From a22241b357b2e8841514632385dd26302d53b947 Mon Sep 17 00:00:00 2001
From: pang.jiabao <pang_jiabao@163.com>
Date: 星期五, 23 五月 2025 09:55:31 +0800
Subject: [PATCH] 接口文档更新
---
src/main/java/com/zy/asrs/controller/CrnController.java | 313 +++++++++++++++++++++++++++++++++++-----------------
1 files changed, 210 insertions(+), 103 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 403b11d..9d7b618 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,5 +1,6 @@
package com.zy.asrs.controller;
+import com.alibaba.excel.EasyExcel;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
@@ -14,12 +15,14 @@
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.*;
+import com.zy.asrs.importexcle.ImportCrnErrDto;
+import com.zy.asrs.importexcle.ImportCrnErrListener;
import com.zy.asrs.mapper.BasCrnErrorMapper;
+import com.zy.asrs.mapper.TaskWrkMapper;
+import com.zy.asrs.service.BasCrnErrorService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
-import com.zy.asrs.service.impl.MainServiceImpl;
-import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
@@ -36,9 +39,11 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
+import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+import javax.annotation.Resource;
import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
@@ -53,12 +58,6 @@
@RestController
public class CrnController {
- @Value("${wms.url}")
- private String wmsUrl;
- @Value("${wms.movePath}")
- private String movePath;
-
-
@Autowired
private SlaveProperties slaveProperties;
@@ -69,14 +68,36 @@
@Autowired
private BasCrnpService basCrnpService;
@Autowired
- private MainServiceImpl mainService;
- @Autowired
private LocMastService locMastService;
+
+ @Resource
+ private TaskWrkMapper taskWrkMapper;
+
+ @Resource
+ private BasCrnErrorService basCrnErrorService;
+
+ @PostMapping("/importCrnErr")
+ @ManagerAuth(memo = "瀵煎叆鍫嗗灈鏈哄紓甯歌〃")
+ public R importCrnErr(@RequestParam("file") MultipartFile multipartFile) {
+ try {
+ importCrnErrExec(multipartFile);
+ } catch (Exception e) {
+ e.printStackTrace();
+ return R.error(e.getMessage());
+ }
+ return R.ok("瀵煎叆鎴愬姛");
+ }
+
+ @Transactional(rollbackFor = Exception.class)
+ public void importCrnErrExec(MultipartFile multipartFile) throws IOException {
+ EasyExcel.read(multipartFile.getInputStream(), ImportCrnErrDto.class,
+ new ImportCrnErrListener(basCrnErrorService)).sheet().doReadSync();
+ }
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@PostMapping("/crn/command/ongoing")
- public R ongoingCommand(){
+ public R ongoingCommand() {
List<CommandLogVo> list = new ArrayList<>();
for (CrnSlave crn : slaveProperties.getCrn()) {
CommandLogVo vo = new CommandLogVo();
@@ -95,7 +116,7 @@
vo.setStatus(1); // 鐘舵��
Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
if (task != null) {
- vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
+ vo.setCommand(JSON.toJSONString((CrnCommand) task.getData()));
}
}
return R.ok().add(list);
@@ -103,7 +124,7 @@
@PostMapping("/crn/table/crn/state")
@ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
- 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) {
@@ -129,11 +150,11 @@
vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
vo.setLiftPos(crnProtocol.getLiftPosType().desc);
- vo.setWalkPos(crnProtocol.getWalkPos()==1?"涓嶅湪瀹氫綅":"鍦ㄥ畾浣�");
+ vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "涓嶅湪瀹氫綅" : "鍦ㄥ畾浣�");
vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
if (crnProtocol.getAlarm() > 0) {
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- vo.setAlarm(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ vo.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
}
}
return R.ok().add(list);
@@ -141,7 +162,7 @@
@PostMapping("/crn/table/crn/{id}/state")
@ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
- public R crnStateTable(@PathVariable("id") Integer id){
+ public R crnStateTable(@PathVariable("id") Integer id) {
BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
// 琛ㄦ牸琛�
CrnStateTableVo vo = new CrnStateTableVo();
@@ -164,18 +185,18 @@
vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
vo.setLiftPos(crnProtocol.getLiftPosType().desc);
- vo.setWalkPos(crnProtocol.getWalkPos()==1?"涓嶅湪瀹氫綅":"鍦ㄥ畾浣�");
+ vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "涓嶅湪瀹氫綅" : "鍦ㄥ畾浣�");
vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
if (crnProtocol.getAlarm1() > 0) {
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
