WMS功能完善

pang.jiabao

2026-01-19 78b8f5141aa11bfa0f94361407ed43362c8852ce

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

@@ -1,16 +1,20 @@
package com.zy.asrs.service.impl;

import com.alibaba.excel.util.StringUtils;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.TransArrivalStation;
import com.zy.asrs.entity.mes.TransInOutStationAllow;
import com.zy.asrs.entity.mes.TransParent;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.enums.RcsRetMethodEnum;
import com.zy.asrs.mapper.BasDevpMapper;
import com.zy.asrs.mapper.BlockStationMapper;
import com.zy.asrs.mapper.BlockTaskMapper;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -25,10 +29,7 @@
import java.net.URL;
import java.net.URLConnection;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.*;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

@@ -45,6 +46,10 @@
    @Value("${mes.defaultUserId}")
    public long defaultUserId;

    // wcs地址
    @Value("${wcs.url}")
    private String WCS_URL;


    @Resource
    private MesService mesService;
@@ -55,7 +60,7 @@
    @Resource
    private BlockTaskMapper blockTaskMapper;
    @Resource
    private TaskDetlServiceImpl taskDetlService;
    private TaskDetlService taskDetlService;
    @Resource
    private WrkMastService wrkMastService;

@@ -172,7 +177,7 @@
     * @param rcsFactory 1 海康；2 华晓；
     * @return
     */
    public int submitTask(RcsTaskSubmit rcsTaskSubmit, int rcsFactory){
    public RcsReturn submitTask(RcsTaskSubmit rcsTaskSubmit, int rcsFactory){

//        String response = "";
//        boolean success = false;
@@ -218,22 +223,46 @@
//            }
//        }
//        return success ? 1 : 0;
        RcsReturn rcsReturn = new RcsReturn();
        boolean success = false;
        String url = rcsFactory == 2 ? HX_URL : HIK_URL + "api/robot/controller/task/submit";
        String response = "";
        try {
            // 模拟返回
//            rcsReturn.setCode("SUCCESS");
//            success = true;
//            log.info("呼叫agv搬运成功！url：{}；request：{}；response：{}", url, JSON.toJSONString(rcsTaskSubmit), response);

        String url = rcsFactory == 2 ? HX_URL :HIK_URL + "api/robot/controller/task/submit";
        String response = sendPost(url, JSONObject.toJSONString(rcsTaskSubmit));

        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())) {
                JSONObject data = rcsReturn.getData();
                String robotTaskCode = data.getString("robotTaskCode");
                if (robotTaskCode.equals(rcsTaskSubmit.getRobotTaskCode())){
                    return 1;
            response = sendPost(url, JSONObject.toJSONString(rcsTaskSubmit));
            if (!StringUtils.isEmpty(response) && response.contains("code")) {
                rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
                if ("SUCCESS".equals(rcsReturn.getCode())) {
                    success = true;
                    log.info("呼叫agv搬运成功！url：{}；request：{}；response：{}", url, JSON.toJSONString(rcsTaskSubmit), response);
                } else {
                    log.error("呼叫agv搬运失败！url：{}；request：{}；response：{}", url, JSON.toJSONString(rcsTaskSubmit), response);
                }
            }
        } catch (Exception e) {
            log.error("呼叫agv搬运异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "呼叫agv搬运",
                        url,
                        null,
                        "127.0.0.1",
                        JSON.toJSONString(rcsTaskSubmit),
                        response,
                        success
                );
            } catch (Exception e) {
                log.error("呼叫agv搬运保存接口日志异常", e);
            }
        }

        return 0;
        return rcsReturn;
    }

    /**
@@ -271,7 +300,7 @@
    public int cancelTask(RcsTaskCancel rcsTaskCancel, int rcsFactory){

        String url = rcsFactory == 2 ? HX_URL :HIK_URL + "api/robot/controller/task/cancel";
        String response = sendPost(url, rcsTaskCancel.toString());
        String response = sendPost(url, JSONObject.toJSONString(rcsTaskCancel));
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())) {
@@ -296,7 +325,7 @@
    private int notifyEqpt(RcsEqptNotify rcsEqptNotify, int rcsFactory){

        String url = rcsFactory == 2 ? HX_URL :HIK_URL + "api/wcs/robot/eqpt/notify";
        String response = sendPost(url, rcsEqptNotify.toString());
        String response = sendPost(url, JSONObject.toJSONString(rcsEqptNotify));
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())) {
@@ -310,6 +339,9 @@

        return 0;
    }

    @Resource
    private BasDevpMapper basDevpMapper;

