1

zhang

2025-09-10 5ceb1fc9be10e20d1f6e59382b2d14c8034485cf

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

@@ -7,7 +7,6 @@
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.AgvBasDevp;
import com.zy.asrs.entity.AgvLocMast;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.entity.WrkMastExecute;
import com.zy.asrs.entity.param.AgvTaskCallBackParam;
@@ -16,6 +15,8 @@
import com.zy.common.web.BaseController;
import lombok.Setter;
import lombok.extern.slf4j.Slf4j;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
@@ -28,8 +29,11 @@
import javax.servlet.http.HttpServletRequest;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.Date;
import java.util.EnumSet;
import java.util.Map;

import static org.reflections.Reflections.log;

/**
 * 上报事件类型（eventType）：
@@ -40,7 +44,7 @@
 *  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。
 *
 * <p>
 * 任务状态（status）：
 *  success：成功。
 *  fail：失败。
@@ -51,6 +55,8 @@
@RestController
@RequestMapping("/agv")
public class AgvOpenController extends BaseController {

    private static final Logger log = LoggerFactory.getLogger(AgvMobileController.class);

    @Autowired
    AgvWrkMastService agvWrkMastService;
@@ -63,56 +69,63 @@

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


    public R taskEventStaus(@RequestBody AgvTaskCallBackParam param, HttpServletRequest request) {


        //save api log (appkey 后续添加)

        R r = new R(0, "成功");

        AppAuthUtil.auth("",param, request);
        AppAuthUtil.auth("", param, request);
        int wrkNo = Integer.parseInt(param.getTaskCode());
        if(wrkNo < 0){
        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)){
        if (Cools.isEmpty(agvWrkMast)) {
            agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", param.getPodCode()));
            if (Cools.isEmpty(agvWrkMast)) {
                r = R.error("任务编号错误");
                logPost(param,JSONObject.toJSONString(r),false);
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }
        }
        if (agvWrkMast.getIoType().equals(121)){
            try{
                if (agvWrkMast.getWrkSts().equals(12L)){
        try {
            if (!Cools.isEmpty(agvWrkMast.getBarcode()) && !Cools.isEmpty(param.getPodCode())) {
                if (!agvWrkMast.getBarcode().equals(param.getPodCode())) {
                    log.info("AGV回调的返回的托盘码和工作档托盘不一致,{}{}", agvWrkMast.getBarcode(), param.getPodCode());
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        if (agvWrkMast.getIoType().equals(121)) {
            try {
                if (agvWrkMast.getWrkSts().equals(12L)) {
                    WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectOne(new EntityWrapper<WrkMastExecute>().eq("wrk_no", wrkNo));
                    if (Cools.isEmpty(wrkMastExecute) || wrkMastExecute.getWrkSts()!=1){
                        r = R.error("任务状态WrkSts参数有误,WrkSts:"+wrkMastExecute.getWrkSts$());
                        logPost(param,"任务状态WrkSts参数有误,WrkSts:"+wrkMastExecute.getWrkSts$()+JSONObject.toJSONString(r),false);
                    if (Cools.isEmpty(wrkMastExecute) || wrkMastExecute.getWrkSts() != 1) {
                        r = R.error("任务状态WrkSts参数有误,WrkSts:" + wrkMastExecute.getWrkSts$());
                        logPost(param, "任务状态WrkSts参数有误,WrkSts:" + wrkMastExecute.getWrkSts$() + JSONObject.toJSONString(r), false);
                        return r;
                    } else {
                        wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsCode());
                        wrkMastExecuteService.updateById(wrkMastExecute);
                    }
                }else {
                } else {
                    r = R.error("任务异常");
                    logPost(param,JSONObject.toJSONString(r),false);
                    logPost(param, JSONObject.toJSONString(r), false);

                    return r;
                }
            }catch (Exception e){
                r = R.error(""+e.getMessage());
                logPost(param,JSONObject.toJSONString(r),false);
            } catch (Exception e) {
                r = R.error("" + e.getMessage());
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }
        }else {
            if(agvWrkMast.getWrkSts() >= 205){
        } else {
            if (agvWrkMast.getWrkSts() >= 205) {
                r = R.error("当前任务已完成");
                logPost(param,JSONObject.toJSONString(r),false);
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }

@@ -120,35 +133,35 @@
            Class<AgvTask> clz = AgvTask.class;
            try {
                Method method = clz.getDeclaredMethod("success", AgvWrkMast.class, AgvTaskCallBackParam.class);
                method.invoke(agvTask,agvWrkMast,param);
                method.invoke(agvTask, agvWrkMast, param);
            } catch (NoSuchMethodException e) {
                r = R.error("任务状态status参数有误");
                logPost(param,JSONObject.toJSONString(r),false);
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            } catch (InvocationTargetException e) {
                log.error(e.getMessage());
                r = R.error(""+e.getMessage());
                logPost(param,JSONObject.toJSONString(r),false);
                r = R.error("" + e.getMessage());
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            } catch (IllegalAccessException e) {
                log.error(e.getMessage());
                r = R.error(""+e.getMessage());
                logPost(param,JSONObject.toJSONString(r),false);
                r = R.error("" + e.getMessage());
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }
        }
        logPost(param,JSONObject.toJSONString(r),true);
        logPost(param, JSONObject.toJSONString(r), true);
        return r;
    }

