package com.zy.api.service.impl;
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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.common.R;
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import com.core.exception.CoolException;
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import com.zy.api.controller.params.AgvCallBackParam;
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import com.zy.api.controller.params.AgvCarriesParam;
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import com.zy.api.controller.params.AgvRequestParam;
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import com.zy.api.entity.CallAgvParams;
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import com.zy.api.enums.OrderType;
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import com.zy.api.service.AgvScheduleService;
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import com.zy.asrs.entity.LocCache;
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import com.zy.asrs.entity.Task;
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import com.zy.asrs.entity.result.ForwardAGVTaskDTO;
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import com.zy.asrs.entity.result.HIKApiDTO;
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import com.zy.asrs.entity.result.HIKResultDTO;
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import com.zy.asrs.enums.LocStsType;
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import com.zy.asrs.enums.TaskIOType;
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import com.zy.asrs.enums.TaskStatusType;
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import com.zy.asrs.service.ApiLogService;
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import com.zy.asrs.service.LocCacheService;
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import com.zy.asrs.service.TaskService;
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import com.zy.asrs.service.impl.LocCacheServiceImpl;
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import com.zy.common.constant.HIKApiConstant;
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import com.zy.common.utils.HttpHandler;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.*;
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@Slf4j
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@Service
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public class AgvScheduleServiceImpl implements AgvScheduleService {
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@Autowired
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private ApiLogService apiLogService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private LocCacheService locCacheService;
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/**
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* @author Ryan
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* @date 2025/11/3
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* @description: 呼叫AGV搬运
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* @version 1.0
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*/
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@Override
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@Transactional(rollbackFor = Exception.class)
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public R callAgvCarry(CallAgvParams params) {
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if (Objects.isNull(params)) {
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return R.error("参数不能为空！！");
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}
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if (Objects.isNull(params.getWrkNo())) {
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return R.error("任务号不能为空！！");
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}
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Task task = taskService.selectOne(new EntityWrapper<Task>().eq("wrk_no", params.getWrkNo()));
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if (Objects.isNull(task)) {
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return R.error("任务信息不存在！！");
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}
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if (Arrays.asList(TaskIOType.ALL_IN.type, TaskIOType.PICK_IN.type, TaskIOType.MERGE_IN.type)
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.contains(task.getIoType())) {
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// 入库
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task.setWrkSts(TaskStatusType.AGV_TASK_ISSUED_IN.type);
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} else if (Arrays.asList(TaskIOType.ALL_OUT.type, TaskIOType.PICK_OUT.type, TaskIOType.MERGE_OUT.type, TaskIOType.EMPTY_OUT.type)
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.contains(task.getIoType())) {
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// 出库
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task.setWrkSts(TaskStatusType.AGV_TASK_ISSUED_OUT.type);
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}
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HIKResultDTO hikResultDTO = sendAgvTask(params, HIKApiConstant.TASK_SUBMIT);
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if (hikResultDTO.isSuccess()) {
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if (!taskService.updateById(task)) {
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throw new CoolException("任务状态更新失败！！");
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}
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}
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return R.ok();
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}
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/**
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* 获取自定义请求头
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*
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* @return java.util.Map<java.lang.String, java.lang.Object>
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* @author Ryan
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* @date 2025/12/29 9:11
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*/
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private Map<String, Object> getHeaderParam() {
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Map<String, Object> headerParam = new HashMap<>();
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//设置请求连接的Token
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headerParam.put("X-LR-REQUEST-ID", new Date().getTime() + "");
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return headerParam;
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}
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@Override
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@Transactional(rollbackFor = Exception.class)
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public R callback(AgvCallBackParam params) {
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if (Objects.isNull(params)) {
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return R.error("参数不能为空！！");
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}
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if (Objects.isNull(params.getRobotTaskCode())) {
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return R.error("任务号不能为空！！");
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}
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Task task = taskService.selectOne(new EntityWrapper<Task>().eq("wrk_no", params.getRobotTaskCode()));
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if (Objects.isNull(task)) {
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return R.error("任务信息不存在！！");
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}
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if (Arrays.asList(TaskIOType.ALL_IN.type, TaskIOType.PICK_IN.type, TaskIOType.MERGE_IN.type)
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.contains(task.getIoType())) {
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// 入库
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if (params.getExtra().getValues().getMethod().equals("start")) {
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task.setWrkSts(TaskStatusType.AGV_TASK_RUNNING_IN.type);
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} else if (params.getExtra().getValues().getMethod().equals("end")){
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task.setWrkSts(TaskStatusType.AGV_TASK_FINISHED_IN.type);
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}
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} else if (Arrays.asList(TaskIOType.ALL_OUT.type, TaskIOType.PICK_OUT.type, TaskIOType.MERGE_OUT.type, TaskIOType.EMPTY_OUT.type)
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.contains(task.getIoType())) {
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// 出库p
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if (params.getExtra().getValues().getMethod().equals("start")) {
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task.setWrkSts(TaskStatusType.AGV_TASK_RUNNING_OUT.type);
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} else if (params.getExtra().getValues().getMethod().equals("end")){
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task.setWrkSts(TaskStatusType.AGV_TASK_FINISHED_OUT.type);
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}
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}
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if (!taskService.updateById(task)) {
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throw new CoolException("状态修改失败！！");
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}
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return R.ok("执行完成 ！！");
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}
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public HIKResultDTO sendAgvTask(CallAgvParams param, String path) {
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HIKResultDTO result = new HIKResultDTO();
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AgvRequestParam requestParam = new AgvRequestParam();
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requestParam.setTaskType(param.getTaskType());
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List<AgvCarriesParam> agvCarriesParams = new ArrayList<>();
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AgvCarriesParam carriesParam = new AgvCarriesParam();
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carriesParam.setSeq(0);
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carriesParam.setCode(param.getOrgSite());
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agvCarriesParams.add(carriesParam);
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AgvCarriesParam carriesParam2 = new AgvCarriesParam();
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carriesParam2.setSeq(1);
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carriesParam2.setCode(param.getTarSite());
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agvCarriesParams.add(carriesParam2);
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requestParam.setRobotTaskCode(param.getWrkNo());
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requestParam.setTargetRoute(agvCarriesParams);
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String body = JSON.toJSONString(requestParam);
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String response = "";
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try {
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response = new HttpHandler.Builder()
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.setUri(HIKApiConstant.AGV_IP)
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.setPath(path)
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.setHeaders(getHeaderParam())
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.setJson(body)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getString("code").equals("SUCCESS")) {
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result.setSuccess(true);
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} else {
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result.setMessage(jsonObject.getString("message"));
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log.error("发送agv任务失败！！！url：{}；request：{}；response：{}", HIKApiConstant.AGV_IP + path, body, response);
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}
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// {"code":"1","data":"","interrupt":false,"message":"重复提交","msgErrCode":"0x3a80D012","reqCode":"fa92b49481a44627ae4d80c1400f28f6"}
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} catch (Exception e) {
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result.setMessage(e.getMessage());
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log.error("发送agv任务异常", e);
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} finally {
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try {
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// 保存接口日志
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apiLogService.save(
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"发送agv任务",
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HIKApiConstant.AGV_IP + path,
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null,
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"127.0.0.1",
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body,
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response,
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result.isSuccess());
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} catch (Exception e) {
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log.error("", e);
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}
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}
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return result;
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}
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}
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