package com.zy.asrs.controller;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.annotations.AppAuth;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.zy.asrs.entity.AgvBasDevp;
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import com.zy.asrs.entity.AgvWrkMast;
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import com.zy.asrs.entity.WrkMastExecute;
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import com.zy.asrs.entity.param.AgvTaskCallBackParam;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.AppAuthUtil;
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import com.zy.common.web.BaseController;
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import lombok.Setter;
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import lombok.extern.slf4j.Slf4j;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.RequestBody;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import javax.annotation.PostConstruct;
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import javax.servlet.http.HttpServletRequest;
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import java.lang.reflect.InvocationTargetException;
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import java.lang.reflect.Method;
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import java.util.Date;
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import java.util.EnumSet;
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import java.util.Map;
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import static org.reflections.Reflections.log;
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/**
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* 上报事件类型（eventType）：
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* task：上报任务状态。
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* task_allocated: 上报任务分配给机器人。
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* tote_load：上报取箱状态。
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* tote_unload：上报放箱状态。
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* robot_reach：机器人到达工作站。
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* weight：称重事件回调。
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* rfid：RFID识别事件回调。
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*
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* 任务状态（status）：
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* success：成功。
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* fail：失败。
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* cancel：取消。
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* suspend：挂起。
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*/
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@Slf4j
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@RestController
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@RequestMapping("/agv")
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public class AgvOpenController extends BaseController {
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private static final Logger log = LoggerFactory.getLogger(AgvMobileController.class);
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@Autowired
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AgvWrkMastService agvWrkMastService;
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@Autowired
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ApiLogService apiLogService;
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@Autowired
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private WrkMastExecuteService wrkMastExecuteService;
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@Autowired
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private AgvBasDevpService agvBasDevpService;
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@PostMapping("/task/event/status")
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@AppAuth(memo = "ESS任务回调")
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public R taskEventStaus(@RequestBody AgvTaskCallBackParam param, HttpServletRequest request) {
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//save api log (appkey 后续添加)
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R r = new R(0, "成功");
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AppAuthUtil.auth("", param, request);
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int wrkNo = Integer.parseInt(param.getTaskCode());
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if (wrkNo < 0) {
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wrkNo = -wrkNo;
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}
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AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
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if (Cools.isEmpty(agvWrkMast)) {
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agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", param.getPodCode()));
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if (Cools.isEmpty(agvWrkMast)) {
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r = R.error("任务编号错误");
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logPost(param, JSONObject.toJSONString(r), false);
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return r;
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}
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}
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if (agvWrkMast.getIoType().equals(121)) {
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try {
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if (agvWrkMast.getWrkSts().equals(12L)) {
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WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectOne(new EntityWrapper<WrkMastExecute>().eq("wrk_no", wrkNo));
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if (Cools.isEmpty(wrkMastExecute) || wrkMastExecute.getWrkSts() != 1) {
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r = R.error("任务状态WrkSts参数有误,WrkSts:" + wrkMastExecute.getWrkSts$());
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logPost(param, "任务状态WrkSts参数有误,WrkSts:" + wrkMastExecute.getWrkSts$() + JSONObject.toJSONString(r), false);
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return r;
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} else {
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wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsCode());
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wrkMastExecuteService.updateById(wrkMastExecute);
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}
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} else {
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r = R.error("任务异常");
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logPost(param, JSONObject.toJSONString(r), false);
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return r;
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}
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} catch (Exception e) {
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r = R.error("" + e.getMessage());
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logPost(param, JSONObject.toJSONString(r), false);
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return r;
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}
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} else {
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if (agvWrkMast.getWrkSts() >= 205) {
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r = R.error("当前任务已完成");
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logPost(param, JSONObject.toJSONString(r), false);
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return r;
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}
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AgvTask agvTask = AgvTask.valueOf(param.getMethod());
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Class<AgvTask> clz = AgvTask.class;
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try {
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Method method = clz.getDeclaredMethod("success", AgvWrkMast.class, AgvTaskCallBackParam.class);
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method.invoke(agvTask, agvWrkMast, param);
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} catch (NoSuchMethodException e) {
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r = R.error("任务状态status参数有误");
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logPost(param, JSONObject.toJSONString(r), false);