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

        return R.ok();
    }

    private void logPost( AgvTaskCallBackParam param,String response,boolean success){
    private void logPost(AgvTaskCallBackParam param, String response, boolean success) {
        apiLogService.save(
                "ESS任务回调",
                "/phyzwms/agv/task/event/status",
@@ -161,59 +174,103 @@
    }
}

enum AgvTask{
enum AgvTask {

    /**
     * 上报任务完成
     */
    end{
    end {
        @Transactional
        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);

            //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());
            if (agvWrkMast.getIoType() == 101 || agvWrkMast.getIoType() == 103 || agvWrkMast.getIoType() == 107) {
                AgvBasDevp byDevNo = agvBasDevpService.getByDevNo(agvWrkMast.getLocNo());
                if (byDevNo != null) {
                    log.info("出库任务进入站点===>>站点码：{}，站点状态{}", byDevNo.getDevNo(), byDevNo.getLocSts());
                    //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());
            if (agvWrkMast.getIoType() == 110) {
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(), "F", agvWrkMast.getBarcode(), agvWrkMast.getWhsType().shortValue());
                agvWrkMast.setWrkSts(206L);
            }
            agvWrkMast.setModiTime(new Date());
            agvWrkMastService.updateById(agvWrkMast);


        }
    },
    /**
     * 任务开始
     */
    start{
    start {
        @Transactional
        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);
            agvWrkMast.setModiTime(new Date());
            agvWrkMast.setPdcType(param.getRobotCode());
            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 走出储位状态
     */
    outbin{
    outbin {
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

            switch(agvWrkMast.getIoType()) {
            switch (agvWrkMast.getIoType()) {
                //入库任务
                case 1:
                // 空板入库
                    // 空板入库
                case 10:
                // 拣料入库任务
                    // 拣料入库任务
                case 53:
                // 盘点再入库
                    // 站点退回
                case 58:
                    // 盘点再入库
                case 57:
                    agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","",null);
                    AgvBasDevp byDevNo = agvBasDevpService.getByDevNo(agvWrkMast.getSourceLocNo());
                    String locSts = "O";
                    if (byDevNo != null) {
                        assert log != null;
//                        if (!Cools.isEmpty(agvWrkMast.getBarcode())) {
//                            AgvBasDevp agvBasDevp = agvBasDevpService.selectOne(new EntityWrapper<AgvBasDevp>().eq("barcode", agvWrkMast.getBarcode()));
//                            if (!Cools.isEmpty(agvBasDevp) && agvBasDevp.getLocSts().equals("F") && !agvBasDevp.getDevNo().equals(byDevNo.getDevNo())) {
//                                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvBasDevp.getDevNo(), locSts, "", null);
//                            }
//                        }
                        log.info("料架离开时当前站点状态:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
                        if ("S".equals(byDevNo.getLocSts()) || "F".equals(byDevNo.getLocSts())) {
                            log.info("料架离开时当前站点状态保持不变1:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
                            locSts = byDevNo.getLocSts();
                            agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(), locSts, byDevNo.getBarcode(), null);
                        } else {
                            log.info("料架离开时当前站点状态保持不变2:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
                            locSts = "O";
                            agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(), locSts, "", null);
                        }

                    }
                    break;
            }

            if (agvWrkMast.getIoType() == 108 || agvWrkMast.getIoType() == 114) {
                //更新库存明细
                agvLocDetlService.updateStock(agvWrkMast.getSourceLocNo(), agvWrkMast.getLocNo(), agvWrkMast.getAppeUser());
                //修改源库位状态为O
                agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(), "O", "", agvWrkMast.getWhsType().shortValue(), "", (short) 0);
            } else if (agvWrkMast.getIoType() == 109 && !agvWrkMast.getSourceLocNo().substring(0, 2).equals("DB")) {
                //修改源库位状态为O
                agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(), "O", "", agvWrkMast.getWhsType().shortValue(), "", (short) 0);
            }
            //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
@@ -221,7 +278,7 @@
            //}

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

        }

@@ -229,7 +286,7 @@
    /**
     * 上报放箱状态
     */
    cancel{
    cancel {
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

@@ -237,7 +294,7 @@
        }

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

@@ -294,8 +351,8 @@
        AgvWrkDetlLogService agvWrkDetlLogService;

        @PostConstruct
        public void postConstruct(){
            for(AgvTask task : EnumSet.allOf(AgvTask.class)){
        public void postConstruct() {
            for (AgvTask task : EnumSet.allOf(AgvTask.class)) {
                task.setAgvBasDevpService(agvBasDevpService);
                task.setAgvLocDetlService(agvLocDetlService);
                task.setAgvLocMastService(agvLocMastService);
@@ -309,6 +366,15 @@
        }

    }

    public static void main(String[] args) {
        try {
            String s = null;
            System.out.println(s.equals("1"));
        }catch (Exception e){

        }
    }
}