#

zjj

2024-07-10 c13fe87d70e81d7dcb604f8f1227de8f313cbefc

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java

@@ -26,11 +26,13 @@
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import org.apache.poi.ss.formula.functions.T;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.text.SimpleDateFormat;
import java.util.*;

/**
@@ -66,6 +68,11 @@

    @PostMapping("/agvPickupComplete")
    public Map<String, Object> agvPickupComplete(@RequestBody AgvTaskParam agvTaskParam) {
        HashMap<String, String> mesMap = new HashMap<>();
        mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
        mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
        boolean returnTask3 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "3",agvTaskParam.getExtra().getValues().getSlotName());

        HashMap<String, Object> map = new HashMap<>();
        map.put("code","0");
        map.put("message","成功");
@@ -77,12 +84,87 @@

    @PostMapping("/agvTaskComplete")
    public Map<String, Object> agvTaskComplete(@RequestBody AgvTaskParam agvTaskParam) {
        log.info("agv请求任务完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
        HashMap<String, Object> map = new HashMap<>();
        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getWmsTaskNo, agvTaskParam.getRobotTaskCode()));
        if (!Cools.isEmpty(task)){
            if (agvTaskParam.getExtra().getValues().getSlotName().equals("06YZ0001")){
                Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                        .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
                        .eq(Device::getStatus, 1)
                        .eq(Device::getDeviceNo, 1));
                if (device == null) {
                    map.put("code","1");
                    map.put("message","失败，设备不存在");
                    map.put("reqCode", "");
                    return map;
                }

                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, device.getId().intValue());
                if (devpThread == null) {
                    map.put("code","1");
                    map.put("message","失败，输送线不在线");
                    map.put("reqCode", "");
                    return map;
                }
                boolean result = devpThread.writeWorkSta(100, Short.parseShort("9999"), (short) 101);
                if (!result) {
                    map.put("code","1");
                    map.put("message","失败，输送线命令下发失败");
                    map.put("reqCode", "");
                    return map;
                }
            }else {
                if (task.getTaskSts() == 1000 || task.getMemo().equals(agvTaskParam.getExtra().getValues().getSlotName())){
                    task.setTaskSts(1001L);
                    taskService.updateById(task);
                }
            }
        }else {
            HashMap<String, String> mesMap = new HashMap<>();
            mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
            mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
            boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",agvTaskParam.getExtra().getValues().getSlotName());
        }

        map.put("code","0");
        map.put("message","成功");
        map.put("reqCode", "");
        log.info("agv请求任务完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
        return map;
    }

    private boolean toMesHttpRequest(Map<String,String> map, String url, String path, String code,String location){
        Date now = new Date();
        long time = now.getTime()/1000;
        ReturnWcsTaskStatisParam returnWcsTaskStatisParam = new ReturnWcsTaskStatisParam();
        returnWcsTaskStatisParam.setRequestPK(map.get("taskNo"));
        returnWcsTaskStatisParam.setTrkId(map.get("taskNo"));
        returnWcsTaskStatisParam.setContNo(map.get("contNo"));
        returnWcsTaskStatisParam.setCode(code);
        returnWcsTaskStatisParam.setOperator("wcs");
        returnWcsTaskStatisParam.setOperationTime(time);
        returnWcsTaskStatisParam.setTrkType("01");
        returnWcsTaskStatisParam.setCurPos(location);
        String response = "";
        boolean success = false;
        try {
            response = new HttpHandler.Builder()
                    .setUri(url)
                    .setPath(path)
                    .setJson(JSONObject.toJSONString(returnWcsTaskStatisParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);

            String code1 = jsonObject.get("success").toString();
            log.info("上报mes接口请求体:"+JSON.toJSONString(returnWcsTaskStatisParam) +",返回值:"+jsonObject.toJSONString());
            if(code1.equals("1")){
                success = true;
            }
        }catch (Exception e){
            return success;
        }
        return success;
    }


@@ -148,8 +230,9 @@


    //mes下发任务
    @PostMapping("/createWcsTaskParam")
    @PostMapping("/createWcsTask")
    public HashMap<String,Object> createWcsTask(@RequestBody CreateWcsTaskParam param){
        log.info("mes任务下发，请求体:"+JSONObject.toJSONString(param));
        HashMap<String, Object> map = new HashMap<>();
        if (Cools.isEmpty(param)){
            map.put("success", "0");
@@ -174,31 +257,37 @@
            map.put("requestPK", param.getRequestPK());
            return map;
        }
        ArrayList<String> inlist = new ArrayList<>();
        inlist.add("1");inlist.add("8");
        ArrayList<String> outlist = new ArrayList<>();
        outlist.add("2");outlist.add("9");
        if (inlist.contains(param.getTrkType())){
            try {
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getInRequestParam(agvTaskCreateParam,param);
                boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (!httpRequest){
        String sta = "06YZ";
        String loc = "0601KW";
        if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,6).equals(loc)){
            if (!param.getFrmPos().equals("06YZ0001")){
                try {
                    AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                    getInRequestParam(agvTaskCreateParam,param);
                    String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                    if (!httpRequest.equals("SUCCESS")){
                        map.put("success", "0");
                        map.put("message", httpRequest);
                        map.put("result", "");
                        map.put("requestPK", param.getRequestPK());
                        return map;
                    }
                }catch (Exception e){
                    map.put("success", "0");
                    map.put("message", "转发AGV任务出错");
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                    return map;
                }
            }catch (Exception e){