- vo.setAlarm(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ vo.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
}
return R.ok().add(vo);
}
@PostMapping("/crn/table/crn/msg")
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
- public R crnMsgTable(){
+ public R crnMsgTable() {
List<CrnMsgTableVo> list = new ArrayList<>();
List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
for (BasCrnp basCrnp : crnps) {
@@ -194,17 +215,18 @@
}
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- if (crnProtocol.getTaskNo()>0) {
- WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
- if (wrkMast != null) {
- vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
- vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 婧愮珯
- vo.setStaNo(wrkMast.getStaNo$()); // 鐩爣绔�
- vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
- vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ if (crnProtocol.getTaskNo() > 0) {
+// WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
+ if (taskWrk != null) {
+ vo.setStatus(CrnStatusType.process(taskWrk.getIoType()).getDesc()); // 妯″紡鐘舵��
+ vo.setSourceStaNo(taskWrk.getStartPoint()); // 婧愮珯
+ vo.setStaNo(taskWrk.getTargetPoint()); // 鐩爣绔�
+ vo.setSourceLocNo(taskWrk.getStartPoint()); // 婧愬簱浣�
+ vo.setLocNo(taskWrk.getTargetPoint()); // 鐩爣搴撲綅
}
} else {
- vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
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)
@@ -219,7 +241,7 @@
@PostMapping("/crn/table/crn/{id}/msg")
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
- public R crnMsgTable(@PathVariable("id") Integer id){
+ public R crnMsgTable(@PathVariable("id") Integer id) {
BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
// 琛ㄦ牸琛�
CrnMsgTableVo vo = new CrnMsgTableVo();
@@ -235,7 +257,7 @@
}
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- if (crnProtocol.getTaskNo()>0) {
+ if (crnProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
@@ -245,7 +267,7 @@
vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
}
} else {
- vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
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)
@@ -259,7 +281,7 @@
@GetMapping("/crn/list/auth")
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
- public R crnList(){
+ public R crnList() {
List<CrnListVo> list = new ArrayList<>();
List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
for (BasCrnp basCrnp : crnps) {
@@ -278,7 +300,7 @@
}
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- if (crnProtocol.getTaskNo()>0) {
+ if (crnProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
@@ -288,7 +310,7 @@
vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
}
} else {
- vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
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)
@@ -306,11 +328,11 @@
vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
vo.setLiftPos(crnProtocol.getLiftPosType().desc);
- vo.setWalkPos(crnProtocol.getWalkPos()==1?"涓嶅湪瀹氫綅":"鍦ㄥ畾浣�");
+ vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "涓嶅湪瀹氫綅" : "鍦ㄥ畾浣�");
vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
if (crnProtocol.getAlarm1() > 0) {
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
- vo.setAlarm(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ vo.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
}
vo.setInEnable(basCrnp.getInEnable());
vo.setOutEnable(basCrnp.getOutEnable());
@@ -320,11 +342,11 @@
@PostMapping("/crn/output/site")
@ManagerAuth(memo = "鍫嗗灈鏈烘姤鏂囨棩蹇楄緭鍑�")
- 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++;
}
@@ -333,7 +355,7 @@
@GetMapping("/crn/demo/status")
- public R demoStatus(){
+ public R demoStatus() {
List<Map<String, Object>> res = new ArrayList<>();
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
Map<String, Object> map = new HashMap<>();
@@ -348,13 +370,13 @@
@PostMapping("/crn/demo/switch")
@ManagerAuth(memo = "鍫嗗灈鏈烘紨绀�")
public R crnDemo(CrnDemoParam param) throws InterruptedException {
- if (Cools.isEmpty(param.getCrnId())){
+ if (Cools.isEmpty(param.getCrnId())) {
return R.error();
}
- if (Cools.isEmpty(param.getPassword())){
+ if (Cools.isEmpty(param.getPassword())) {
return R.error("璇疯緭鍏ュ彛浠�");
}
- if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
+ if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
return R.error("鍙ｄ护閿欒");
}
Thread.sleep(200L);
@@ -368,14 +390,17 @@
}
-
/****************************************************************/
