#

Junjie

2025-07-06 0d04bc5d8080b82338302fba0a59fccff2eaedfc

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/OpenServiceImpl.java

@@ -7,6 +7,7 @@
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.BasLiftStaDto;
import com.zy.asrs.wcs.core.domain.param.AgvTaskCreateParam;
import com.zy.asrs.wcs.core.domain.param.CreateInTaskParam;
@@ -26,6 +27,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;

@@ -56,20 +58,21 @@


    @Override
    public R createInTask(CreateInTaskParam param) {
    @Transactional
    public R createInTask(CreateInTaskParam param, CreateWcsTaskParam createWcsTaskParam) {
        //获取入库任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return R.error("任务类型异常");
            throw new CoolException("任务类型异常");
        }

        Long hostId = 1L;//默认主仓库

        Loc loc = locService.selectByLocNo(param.getDestLoc());
        if (loc == null) {
            return R.error("库位号不存在");
            throw new CoolException("库位号不存在");
        }

        //获取严格模式参数
@@ -80,7 +83,7 @@
        }

        if (mapStrict && !loc.getLocStsFlag().equals("O")) {
            return R.error("库位状态不满足入库条件");
            throw new CoolException("库位状态不满足入库条件");
        }

        Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
@@ -89,7 +92,7 @@
                .eq(Task::getDestSite, param.getDestSite())
                .eq(Task::getDestLoc, param.getDestLoc()));
        if (one != null) {
            return R.error("任务已存在");
            throw new CoolException("任务已存在");
        }

        String destSite = param.getDestSite();
@@ -100,7 +103,7 @@
                    .eq(BasConveyorPath::getHostId, hostId)
                    .eq(BasConveyorPath::getStnNo, param.getOriginSite()));
            if(path == null) {
                return R.error("内置路径不存在");
                throw new CoolException("内置路径不存在");
            }
            destSite = String.valueOf(path.getDeviceStn());
        }
@@ -115,27 +118,27 @@
                    .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
                    .eq(TaskCtg::getStatus, 1));
            if (taskInCtg == null) {
                return R.error("任务类型异常");
                throw new CoolException("任务类型异常");
            }
            List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                    .eq(Task::getTaskCtg, taskInCtg.getId()));
            if (!tasks.isEmpty()) {
                return R.error("当前存在出库任务，无法切换入库模式");
                throw new CoolException("当前存在出库任务，无法切换入库模式");
            }

            BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
            if(basConveyor == null) {
                return R.error("输送线不存在");
                throw new CoolException("输送线不存在");
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            if(devpThread == null) {
                return R.error("输送线线程不存在");
                throw new CoolException("输送线线程不存在");
            }

            boolean result = devpThread.switchWorkMode(Integer.parseInt(destSite), WorkModeType.PAKIN_MODE.id);
            if (!result) {
                return R.error("模式切换失败");
                throw new CoolException("模式切换失败");
            }
        }

@@ -145,49 +148,119 @@
            priority = param.getPriority();
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
        task.setWmsTaskNo(param.getTaskNo());
        task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(priority);
        task.setOriginSite(param.getOriginSite());
        task.setOriginLoc(null);
        task.setDestSite(destSite);
        task.setDestLoc(param.getDestLoc());
        task.setZpallet(param.getBarcode());
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("");
        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());
        if (createWcsTaskParam != null) {
            //转发agv
            if (!createWcsTaskParam.getFrmPos().equals("06YZ0001")){
                try {
                    AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                    getInRequestParam(agvTaskCreateParam, createWcsTaskParam);
                    String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                    if (!httpRequest.equals("SUCCESS")){
                        throw new CoolException("转发AGV任务失败" + httpRequest);
                    }

