From 08132d449611a875007e3fface38d0517e1da87c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 22 九月 2022 10:48:13 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 20 +++++++++++++++++++-
1 files changed, 19 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 52fadad..332b43c 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -170,7 +170,7 @@
}
vo.setXspeed(crnProtocol.getXSpeed()); // 璧拌閫熷害锛坢/min)
vo.setYspeed(crnProtocol.getYSpeed()); // 鍗囬檷閫熷害锛坢/min)
- vo.setZspeed(crnProtocol.getZSpeed()); // 鍙夌墮閫熷害锛坢/min)
+// vo.setZspeed(crnProtocol.getZSpeed()); // 鍙夌墮閫熷害锛坢/min)
vo.setXdistance(crnProtocol.getXDistance()); // 璧拌璺濈(Km)
vo.setYdistance(crnProtocol.getYDistance()); // 鍗囬檷璺濈(Km)
vo.setXduration(crnProtocol.getXDuration()); // 璧拌鏃堕暱(H)
@@ -287,6 +287,23 @@
LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
.eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
VersionUtils.locMoveCheckLocType(sourceLoc, loc);
+ return crnControl(command)?R.ok():R.error();
+ }
+
+ @ManagerAuth(memo = "绉昏溅")
+ @PostMapping("/operator/steMove")
+ public R crnSteMove(CrnOperatorParam param){
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡
+ command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
+ command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
+ command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
+ command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
return crnControl(command)?R.ok():R.error();
}
@@ -420,6 +437,7 @@
crnCommand.setCrnNo(crn.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setCommand((short) 0); // 浠诲姟瀹屾垚纭浣�
// 寤舵椂鍙戦��
Thread.sleep(1000L);
if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
--
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