From a09baeeeeeea5c36159952482a895eb79c5740f4 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期五, 09 五月 2025 18:05:27 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/RgvThread.java             |   70 ++++++++++
 src/main/java/com/zy/asrs/controller/RgvController.java     |  188 +++++++++++++++++++++++++++++++
 src/main/java/com/zy/asrs/controller/OpenController.java    |    2 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |    8 -
 src/main/resources/mapper/BasDevpPositionMapper.xml         |    1 
 src/main/java/com/zy/core/model/protocol/RgvProtocol.java   |    2 
 src/main/java/com/zy/core/model/protocol/TaskProtocol.java  |    4 
 src/main/java/com/zy/asrs/entity/BasDevpPosition.java       |    4 
 src/main/webapp/views/deviceOperate/rgvOperate.html         |   64 ++++-----
 9 files changed, 293 insertions(+), 50 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index c5ad8e0..16769ba 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -400,7 +400,7 @@
                 if(Cools.isEmpty(staDesc)){
                     return R.error("鍑哄簱璺姴涓嶅瓨鍦�");
                 }
-                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));
+                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getStnNo()));
             }else if (param.getIoType() == 3){
                 LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
                 if(Cools.isEmpty(locMast2)){
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
new file mode 100644
index 0000000..9566a08
--- /dev/null
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -0,0 +1,188 @@
+package com.zy.asrs.controller;
+
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.annotations.ManagerAuth;
+import com.core.common.R;
+import com.zy.asrs.entity.BasDevpPosition;
+import com.zy.asrs.service.BasDevpPositionService;
+import com.zy.core.cache.RgvStatusCache;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.cache.TaskProtocolCache;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.protocol.RgvProtocol;
+import com.zy.core.model.protocol.TaskProtocol;
+import com.zy.core.thread.RgvThread;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 杈撻�佽澶囨帴鍙�
+ * Created by vincent on 2020-06-01
+ */
+@RestController
+@RequestMapping("/rgv")
+public class RgvController {
+
+    @Autowired
+    private BasDevpPositionService basDevpPositionService;
+
+    @GetMapping("/status/all")
+    @ManagerAuth(memo = "鍏ㄩ儴淇℃伅")
+    public R allStatus(){
+        List<Map<String, Object>> res = new ArrayList<>();
+        ConcurrentHashMap<Integer, RgvProtocol> allRgvStatus = RgvStatusCache.getAllRgvStatus();
+        for (RgvProtocol rgvProtocol : allRgvStatus.values()){
+            Map<String, Object> map2 = new HashMap<>();
+            map2.put("rgvNo", rgvProtocol.getRgvNo());
+            map2.put("taskNo", rgvProtocol.getTaskNo());
+            map2.put("mode", rgvProtocol.getModeType().desc);
+            map2.put("status", rgvProtocol.getStatusType().desc);
+            map2.put("rgvPos", rgvProtocol.getRgvPos());
+            map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
+            map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "鏈煡":rgvProtocol.getLoaded()==1? "鏈夌墿":"鏃犵墿");
+            res.add(map2);
+        }
+        return R.ok().add(res);
+    }
+
+    @PostMapping("/run/walk")//Take  Put  Walk
+    @ManagerAuth(memo = "灏忚溅琛岃蛋")
+    public R rgvRunWalk(@RequestParam Integer rgvNo,
+                            @RequestParam Integer taskNo,
+                            @RequestParam Integer rgvStaNo,
+                            @RequestParam Long rgvPosDestination
+    ) {
+        if (rgvNo==null || rgvNo==0){
+            return R.error("璇烽�夋嫨灏忚溅");
+        }
+        if (taskNo==null || taskNo==0){
+            return R.error("浣滀笟鍙疯濉啓");
+        }
+        if ((rgvStaNo == null || rgvStaNo == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
+            return R.error("鐩爣绔欑偣璇峰~鍐�");
+        }
+        if (rgvPosDestination == null || rgvPosDestination == 0){
+            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
+            rgvPosDestination = basDevpPosition.getPlcPosition();
+        }
+        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+        TaskProtocol issued = new TaskProtocol();
