From aede5c5c19740a9903dfe2873caaacc10eebda66 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 28 四月 2025 12:37:07 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/asrs/controller/OpenController.java |  397 ++++++++++++++++++++++++++++++++++++++++++--------------
 1 files changed, 297 insertions(+), 100 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index c5825f2..6548830 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -1,7 +1,6 @@
 package com.zy.asrs.controller;
 
 import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.mapper.EntityWrapper;
 import com.core.annotations.AppAuth;
 import com.core.common.BaseRes;
@@ -9,12 +8,20 @@
 import com.core.common.R;
 import com.core.exception.CoolException;
 import com.zy.asrs.entity.*;
-import com.zy.asrs.entity.param.TaskOverParam;
-import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
-import com.zy.asrs.entity.param.taskCreateParam;
+import com.zy.asrs.entity.param.*;
 import com.zy.asrs.service.*;
-import com.zy.common.utils.HttpHandler;
+import com.zy.asrs.service.impl.BasCrnErrorServiceImpl;
+import com.zy.asrs.utils.Utils;
 import com.zy.common.web.BaseController;
+import com.zy.core.CrnThread;
+import com.zy.core.cache.RgvStatusCache;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.CrnSlave;
+import com.zy.core.model.RgvSlave;
+import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
+import com.zy.core.properties.SlaveProperties;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
@@ -23,16 +30,15 @@
 
 import javax.servlet.http.HttpServletRequest;
 import java.io.IOException;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
 
 @Slf4j
 @RestController
 @RequestMapping("/open")
 public class OpenController extends BaseController {
 
+    @Autowired
+    private SlaveProperties slaveProperties;
     @Autowired
     private OpenService openService;
     @Autowired
@@ -45,9 +51,16 @@
     private BasDevpService basDevpService;
     @Autowired
     private ApiLogService apiLogService;
-
+    @Autowired
+    private BasCrnpService basCrnpService;
     @Autowired
     private StaDescService staDescService;
+    @Autowired
+    private LocMastService locMastService;
+    @Autowired
+    private BasRgvErrService basRgvErrService;
+    @Autowired
+    private BasCrnErrorServiceImpl basCrnErrorService;
 
     @Value("${wms.url}")
     private String wmsUrl;
@@ -57,6 +70,7 @@
     public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
         add("ea1f0459efc02a79f046f982767939ae");
     }};
+
     //agv浠诲姟瀹屾垚
     @PostMapping("/toAgvTaskOver")
     @AppAuth(memo = "agv浠诲姟瀹屾垚鎺ュ彛")
@@ -79,23 +93,65 @@
 
     //鍒涘缓浠诲姟
     @PostMapping("/taskCreate")
+    @Transactional
     public R taskCreate(@RequestHeader String appkey,
-                          @RequestBody taskCreateParam param,
+                          @RequestBody List<TaskCreateParam> param1,
                           HttpServletRequest request) {
-        auth(appkey, param, request);
-        if (Cools.isEmpty(param)) {
-            return R.parse(BaseRes.PARAM);
+        auth(appkey, param1, request);
+        try{
+            List<TaskCreateParam> paramList = new ArrayList<>();
+            List<String> locNoList = new ArrayList<>();
+            for (TaskCreateParam param : param1) {
+                if (Cools.isEmpty(param)) {
+                    return R.parse(BaseRes.PARAM);
+                }
+                if (Cools.isEmpty(param.getTaskNo())) {
+                    return R.error("浠诲姟鍙穂taskNo]涓嶈兘涓虹┖");
+                }
+                if (Cools.isEmpty(param.getIoType())) {
+                    return R.error("浠诲姟绫诲瀷[ioType]涓嶈兘涓虹┖");
+                }
+                if (Cools.isEmpty(param.getBarcode())) {
+                    return R.error("鏉$爜[barcode]涓嶈兘涓虹┖");
+                }
+                String locNo=null;
+                if(param.getIoType()==1){
+                    locNo=param.getTargetPoint();
+                }else{
+                    locNo=param.getStartPoint();
+                }
+                try{
+                    LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+                            .eq("loc_no", locNo).ne("loc_sts","X"));
+                    if (Cools.isEmpty(locMast)){
+                        log.error("搴撲綅鍙蜂笉瀛樺湪"+locNo);
+                        return R.error("搴撲綅鍙蜂笉瀛樺湪"+locNo).add("搴撲綅鍙蜂笉瀛樺湪"+locNo);
+                    }
+                }catch (Exception e){
+                    log.error("搴撲綅鍙锋娴嬬▼搴忓紓甯�==銆嬪紓甯镐俊鎭�"+e);
+                    return R.error("搴撲綅鍙锋娴嬬▼搴忓紓甯�").add("搴撲綅鍙锋娴嬬▼搴忓紓甯�==銆嬪紓甯镐俊鎭�"+e);
+                }
+                LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
+                        .eq("loc_sts","F")
+                        .eq("loc_no",locNo)
+                        .eq("barcode",param.getBarcode()));
+                if(Cools.isEmpty(locMast)){
+                    return R.error("璇ュ簱浣嶄笉婊¤冻鍑哄簱鏉′欢"+param.getTargetPoint());
+                }
+                if (!locNoList.contains(locMast.getLocNo())){
+                    locNoList.add(locMast.getLocNo());
+                    paramList.add(param);
+                }else {
+                    return R.error("璇ュ簱浣嶄笉鑳藉悓鏃朵笅鍙戜袱绗斾换鍔�"+locMast.getLocNo());
+                }
+            }
+            for (TaskCreateParam param : paramList){
+                openService.taskCreate(param);
+            }
+        }catch (Exception e){
+            log.error("浠诲姟涓嬪彂寮傚父"+e);
+            return R.error();
         }
-        if (Cools.isEmpty(param.getTaskNo())) {
-            return R.error("浠诲姟鍙穂taskNo]涓嶈兘涓虹┖");
-        }
-        if (Cools.isEmpty(param.getIoType())) {
-            return R.error("浠诲姟绫诲瀷[ioType]涓嶈兘涓虹┖");
-        }
-        if (Cools.isEmpty(param.getBarcode())) {
-            return R.error("鏉$爜[barcode]涓嶈兘涓虹┖");
-        }
-        openService.taskCreate(param);
         return R.ok();
     }
 