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return r;
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} catch (InvocationTargetException e) {
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log.error(e.getMessage());
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r = R.error("" + e.getMessage());
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logPost(param, JSONObject.toJSONString(r), false);
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return r;
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} catch (IllegalAccessException e) {
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log.error(e.getMessage());
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r = R.error("" + e.getMessage());
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logPost(param, JSONObject.toJSONString(r), false);
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return r;
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}
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}
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logPost(param, JSONObject.toJSONString(r), true);
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return r;
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}
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@PostMapping("/conveyor/loadContainerFinish ")
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@AppAuth(memo = "取货架完成通知")
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public R loadContainerFinish(@RequestBody Map<String, Object> params) {
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return R.ok();
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}
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private void logPost(AgvTaskCallBackParam param, String response, boolean success) {
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apiLogService.save(
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"ESS任务回调",
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"/phyzwms/agv/task/event/status",
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null,
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null,
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JSON.toJSONString(JSONObject.toJSONString(param)),
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response,
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success
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);
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}
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}
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enum AgvTask {
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/**
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* 上报任务完成
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*/
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end {
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@Transactional
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public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
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//修改AGV工作档的工作状态为205.工作完成
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agvWrkMast.setWrkSts(205L);
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//出库任务 101.出库 || 103.拣料出库 || 107.盘点出库
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if (agvWrkMast.getIoType() == 101 || agvWrkMast.getIoType() == 103 || agvWrkMast.getIoType() == 107) {
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AgvBasDevp byDevNo = agvBasDevpService.getByDevNo(agvWrkMast.getLocNo());
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if (byDevNo != null) {
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log.info("出库任务进入站点===>>站点码：{}，站点状态{}", byDevNo.getDevNo(), byDevNo.getLocSts());
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//修改出库站点状态
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agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(), "F", agvWrkMast.getBarcode(), agvWrkMast.getWhsType().shortValue());
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}
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}
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//出库任务 110.空板出库
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if (agvWrkMast.getIoType() == 110) {
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agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(), "F", agvWrkMast.getBarcode(), agvWrkMast.getWhsType().shortValue());
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agvWrkMast.setWrkSts(206L);
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}
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agvWrkMast.setModiTime(new Date());
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agvWrkMastService.updateById(agvWrkMast);
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}
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},
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/**
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* 任务开始
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*/
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start {
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@Transactional
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public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
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//修改AGV工作档的工作状态为203.任务开始
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agvWrkMast.setWrkSts(203L);
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agvWrkMast.setModiTime(new Date());
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agvWrkMast.setPdcType(param.getRobotCode());
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agvWrkMastService.updateById(agvWrkMast);
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}
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},
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/**
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* 走出储位状态
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*/
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outbin {
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@Transactional
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public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
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switch (agvWrkMast.getIoType()) {
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//入库任务
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case 1:
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// 空板入库
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case 10:
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// 拣料入库任务
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case 53:
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// 站点退回
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case 58:
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// 盘点再入库
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case 57:
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AgvBasDevp byDevNo = agvBasDevpService.getByDevNo(agvWrkMast.getSourceLocNo());
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String locSts = "O";
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if (byDevNo != null) {
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assert log != null;
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if (!Cools.isEmpty(agvWrkMast.getBarcode())) {
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AgvBasDevp agvBasDevp = agvBasDevpService.selectOne(new EntityWrapper<AgvBasDevp>().eq("barcode", agvWrkMast.getBarcode()));
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if (!Cools.isEmpty(agvBasDevp) && agvBasDevp.getLocSts().equals("F") && !agvBasDevp.getDevNo().equals(byDevNo.getDevNo())) {
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agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvBasDevp.getDevNo(), locSts, "", null);
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}
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}
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log.info("料架离开时当前站点状态:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
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if ("S".equals(byDevNo.getLocSts()) || "F".equals(byDevNo.getLocSts())) {
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log.info("料架离开时当前站点状态保持不变1:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
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locSts = byDevNo.getLocSts();
