package com.zy.asrs.service.impl;
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import com.alibaba.excel.util.StringUtils;
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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.Cools;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.enums.RcsRetMethodEnum;
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import com.zy.asrs.service.AgvTaskService;
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import com.zy.asrs.service.RcsService;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.thread.SiemensDevpThread;
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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.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import java.io.BufferedReader;
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import java.io.IOException;
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import java.io.InputStreamReader;
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import java.io.PrintWriter;
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import java.net.ConnectException;
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import java.net.SocketTimeoutException;
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import java.net.URL;
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import java.net.URLConnection;
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import java.nio.charset.StandardCharsets;
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import java.util.Date;
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import java.util.Objects;
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@Slf4j
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@Service
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public class RcsServiceImpl implements RcsService {
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// 海康RCS地址
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@Value("${hik.url}")
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private String HIK_URL;
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@Value("${mes.url}")
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public String MES_URL;
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@Autowired
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private AgvTaskService agvTaskService;
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/**
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* 2.2.1任务执行回馈
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* 厂家：海量、华晓
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*
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* @param rcsReporterTask
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* @return
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*/
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@Override
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public RcsReturn reporterTask(RcsReporterTask rcsReporterTask) {
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log.info("海康AGV站点任务请求={}", JSONObject.toJSONString(rcsReporterTask));
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RcsReturn rcsReturn = new RcsReturn();
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String robotTaskCode = rcsReporterTask.getRobotTaskCode();
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String singleRobotCode = rcsReporterTask.getSingleRobotCode();
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String[] split = robotTaskCode.split("-");
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robotTaskCode = split[0];
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JSONObject values = rcsReporterTask.getExtra().getJSONObject("values");
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// start : 任务开始；outbin : 走出储位；end : 任务完成
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String method = values.getString("method");
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String carrierType = values.getString("carrierType");
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String slotCategory = values.getString("slotCategory");
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String slotCode = values.getString("slotCode");
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EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
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wrapper.eq("task_no", robotTaskCode);
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AgvTask task = agvTaskService.selectOne(wrapper);
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if (!Cools.isEmpty(task)) {
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try {
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switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
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//放货申请
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case APPLY_PUT: {
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if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
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Integer sourceStaNo = Integer.valueOf(task.getStaNo());
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
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//wcs反馈rcs继续执行
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if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
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if(task.getTaskType().equals("AGV补空料架")){
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RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
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rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
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rcsTaskContinue.setTriggerType("TASK");
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rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
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String url = HIK_URL + "api/robot/controller/task/extend/continue";
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String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
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if (!StringUtils.isEmpty(response) && response.contains("code")) {
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log.info("允许AGV放货成功");
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}
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}else {
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//出发PLC站点的扫码器扫码
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
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if (result) {
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log.info("入库站点={}触发扫码成功", staProtocol.getSiteId());
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
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rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
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rcsTaskContinue.setTriggerType("TASK");
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rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
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String url = HIK_URL + "api/robot/controller/task/extend/continue";
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String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
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if (!StringUtils.isEmpty(response) && response.contains("code")) {
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log.info("允许AGV放货成功");
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}
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} else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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}
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}else {
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TransParent transParent = new TransParent();
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transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setStationId(task.getStaNo());
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transParent.setAgvCode("2");//连接器库
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int i = applyInStation(transParent);
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if (i == 1) {
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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}
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break;
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//放货完成 --》agv已经离开
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case TASK_END: {
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if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
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Integer sourceStaNo = Integer.valueOf(task.getStaNo());
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
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Boolean boo = false;
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Short wrkNo = 9991;
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//放货完成 --》agv已经离开 --》给PLC站点写9991工作号
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//补空料架 --》agv已经立库 --》给PLC站点写9995工作号
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if (task.getTaskType().equals("AGV补空料架") && staProtocol != null && !staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
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boo = true;
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wrkNo = 9995;
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} else if (!task.getTaskType().equals("AGV补空料架") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
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boo = true;
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}
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if (boo) {
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staProtocol.setWorkNo(wrkNo);//空料架到位信号点
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staProtocol.setStaNo(Short.valueOf("0"));
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
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log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
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if (result) {
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// 更新任务状态等内部逻辑
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task.setWrkSts(304L); // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
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task.setModiTime(new Date());
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agvTaskService.updateById(task);
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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} else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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} else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}else {
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// 更新任务状态等内部逻辑
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task.setWrkSts(304L); // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
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task.setModiTime(new Date());
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agvTaskService.updateById(task);
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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break;
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//rcs请求wms取货申请
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case APPLY_PICK: {
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if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
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Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
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//判断站点是否有料架和托盘
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if (staProtocol != null && (staProtocol.isLoading() || task.getTaskType().equals("AGV空料架回缓存区"))
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&& staProtocol.isEmptyOutType()) {
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RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
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rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
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rcsTaskContinue.setTriggerType("TASK");
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rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
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String url = HIK_URL + "api/robot/controller/task/extend/continue";
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String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
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if (!StringUtils.isEmpty(response) && response.contains("code")) {
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RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
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if ("200".equals(rcsReturn1.getCode())) {
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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} else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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}
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}else {
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TransParent transParent = new TransParent();
