置"></el-input>
                            </el-form-item>
                            <el-form-item label="取货站点">
                                <el-input v-model="formParam.rgvStaNoTake" placeholder="目标站点"></el-input>
                            </el-form-item>
                            <el-form-item label="目标站点">
                                <el-input v-model="formParam.rgvStaNo" placeholder="目标站点"></el-input>
                                <el-input v-model="formParam.rgvStaNoPut" placeholder="目标站点"></el-input>
                            </el-form-item>
                        </el-form>
                        <div>
                            <el-button @click="requestOperate('take')" type="primary">取货</el-button>
                            <el-button @click="requestOperate('put')" type="primary">放货</el-button>
                            <el-button @click="requestOperate('TakeAndPut')" type="primary">取放货</el-button>
                            <el-button @click="requestOperate('walk')" type="warning">行走</el-button>
                            <el-button @click="requestOperate('del')" type="warning">任务清空</el-button>
                        </div>
@@ -103,7 +107,8 @@
                formParam: {
                    rgvNo: 0,
                    taskNo: 0,
                    rgvStaNo: 0,
                    rgvStaNoTake: 0,
                    rgvStaNoPut: 0,
                    rgvPosDestination: 0
                }
            },
@@ -129,7 +134,8 @@
                    
                    this.formParam.rgvNo = row.rgvNo
                    this.formParam.taskNo = row.taskNo
                    this.formParam.rgvStaNo = row.rgvStaNo
                    this.formParam.rgvStaNoTake = row.rgvStaNoTake
                    this.formParam.rgvStaNoPut = row.rgvStaNoPut
                    this.formParam.rgvPosDestination = row.rgvPosDestination

                    this.getTaskAllData(index+1)