#

Junjie

2023-10-06 609f22f7f1f24d9745d2afa013abf50b00c019ce

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

@@ -1,5 +1,7 @@
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;
@@ -55,23 +57,38 @@
    @AppAuth(memo = "ESS任务回调")
    public R taskEventStaus(@RequestBody AgvTaskCallBackParam param, HttpServletRequest request){

        //save api log (appkey 后续添加)
        AppAuthUtil.auth("test-appkey",param, request);
        apiLogService.save(
                "ESS任务回调",
                "/tzskwms/agv/task/event/status",
                null,
                null,
                JSON.toJSONString(JSONObject.toJSONString(param)),
                null,
                true
        );

        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("wrk_no", param.getTaskCode()));

        //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)){
            return R.error("任务编号错误");
        }

        if(!checkParam(param,agvWrkMast)){
            return R.error("任务参数与工作档参数不符合");
        }
//        if(!checkParam(param,agvWrkMast)){
//            return R.error("任务参数与工作档参数不符合");
//        }

        AgvTask agvTask = AgvTask.valueOf(param.getEventType());
        Class<AgvTask> clz = AgvTask.class;
        try {
            Method method = clz.getDeclaredMethod(param.getStatus(),AgvTaskCallBackParam.class);
            method.invoke(agvTask,param);
            Method method = clz.getDeclaredMethod(param.getStatus(), 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) {
@@ -103,20 +120,30 @@
     */
    task{
        @Transactional
        public void success(AgvTaskCallBackParam param) {
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
            //修改AGV工作档的工作状态为205.工作完成
            agvWrkMastService.updateWrkStsByWrkNo(Integer.valueOf(param.getTaskCode()),205);
            agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),205);

            //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());
            }
            //出库任务 110.空板出库
            if(agvWrkMast.getIoType() == 110){
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"D",agvWrkMast.getBarcode());
            }
        }

        public void fail(AgvTaskCallBackParam param) {
        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {
        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

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

        }
    },
@@ -125,19 +152,19 @@
     */
    task_allocated{
        @Transactional
        public void success(AgvTaskCallBackParam param) {
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void fail(AgvTaskCallBackParam param) {
        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {
        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

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

        }
    },
@@ -146,25 +173,30 @@
     */
    tote_load{
        @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","");
        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","");
            }

            //修改AGV工作档的工作状态为203.RCS放货中
            agvWrkMastService.updateWrkStsByWrkNo(Integer.valueOf(param.getTaskCode()),203);
            //修改AGV入库通知档状态
            //agvWaitPakinService.updateIoStatus(Integer.valueOf(param.getTaskCode()),"Y");
            agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),203);



        }

        public void fail(AgvTaskCallBackParam param) {
        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {
        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

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

        }
    },
@@ -173,86 +205,86 @@
     */
    tote_unload{
        @Transactional
        public void success(AgvTaskCallBackParam param) {
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
            //修改工作档状态为204.放货完成
            agvWrkMastService.updateWrkStsByWrkNo(Integer.valueOf(param.getTaskCode()),204);
            agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),204);
        }

        public void fail(AgvTaskCallBackParam param) {
        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {
        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

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

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

        }

        public void fail(AgvTaskCallBackParam param) {
        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {
        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

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

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

        }

        public void fail(AgvTaskCallBackParam param) {
        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {
        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

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

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

        }

        public void fail(AgvTaskCallBackParam param) {
        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvTaskCallBackParam param) {
        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

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

        }
    };

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

    @Setter
    AgvBasDevpService agvBasDevpService;