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 | 26 ++++++++++++++++++++++----
1 files changed, 22 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index b0c8856..1bc0192 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -2,6 +2,7 @@
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;
@@ -13,10 +14,7 @@
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
@Slf4j
@RestController
@@ -61,4 +59,24 @@
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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