#

Junjie

2025-04-22 5cef428c0019b6455e35807a617f648840e9c65d

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

@@ -1,24 +1,24 @@
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.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskLog;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.domain.param.AgvTaskCreateParam;
import com.zy.asrs.wcs.core.domain.param.CreateWcsTaskParam;
import com.zy.asrs.wcs.core.domain.param.ReturnWcsTaskStatisParam;
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;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.service.TaskLogService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.service.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
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
@@ -29,26 +29,217 @@
    @Autowired
    private TaskLogService taskLogService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private MotionLogService motionLogService;
    @Autowired
    private LocService locService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;

    //出库转发agv
    @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 (Cools.isEmpty(task.getMemo())){
                task.setTaskSts(999L);
                taskService.updateById(task);
                continue;
            }else if (task.getMemo().equals("06YZ0001")){
                HashMap<String, String> mesMap = new HashMap<>();
                mesMap.put("taskNo", task.getWmsTaskNo());
                mesMap.put("contNo",task.getZpallet());
                boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",task.getZpallet());
                if (returnTask4){
                    task.setTaskSts(1001L);
                    taskService.updateById(task);
                    log.info("出库任务完成推送mes"+task.getWmsTaskNo());
                }else {
                    log.error("出库任务完成推送mes失败"+task.getWmsTaskNo());
                }
                continue;
            }
            if (task.getTaskNo().equals(basConveyorSta.getTaskNo().toString())) {
                //绑定托盘码
                boolean httpRequest1 = agvBindBarcodeHttpRequest("", "", task);
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getOutRequestParam(agvTaskCreateParam,task);
                //发送出库任务
                boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (httpRequest){
                    task.setTaskSts(1000L);
                    taskService.updateById(task);
                    log.info("出库任务推送rgv"+task.getWmsTaskNo());
                }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 agvBindBarcodeHttpRequest(String url, String path,Task task){
        String response = "";
        boolean success = false;
        Map<String, Object> headers = new HashMap<>();
        headers.put("Content-Type", "application/json;charset=UTF-8");
        headers.put("X-lr-request-id", task.getWmsTaskNo());
        headers.put("X-lr-version", 4.1);
        headers.put("X-lr-trace-id", "{{$guid}}");

        Map<String, Object> map = new HashMap<>();
        map.put("carrierCode",task.getZpallet());
        map.put("siteCode","06YZ0001");
        map.put("extra",null);
        try {
            response = new HttpHandler.Builder()
                    .setHeaders(headers)
                    .setUri("172.18.16.248:443")
                    .setHttps(true)
                    .setPath("/rcs/rtas/api/robot/controller/carrier/bind")
                    .setJson(JSONObject.toJSONString(map))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            String code = jsonObject.get("code").toString();
            log.info("agv绑定箱号,请求体:"+JSONObject.toJSONString(map)+",返回:"+response);
            if(code.equals("SUCCESS")){
                success = true;
            }
        }catch (Exception e){
            log.info("agv绑定箱号请求报错"+e.getMessage());
        }
        return success;
    }

    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}}");
        log.info("转发agv请求报文:"+JSONObject.toJSONString(requestParam));
        try {
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(path)
                    .setJson(JSONObject.toJSONString(requestParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            log.info("转发agv请求返回:"+response);
            String code = jsonObject.get("code").toString();
            if(code.equals("SUCCESS")){
                success = true;
            }

        }catch (Exception e){
            log.info("转发agv请求报错"+e.getMessage());
        }
        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_CHARGE.sts);
        taskSts.add(TaskStsType.COMPLETE_MOVE.sts);
        taskSts.add(TaskStsType.COMPLETE_MANUAL.sts);


        List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                .eq(Task::getStatus, 1)
                .in(Task::getTaskSts, taskSts));
        for (Task task : tasks) {
            //记录库存信息
            updateRecordLoc(task);
            //任务转历史档
            saveTaskLog(task);

            if (Cools.isEmpty(task.getMemo())){
                task.setTaskSts(998L);
                taskService.updateById(task);
                continue;
            }

            HashMap<String, String> mesMap = new HashMap<>();
            mesMap.put("taskNo", task.getWmsTaskNo());
            mesMap.put("contNo",task.getZpallet());
            boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",task.getMemo());
            if (returnTask4){
                log.info("任务完成后上报mes成功，任务号:"+task.getWmsTaskNo());
                //记录库存信息
                updateRecordLoc(task);
                //任务转历史档
                saveTaskLog(task);

            }else {
                log.error("任务完成后返回mes失败");
            }

        }
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public synchronized void clearCompletedTask999() {
        ArrayList<Long> taskSts = new ArrayList<>();
        taskSts.add(TaskStsType.OUT_TASK_OVER_HAND.sts);
        taskSts.add(TaskStsType.OUT_TASK_OVER.sts);
        taskSts.add(TaskStsType.COMPLETE_CHARGE.sts);
        taskSts.add(TaskStsType.COMPLETE_MOVE.sts);
        taskSts.add(TaskStsType.COMPLETE_MANUAL.sts);
        taskSts.add(TaskStsType.COMPLETE_LADEN_MOVE.sts);
        taskSts.add(TaskStsType.IN_TASK_OVER_HAND.sts);


        List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                .eq(Task::getStatus, 1)
                .in(Task::getTaskSts, taskSts));
        for (Task task : tasks) {
                //记录库存信息
                updateRecordLoc(task);
                //任务转历史档
                saveTaskLog(task);

        }
    }

@@ -87,16 +278,57 @@
    @Transactional
    public void saveTaskLog(Task task) {
        //创建历史档
        Date date = new Date();
        TaskLog taskLog = new TaskLog();
        taskLog.setTaskNo(task.getTaskNo());
        taskLog.setTaskData(JSON.toJSONString(task));
        taskLog.setCreateTime(date);
        taskLog.setUpdateTime(date);
        taskLog.sync(task);
        taskLog.setUpdateTime(new Date());
        taskLogService.save(taskLog);

        List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
        for (Motion motion : motions) {
            //创建动作历史档
            MotionLog motionLog = new MotionLog();
            motionLog.sync(motion);
            motionLog.setUpdateTime(new Date());
            motionLogService.save(motionLog);
        }

        //删除源任务
        taskService.removeById(task.getId());
        //删除动作
        motionService.remove(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
    }

    private boolean toMesHttpRequest(Map<String,String> map, String url, String path, String code,String localtion){
        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(localtion);
        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();
            if(code1.equals("1")){
                success = true;
            }
        }catch (Exception e){
            return success;
        }
        return success;
    }

}