            }

            CreateInTaskParam createInTaskParam = new CreateInTaskParam();
            createInTaskParam.setTaskNo(param.getRequestPK());
            createInTaskParam.setDestLoc(getWMStoWCSLocNo(param.getToPos()));
            createInTaskParam.setOriginSite("100");
            createInTaskParam.setBarcode(param.getContNo());
            createInTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
            createInTaskParam.setEndSite(param.getToPos());
            R inTask = null;
            try {
                inTask = createInTask(createInTaskParam);
@@ -222,25 +311,7 @@
                    map.put("requestPK", param.getRequestPK());
                }
            }
        } else if (outlist.contains(param.getTrkType())) {
//            try {
//                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
//                getOutRequestParam(agvTaskCreateParam,param);
//                boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.94:8001", "/api/robot/controller/task/submit");
//                if (!httpRequest){
//                    map.put("success", "0");
//                    map.put("message", "转发AGV任务出错");
//                    map.put("result", "");
//                    map.put("requestPK", param.getRequestPK());
//                    return map;
//                }
//            }catch (Exception e){
//                map.put("success", "0");
//                map.put("message", "转发AGV任务出错");
//                map.put("result", "");
//                map.put("requestPK", param.getRequestPK());
//                return map;
//            }
        } else if (param.getFrmPos().substring(0,6).equals(loc) && param.getToPos().substring(0,4).equals(sta)) {
            CreateOutTaskParam createOutTaskParam = new CreateOutTaskParam();
            createOutTaskParam.setTaskNo(param.getRequestPK());
            createOutTaskParam.setOriginLoc(getWMStoWCSLocNo(param.getFrmPos()));
@@ -248,6 +319,7 @@
            createOutTaskParam.setDestSite("100");
            createOutTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
            createOutTaskParam.setEndSite(param.getToPos());
            createOutTaskParam.setZpallet(param.getContNo());
            R outTask = null;
            try {
                outTask = createOutTask(createOutTaskParam);
@@ -272,7 +344,27 @@
                }
            }

        }else {
        } else if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,4).equals(sta)) {
            try {
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getTransmitRequestParam(agvTaskCreateParam,param);
                String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (!httpRequest.equals("SUCCESS")){
                    map.put("success", "0");
                    map.put("message", httpRequest);
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                    return map;
                }
            }catch (Exception e){
                map.put("success", "0");
                map.put("message", "转发AGV任务出错");
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                return map;
            }

        } else {
            map.put("success", "0");
            map.put("message", "未找到对应任务类型");
            map.put("result", "");
@@ -307,9 +399,28 @@
        agvTaskCreateParam.setCarrierInfo(carrierInfoParam);

    }
    private boolean doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
    private void getTransmitRequestParam(AgvTaskCreateParam agvTaskCreateParam,CreateWcsTaskParam param){
        List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getFrmPos(),0,1),
                //目标位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getToPos(),1,1)
        );
        List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.carrierInfoParam()

        );
        agvTaskCreateParam.setTaskType("F01");
        agvTaskCreateParam.setInitPriority(param.getTrkPrty());
        agvTaskCreateParam.setRobotTaskCode(param.getRequestPK());
        agvTaskCreateParam.setTargetRoute(agvTaskParamList);
        agvTaskCreateParam.setCarrierInfo(carrierInfoParam);

    }
    private String doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
        String response = "";
        boolean success = false;
        String success = "error";
        Map<String, Object> map = new HashMap<>();
        map.put("Content-Type", "application/json;charset=UTF-8");
        map.put("X-lr-request-id", requestParam.getRobotTaskCode());
@@ -328,7 +439,9 @@

            String code = jsonObject.get("code").toString();
            if(code.equals("SUCCESS")){
                success = true;
                success = "SUCCESS";
            }else {
                success = jsonObject.get("message").toString();
            }
            log.info("转发agv任务：请求体:"+JSONObject.toJSONString(requestParam)+",返回值:"+jsonObject);
        }catch (Exception e){
@@ -447,6 +560,7 @@
        task.setShuttleNo(null);//等待主线程分配小车
        task.setRecordLoc("Y");//记录库存信息
        task.setHostId(hostId);//临时控制只允许host为1
        task.setMemo(param.getEndSite());

        boolean result = taskService.save(task);
        if (!result) {
@@ -582,6 +696,7 @@
        task.setShuttleNo(null);//等待主线程分配小车
        task.setRecordLoc("Y");//记录库存信息
        task.setHostId(hostId);//临时控制只允许host为1
        task.setZpallet(param.getZpallet());

        boolean result = taskService.save(task);
        if (!result) {