#agv对接完成

zjj

2024-07-07 d8415a9733082b783e89b75ffef51dd725829a6e

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

@@ -1,7 +1,9 @@
package com.zy.asrs.wcs.core.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
@@ -24,11 +26,10 @@
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.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;

import java.util.*;

@@ -40,6 +41,7 @@
@RequestMapping("/openapi")
public class OpenController extends BaseController {

    private static final Logger log = LoggerFactory.getLogger(OpenController.class);
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
@@ -62,6 +64,29 @@
    private BasConveyorStaService basConveyorStaService;


    @PostMapping("/agvPickupComplete")
    public Map<String, Object> agvPickupComplete(@RequestBody AgvTaskParam agvTaskParam) {
        HashMap<String, Object> map = new HashMap<>();
        map.put("code","0");
        map.put("message","成功");
        map.put("reqCode", "");
        log.info("agv请求取货完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
        return map;

    }

    @PostMapping("/agvTaskComplete")
    public Map<String, Object> agvTaskComplete(@RequestBody AgvTaskParam agvTaskParam) {
        HashMap<String, Object> map = new HashMap<>();
        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;
    }


    //取消wcs任务
    @PostMapping("/cancelWcsTask")
    public HashMap<String,Object> cancelWcsTask(@RequestBody CreateWcsTaskParam param){
        HashMap<String, Object> map = new HashMap<>();
@@ -154,6 +179,20 @@
        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){
                    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()));
@@ -184,12 +223,31 @@
                }
            }
        } 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;
//            }
            CreateOutTaskParam createOutTaskParam = new CreateOutTaskParam();
            createOutTaskParam.setTaskNo(param.getRequestPK());
            createOutTaskParam.setOriginLoc(getWMStoWCSLocNo(param.getFrmPos()));
            createOutTaskParam.setOriginSite("101");
            createOutTaskParam.setDestSite("100");
            createOutTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
            createOutTaskParam.setEndSite(param.getToPos());
            R outTask = null;
            try {
                outTask = createOutTask(createOutTaskParam);
@@ -229,6 +287,54 @@
        int lev = Integer.parseInt(loc.substring(10,12));
        locNo = row +"-"+bay+"-"+lev;
        return locNo;
    }
    private void getInRequestParam(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","06YZ0001",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 boolean doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
        String response = "";
        boolean success = false;
        Map<String, Object> map = new HashMap<>();
        map.put("Content-Type", "application/json;charset=UTF-8");
        map.put("X-lr-request-id", requestParam.getRobotTaskCode());
        map.put("X-lr-version", 4.1);
        map.put("X-lr-trace-id", "{{$guid}}");
        try {
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(path)
                    .setJson(JSONObject.toJSONString(requestParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);

            String code = jsonObject.get("code").toString();
            if(code.equals("SUCCESS")){
                success = true;
            }
            log.info("转发agv任务：请求体:"+JSONObject.toJSONString(requestParam)+",返回值:"+jsonObject);
        }catch (Exception e){

        }
        return success;
    }

    //生成入库任务
@@ -472,7 +578,7 @@
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("");
        task.setMemo(param.getEndSite());
        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