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/RgvController.java |   44 ++++++++++++++++++++++++++++++++++++++++++++
 1 files changed, 44 insertions(+), 0 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index 759e453..112568f 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -2,9 +2,11 @@
 
 import com.baomidou.mybatisplus.mapper.EntityWrapper;
 import com.core.annotations.ManagerAuth;
+import com.core.common.Cools;
 import com.core.common.R;
 import com.zy.asrs.entity.BasDevpPosition;
 import com.zy.asrs.service.BasDevpPositionService;
+import com.zy.core.cache.RgvErrCache;
 import com.zy.core.cache.RgvStatusCache;
 import com.zy.core.cache.SlaveConnection;
 import com.zy.core.cache.TaskProtocolCache;
@@ -46,6 +48,7 @@
             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");
+            map2.put("errorRgv", RgvErrCache.getErrorDev(rgvProtocol.getRgvNo()));
             res.add(map2);
         }
         return R.ok().add(res);
@@ -113,6 +116,9 @@
         }
         if (rgvPosDestination == null || rgvPosDestination == 0){
             BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
+            if (Cools.isEmpty(basDevpPosition)){
+                return R.error("鐩爣绔欑偣涓嶅瓨鍦�");
+            }
             rgvPosDestination = basDevpPosition.getPlcPosition();
         }
         RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -168,9 +174,14 @@
             }
 
             BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
+            if (Cools.isEmpty(basDevpPosition)){
+                return R.error("鐩爣绔欑偣涓嶅瓨鍦�");
+            }
             //鎵ц
             issuedPut.setTaskNo(Long.valueOf(taskNo));
             issuedPut.setTaskStatus(3);
+            issuedPut.setTargetPositionStaNo(basDevpPosition.getDevNo());
+            issuedPut.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
             issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
             issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
             issuedPut.setIsRunning(1);
@@ -208,9 +219,14 @@
             }
 
             BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
+            if (Cools.isEmpty(basDevpPosition)){
+                return R.error("鍙栬揣绔欑偣涓嶅瓨鍦�");
+            }
             //鎵ц
             issuedTake.setTaskNo(Long.valueOf(taskNo));
             issuedTake.setTaskStatus(2);
+            issuedTake.setTargetPositionStaNo(basDevpPosition.getDevNo());
+            issuedTake.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
             issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
             issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
             issuedTake.setIsRunning(1);
@@ -253,18 +269,28 @@
             }
 
             BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
+            if (Cools.isEmpty(basDevpPositionTake)){
+                return R.error("鍙栬揣绔欑偣涓嶅瓨鍦�");
+            }
             //鎵ц
             issuedTake.setTaskNo(Long.valueOf(taskNo));
             issuedTake.setTaskStatus(2);
+            issuedTake.setTargetPositionStaNo(basDevpPositionTake.getDevNo());
+            issuedTake.setTargetPositionStaNoPlcId(basDevpPositionTake.getPlcId());
             issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
             issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
             issuedTake.setIsRunning(1);
             issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);
 
             BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
+            if (Cools.isEmpty(basDevpPositionPut)){
+                return R.error("鐩爣绔欑偣涓嶅瓨鍦�");
+            }
             //鎵ц
             issuedPut.setTaskNo(Long.valueOf(taskNo));
             issuedPut.setTaskStatus(3);
+            issuedPut.setTargetPositionStaNo(basDevpPositionPut.getDevNo());
+            issuedPut.setTargetPositionStaNoPlcId(basDevpPositionPut.getPlcId());
             issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
             issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
             issuedPut.setIsRunning(1);
@@ -279,4 +305,22 @@
 
         return R.ok("浠诲姟鐢熸垚鎴愬姛");
     }
+
+    @PostMapping("/run/delRgvTask")//Take  Put  Walk
+    @ManagerAuth(memo = "灏忚溅鍙栬揣")
+    public R rgvDelRgvTask(@RequestParam(defaultValue = "0") Integer rgvNo
+    ) {
+        if (rgvNo==null || rgvNo==0){
+            return R.error("璇烽�夋嫨灏忚溅");
+        }
+
+        try {
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+            rgvThread.setDelRgvTask();
+        } 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");
+    }
 }

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