+
+        try {
+            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+            if (allTaskProtocol.size() > 0) {
+                return R.error("瀛樺湪鎵ц涓换鍔★紝璇峰厛澶勭悊锛侊紒锛�");
+            }
+
+            //鎵ц
+            issued.setTaskNo(Long.valueOf(taskNo));
+            issued.setTaskStatus(1);
+            issued.setTaskNoDirection(issued.gettaskNoDirection$(issued.getTaskNo(), issued.getTaskStatus()));
+            issued.setTargetPosition(rgvPosDestination);
+            issued.setIsRunning(1);
+            issued.setDirection(true);
+
+            taskProtocolCache.updateTaskProtocol(issued);
+
+        } catch (Exception e) {
+            return R.error("浠诲姟鐢熸垚澶辫触"+e.getMessage());
+        }
+
+        return R.ok("浠诲姟鐢熸垚鎴愬姛");
+    }
+
+    @PostMapping("/run/put")//Take  Put  Walk
+    @ManagerAuth(memo = "灏忚溅鏀捐揣")
+    public R rgvPutWalk(@RequestParam Integer rgvNo,
+                        @RequestParam Integer taskNo,
+                        @RequestParam Integer rgvStaNo,
+                        @RequestParam Long rgvPosDestination
+    ) {
+        if (rgvNo==null || rgvNo==0){
+            return R.error("璇烽�夋嫨灏忚溅");
+        }
+        if (taskNo==null || taskNo==0){
+            return R.error("浣滀笟鍙疯濉啓");
+        }
+        if (rgvStaNo == null || rgvStaNo == 0){
+            return R.error("鐩爣绔欑偣璇峰~鍐�");
+        }
+        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+        TaskProtocol issuedPut = new TaskProtocol();
+
+        try {
+            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+            if (allTaskProtocol.size() > 0) {
+                return R.error("瀛樺湪鎵ц涓换鍔★紝璇峰厛澶勭悊锛侊紒锛�");
+            }
+
+            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
+            //鎵ц
+            issuedPut.setTaskNo(Long.valueOf(taskNo));
+            issuedPut.setTaskStatus(3);
+            issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
+            issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
+            issuedPut.setIsRunning(1);
+            issuedPut.setDirection(basDevpPosition.getRgvSign()==1);
+
+            taskProtocolCache.updateTaskProtocol(issuedPut);
+        } catch (Exception e) {
+            return R.error("浠诲姟鐢熸垚澶辫触"+e.getMessage());
+        }
+
+        return R.ok("浠诲姟鐢熸垚鎴愬姛");
+    }
+
+    @PostMapping("/run/take")//Take  Put  Walk
+    @ManagerAuth(memo = "灏忚溅鍙栬揣")
+    public R rgvTakeWalk(@RequestParam Integer rgvNo,
+                        @RequestParam Integer taskNo,
+                        @RequestParam Integer rgvStaNo,
+                        @RequestParam Long rgvPosDestination
+    ) {
+        if (rgvNo==null || rgvNo==0){
+            return R.error("璇烽�夋嫨灏忚溅");
+        }
+        if (taskNo==null || taskNo==0){
+            return R.error("浣滀笟鍙疯濉啓");
+        }
+        if (rgvStaNo == null || rgvStaNo == 0){
+            return R.error("鐩爣绔欑偣璇峰~鍐�");
+        }
+        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+        TaskProtocol issuedTake = new TaskProtocol();
+        try {
+            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+            if (allTaskProtocol.size() > 0) {
+                return R.error("瀛樺湪鎵ц涓换鍔★紝璇峰厛澶勭悊锛侊紒锛�");
+            }
+
+            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
+            //鎵ц
+            issuedTake.setTaskNo(Long.valueOf(taskNo));
+            issuedTake.setTaskStatus(2);
+            issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
+            issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
+            issuedTake.setIsRunning(1);
+            issuedTake.setDirection(basDevpPosition.getRgvSign()==1);
+
+            taskProtocolCache.updateTaskProtocol(issuedTake);
+        } catch (Exception e) {
+            return R.error("浠诲姟鐢熸垚澶辫触"+e.getMessage());
+        }
+
+        return R.ok("浠诲姟鐢熸垚鎴愬姛");
+    }
+}
diff --git a/src/main/java/com/zy/asrs/entity/BasDevpPosition.java b/src/main/java/com/zy/asrs/entity/BasDevpPosition.java
index 26587cd..bc5e03c 100644
--- a/src/main/java/com/zy/asrs/entity/BasDevpPosition.java
+++ b/src/main/java/com/zy/asrs/entity/BasDevpPosition.java
@@ -34,6 +34,10 @@
     @TableField("PLC_POSITION")
     private Long plcPosition;
 
