From a454c4e3e56ed63a7676348f260a240fa18be481 Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期四, 05 六月 2025 14:02:31 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 101 ++++++++++++++++++++++++++------------------------
1 files changed, 53 insertions(+), 48 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index d1f80c2..387ea02 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -26,7 +26,6 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.CrnLiftPosType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -36,6 +35,7 @@
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
+import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
@@ -118,54 +118,23 @@
continue;
}
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
-// if (crnProtocol.getTaskNo()>0) {
-// WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
-// if (wrkMast != null) {
-// vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
-// }
-// } else {
-//
-// }
vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
- if (crnProtocol.getTaskFinish() == 1) {
- vo.setStatus("绛夊緟纭");
- } else {
- vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
- }
+ vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
vo.setLoading(crnProtocol.getLoaded()==1?"鏈夌墿":"鏃犵墿"); // 鏈夌墿
vo.setBay(crnProtocol.getBay()); // 鍒�
vo.setLev(crnProtocol.getLevel()); // 灞�
- vo.setLiftPos(crnProtocol.getLiftPosType().desc);
- if (crnProtocol.getPlatformHigh()) {
- vo.setSitePos("绔欏彴楂樹綅");
- }
- if (crnProtocol.getPlatformLow()) {
- vo.setSitePos("绔欏彴楂樹綅");
- }
- vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
- vo.setXLocation(crnProtocol.getWalkPos() == 1?"鏄�":"鍚�"); // 璧拌瀹氫綅
- vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"鍚�":"鏄�"); // 鍗囬檷瀹氫綅
- if (crnProtocol.getAlarm1() > 0) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
- vo.setAlarm1(crnError==null?"鏈煡寮傚父":crnError.getErrName());
- }
- if (crnProtocol.getAlarm2() > 0) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm2());
- vo.setAlarm2(crnError==null?"鏈煡寮傚父":crnError.getErrName());
- }
- if (crnProtocol.getAlarm3() > 0) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm3());
- vo.setAlarm3(crnError==null?"鏈煡寮傚父":crnError.getErrName());
- }
- if (crnProtocol.getAlarm4() > 0) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm4());
- vo.setAlarm4(crnError==null?"鏈煡寮傚父":crnError.getErrName());
- }
-// vo.setAlarm1(String.valueOf(crnProtocol.getAlarm1()));
-// vo.setAlarm2(String.valueOf(crnProtocol.getAlarm2()));
-// vo.setAlarm3(String.valueOf(crnProtocol.getAlarm3()));
-// vo.setAlarm4(String.valueOf(crnProtocol.getAlarm4()));
+ vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
+ vo.setLiftPos(crnProtocol.getLiftPosType().desc);
+ vo.setWalkPos(crnProtocol.getWalkPos()==1?"涓嶅湪瀹氫綅":"鍦ㄥ畾浣�");
+ if(crnProtocol.getAlarm() == 10){
+ crnProtocol.setAlarm((short) 0);
+ }
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
+ if (crnProtocol.getAlarm() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
+ vo.setAlarm(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ }
}
return R.ok().add(list);
}
@@ -283,6 +252,8 @@
command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
+ boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString());
+ command.setTraySize(locSts);
return crnControl(command)?R.ok():R.error();
}
@@ -300,6 +271,8 @@
command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
+ boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString());
+ command.setTraySize(locSts);
return crnControl(command)?R.ok():R.error();
}
@@ -321,7 +294,11 @@
.eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
.eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
- VersionUtils.locMoveCheckLocType(sourceLoc, loc);
+ if (sourceLoc.getLocType1() != loc.getLocType1()){
+ return R.error("搴撲綅绫诲瀷涓嶄竴鑷�");
+ }
+ command.setTraySize(loc.getLocType1() == 2);
+// VersionUtils.locMoveCheckLocType(sourceLoc, loc);
return crnControl(command)?R.ok():R.error();
}
@@ -332,7 +309,7 @@
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 浠诲姟妯″紡
+ command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡
command.setSourcePosX(param.getSourceStaNo()); // 婧愬簱浣嶆帓
command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
@@ -411,6 +388,8 @@
return crnControl(command)?R.ok():R.error();
}
+
+
// @ManagerAuth(memo = "鏆傚仠")
// @PostMapping("/operator/pause")
// public R crnPause(CrnOperatorParam param){
@@ -429,8 +408,18 @@
if (param.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
- MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
- return R.ok("娓呴櫎鍛戒护鎴愬姛");
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ return crnControl(command)?R.ok():R.error();
}
@ManagerAuth(memo = "鎵嬪姩澶嶄綅")
@@ -455,6 +444,7 @@
crnCommand.setCrnNo(crn.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setCommand((short) 0); // 浠诲姟瀹屾垚纭浣�
// 寤舵椂鍙戦��
Thread.sleep(1000L);
if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
@@ -525,5 +515,20 @@
}
}
+ private boolean isLocSts(String row,String bay,String lev){
+ int rowInt = Integer.parseInt(row);
+ int bayInt = Integer.parseInt(bay);
+ int levInt = Integer.parseInt(lev);
+ String loc = String.format("%2d",rowInt)+String.format("%3d",bayInt)+String.format("%2d",levInt);
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", loc));
+ if (Cools.isEmpty(locMast)){
+ return false;
+ }
+ if (locMast.getLocType1() == 2){
+ return true;
+ }
+ return false;
+ }
+
}
--
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