@@ -111,6 +167,44 @@
         }
         return R.ok().add(taskWrk);
     }
+
+//    //鍙栨斁璐х敵璇�
+//    @PostMapping("/pick/and/place/v1")
+//    @AppAuth(memo = "agv鍙栨斁璐х敵璇�")
+//    public R getAgvPickAndPlaceV1(@RequestHeader String appkey,
+//                            @RequestBody TaskOverParam param,
+//                            HttpServletRequest request){
+//        auth(appkey, param, request);
+//        if (Cools.isEmpty(param)) {
+//            return R.parse(BaseRes.PARAM);
+//        }
+//        if (Cools.isEmpty(param.getStaNo())){
+//            return R.error("鐮佸ご[staNo]涓嶈兘涓虹┖");
+//        }
+//        if (Cools.isEmpty(param.getType())){
+//            return R.error("绫诲瀷[type]涓嶈兘涓虹┖");
+//        }
+//        return openService.getAgvPickAndPlaceV1(param);
+//    }
+
+//    //鍙栨斁璐у畬鎴愬弽棣�
+//    @PostMapping("/pick/and/place/v2")
+//    @AppAuth(memo = "agv鍙栨斁璐у畬鎴愬弽棣�")
+//    public R getAgvPickAndPlaceV2(@RequestHeader String appkey,
+//                                  @RequestBody TaskOverParam param,
+//                                  HttpServletRequest request){
+//        auth(appkey, param, request);
+//        if (Cools.isEmpty(param)) {
+//            return R.parse(BaseRes.PARAM);
+//        }
+//        if (Cools.isEmpty(param.getStaNo())){
+//            return R.error("鐮佸ご[staNo]涓嶈兘涓虹┖");
+//        }
+//        if (Cools.isEmpty(param.getType())){
+//            return R.error("绫诲瀷[type]涓嶈兘涓虹┖");
+//        }
+//        return openService.getAgvPickAndPlaceV2(param);
+//    }
 
     //鏌ヨ浠诲姟鎸囦护闆嗗悎
     @GetMapping("/queryTaskCommand")
@@ -185,21 +279,26 @@
         }
 
