#agv对接完成

zjj

2024-07-07 d8415a9733082b783e89b75ffef51dd725829a6e

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java

@@ -1,7 +1,11 @@
package com.zy.asrs.wcs.core.timer;

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.wcs.core.domain.param.AgvTaskCreateParam;
import com.zy.asrs.wcs.core.domain.param.CreateWcsTaskParam;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.enums.LocStsType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
@@ -12,9 +16,7 @@
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.*;

@Slf4j
@Component
@@ -30,13 +32,103 @@
    private MotionLogService motionLogService;
    @Autowired
    private LocService locService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public synchronized void sendOutTaskToAgv() {
        ArrayList<Long> taskSts = new ArrayList<>();
        taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);

        BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, 100));
        if (basConveyorSta == null) {
            return;
        }
        if (basConveyorSta.getWorkMode() != 2){
            return;
        }
        if (basConveyorSta.getTaskNo() == 0){
            return;
        }
        if (!basConveyorSta.getAutoing().equals("Y") || !basConveyorSta.getLoading().equals("Y")) {
            return;
        }

        List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                .eq(Task::getStatus, 1)
                .in(Task::getTaskSts, taskSts));
        for (Task task : tasks) {
            if (task.getTaskNo().equals(basConveyorSta.getTaskNo().toString())) {
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getOutRequestParam(agvTaskCreateParam,task);
                boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (httpRequest){
                    task.setTaskSts(1000L);
                    taskService.updateById(task);
                }else {
                    log.error("出库任务推送rgv失败"+task.getWmsTaskNo());
                }
            }
        }
    }

    private void getOutRequestParam(AgvTaskCreateParam agvTaskCreateParam, Task param){
        List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.AgvTaskParam("SITE","06YZ0001",0,1),
                //目标位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getMemo(),1,1)
        );
        List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.carrierInfoParam()

        );
        agvTaskCreateParam.setTaskType("F01");
        agvTaskCreateParam.setInitPriority(param.getPriority().toString());
        agvTaskCreateParam.setRobotTaskCode(param.getWmsTaskNo());
        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;
            }

        }catch (Exception e){

        }
        return success;
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public synchronized void clearCompletedTask() {
        ArrayList<Long> taskSts = new ArrayList<>();
        taskSts.add(TaskStsType.COMPLETE_INBOUND.sts);
        taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
//        taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
        taskSts.add(TaskStsType.COMPLETE_CHARGE.sts);
        taskSts.add(TaskStsType.COMPLETE_MOVE.sts);
        taskSts.add(TaskStsType.COMPLETE_MANUAL.sts);