        boolean result = taskService.save(task);
        if (!result) {
            return R.error("生成入库任务失败！");
                    Task task = new Task();
                    task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
                    task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
                    task.setWmsTaskNo(param.getTaskNo());
                    task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
                    task.setTaskCtg(taskCtg.getId());
                    task.setPriority(priority);
                    task.setOriginSite(param.getOriginSite());
                    task.setOriginLoc(null);
                    task.setDestSite(destSite);
                    task.setDestLoc(param.getDestLoc());
                    task.setZpallet(param.getBarcode());
                    task.setIoTime(new Date());
                    task.setStartTime(new Date());
                    task.setStatus(1);
                    task.setMemo("");
                    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) {
                        throw new CoolException("生成入库任务失败！");
                    }
                }catch (Exception e){
                    throw new CoolException("转发AGV任务出错" + e.getMessage());
                }
            }else {
                Task task = new Task();
                task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
                task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
                task.setWmsTaskNo(param.getTaskNo());
                task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
                task.setTaskCtg(taskCtg.getId());
                task.setPriority(priority);
                task.setOriginSite(param.getOriginSite());
                task.setOriginLoc(null);
                task.setDestSite(destSite);
                task.setDestLoc(param.getDestLoc());
                task.setZpallet(param.getBarcode());
                task.setIoTime(new Date());
                task.setStartTime(new Date());
                task.setStatus(1);
                task.setMemo("");
                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) {
                    throw new CoolException("生成入库任务失败！");
                }
            }
        }else {
            Task task = new Task();
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
            task.setWmsTaskNo(param.getTaskNo());
            task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(priority);
            task.setOriginSite(param.getOriginSite());
            task.setOriginLoc(null);
            task.setDestSite(destSite);
            task.setDestLoc(param.getDestLoc());
            task.setZpallet(param.getBarcode());
            task.setIoTime(new Date());
            task.setStartTime(new Date());
            task.setStatus(1);
            task.setMemo("");
            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) {
                throw new CoolException("生成入库任务失败！");
            }
        }

        return R.ok();
    }

    @Override
    public R createOutTask(CreateOutTaskParam param) {
    @Transactional
    public R createOutTask(CreateOutTaskParam param, CreateWcsTaskParam createWcsTaskParam) {
        //获取出库任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return R.error("任务类型异常");
            throw new CoolException("任务类型异常");
        }

        Long hostId = 1L;//默认主仓库

        Loc loc = locService.selectByLocNo(param.getOriginLoc());
        if (loc == null) {
            return R.error("库位号不存在");
            throw new CoolException("库位号不存在");
        }

        //获取严格模式参数
@@ -198,7 +271,7 @@
        }

        if (mapStrict && !loc.getLocStsFlag().equals("F")) {
            return R.error("库位状态不满足出库条件");
            throw new CoolException("库位状态不满足出库条件");
        }

        Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
@@ -207,7 +280,7 @@
                .eq(Task::getOriginLoc, param.getOriginLoc())
                .eq(Task::getDestSite, param.getDestSite()));
        if (one != null) {
            return R.error("任务已存在");
            throw new CoolException("任务已存在");
        }

        String originSite = param.getOriginSite();
@@ -217,13 +290,13 @@
                    .eq(BasConveyorPath::getTypeNo, taskCtg.getId())
                    .eq(BasConveyorPath::getHostId, hostId)
                    .eq(BasConveyorPath::getStnNo, param.getDestSite()));
            if(path == null) {
                return R.error("内置路径不存在");
            if (path == null) {
                throw new CoolException("内置路径不存在");
            }
            Integer deviceNo = path.getDeviceNo();//获取提升机号
            BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, deviceNo).eq(BasLift::getHostId, hostId));
            if(basLift == null) {
                return R.error("提升机对象不存在");
            if (basLift == null) {
                throw new CoolException("提升机对象不存在");
            }
            List<BasLiftStaDto> staList = JSON.parseArray(basLift.getSta(), BasLiftStaDto.class);
            BasLiftStaDto originStaDto = null;
@@ -235,7 +308,7 @@
            }

