From dcdfc93b50febf61301832d91dfcddcfa1ca5403 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期三, 14 五月 2025 14:06:36 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 78 +++++++++++++++++++++++---------------
1 files changed, 47 insertions(+), 31 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 2bb0d19..cd1ae7f 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -19,6 +19,7 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
+import com.zy.asrs.service.impl.TaskWrkServiceImpl;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
@@ -53,10 +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;
@@ -72,6 +73,8 @@
private MainServiceImpl mainService;
@Autowired
private LocMastService locMastService;
+ @Autowired
+ private TaskWrkServiceImpl taskWrkService;
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@@ -195,13 +198,12 @@
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
+ TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
+ if (taskWrk != null) {
+// vo.setWrkSts(taskWrk.getWrkSts$()); // 宸ヤ綔鐘舵��
+// vo.setIoType(taskWrk.getIoType$()); // 鍏ュ嚭搴撶被鍨�
+ vo.setSourceStaNo(taskWrk.getStartPoint());
+ vo.setStaNo(taskWrk.getTargetPoint());
}
} else {
vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
@@ -236,13 +238,18 @@
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
+ TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
+ if (taskWrk != null) {
+// vo.setWrkSts(taskWrk.getWrkSts$()); // 宸ヤ綔鐘舵��
+// vo.setIoType(taskWrk.getIoType$()); // 鍏ュ嚭搴撶被鍨�
+ vo.setSourceStaNo(taskWrk.getStartPoint());
+ vo.setStaNo(taskWrk.getTargetPoint());
+// 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
}
} else {
vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
@@ -279,17 +286,23 @@
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
if (crnProtocol.getTaskNo()>0) {
- WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
- if (wrkMast != null) {
- vo.setDeviceStatus(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
+ TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue());
+// WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (taskWrk != null) {
+ vo.setDeviceStatus(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.getTargetPoint()); // 婧愬簱浣�
+// vo.setLocNo(taskWrk.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��
+ if (Cools.isEmpty(crnProtocol.modeType)){
+ vo.setDeviceStatus(CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ } else {
+ vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ }
}
+ vo.setLaneNo(crnProtocol.getLaneNo()); //
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)
@@ -297,8 +310,11 @@
vo.setYdistance(crnProtocol.getYDistance()); // 鍗囬檷璺濈(Km)
vo.setXduration(crnProtocol.getXDuration()); // 璧拌鏃堕暱(H)
vo.setYduration(crnProtocol.getYDuration()); // 鍗囬檷鏃堕暱(H)
-
- vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
+ if (Cools.isEmpty(crnProtocol.modeType)){
+ vo.setStatusType(CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ } else {
+ vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
+ }
vo.setWrkStatus(crnProtocol.getStatusType().id); // 浠诲姟鐘舵��
vo.setLoading((crnProtocol.getLoaded() != null && crnProtocol.getLoaded() == 1) ? "鏈夌墿" : "鏃犵墿"); // 鏈夌墿
vo.setBay(crnProtocol.getBay()); // 鍒�
@@ -612,7 +628,7 @@
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");
@@ -766,7 +782,7 @@
}
// 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");
@@ -800,7 +816,7 @@
}
// 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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