From a3d44470b704e81d4f66399bed2f37529ddb31be Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期四, 25 十二月 2025 13:53:32 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/DualCrnController.java | 39 +++++++++++++++++++++++++++++++++++++++
1 files changed, 39 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/DualCrnController.java b/src/main/java/com/zy/asrs/controller/DualCrnController.java
index b33e029..599eb45 100644
--- a/src/main/java/com/zy/asrs/controller/DualCrnController.java
+++ b/src/main/java/com/zy/asrs/controller/DualCrnController.java
@@ -65,6 +65,8 @@
vo.setLiftPosTwo(p.getLiftPosTypeTwo() == null ? "-" : p.getLiftPosTypeTwo().desc);
vo.setWalkPos(p.getWalkPos() != null && p.getWalkPos() == 0 ? "鍦ㄥ畾浣�" : "涓嶅湪瀹氫綅");
vo.setWalkPosTwo(p.getWalkPosTwo() != null && p.getWalkPosTwo() == 0 ? "鍦ㄥ畾浣�" : "涓嶅湪瀹氫綅");
+ vo.setTaskReceive(p.getTaskReceive() != null && p.getTaskReceive() == 1 ? "鎺ユ敹" : "鏃犱换鍔�");
+ vo.setTaskReceiveTwo(p.getTaskReceiveTwo() != null && p.getTaskReceiveTwo() == 1 ? "鎺ユ敹" : "鏃犱换鍔�");
vo.setXspeed(p.getXSpeed());
vo.setYspeed(p.getYSpeed());
vo.setZspeed(p.getZSpeed());
@@ -105,6 +107,43 @@
return R.ok();
}
+ @PostMapping("/dualcrn/command/pick")
+ @ManagerAuth(memo = "鍙屽伐浣嶅爢鍨涙満鍙栬揣鍛戒护")
+ public R dualCrnCommandPick(@RequestBody DualCrnCommandParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
+ Integer crnNo = param.getCrnNo();
+ String targetLocNo = param.getTargetLocNo();
+ Integer station = param.getStation();
+ DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
+ }
+ DualCrnCommand command = crnThread.getPickCommand(targetLocNo, 9999, crnNo, station);
+ MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
+ return R.ok();
+ }
+
+ @PostMapping("/dualcrn/command/put")
+ @ManagerAuth(memo = "鍙屽伐浣嶅爢鍨涙満鏀捐揣鍛戒护")
+ public R dualCrnCommandPut(@RequestBody DualCrnCommandParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
+ Integer crnNo = param.getCrnNo();
+ String targetLocNo = param.getTargetLocNo();
+ Integer station = param.getStation();
+ DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
+ }
+ DualCrnCommand command = crnThread.getPutCommand(targetLocNo, 9999, crnNo, station);
+ MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
+ return R.ok();
+ }
+
+
@PostMapping("/dualcrn/command/move")
@ManagerAuth(memo = "鍙屽伐浣嶅爢鍨涙満绉诲姩鍛戒护")
public R dualCrnCommandMove(@RequestBody DualCrnCommandParam param) {
--
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