         Map<String,Integer> map = new HashMap<>();
-        map.put("J-1101",102);map.put("J-1102",101);
-        map.put("J-1103",106);map.put("J-1104",105);
-        map.put("J-1105",110);map.put("J-1106",109);
-        map.put("J-1107",114);map.put("J-1108",113);
-        map.put("J-1109",118);map.put("J-1110",117);
-        map.put("J-1111",122);map.put("J-1112",121);
+        map.put("J-1102",102);map.put("J-1101",101);
+        map.put("J-1103",105);map.put("J-1104",106);
+        map.put("J-1105",109);map.put("J-1106",110);
+        map.put("J-1107",113);map.put("J-1108",114);
+        map.put("J-1109",117);map.put("J-1110",118);
+        map.put("J-1111",121);map.put("J-1112",122);
         map.put("H-1102",300);map.put("H-1101",305);
-        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_desc", param.getWharfCode()));
-
-        if (Cools.isEmpty(staDesc)){
-            return R.error("绋嬪簭鎶ラ敊锛屾湭鏌ヨ鍒扮珯鐐�");
+        map.put("G-1102",400);map.put("G-1101",405);
+//        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+//                .eq("stn_desc", param.getWharfCode()));
+//
+//        if (Cools.isEmpty(staDesc)){
+//            return R.error("绋嬪簭鎶ラ敊锛屾湭鏌ヨ鍒扮珯鐐�");
+//        }
+        if (Cools.isEmpty(map.get(param.getWharfCode()))){
+            return R.error("鏈煡璇㈠埌绔欑偣");
         }
-        //BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
-        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
-        if (basDevp.getAutoing().equals("Y")){
+        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
+//        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
+        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))){
             apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛"
                     ,request.getRemoteAddr()+request.getRequestURI()
                     ,appkey
@@ -208,7 +307,7 @@
                     ,R.ok().toString()
                     ,true
             );
-            return R.ok();
+            return R.ok("鍙叆");
         }else {
             apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛"
                     ,request.getRemoteAddr()+request.getRequestURI()
@@ -229,101 +328,127 @@
 
     //浠诲姟涓嬪彂鎺ュ彛
     @PostMapping("/outboundTaskSend")
+//    @PostMapping("/taskCreate")
+//    @AppAuth(memo = "浠诲姟涓嬪彂鎺ュ彛")
     @Transactional
     public R outboundTaskSend(@RequestHeader String appkey,
-                              @RequestBody List<WMSAndAGVInterfaceParam> params,
+                              @RequestBody List<CarryParam> params,//涓埅涓嬪彂  1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴�
                               HttpServletRequest request) {
         auth(appkey, params, request);
-        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
-        for (WMSAndAGVInterfaceParam param:params){
+//        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
+        for (CarryParam param:params){
+            param.updateIoTyoe(param.getIoType());//涓埅涓嬪彂  1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴�   ====杞崲涓�====>  1锛氬叆搴擄紝2锛氬嚭搴擄紝3锛氱Щ搴�
 
-                if (Cools.isEmpty(param)){
-                    return R.error("鍙傛暟涓虹┖锛�");
-                } else if (Cools.isEmpty(param.getTaskNo())){
-                    return R.error("浠诲姟鍙蜂负绌猴紒");
-                } else if (Cools.isEmpty(param.getTaskType())){
-                    return R.error("浠诲姟绫诲瀷涓虹┖锛�");
-                } else if (Cools.isEmpty(param.getWarehouseId())){
-                    return R.error("浠撳簱鏍囪瘑涓虹┖锛�");
-                }
-                if (Cools.isEmpty(param.getTaskPriority())){
-                    param.setTaskPriority(1);
-                }
-                if (Cools.isEmpty(param.getContainerCode())){
-                    return R.error("瀹瑰櫒缂栫爜(鎵樼洏鐮�)涓虹┖锛�");
-                }
-                if (Cools.isEmpty(param.getEmptyContainer())){
-                    return R.error("鏄惁绌烘墭鐩樹俊鍙蜂负绌猴紒");
-                }
-                if (Cools.isEmpty(param.getTargetWharf())){
-                    return R.error("鐩爣鐮佸ご鍖哄煙涓虹┖锛�");//G寮�澶�=7杞﹂棿锛孒寮�澶�=8灞傦紝J寮�澶�=9杞﹂棿
-                }
-                StaDesc staDesc = new StaDesc();
-                if (param.getTaskType().equals("CK") && param.getTargetWharf().contains("J")){
-                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
-                            .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).lt("crn_stn", 200));
-                }else {
-                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
-                            .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).ge("crn_stn", 200));
-                }
-                param.setTargetLocationCode(staDesc.getStnNo().toString());
+            if (Cools.isEmpty(param)){
+                return R.error("鍙傛暟涓虹┖锛�");
+            } else if (Cools.isEmpty(param.getTaskNo())){
+                return R.error("浠诲姟鍙蜂负绌猴紒");
+            } else if (Cools.isEmpty(param.getIoType())){
+                return R.error("浠诲姟绫诲瀷涓虹┖锛�");
+            }
+            if (Cools.isEmpty(param.getStartPoint()) || Cools.isEmpty(param.getTargetPoint())){
+                return R.error("鍒濆鐩爣鎴栬�呯洰鏍囦綅涓虹┖");
+            }
+//            if (Cools.isEmpty(param.getContainerCode())){
+//                return R.error("瀹瑰櫒缂栫爜(鎵樼洏鐮�)涓虹┖锛�");
+//            }
+//            if (Cools.isEmpty(param.getEmptyContainer())){
+//                return R.error("鏄惁绌烘墭鐩樹俊鍙蜂负绌猴紒");
+//            }
+//            if (!param.getTaskType().equals("YK")){
+//                if (Cools.isEmpty(param.getTargetWharf())){
+//                    return R.error("鐩爣鐮佸ご鍖哄煙涓虹┖锛�");//G寮�澶�=7杞﹂棿锛孒寮�澶�=8灞傦紝J寮�澶�=9杞﹂棿
+//                }
+//            }
 
