无空库位时，不做空板入库操作

zyx

2024-04-16 45d602719964509214d06ec5173f23e5307d5dfe

 src/main/java/com/zy/asrs/controller/AgvOpenController.java

@@ -1,14 +1,18 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.AppAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.AgvWaitPakin;
import com.zy.asrs.entity.AgvWrkDetl;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.entity.param.AgvTaskCallBackParam;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.AppAuthUtil;
import com.zy.common.web.BaseController;
import lombok.Setter;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
@@ -18,220 +22,173 @@
import org.springframework.web.bind.annotation.RestController;

import javax.annotation.PostConstruct;
import javax.servlet.http.HttpServletRequest;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.EnumSet;
import java.util.Map;

/**
 * 上报事件类型（eventType）：
 *  task：上报任务状态。
 *  task_allocated: 上报任务分配给机器人。
 *  tote_load：上报取箱状态。
 *  tote_unload：上报放箱状态。
 *  robot_reach：机器人到达工作站。
 *  weight：称重事件回调。
 *  rfid：RFID识别事件回调。
 *
 * 任务状态（status）：
 *  success：成功。
 *  fail：失败。
 *  cancel：取消。
 *  suspend：挂起。
 */
@Slf4j
@RestController
@RequestMapping("/agv")
public class AgvOpenController extends BaseController {

    @Autowired
    AgvWrkMastService agvWrkMastService;
    @Autowired
    ApiLogService apiLogService;

    @PostMapping("/task/event/status")
    public R taskEventStaus(@RequestBody AgvTaskCallBackParam param){
    @AppAuth(memo = "ESS任务回调")
    public R taskEventStaus(@RequestBody AgvTaskCallBackParam param, HttpServletRequest request){

        int wrkMastCount = agvWrkMastService.selectCount(new EntityWrapper<AgvWrkMast>().eq("wrk_no", param.getTaskCode()));
        if(wrkMastCount < 1){
            return R.error("任务编号错误");
        apiLogService.save(
                "ESS任务回调",
                "/phyzwms/agv/task/event/status",
                null,
                null,
                JSON.toJSONString(JSONObject.toJSONString(param)),
                null,
                true
        );


        //save api log (appkey 后续添加)

        AppAuthUtil.auth("",param, request);
        int wrkNo = Integer.parseInt(param.getTaskCode());
        if(wrkNo < 0){
            wrkNo = -wrkNo;
        }
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
        if(Cools.isEmpty(agvWrkMast)){
            agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode",param.getPodCode()));
            if (Cools.isEmpty(agvWrkMast)){
                return R.error("任务编号错误");
            }
        }

        AgvTask agvTask = AgvTask.valueOf(param.getEventType());
        AgvTask agvTask = AgvTask.valueOf(param.getMethod());
        Class<AgvTask> clz = AgvTask.class;
        try {
            Method method = clz.getDeclaredMethod(param.getStatus(),AgvTaskCallBackParam.class);
            method.invoke(agvTask,param);
            Method method = clz.getDeclaredMethod("success", AgvWrkMast.class, AgvTaskCallBackParam.class);
            method.invoke(agvTask,agvWrkMast,param);
        } catch (NoSuchMethodException e) {
            return R.error("任务状态status参数有误");
        } catch (InvocationTargetException e) {
            e.printStackTrace();
            log.error(e.getMessage());
            return R.error();
        } catch (IllegalAccessException e) {
            e.printStackTrace();
            log.error(e.getMessage());
            return R.error();
        }
        return R.ok();
    }

    @PostMapping("/conveyor/loadContainerFinish ")
    @AppAuth(memo = "取容器完成通知")
    public R loadContainerFinish(@RequestBody Map<String,Object> params){

        return R.ok();
    }
}

enum AgvTask{

    /**
     * 上报任务状态
     * 上报任务完成
     */
    task{
    end{
        @Transactional
        public void success(AgvTaskCallBackParam param) {
            int wrkNo = Integer.valueOf(param.getTaskCode());
            String barcode = agvWrkMastService.selectById(wrkNo).getBarcode();
            //生成AGV工作历史档
            agvWrkMastLogService.save(wrkNo);
            //生成AGV工作明细历史档
            agvWrkDetlLogService.save(wrkNo);
            //删除AGV工作档
            agvWrkMastService.deleteById(wrkNo);
            //删除AGV工作明细档
            agvWrkDetlService.delete(new EntityWrapper<AgvWrkDetl>().eq("wrk_no",wrkNo));
            //生成入库通知历史档
            agvWaitPakinLogService.save(barcode);
            //删除入库通知档
            agvWaitPakinService.delete(new EntityWrapper<AgvWaitPakin>().eq("zpallet",barcode));
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
            //修改AGV工作档的工作状态为205.工作完成
            agvWrkMast.setWrkSts(205L);