+    @ApiModelProperty(value= "")
+    @TableField("RGV_SIGN")
+    private Integer rgvSign;
+
     public BasDevpPosition() {}
 
     public BasDevpPosition(Integer devNo, Integer plcId, Long plcPosition) {
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 55a8c13..7918153 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1612,10 +1612,6 @@
                 if (targetPointConvert == null) {
                     return false;
                 }
-                RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
-                if (rgvStnEnd == null) {
-                    return false;
-                }
 
                 BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                 BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
@@ -1625,7 +1621,7 @@
                 issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
                 issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
                 issuedTake.setIsRunning(1);
-                issuedTake.setDirection(rgvStn.isDirection());
+                issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);
 
 
                 issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
@@ -1633,7 +1629,7 @@
                 issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
                 issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
                 issuedPut.setIsRunning(1);
-                issuedPut.setDirection(rgvStnEnd.isDirection());
+                issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
             } catch (Exception e) {
                 log.error("浠诲姟鐢熸垚澶辫触issued1===銆嬪紓甯镐俊鎭細{}", e.getMessage());
                 return false;
diff --git a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
index 45045ee..821ec56 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -43,7 +43,7 @@
     /**
      * 鏈夌墿
      */
-    public Short loaded;//0 鏃犵墿锛�1 鏈夌墿
+    public Short loaded = -1;//0 鏃犵墿锛�1 鏈夌墿
 
     /**
      * RGV褰撳墠浣嶇疆
diff --git a/src/main/java/com/zy/core/model/protocol/TaskProtocol.java b/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
index abe4b8d..4d1aff0 100644
--- a/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
@@ -47,10 +47,10 @@
     public String gettaskNoDirection$(Long taskNo,int taskStatus){
         String taskStatusStr = "Walk";
         switch (taskStatus){
-            case 1:
+            case 2:
                 taskStatusStr = "Tack";
                 break;
-            case 2:
+            case 3:
                 taskStatusStr = "Put";
                 break;
         }
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 80b7140..38b1d23 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -81,6 +81,7 @@
 
             // 鍚姩婕父绾跨▼
             new Thread(this::taskWalkIssued).start();
+            new Thread(this::taskWalkIssued2).start();
 
             // 鍚姩浠诲姟瀹屾垚绾跨▼
             new Thread(this::taskComplete).start();
@@ -127,6 +128,64 @@
     }
 