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agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(), locSts, byDevNo.getBarcode(), null);
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} else {
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log.info("料架离开时当前站点状态保持不变2:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
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locSts = "O";
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agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(), locSts, "", null);
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}
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}
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break;
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}
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if (agvWrkMast.getIoType() == 108 || agvWrkMast.getIoType() == 114) {
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//更新库存明细
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agvLocDetlService.updateStock(agvWrkMast.getSourceLocNo(), agvWrkMast.getLocNo());
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//修改源库位状态为O
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agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(), "O", "", agvWrkMast.getWhsType().shortValue(), "", (short) 0);
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} else if (agvWrkMast.getIoType() == 109 && !agvWrkMast.getSourceLocNo().substring(0, 2).equals("DB")) {
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//修改源库位状态为O
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agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(), "O", "", agvWrkMast.getWhsType().shortValue(), "", (short) 0);
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}
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//if(agvWrkMast.getIoType() == 1 || agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57 || agvWrkMast.getIoType() == 10){
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// //修改源站点状态为O.空，以及解绑托盘条码
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// agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","",null);
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//}
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//修改AGV工作档的工作状态为203.RCS放货中
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agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(), 204);
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}
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},
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/**
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* 上报放箱状态
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*/
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cancel {
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@Transactional
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public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
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}
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},
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apply {
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@Transactional
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public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
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}
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};
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//任务状态为成功
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public abstract void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
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// //任务状态为失败
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// public abstract void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
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// //任务状态为取消
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// public abstract void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
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// //任务状态为挂起
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// public abstract void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
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@Setter
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AgvBasDevpService agvBasDevpService;
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@Setter
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AgvLocMastService agvLocMastService;
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@Setter
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AgvLocDetlService agvLocDetlService;
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@Setter
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AgvWrkMastService agvWrkMastService;
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@Setter
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AgvWrkDetlService agvWrkDetlService;
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@Setter
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AgvWaitPakinService agvWaitPakinService;
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@Setter
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AgvWaitPakinLogService agvWaitPakinLogService;
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@Setter
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AgvWrkMastLogService agvWrkMastLogService;
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@Setter
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AgvWrkDetlLogService agvWrkDetlLogService;
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@Component
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public static class ReportTypeServiceInjector {
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@Autowired
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AgvBasDevpService agvBasDevpService;
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@Autowired
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AgvLocMastService agvLocMastService;
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@Autowired
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AgvLocDetlService agvLocDetlService;
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@Autowired
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AgvWrkMastService agvWrkMastService;
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@Autowired
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AgvWrkDetlService agvWrkDetlService;
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@Autowired
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AgvWaitPakinService agvWaitPakinService;
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@Autowired
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AgvWaitPakinLogService agvWaitPakinLogService;
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@Autowired
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AgvWrkMastLogService agvWrkMastLogService;
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@Autowired
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AgvWrkDetlLogService agvWrkDetlLogService;
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@PostConstruct
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public void postConstruct() {
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for (AgvTask task : EnumSet.allOf(AgvTask.class)) {
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task.setAgvBasDevpService(agvBasDevpService);
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task.setAgvLocDetlService(agvLocDetlService);
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task.setAgvLocMastService(agvLocMastService);
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task.setAgvWrkMastService(agvWrkMastService);
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task.setAgvWaitPakinService(agvWaitPakinService);
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task.setAgvWaitPakinLogService(agvWaitPakinLogService);
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task.setAgvWrkMastLogService(agvWrkMastLogService);
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task.setAgvWrkDetlLogService(agvWrkDetlLogService);
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task.setAgvWrkDetlService(agvWrkDetlService);
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}
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}
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}
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}
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