        }

        public void fail(AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {

        }

        public void suspend(AgvTaskCallBackParam param) {

            //出库任务 101.出库 || 103.拣料出库 || 107.盘点出库
            if(agvWrkMast.getIoType() == 101 || agvWrkMast.getIoType() == 103 || agvWrkMast.getIoType() == 107){
                //修改出库站点状态
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
            }
            //出库任务 110.空板出库
            if(agvWrkMast.getIoType() == 110){
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
                agvWrkMast.setWrkSts(206L);
            }
            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 上报任务分配给机器人
     * 任务开始
     */
    task_allocated{
    start{
        @Transactional
        public void success(AgvTaskCallBackParam param) {

        }

        public void fail(AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {

        }

        public void suspend(AgvTaskCallBackParam param) {

        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
            //修改AGV工作档的工作状态为203.任务开始
            agvWrkMast.setWrkSts(203L);
            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 上报取箱状态
     * 走出储位状态
     */
    tote_load{
    outbin{
        @Transactional
        public void success(AgvTaskCallBackParam param) {
            //修改源站点状态为O.空，以及解绑托盘条码
            agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getStationCode(),"O","");
            //修改AGV工作档的工作状态为2（设备上走）
            agvWrkMastService.updateWrkStsByWrkNo(Integer.valueOf(param.getTaskCode()),2);
            //修改AGV入库通知档状态
            agvWaitPakinService.updateIoStatus(Integer.valueOf(param.getTaskCode()),"Y");
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

            //入库任务 || 拣料入库任务 ||盘点再入库 ||空板入库
            if(agvWrkMast.getIoType() == 1 || agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57 || agvWrkMast.getIoType() == 10){
                //修改源站点状态为O.空，以及解绑托盘条码
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","",null);
            }

            //修改AGV工作档的工作状态为203.RCS放货中
            agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),204);

        }

        public void fail(AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {

        }

        public void suspend(AgvTaskCallBackParam param) {

        }
    },
    /**
     * 上报放箱状态
     */
    tote_unload{
    cancel{
        @Transactional
        public void success(AgvTaskCallBackParam param) {
            int wrkNo = Integer.valueOf(param.getTaskCode());
            String barcode = agvWrkMastService.selectById(wrkNo).getBarcode();
            //修改目标库位状态为F.在库
            agvLocMastService.updateLocStsByLocNo(param.getLocationCode(),"F");
            //更新目标库位明细
            agvLocDetlService.addLocDetlInfo(param.getLocationCode(),wrkNo);
            //修改工作档状态为14（入库完成）
            agvWrkMastService.updateWrkStsByWrkNo(wrkNo,14);
        }
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        public void fail(AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {

        }

        public void suspend(AgvTaskCallBackParam param) {

        }
    },
    robot_reach{
    apply{
        @Transactional
        public void success(AgvTaskCallBackParam param) {

        }

        public void fail(AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {

        }

        public void suspend(AgvTaskCallBackParam param) {

        }
    },
    weight{
        @Transactional
        public void success(AgvTaskCallBackParam param) {

        }

        public void fail(AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {

        }

        public void suspend(AgvTaskCallBackParam param) {

        }
    },
    rfid{
        @Transactional
        public void success(AgvTaskCallBackParam param) {

        }

        public void fail(AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {

        }

        public void suspend(AgvTaskCallBackParam param) {
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    };

    //任务状态为成功
    public abstract void success(AgvTaskCallBackParam param);
    //任务状态为失败
    public abstract void fail(AgvTaskCallBackParam param);
    //任务状态为取消
    public abstract void cancel(AgvTaskCallBackParam param);
    //任务状态为挂起
    public abstract void suspend(AgvTaskCallBackParam param);
    public abstract void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
//    //任务状态为失败
//    public abstract void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
//    //任务状态为取消
//    public abstract void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
//    //任务状态为挂起
//    public abstract void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);

    @Setter
    AgvBasDevpService agvBasDevpService;