From 68242c8f3acc051368eeb1246b2fb6327a783bfc Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期二, 04 十一月 2025 09:05:39 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/RgvController.java | 59 +++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 45 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index bbebddf..98f3848 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -11,8 +11,10 @@
import com.zy.asrs.domain.vo.RgvStateTableVo;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErr;
+import com.zy.asrs.entity.BasRgvMap;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasRgvErrMapper;
+import com.zy.asrs.mapper.BasRgvMapMapper;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
@@ -62,7 +64,8 @@
private MainServiceImpl mainService;
@Autowired
private LocMastService locMastService;
-
+ @Autowired
+ private BasRgvMapMapper basRgvMapMapper;
@ManagerAuth(memo = "瑙ｉ攣灏忚溅")
@PostMapping("/lock")
public R lock(CrnOperatorParam param){
@@ -88,16 +91,25 @@
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) continue;
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
vo.setStatusType(rgvProtocol.modeType.desc); // 妯″紡鐘舵��
vo.setStatus(String.valueOf(rgvProtocol.getMode())); // 鐘舵��
vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 宸ヤ綅1浠诲姟鍙�
vo.setStatus1(rgvProtocol.getStatusType1().desc); // 宸ヤ綅1鐘舵��
vo.setLoading1(rgvProtocol.getLoaded1() ? "鏈夌墿" : "鏃犵墿"); // 宸ヤ綅1鏈夌墿
- vo.setRgvPos(rgvProtocol.getRgvPos());
+ vo.setRgvPos(basRgvMap != null?basRgvMap.getNowRoute():0);
vo.setRgvPos1(rgvProtocol.getRgvPosI2());
vo.setWalkPos(Objects.equals(rgvProtocol.getWalkPos(), 1) ? "鍦ㄥ畾浣�" : "涓嶅湪瀹氫綅");
vo.setPakMk(rgvThread.isPakMk() ? "鏃犻攣" : "閿佸畾");
+// vo.setPakIn(rgvThread.isPakIn() ? "鍙叆" : "涓嶅彲鍏�");
+// vo.setPakOut(rgvThread.isPakOut() ? "鍙嚭" : "涓嶅彲鍑�");
+// vo.setPakRgv(rgvThread.isPakRgv() ? "鏃犻攣" : "閿佸畾");
+ vo.setPaking(rgvThread.isPaking()? "鏃犻攣" : "閿佸畾");
+// vo.setPakAll(rgvThread.isPakAll() ? "鏃犻攣" : "閿佸畾");
+// vo.setPakToCrn(rgvThread.isPakToCrn() ? "鏃犻攣" : "閿佸畾");
+
+
vo.setWorkNo2(rgvProtocol.getTaskNo2()); // 宸ヤ綅2浠诲姟鍙�
// vo.setStatus2(rgvProtocol.getStatusType2().desc); // 宸ヤ綅2鐘舵��
vo.setLoading2(rgvProtocol.getLoaded2() ? "鏈夌墿" : "鏃犵墿"); // 宸ヤ綅2鏈夌墿
@@ -271,19 +283,12 @@
}
RgvCommand command = new RgvCommand();
command.setRgvNo(param.getRgvNo()); // RGV缂栧彿
- command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskNo1( 0); // 宸ヤ綔鍙�
- command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo1((short) 0); // 婧愮珯
- command.setDestinationStaNo1((short) 0); // 鐩爣绔�
- command.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo2(0); // 宸ヤ綔鍙�
- command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo2((short) 0); // 婧愮珯
- command.setDestinationStaNo2((short) 0); // 鐩爣绔�
- command.setCommand(true);
+ command.setWrkTaskPri(0); //鎵ц宸ヤ綅
+ command.setTaskNo(Math.toIntExact(0)); // 宸ヤ綔鍙�
+ command.setTaskStatus((short)0); // 浠诲姟妯″紡: 鍙栬揣
+ command.setTargetPosition(0); // 鐩爣绔�
- return rgvControl(command)? R.ok(): R.error();
+ return rgvClear(command)? R.ok(): R.error();
}
@ManagerAuth(memo = "鎵嬪姩澶嶄綅")
@@ -348,4 +353,30 @@
return false;
}
+ private boolean rgvClear(RgvCommand command){
+ if (command.getRgvNo() == null) {
+ throw new CoolException("璇烽�夋嫨RGV");
+ }
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇RGV淇℃伅
+ if (command.getRgvNo().equals(rgv.getId())) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ if (rgvThread == null) {
+ throw new CoolException("RGV涓嶅湪绾�");
+ }
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ throw new CoolException("RGV涓嶅湪绾�");
+ }
+ if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(3, command))) {
+ return true;
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+ }
+ }
+ return false;
+
+ }
+
}
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