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transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setStationId(task.getStaNo());
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transParent.setAgvCode("2");//连接器库
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int i = applyInStation(transParent);
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if (i == 1) {
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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}
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break;
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//rcs取货完成，已退出输送线
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case PICK_COMPLETE: {
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Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
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//放货完成 --》agv已经离开 --》给PLC站点写9991工作号
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if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
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staProtocol.setWorkNo((short) 0);
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staProtocol.setStaNo((short) 0);
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
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log.info("AGV取货完成，给站点写0工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
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if (result) {
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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} else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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}
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break;
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//AGV取货离站请求
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case APPLY_IN_OFF_STATION:{
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//如果是立库站点直接允许离站
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if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
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RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
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rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
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rcsTaskContinue.setTriggerType("TASK");
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rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
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String url = HIK_URL + "api/robot/controller/task/extend/continue";
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String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
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if (!StringUtils.isEmpty(response) && response.contains("code")) {
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RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
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if ("200".equals(rcsReturn1.getCode())) {
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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} else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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}else{
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//如果是工位需要像mes请求离站
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TransParent transParent = new TransParent();
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transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setStationId(task.getStaNo());
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transParent.setAgvCode("2");//连接器库
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int i = applyOutStation(transParent);
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if (i == 1) {
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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break;
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}
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//AGV放货离站请求
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case APPLY_OFF_STATION:{
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//如果是立库站点直接允许离站
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if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
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RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
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rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
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rcsTaskContinue.setTriggerType("TASK");
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rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
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String url = HIK_URL + "api/robot/controller/task/extend/continue";
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String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
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if (!StringUtils.isEmpty(response) && response.contains("code")) {
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RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
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if ("200".equals(rcsReturn1.getCode())) {
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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} else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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}else{
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//如果是工位需要像mes请求离站
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TransParent transParent = new TransParent();
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transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
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transParent.setStationId(task.getStaNo());
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transParent.setAgvCode("2");//连接器库
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int i = applyOutStation(transParent);
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if (i == 1) {
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}else {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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break;
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}
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default: {
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}
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break;
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}
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} catch (Exception e) {
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log.error("RCS反馈任务进度处理异常 - {}", rcsReporterTask, e);
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("内部处理异常");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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}
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return rcsReturn;
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}
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/**
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* 向指定 URL 发送POST方法的请求
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*
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* @param url 发送请求的 URL
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* @param param 请求参数，请求参数应该是 name1=value1&name2=value2 的形式。
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* @return 所代表远程资源的响应结果
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*/
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public static String sendPost(String url, String param) {
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PrintWriter out = null;
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BufferedReader in = null;
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StringBuilder result = new StringBuilder();
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try {
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log.info("sendPost - {} - {}", url, param);
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URL realUrl = new URL(url);
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URLConnection conn = realUrl.openConnection();
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conn.setRequestProperty("Content-Type", "application/json");
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conn.setRequestProperty("Content-Length", "<calculated when request is sent>");
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conn.setRequestProperty("Host", "<calculated when request is sent>");
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conn.setRequestProperty("Accept", "*/*");
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conn.setRequestProperty("Accept-Encoding", "gzip, deflate, br");
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conn.setRequestProperty("Connection", "keep-alive");
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conn.setRequestProperty("X-lr-request-id", String.valueOf(new Date().getTime()));
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conn.setRequestProperty("X-lr-version", "4.3");
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conn.setConnectTimeout(5000);
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conn.setReadTimeout(5000);
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conn.setDoOutput(true);
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conn.setDoInput(true);
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out = new PrintWriter(conn.getOutputStream());
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out.print(param);
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out.flush();
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in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
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String line;
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while ((line = in.readLine()) != null) {
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result.append(line);
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}
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log.info("recv - {}", result);
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} catch (ConnectException e) {
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log.error("调用HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
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} catch (SocketTimeoutException e) {
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log.error("调用HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
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} catch (IOException e) {
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log.error("调用HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
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} catch (Exception e) {
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log.error("调用HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
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} finally {
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try {
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if (out != null) {
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out.close();
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}
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if (in != null) {
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in.close();
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}
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} catch (IOException ex) {
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log.error("调用in.close Exception, url=" + url + ",param=" + param, ex);
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}
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}
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return result.toString();
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}
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/**
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* 入站请求：转发AGV->入站请求->给MES
|
*
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* @param apply
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* @return
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*/
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public int applyInStation(TransParent apply) {
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String path = "AGVTransportPalletNotice";
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String url = MES_URL + path;
|
String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
|
if (!StringUtils.isEmpty(response) && response.contains("Success")) {
|
MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
|
if ("1".equals(mesReturn.getSuccess())) {
|
return 1;
|
}
|
}
|
|
return 0;
|
}
|
|
/**
|
* 离站请求：转发AGV->离站请求->给MES
|
*
|
* @param apply
|
* @return
|
*/
|
public int applyOutStation(TransParent apply) {
|
|
String url = MES_URL + "AGVDepartureRequest";
|
String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
|
if (!StringUtils.isEmpty(response) && response.contains("Success")) {
|
MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
|
if ("1".equals(mesReturn.getSuccess())) {
|
return 1;
|
}
|
}
|
|
return 0;
|
}
|
}
|