/************************** 鎵嬪姩鎿嶄綔 ******************************/
/****************************************************************/
@ManagerAuth(memo = "鍏ュ簱")
@PostMapping("/crn/operator/put")
- public R crnPut(CrnOperatorParam param){
+ public R crnPut(CrnOperatorParam param) {
+// // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -387,51 +412,66 @@
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();
+ command.setCommand((short) 1);
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍑哄簱")
@PostMapping("/crn/operator/take")
- public R crnTake(CrnOperatorParam param){
+ public R crnTake(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
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.PAKOUT); // 浠诲姟妯″紡
+ command.setTaskMode(CrnTaskModeType.PAKIN); // 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();
+ command.setCommand((short) 1);
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "搴撲綅杞Щ")
@PostMapping("/crn/operator/stockMove")
- public R crnStockMove(CrnOperatorParam param){
+ public R crnStockMove(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
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.LOC_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�
+ command.setSourcePosZ(param.getSourceRow()); // 婧愬簱浣嶆帓
+ command.setSourcePosX(param.getSourceBay()); // 婧愬簱浣嶅垪
+ command.setSourcePosY(param.getSourceLev()); // 婧愬簱浣嶅眰
+ command.setDestinationPosZ(param.getRow()); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosX(param.getBay()); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosY(param.getLev()); // 鐩爣搴撲綅灞�
+ command.setCommand((short) 1);
LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())
.eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
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();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "绔欏埌绔�")
@PostMapping("/crn/operator/siteMove")
- public R crnSiteMove(CrnOperatorParam param){
+ public R crnSiteMove(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -443,12 +483,16 @@
command.setDestinationPosX(param.getStaNo()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍥炲師鐐�")
@PostMapping("/crn/operator/bacOrigin")
- public R crnBacOrigin(CrnOperatorParam param){
+ public R crnBacOrigin(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -460,12 +504,16 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍙嶅師鐐�")
@PostMapping("/crn/operator/reverseOrigin")
- public R reverseOrigin(CrnOperatorParam param){
+ public R reverseOrigin(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -475,9 +523,9 @@
command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
- command.setDestinationPosY((short) 34); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ((short) 5); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ command.setDestinationPosY((short) 22); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+ return crnControl(command) ? R.ok() : R.error();
}
// @ManagerAuth(memo = "鍧愭爣绉诲姩")
@@ -500,7 +548,11 @@
@ManagerAuth(memo = "浠诲姟瀹屾垚")
@PostMapping("/crn/operator/taskComplete")
- public R crnTaskComplete(CrnOperatorParam param){
+ public R crnTaskComplete(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -512,7 +564,8 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ command.setCommand((short) 0);
+ return crnControl(command) ? R.ok() : R.error();
}
// @ManagerAuth(memo = "鏆傚仠")
@@ -529,7 +582,11 @@
@ManagerAuth(memo = "娓呴櫎鍛戒护")
@PostMapping("/crn/operator/clearCommand")
- public R crnClearCommand(CrnOperatorParam param){
+ public R crnClearCommand(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
if (param.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -544,12 +601,16 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鎵嬪姩澶嶄綅")
@PostMapping("/crn/operator/handleReset")
public R handleReset(CrnOperatorParam param) throws Exception {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
if (param.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -572,7 +633,7 @@
crnCommand.setCommand((short) 0); // 浠诲姟瀹屾垚纭浣�
// 寤舵椂鍙戦��
Thread.sleep(1000L);
- if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand), false)) {
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(5, crnCommand))) {
return R.ok();
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
@@ -587,85 +648,134 @@
@ManagerAuth(memo = "鍒囨崲鑱旀満妯″紡")
@PostMapping("/crn/operator/auto")
- public R crnAuto(CrnOperatorParam param){
