From e98d4b1133ed058bfe1e6af75be9975aebfc32d8 Mon Sep 17 00:00:00 2001
From: zyh <zyh@123>
Date: 星期六, 28 三月 2026 16:00:35 +0800
Subject: [PATCH] 最后可运行版本
---
src/main/java/com/zy/asrs/controller/OpenController.java | 41 ++++++++++++++++++++++++++++++++++++++---
1 files changed, 38 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 90d2e08..1bc0192 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -2,6 +2,10 @@
import com.core.common.R;
import com.zy.asrs.domain.param.ToOutStaParam;
+import com.zy.asrs.entity.BindOrUnbindParam;
+import com.zy.asrs.entity.RcsReporterTask;
+import com.zy.asrs.entity.RcsReturn;
+import com.zy.asrs.service.RcsService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
@@ -9,16 +13,18 @@
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
@Slf4j
@RestController
public class OpenController {
+ @Autowired
+ private RcsService rcsService;
@RequestMapping("/open/toOutSta")
public R toOutSta(@RequestBody ToOutStaParam param) {
+ log.info("toOutSta:{}",param);
Integer sourceStaNo = param.getSourceStaNo();
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
if(siemensDevpThread == null) {
@@ -40,8 +46,37 @@
staProtocol.setWorkNo(param.getWrkNo().shortValue());
staProtocol.setStaNo(param.getStaNo().shortValue());
+ staProtocol.setPalletSize((short) 1);
boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ log.info("鍙戠敓鎴愬姛:{}",result);
return R.ok().add(result);
}
+ // 鍙嶉浠诲姟鎵ц缁撴灉
+ @PostMapping("/api/robot/reporter/task")
+ public RcsReturn reporterTask(@RequestBody RcsReporterTask param){
+
+ return rcsService.reporterTask(param);
+ }
+
+ // 鍙嶉浠诲姟鎵ц缁撴灉
+ @GetMapping("/api/robot/reporter/task1")
+ public void reporterTask1(){
+ Integer sourceStaNo = 402;
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
+// log.info("AGV鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9991宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}", result, task.getStaNo(), task.getTaskNo());
+ }
+
+ /**
+ * 婊戝潡妫�娴嬪尯鍩熺珯鐐规槸鍚﹁繕鏈夌┖绔欑偣
+ * @param param 闇�瑕佺珯鐐瑰彿鍜岀粦瀹�
+ * @return
+ */
+ @PostMapping("/api/robot/reporter/carrier/BindOrUnbind")
+ public R BindOrUnbind(@RequestBody BindOrUnbindParam param){
+ return rcsService.bindOrUnbind(param);
+ }
+
}
--
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