+            LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
+            if(Cools.isEmpty(locMast)){
+                return R.error("鍒濆搴撲綅鏃犳硶鎵惧埌");
+            }
 
-                R r = openService.taskCreate(new taskCreateParam(param));
+            R r = null;
 
-                apiLogService.save("Wms浠诲姟涓嬪彂鎺ュ彛"
-                        ,request.getRemoteAddr()+request.getRequestURI()
-                        ,appkey
-                        ,request.getRemoteAddr()
-                        ,JSON.toJSONString(param)
-                        ,r.toString()
-                        ,true
-                );
-                return r;
+            if(param.getIoType() == 1){
+                //鍏ュ簱浠诲姟鍒涘缓
+                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+                        .eq("type_no",1)
+                        .eq("crn_no",locMast.getCrnNo())
+                        .eq("stn_no",param.getStartPoint()));
+                if(Cools.isEmpty(staDesc)){
+                    return R.error("鍏ュ簱璺姴涓嶅瓨鍦�");
+                }
+                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
+
+            }else if(param.getIoType() == 2){
+                //鍑哄簱浠诲姟鍒涘缓
+                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+                        .eq("type_no",2)
+                        .eq("crn_no",locMast.getCrnNo())
+                        .eq("stn_no",param.getTargetPoint()));
+                if(Cools.isEmpty(staDesc)){
+                    return R.error("鍑哄簱璺姴涓嶅瓨鍦�");
+                }
+                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
+            }else if (param.getIoType() == 3){
+                LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
+                if(Cools.isEmpty(locMast2)){
+                    return R.error("鐩爣搴撲綅鏃犳硶鎵惧埌");
+                }
+                if (!locMast2.getCrnNo().equals(locMast.getCrnNo())){
+                    return R.error("璧峰搴撲綅涓庣洰鏍囧簱浣嶄笉鍐嶅悓涓�宸烽亾");
+                }
+                //绉诲簱浠诲姟鍒涘缓
+                r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
+            }
+
+            apiLogService.save("Wms浠诲姟涓嬪彂鎺ュ彛"
+                    ,request.getRemoteAddr()+request.getRequestURI()
+                    ,appkey
+                    ,request.getRemoteAddr()
+                    ,JSON.toJSONString(param)
+                    ,r.toString()
+                    ,true
+            );
 
         }
 
-        return null;
+        return R.ok();
     }
 
     //浠诲姟鍙栨秷鎺ュ彛
     @PostMapping("/taskCancel")
     public R taskCancel(@RequestHeader String appkey,
-                               @RequestBody WMSAndAGVInterfaceParam param,
+                               @RequestBody WMSAndAGVInterfaceParam param,//涓埅涓嬪彂  1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴�    1锛氬彇娑�  2 瀹屾垚
                                HttpServletRequest request) {
+        auth(appkey, param, request);
+//        param.updateTaskStatus(param.getTaskStatus());
         if (Cools.isEmpty(param)){
             return R.error("鍙傛暟涓虹┖锛�");
         } else if (Cools.isEmpty(param.getTaskNo())){
             return R.error("宸ヤ綔鍙蜂负绌猴紒");
-        } else if (Cools.isEmpty(param.getTaskStatus())){
+        } else if (Cools.isEmpty(param.getIoType())){
             return R.error("鎿嶄綔绫诲瀷涓虹┖锛�");
+        } else if (Cools.isEmpty(param.getBarcode())){
+            return R.error("鎵樼洏鐮佷笉鑳戒负绌猴紒");
         }
-//        else if (Cools.isEmpty(param.getWarehouseId())){
-//            return R.error("浠撳簱鏍囪瘑涓虹┖锛�");
-//        }
 