+ public R crnAuto(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setAuto((short)1);
+ command.setAuto((short) 1);
- return crnControl2(command)?R.ok():R.error();
+ return crnControl2(command) ? R.ok() : R.error();
}
+
@ManagerAuth(memo = "鍒囨崲鍗婃墜鍔ㄦā寮�")
@PostMapping("/crn/operator/semiAutomatic")
- public R crnsemiAutomatic(CrnOperatorParam param){
+ public R crnsemiAutomatic(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setAuto((short)2);
+ command.setAuto((short) 2);
- return crnControl2(command)?R.ok():R.error();
+ return crnControl2(command) ? R.ok() : R.error();
}
+
@ManagerAuth(memo = "鍒囨崲鎵嬪姩妯″紡")
@PostMapping("/crn/operator/hand")
- public R onlineWrk1(CrnOperatorParam param){
+ public R onlineWrk1(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setAuto((short)3);
+ command.setAuto((short) 3);
- return crnControl2(command)?R.ok():R.error();
+ return crnControl2(command) ? R.ok() : R.error();
}
+
@ManagerAuth(memo = "鐢宠瀹屾垚浠诲姟")
@PostMapping("/crn/operator/onlineWrk1")
- public R onlineWrk2(CrnOperatorParam param){
+ public R onlineWrk2(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setOnlineWrk1((short)1);
+ command.setOnlineWrk1((short) 1);
- return crnControl2(command)?R.ok():R.error();
+ return crnControl2(command) ? R.ok() : R.error();
}
+
@ManagerAuth(memo = "鐢宠鍙栨秷浠诲姟")
@PostMapping("/crn/operator/onlineWrk2")
- public R onlineWrk3(CrnOperatorParam param){
+ public R onlineWrk3(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setOnlineWrk2((short)1);
+ command.setOnlineWrk2((short) 1);
- return crnControl2(command)?R.ok():R.error();
+ return crnControl2(command) ? R.ok() : R.error();
}
+
@ManagerAuth(memo = "娓呴櫎鑱旀満浠诲姟")
@PostMapping("/crn/operator/onlineWrk3")
- public R onlineWrk4(CrnOperatorParam param){
+ public R onlineWrk4(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setOnlineWrk3((short)1);
+ command.setOnlineWrk3((short) 1);
- return crnControl2(command)?R.ok():R.error();
+ return crnControl2(command) ? R.ok() : R.error();
}
+
@ManagerAuth(memo = "鎭㈠鑱旀満浠诲姟")
@PostMapping("/crn/operator/onlineWrk4")
- public R crnHand(CrnOperatorParam param){
+ public R crnHand(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setOnlineWrk4((short)1);
+ command.setOnlineWrk4((short) 1);
- return crnControl2(command)?R.ok():R.error();
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "澶嶄綅")
+ @PostMapping("/crn/operator/reset")
+ public R crnReset(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setReset((short) 1);
+
+ return crnControl2(command) ? R.ok() : R.error();
}
-
- private boolean crnControl2(CrnCommand command){
+ private boolean crnControl2(CrnCommand command) {
if (command.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -682,7 +792,7 @@
}
// 绌洪棽鍒ゆ柇
// if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
- if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(4, command), false)) {
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(4, command))) {
return true;
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
@@ -696,10 +806,7 @@
}
-
-
-
- private boolean crnControl(CrnCommand command){
+ private boolean crnControl(CrnCommand command) {
if (command.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -716,7 +823,7 @@
}
// 绌洪棽鍒ゆ柇
// if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
- if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(2, command), false)) {
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
return true;
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
@@ -729,8 +836,8 @@
return false;
}
- private void staNoProcess(CrnOperatorParam param, CrnCommand command){
- if (param.getSourceStaNo()!=null) {
+ private void staNoProcess(CrnOperatorParam param, CrnCommand command) {
+ if (param.getSourceStaNo() != null) {
if (param.getSourceStaNo() == 5) {
command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
@@ -741,7 +848,7 @@
command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
}
}
- if (param.getStaNo()!=null) {
+ if (param.getStaNo() != null) {
if (param.getStaNo() == 5) {
command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
@@ -757,7 +864,7 @@
// /crn/list/auth
@RequestMapping(value = "/crnListQuery/auth")
@ManagerAuth
- public R listQuery(String condition){
+ public R listQuery(String condition) {
ArrayList<HashMap<String, Object>> list = new ArrayList<>();
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
--
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