From c1ef2d1fc4c0dae2bc8452924dcd77a0ff3a1ef5 Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期四, 19 六月 2025 15:02:52 +0800
Subject: [PATCH] #改造

---
 src/main/java/com/zy/asrs/controller/CrnController.java |   15 ++++++++-------
 1 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 90085da..4a7dc85 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -54,10 +54,10 @@
 @RestController
 public class CrnController {
 
-    @Value("${wms.url}")
-    private String wmsUrl;
-    @Value("${wms.movePath}")
-    private String movePath;
+//    @Value("${wms.url}")
+//    private String wmsUrl;
+//    @Value("${wms.movePath}")
+//    private String movePath;
 
 
 
@@ -303,6 +303,7 @@
                 }
             }
             vo.setLaneNo(crnProtocol.getLaneNo());  //
+            vo.setErrorCrn(crnProtocol.getErrCrn());  //
             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)
             vo.setZspeed(crnProtocol.getZSpeed());  //  鍙夌墮閫熷害锛坢/min)
@@ -628,7 +629,7 @@
                 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(5, 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");
@@ -782,7 +783,7 @@
                 }
                 // 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");
@@ -816,7 +817,7 @@
                 }
                 // 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");

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