     /**
+     * 浠诲姟涓嬪彂
+     */
+    private void taskWalkIssued2() {
+        while (true) {
+            try {
+                // 浼戠湢 1 绉�
+                Thread.sleep(100);
+                if (!deviceDetection()) {
+                    continue;
+                }
+                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+                if (rgvProtocol == null || rgvTaskProtocol == null) {
+                    initRgv();
+                    rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+                }
+                if (rgvTaskProtocol.getAvoid() != 0) {
+                    continue;
+                }
+                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
+                    continue;
+                }
+                if (rgvProtocol.getLoaded() == -1){
+                    continue;
+                }
+
+                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllWalkTaskProtocol();
+                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
+                    if (taskProtocol.getIsRunning() == 1) {//鍑嗗涓嬪彂
+                        // 鍙岃溅
+                        if (rgvOtherStatusEnable()) {
+                            //鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
+                            if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
+                                continue;
+                            }
+                        }
+                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+                            break;
+                        } else {
+                            Thread.sleep(100);
+                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+                            write(issued);
+                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+                            break;
+                        }
+                    }
+                }
+            } catch (Exception e) {
+                log.error("RGV鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+//                e.printStackTrace();
+            }
+        }
+    }
+
+    /**
      * 婕父
      */
     private void taskWalkIssued() {
@@ -149,6 +208,8 @@
                 TaskProtocol issued = new TaskProtocol();
                 issued.setTaskNo(32222L);
                 issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+                issued.setTaskStatus(1);
+                issued.setDirection(true);
                 write(issued);
                 rgvTaskProtocol.setAvoid(0);
 
@@ -186,11 +247,14 @@
                 if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
                     continue;
                 }
+                if (rgvProtocol.getLoaded() == -1){
+                    continue;
+                }
 
                 List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
                 for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                     if (taskProtocol.getIsRunning() == 1) {//鍑嗗涓嬪彂
-                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+//                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                         //鍙岃溅
                         if (rgvOtherStatusEnable()) {
                             //鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
@@ -203,16 +267,12 @@
                             Thread.sleep(100);
                             TaskProtocol issued = new TaskProtocol(taskProtocol);
                             write(issued);
-//                            taskProtocol.setIsRunning(4);
-//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                             taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                             break;
                         } else {
                             Thread.sleep(100);
                             TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                             write(issued);
-//                            taskProtocol.setIsRunning(4);
-//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                             break;
                         }
                     }
diff --git a/src/main/resources/mapper/BasDevpPositionMapper.xml b/src/main/resources/mapper/BasDevpPositionMapper.xml
index 2d4b554..adc664f 100644
--- a/src/main/resources/mapper/BasDevpPositionMapper.xml
+++ b/src/main/resources/mapper/BasDevpPositionMapper.xml
@@ -8,6 +8,7 @@
         <result column="DEV_NO" property="devNo" />
         <result column="PLC_ID" property="plcId" />
         <result column="PLC_POSITION" property="plcPosition" />
+        <result column="RGV_SIGN" property="rgvSign" />
 