-        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("task_no", param.getTaskNo()));
+        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>()
+                .eq("task_no", param.getTaskNo())
+                .eq("io_type",param.getIoType())
+                .eq("barcode",param.getBarcode()));
         if (Cools.isEmpty(taskWrk)){
-            return R.error("鏈煡鍒板綋鍓嶄换鍔�");
+            return R.error("鏈煡鍒板綋鍓嶄换鍔�---"+param);
         }
         boolean sign =false;
         switch (param.getTaskStatus()){
             case 1://姝e父鍙栨秷
-                if (taskWrk.getWrkSts()>1){
+                if (taskWrk.getStatus()>1){
                     return R.error("浠诲姟宸插紑濮嬫墽琛�");
-                }
-            case 2://寮哄埗鍙栨秷
-                if (taskWrk.getWrkSts()>3){
-                    return R.error("浠诲姟宸叉墽琛屽畬鎴�");
                 }
                 break;
-            case 3://姝e父瀹屾垚
-                if (taskWrk.getWrkSts()>11){
+            case 2://姝e父瀹屾垚
+                if (taskWrk.getStatus()>1){
                     return R.error("浠诲姟宸插紑濮嬫墽琛�");
-                }
-            case 4://寮哄埗瀹屾垚
-                if (taskWrk.getWrkSts()>14){
-                    return R.error("浠诲姟宸叉墽琛屽畬鎴�");
                 }
                 sign=true;
                 break;
@@ -346,6 +471,78 @@
         }
     }
 
+    //璁惧鐘舵�佹煡璇㈡帴鍙�
+    @PostMapping("/deviceStatus")
+    @Transactional
+    public R deviceStatus(@RequestHeader String appkey,
+                              HttpServletRequest request) {
+        auth(appkey, "璁惧鐘舵�佹煡璇㈡帴鍙�", request);
+        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+        List<Object> list = new ArrayList<>();
+        for (BasDevp basDevp:basDevps){
+            BasDevpWmsParam basDevpWmsParam = new BasDevpWmsParam();
+            basDevpWmsParam.setDevNo(basDevp.getDevNo());
+            basDevpWmsParam.setWrkNo(basDevp.getWrkNo().longValue());
+            basDevpWmsParam.setAutoing(basDevp.getAutoing());
+            basDevpWmsParam.setLoading(basDevp.getLoading());
+            basDevpWmsParam.setInEnable(basDevp.getInEnable());
+            basDevpWmsParam.setOutEnable(basDevp.getOutEnable());
+            basDevpWmsParam.setDevErr(basDevp.getStaErr().longValue());
+            basDevpWmsParam.setDevErrM(basDevpWmsParam.getDevErr$());
+            list.add(basDevpWmsParam);
+        }
+        List<BasCrnpWmsParam> basCrnpWmsParamList = new ArrayList<>();
+        for (CrnSlave crn : slaveProperties.getCrn()) {
+            // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+            if (crnProtocol == null) { continue; }
+            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+            if (basCrnp == null) {
+                log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+                continue;
+            }
+            BasCrnpWmsParam basCrnpWmsParam = new BasCrnpWmsParam();
+            basCrnpWmsParam.sync(basCrnp);
+
+            basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());
+            basCrnpWmsParamList.add(basCrnpWmsParam);
+
+            try{
+                BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
+                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
+            } catch (Exception e){
+                basCrnpWmsParam.setCrnErrM("鏈煡寮傚父");
+            }
+
+            list.add(basCrnpWmsParam);
+        }
+        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+            RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+            if (Cools.isEmpty(rgvStatus)){
+                continue;
+            }
+            BasRgvWmsParam basRgvWmsParam = new BasRgvWmsParam();
+            basRgvWmsParam.setWrkNo(rgvStatus.getTaskNo());
+            basRgvWmsParam.setCrnSts(rgvStatus.getStatus().intValue());
+            basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
+            basRgvWmsParam.setSteNo(rgvSlave.getId());
+            basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
+            try{
+                BasRgvErr basRgvErr = basRgvErrService.selectById(rgvStatus.getAlarm().longValue());
+
+                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
+            } catch (Exception e){
+                basRgvWmsParam.setSteErrM("鏈煡寮傚父");
+            }
+            list.add(basRgvWmsParam);
+        }
+//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
+//        for (BasCrnp basCrnp:basCrnps){
+//            list.add(basCrnp);
+//        }
+        return R.ok(list);
+    }
 
 
 }

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