无空库位时，不做空板入库操作

zyx

2024-04-16 45d602719964509214d06ec5173f23e5307d5dfe

 src/main/java/com/zy/asrs/service/impl/AgvWrkMastServiceImp.java

@@ -2,17 +2,16 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.entity.param.AgvTaskCreateParam;
import com.zy.asrs.entity.param.AgvTaskParam;
import com.zy.asrs.entity.param.AgvTaskkDescribeParam;
import com.zy.asrs.mapper.AgvWrkMastMapper;
import com.zy.asrs.service.AgvLocMastService;
import com.zy.asrs.service.AgvWrkDetlService;
import com.zy.asrs.service.AgvWrkMastService;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -20,11 +19,7 @@
import org.springframework.stereotype.Service;

import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
import java.util.*;

@Service
@Slf4j
@@ -36,11 +31,17 @@
    @Value("${agv.taskCreatePath}")
    private String taskCreatePath;

    @Value("${agv.taskCancelPath}")
    private String taskCancelPath;

    @Value("${agv.containerMoveInPath}")
    private String containerMoveInPath;

    @Value("${agv.containerMoveOutPath}")
    private String containerMoveOutPath;

    @Value("${agv.containerArrivedPath}")
    private String containerArrivedPath;

    @Autowired
    AgvWrkMastMapper agvWrkMastMapper;
@@ -50,6 +51,8 @@
    AgvLocMastService agvLocMastService;
    @Autowired
    ApiLogService apiLogService;
    @Autowired
    AgvBasDevpService agvBasDevpService;

    public void updateWrkStsByWrkNo(int wrkNo, long wrkSts) {
        AgvWrkMast agvWrkMast = this.selectById(wrkNo);
@@ -67,31 +70,30 @@
        return true;
    }

    public int startWrk(List<AgvWrkMast> agvWrkMastList, String taskType) throws IOException {
    public int startWrk(AgvWrkMast agvWrkMast) throws IOException {

        AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
        agvTaskCreateParam.setTaskType(taskType);
        //agvTaskCreateParam.setTaskType(taskType);

//        //调用容器入场时所需要参数
//        Map<String,List<Map<String,String>>> containerMoveParam = new HashMap<>();
//        List<Map<String,String>> positionCodeMapList = new ArrayList<>();
//        containerMoveParam.put("containerMoveIns",positionCodeMapList);
        getRequestParam(agvTaskCreateParam,agvWrkMast);

        getRequestParam(agvTaskCreateParam,agvWrkMastList);

        return doHttpRequest(agvTaskCreateParam,"上架任务下发",url, taskCreatePath,null,"127.0.0.1");
        return doHttpRequest(agvTaskCreateParam,"搬运任务下发",url, taskCreatePath,null,"127.0.0.1");

        //return containerMoveParam;
    }

    //容器入场
    public int containerMove(List<AgvWrkMast> agvWrkMastList) throws IOException {
    public int containerMoveIn(List<AgvWrkMast> agvWrkMastList) throws IOException {
        //调用容器入场时所需要参数
        Map<String,List<Map<String,String>>> containerMoveParam = new HashMap<>();
        List<Map<String,String>> positionCodeMapList = new ArrayList<>();
        containerMoveParam.put("containerMoveIns",positionCodeMapList);

        getContainerMoveParam(agvWrkMastList,positionCodeMapList);

        if(Cools.isEmpty(positionCodeMapList)){
            return 0;
        }
        return doHttpRequest(containerMoveParam,"容器入场任务下发",url, containerMoveInPath,null,"127.0.0.1");

    }
@@ -115,37 +117,79 @@
        return index > 0;
    }

    @Override
    public boolean deleteByWrkNo(int wrkNo) {
        return this.delete(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
    }

    //容器到达通知
    public int containerArrived(AgvWrkMast agvWrkMast) {

        Map<String,String> containerArrivedParam = new HashMap<>();
        containerArrivedParam.put("slotCode",agvWrkMast.getSourceLocNo());
        containerArrivedParam.put("containerCode",agvWrkMast.getBarcode());

        return doHttpRequest(containerArrivedParam,"容器达到通知",url, containerArrivedPath,null,"127.0.0.1");
    }