     </resultMap>
 
diff --git a/src/main/webapp/views/deviceOperate/rgvOperate.html b/src/main/webapp/views/deviceOperate/rgvOperate.html
index fa2ba58..d7146bd 100644
--- a/src/main/webapp/views/deviceOperate/rgvOperate.html
+++ b/src/main/webapp/views/deviceOperate/rgvOperate.html
@@ -16,13 +16,19 @@
 		<div style="width: 100%;">
 			<el-table ref="singleTable" :data="tableData" highlight-current-row @row-click="handleRowClick"
 				max-height="450" style="width: 100%">
-				<el-table-column property="devNo" label="灏忚溅鍙�">
+				<el-table-column property="rgvNo" label="灏忚溅鍙�">
 				</el-table-column>
-				<el-table-column property="workNo" label="宸ヤ綔鍙�">
+				<el-table-column property="taskNo" label="宸ヤ綔鍙�">
 				</el-table-column>
-				<el-table-column property="locType1" label="楂樹綆搴撲綅">
+				<el-table-column property="mode" label="浣滀笟妯″紡">
 				</el-table-column>
-				<el-table-column property="pakMk" label="鍏ュ簱鏍囪">
+				<el-table-column property="status" label="鐘舵��">
+				</el-table-column>
+				<el-table-column property="rgvPos" label="褰撳墠瀹氫綅鍊�">
+				</el-table-column>
+				<el-table-column property="rgvPosDestination" label="鐩爣瀹氫綅缃�">
+				</el-table-column>
+				<el-table-column property="loaded" label="鏈夌墿">
 				</el-table-column>
 			</el-table>
 		</div>
@@ -36,27 +42,19 @@
 					<div>
 						<el-form :model="formParam" label-position="top" :inline="true" class="demo-form-inline">
 							<el-form-item label="宸ヤ綔鍙�">
-								<el-input v-model="formParam.workNo" placeholder="宸ヤ綔鍙�"></el-input>
+								<el-input v-model="formParam.taskNo" placeholder="宸ヤ綔鍙�"></el-input>
 							</el-form-item>
-							<el-form-item label="鐩爣绔�">
-								<el-input v-model="formParam.staNo" placeholder="鐩爣绔�"></el-input>
+							<el-form-item label="鐩爣瀹氫綅缃�">
+								<el-input v-model="formParam.rgvPosDestination" placeholder="鐩爣瀹氫綅缃�"></el-input>
 							</el-form-item>
-							<el-form-item label="鍏ュ簱鏍囪">
-								<el-input v-model="formParam.pakMk" placeholder="鍏ュ簱鏍囪"></el-input>
-							</el-form-item>
-						</el-form>
-						<el-form label-position="top" :inline="true" class="demo-form-inline">
-							<el-form-item label="">
-								<el-checkbox v-model="formParam.inEnable">鍙叆</el-checkbox>
-							</el-form-item>
-							<el-form-item label="">
-								<el-checkbox v-model="formParam.outEnable">鍙嚭</el-checkbox>
+							<el-form-item label="鐩爣绔欑偣">
+								<el-input v-model="formParam.rgvStaNo" placeholder="鐩爣绔欑偣"></el-input>
 							</el-form-item>
 						</el-form>
 						<div>
-							<el-button @click="requestOperate('update')" type="primary">鏇存柊</el-button>
-							<el-button @click="requestOperate('out')" type="warning">鍙栬揣瀹屾垚</el-button>
-							<el-button @click="requestOperate('in')" type="warning">鏀捐揣瀹屾垚</el-button>
+							<el-button @click="requestOperate('take')" type="primary">鍙栬揣</el-button>
+							<el-button @click="requestOperate('put')" type="primary">鏀捐揣</el-button>
+							<el-button @click="requestOperate('walk')" type="warning">琛岃蛋</el-button>
 						</div>
 					</div>
 				</el-card>
@@ -109,12 +107,10 @@
 				currentTitle: "鏈�夋嫨璁惧",
 				currentIndex: null,
 				formParam: {
-					devNo: null,
-					workNo: null,
-					staNo: null,
-					pakMk: null,
-					inEnable: false,
-					outEnable: false
+					rgvNo: 0,
+					taskNo: 0,
+					rgvStaNo: 0,
+					rgvPosDestination: 0
 				}
 			},
 			created() {
@@ -135,19 +131,17 @@
 					const index = this.tableData.indexOf(row)
 					this.currentRow = row;
 					this.currentIndex = index
-					this.currentTitle = row.devNo + "绔欑偣"
+					this.currentTitle = row.rgvNo + "灏忚溅"
 					
-					this.formParam.devNo = row.devNo
-					this.formParam.workNo = row.workNo
-					this.formParam.staNo = row.staNo
-					this.formParam.pakMk = row.pakMk
-					this.formParam.inEnable = row.inEnable == "Y" ? true : false
-					this.formParam.outEnable = row.outEnable == "Y" ? true : false
+					this.formParam.rgvNo = row.rgvNo
+					this.formParam.taskNo = row.taskNo
+					this.formParam.rgvStaNo = row.rgvStaNo
+					this.formParam.rgvPosDestination = row.rgvPosDestination
 				},
 				getTableData() {
 					let that = this;
 					$.ajax({
-						url: baseUrl + "/site/list/auth",
+						url: baseUrl + "/rgv/status/all",
 						headers: {
 							'token': localStorage.getItem('token')
 						},
@@ -168,7 +162,7 @@
 						type: 'warning'
 					}).then(()=>{
 						$.ajax({
-							url: baseUrl + "/site/detl/"+method,
+							url: baseUrl + "/rgv/run/"+method,
 							headers: {
 								'token': localStorage.getItem('token')
 							},

--
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