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skyouc

1 天以前 707d414c0e6a8baff3ce7affec820f0fc1a13c19

 src/main/java/com/zy/api/service/impl/AgvScheduleServiceImpl.java

@@ -1,13 +1,47 @@
package com.zy.api.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.api.controller.params.AgvCallBackParam;
import com.zy.api.controller.params.AgvCarriesParam;
import com.zy.api.controller.params.AgvRequestParam;
import com.zy.api.entity.CallAgvParams;
import com.zy.api.enums.OrderType;
import com.zy.api.service.AgvScheduleService;
import com.zy.asrs.entity.LocCache;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.result.ForwardAGVTaskDTO;
import com.zy.asrs.entity.result.HIKApiDTO;
import com.zy.asrs.entity.result.HIKResultDTO;
import com.zy.asrs.enums.LocStsType;
import com.zy.asrs.enums.TaskIOType;
import com.zy.asrs.enums.TaskStatusType;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.LocCacheService;
import com.zy.asrs.service.TaskService;
import com.zy.asrs.service.impl.LocCacheServiceImpl;
import com.zy.common.constant.HIKApiConstant;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;

@Slf4j
@Service
public class AgvScheduleServiceImpl implements AgvScheduleService {

    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private LocCacheService locCacheService;

    /**
     * @author Ryan
@@ -16,20 +50,151 @@
     * @version 1.0
     */
    @Override
    @Transactional(rollbackFor = Exception.class)
    public R callAgvCarry(CallAgvParams params) {
        if (params.getType().equals(OrderType.ORDER_OUT.type)) {
            //缓存区出库
        } else if (params.getType().equals(OrderType.ORDER_IN.type)) {
            //缓存区入库
        } else {

        if (Objects.isNull(params)) {
            return R.error("参数不能为空！！");
        }
        if (Objects.isNull(params.getWrkNo())) {
            return R.error("任务号不能为空！！");
        }

        Task task = taskService.selectOne(new EntityWrapper<Task>().eq("wrk_no", params.getWrkNo()));
        if (Objects.isNull(task)) {
            return R.error("任务信息不存在！！");
        }

        if (Arrays.asList(TaskIOType.ALL_IN.type, TaskIOType.PICK_IN.type, TaskIOType.MERGE_IN.type)
                .contains(task.getIoType())) {
            // 入库
            task.setWrkSts(TaskStatusType.AGV_TASK_ISSUED_IN.type);
        } else if (Arrays.asList(TaskIOType.ALL_OUT.type, TaskIOType.PICK_OUT.type, TaskIOType.MERGE_OUT.type, TaskIOType.EMPTY_OUT.type)
                .contains(task.getIoType())) {
            // 出库
            task.setWrkSts(TaskStatusType.AGV_TASK_ISSUED_OUT.type);
        }

        HIKResultDTO hikResultDTO = sendAgvTask(params, HIKApiConstant.TASK_SUBMIT);

        if (hikResultDTO.isSuccess()) {
            if (!taskService.updateById(task)) {
                throw new CoolException("任务状态更新失败！！");
            }
        }

        return R.ok();
    }

    @Override
    public R callback(CallAgvParams params) {
        //TODO 1. 搬运完成，修改
        return null;
    /**
     * 获取自定义请求头
     *
     * @return java.util.Map<java.lang.String, java.lang.Object>
     * @author Ryan
     * @date 2025/12/29 9:11
     */
    private Map<String, Object> getHeaderParam() {
        Map<String, Object> headerParam = new HashMap<>();
        //设置请求连接的Token
        headerParam.put("X-LR-REQUEST-ID", new Date().getTime() + "");
        return headerParam;
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    public R callback(AgvCallBackParam params) {
        if (Objects.isNull(params)) {
            return R.error("参数不能为空！！");
        }
        if (Objects.isNull(params.getRobotTaskCode())) {
            return R.error("任务号不能为空！！");
        }
        Task task = taskService.selectOne(new EntityWrapper<Task>().eq("wrk_no", params.getRobotTaskCode()));
        if (Objects.isNull(task)) {
            return R.error("任务信息不存在！！");
        }

        if (Arrays.asList(TaskIOType.ALL_IN.type, TaskIOType.PICK_IN.type, TaskIOType.MERGE_IN.type)
                .contains(task.getIoType())) {
            // 入库
            if (params.getExtra().getValues().getMethod().equals("start")) {
                task.setWrkSts(TaskStatusType.AGV_TASK_RUNNING_IN.type);
            } else if (params.getExtra().getValues().getMethod().equals("end")){
                task.setWrkSts(TaskStatusType.AGV_TASK_FINISHED_IN.type);
            }
        } else if (Arrays.asList(TaskIOType.ALL_OUT.type, TaskIOType.PICK_OUT.type, TaskIOType.MERGE_OUT.type, TaskIOType.EMPTY_OUT.type)
                .contains(task.getIoType())) {
            // 出库p
            if (params.getExtra().getValues().getMethod().equals("start")) {
                task.setWrkSts(TaskStatusType.AGV_TASK_RUNNING_OUT.type);
            } else if (params.getExtra().getValues().getMethod().equals("end")){
                task.setWrkSts(TaskStatusType.AGV_TASK_FINISHED_OUT.type);
            }
        }

        if (!taskService.updateById(task)) {
            throw new CoolException("状态修改失败！！");
        }
        return R.ok("执行完成 ！！");
    }

    public HIKResultDTO sendAgvTask(CallAgvParams param, String path) {
        HIKResultDTO result = new HIKResultDTO();
        AgvRequestParam requestParam = new AgvRequestParam();
        requestParam.setTaskType(param.getTaskType());
        List<AgvCarriesParam> agvCarriesParams = new ArrayList<>();

        AgvCarriesParam carriesParam = new AgvCarriesParam();
        carriesParam.setSeq(0);
        carriesParam.setCode(param.getOrgSite());

        agvCarriesParams.add(carriesParam);

        AgvCarriesParam carriesParam2 = new AgvCarriesParam();
        carriesParam2.setSeq(1);
        carriesParam2.setCode(param.getTarSite());

        agvCarriesParams.add(carriesParam2);

        requestParam.setRobotTaskCode(param.getWrkNo());
        requestParam.setTargetRoute(agvCarriesParams);

        String body = JSON.toJSONString(requestParam);
        String response = "";
        try {
            response = new HttpHandler.Builder()
                    .setUri(HIKApiConstant.AGV_IP)
                    .setPath(path)
                    .setHeaders(getHeaderParam())
                    .setJson(body)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getString("code").equals("SUCCESS")) {
                result.setSuccess(true);
            } else {
                result.setMessage(jsonObject.getString("message"));
                log.error("发送agv任务失败！！！url：{}；request：{}；response：{}", HIKApiConstant.AGV_IP + path, body, response);
            }
            // {"code":"1","data":"","interrupt":false,"message":"重复提交","msgErrCode":"0x3a80D012","reqCode":"fa92b49481a44627ae4d80c1400f28f6"}
        } catch (Exception e) {
            result.setMessage(e.getMessage());
            log.error("发送agv任务异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "发送agv任务",
                        HIKApiConstant.AGV_IP + path,
                        null,
                        "127.0.0.1",
                        body,
                        response,
                        result.isSuccess());
            } catch (Exception e) {
                log.error("", e);
            }
        }
        return result;
    }

}