    @Override
    public List<AgvWrkMast> selectReadyAgvWrkMast() {
        List<String> stationCodes = agvBasDevpService.selectAllStationCode();
        Wrapper<AgvWrkMast> wrapper = new EntityWrapper<AgvWrkMast>().eq("wrk_sts", 21L).like(false, "loc_no", "@");
        wrapper.in("loc_no",stationCodes);
        return this.selectList(wrapper);
        //return this.baseMapper.selectReadyAgvWrkMast();
    }

    @Override
    public AgvWrkMast selectByContainerCode(String containerCode) {
        return this.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode",containerCode));
    }

    @Override
    public int callCancelTask(int wrkNo) {

        AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
        agvTaskCreateParam.setTaskCode(wrkNo + "");

        return doHttpRequest(agvTaskCreateParam,"取消任务下发",url, taskCancelPath,null,"127.0.0.1");

    }


    private void getContainerMoveParam(List<AgvWrkMast> agvWrkMastList,List<Map<String,String>> positionCodeMapList){
        //往容器入场参数中放入源站点位置
        for(AgvWrkMast agvWrkMast : agvWrkMastList){
            //判断是否为输送线入库，是则不需要容器进场请求
            if("Y".equals(agvWrkMast.getMk())){
                continue;
            }
            Map<String,String> positionCodeMap = new HashMap<>();
            positionCodeMap.put("positionCode",agvWrkMast.getSourceLocNo());
            positionCodeMapList.add(positionCodeMap);
        }
    }

    private void getRequestParam(AgvTaskCreateParam agvTaskCreateParam,List<AgvWrkMast> agvWrkMastList){
        List<AgvTaskParam> agvTaskParamList = agvWrkMastList.stream().map(agvWrkMast -> {
            AgvTaskParam agvTaskParam = new AgvTaskParam();
            AgvTaskkDescribeParam agvTaskkDescribeParam = new AgvTaskkDescribeParam();
            agvTaskParam.setTaskDescribe(agvTaskkDescribeParam);
            //AgvTaskParam
            if(agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57){
                agvTaskParam.setTaskCode(-agvWrkMast.getWrkNo() + "");
            }else{
                agvTaskParam.setTaskCode(agvWrkMast.getWrkNo() + "");
            }
    private void getRequestParam(AgvTaskCreateParam agvTaskCreateParam,AgvWrkMast agvWrkMast){

            agvTaskParam.setTaskPriority(agvWrkMast.getIoPri().intValue());
        List<AgvTaskParam> agvTaskParamList = Arrays.asList(
                //起始位
                new AgvTaskParam(agvWrkMast.getSourceLocNo()),
                //目标位
                new AgvTaskParam(agvWrkMast.getLocNo()));

            //AgvTaskkDescribeParam
            agvTaskkDescribeParam.setFromLocationCode(agvWrkMast.getSourceLocNo());
            agvTaskkDescribeParam.setToLocationCode(agvWrkMast.getLocNo());
            agvTaskkDescribeParam.setContainerCode(agvWrkMast.getBarcode());
            return agvTaskParam;
        }).collect(Collectors.toList());
//        //起始位
//        agvTaskParamList.add(new AgvTaskParam(agvWrkMast.getSourceLocNo()));
//        //目标位
//        agvTaskParamList.add(new AgvTaskParam(agvWrkMast.getLocNo()));

        agvTaskCreateParam.setTasks(agvTaskParamList);
        if(agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57 ){
            agvWrkMast.setWrkNo(-agvWrkMast.getWrkNo());
        }
        agvTaskCreateParam.setTaskCode(agvWrkMast.getWrkNo().toString());
        agvTaskCreateParam.setTaskTyp("F01");
        agvTaskCreateParam.setPositionCodePath(agvTaskParamList);

    }

    private int doHttpRequest(Object requestParam, String namespace, String url, String path, String appkey, String ip){
@@ -161,7 +205,7 @@
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);

            int code = (int) jsonObject.get("code");
            int code = Integer.parseInt(jsonObject.get("code").toString());
            if(code != 0){
                throw new CoolException("调用AGV响应错误");
            }