            if (originStaDto == null) {
                return R.error("源站不存在");
                throw new CoolException("源站不存在");
            }

            originSite = String.valueOf(originStaDto.getStaNo());
@@ -251,27 +324,27 @@
                    .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
                    .eq(TaskCtg::getStatus, 1));
            if (taskInCtg == null) {
                return R.error("任务类型异常");
                throw new CoolException("任务类型异常");
            }
            List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                    .eq(Task::getTaskCtg, taskInCtg.getId()));
            if (!tasks.isEmpty()) {
                return R.error("当前存在入库任务，无法切换出库模式");
                throw new CoolException("当前存在入库任务，无法切换出库模式");
            }

            BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
            if(basConveyor == null) {
                return R.error("输送线不存在");
            if (basConveyor == null) {
                throw new CoolException("输送线不存在");
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            if(devpThread == null) {
                return R.error("输送线线程不存在");
            if (devpThread == null) {
                throw new CoolException("输送线线程不存在");
            }

            boolean result = devpThread.switchWorkMode(Integer.parseInt(originSite), WorkModeType.PAKOUT_MODE.id);
            if (!result) {
                return R.error("模式切换失败");
                throw new CoolException("模式切换失败");
            }
        }

@@ -303,39 +376,19 @@

        boolean result = taskService.save(task);
        if (!result) {
            return R.error("生成出库任务失败！");
            throw new CoolException("生成出库任务失败！");
        }

        return R.ok();
    }

    @Override
    @Transactional
    public HashMap<String, Object> executeWcsTaskCache(CreateWcsTaskParam param) {
        HashMap<String, Object> map = new HashMap<>();
        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());
                        log.info("返回mes信息:"+ JSONObject.toJSONString(map));
                        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());
                    log.info("返回mes信息:"+JSONObject.toJSONString(map));
                    return map;
                }
            }

            CreateInTaskParam createInTaskParam = new CreateInTaskParam();
            createInTaskParam.setTaskNo(param.getRequestPK());
@@ -346,15 +399,7 @@
            createInTaskParam.setEndSite(param.getToPos());
            R inTask = null;
            try {
                inTask = this.createInTask(createInTaskParam);
            }catch (Exception e){
                map.put("success", "0");
                map.put("message", "生成任务出错");
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }finally {
                inTask = this.createInTask(createInTaskParam, param);
                int code = (int) inTask.get("code");
                if (code == 200){
                    map.put("success", "1");
@@ -367,6 +412,14 @@
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                }

            }catch (Exception e){
                map.put("success", "0");
                map.put("message", e.getMessage());
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:" + JSONObject.toJSONString(map));
                return map;
            }
        } else if (param.getFrmPos().substring(0,6).equals(loc) && param.getToPos().substring(0,4).equals(sta)) {
            CreateOutTaskParam createOutTaskParam = new CreateOutTaskParam();
@@ -379,15 +432,8 @@
            createOutTaskParam.setZpallet(param.getContNo());
            R outTask = null;
            try {
                outTask = this.createOutTask(createOutTaskParam);
            }catch (Exception e){
                map.put("success", "0");
                map.put("message", "生成任务出错");
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }finally {
                outTask = this.createOutTask(createOutTaskParam, param);

                int code = (int) outTask.get("code");
                if (code == 200){
                    map.put("success", "1");
@@ -400,6 +446,14 @@
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                }

            }catch (Exception e){
                map.put("success", "0");
                map.put("message", e.getMessage());
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }

        } else if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,4).equals(sta)) {
@@ -488,6 +542,13 @@
                    map.put("requestPK", param.getRequestPK());
                    log.info("返回mes信息:"+JSONObject.toJSONString(map));
                    return map;
                }else {
                    map.put("success", "1");
                    map.put("message", "success");
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                    log.info("返回mes信息:"+JSONObject.toJSONString(map));
                    return map;
                }
            }catch (Exception e){
                map.put("success", "0");