    /**
     * 2.2.1任务执行回馈
@@ -333,7 +365,7 @@

        try {
            // q3,q8=1
            if ("1".equals(carrierType)) {    //AGV
//            if ("1".equals(carrierType)) {    //AGV
                EntityWrapper<Task> wrapper = new EntityWrapper<>();
                wrapper.eq("task_no", robotTaskCode);
                Task task = taskService.selectOne(wrapper);
@@ -359,6 +391,100 @@
//                        JSONObject taskMemo = JSONObject.parseObject(task.getMemo());
//                        mesService.outFeedbackByTuo(taskMemo.getString("OrderNo"), task);
                    } break;
                    case APPLY_PUT: { // 放货申请
                        String staNo = task.getStaNo();
                        BasDevp basDevp = basDevpMapper.selectById(staNo);
                        if(basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N") && basDevp.getWrkNo() == 0) {

                            // 205 触发条码扫描
                            if (staNo.equals("205")) {
                                Map<String,Object> params = new HashMap<>();
                                params.put("siteId",staNo);
                                String response = new HttpHandler.Builder()
                                        .setUri(WCS_URL)
                                        .setPath("/site/startScan")
                                        .setParams(params)
                                        .build()
                                        .doPost();
                                log.info("{}放货申请给wcs下发条码扫描原始返回:{}",staNo,response);
                            }

                            // 满足放货条件，调用RCS任务继续执行
                            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                            rcsTaskContinue.setRobotTaskCode(robotTaskCode);
                            rcsTaskContinue.setTriggerType("TASK");
                            rcsTaskContinue.setTriggerCode(robotTaskCode);
                            int success = continueTask(rcsTaskContinue, 1);
                            if(success != 1) {
                                rcsReturn.setCode("Err_RobotCodeNotMatch");
                                rcsReturn.setMessage("继续执行失败");
                                JSONObject data = new JSONObject();
                                data.put("robotTaskCode", robotTaskCode);
                                rcsReturn.setData(data);
                                return rcsReturn;
                            }
                        }else {
                            log.warn("站点：{}，不满足放货条件，自动：{}，无物：{}，任务号：{}",staNo,basDevp.getAutoing(),basDevp.getLoading(),basDevp.getWrkNo());
                            rcsReturn.setCode("Err_RobotCodeNotMatch");
                            rcsReturn.setMessage("站点不满足放货条件");
                            JSONObject data = new JSONObject();
                            data.put("robotTaskCode", robotTaskCode);
                            rcsReturn.setData(data);
                            return rcsReturn;
                        }
                    } break;
                    case APPLY_PICK: { // 取货申请
                        String staNo = task.getSourceStaNo();
                        BasDevp basDevp = basDevpMapper.selectById(staNo);
                        if(basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("Y")
                                && basDevp.getWrkNo()  > 0 && basDevp.getWrkNo() <= 9990) {
                            // 满足放货条件，调用RCS任务继续执行
                            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                            rcsTaskContinue.setRobotTaskCode(robotTaskCode);
                            rcsTaskContinue.setTriggerType("TASK");
                            rcsTaskContinue.setTriggerCode(robotTaskCode);
                            int success = continueTask(rcsTaskContinue, 1);
                            if(success != 1) {
                                rcsReturn.setCode("Err_RobotCodeNotMatch");
                                rcsReturn.setMessage("继续执行失败");
                                JSONObject data = new JSONObject();
                                data.put("robotTaskCode", robotTaskCode);
                                rcsReturn.setData(data);
                                return rcsReturn;
                            }
                        }else {
                            log.warn("站点：{}，不满足取货条件，自动：{}，无物：{}，任务号：{}",staNo,basDevp.getAutoing(),basDevp.getLoading(),basDevp.getWrkNo());
                            rcsReturn.setCode("Err_RobotCodeNotMatch");
                            rcsReturn.setMessage("站点不满足放货条件");
                            JSONObject data = new JSONObject();
                            data.put("robotTaskCode", robotTaskCode);
                            rcsReturn.setData(data);
                            return rcsReturn;
                        }
                    } break;
                    case PICK_COMPLETE: { // 取货完成
                        String staNo = task.getSourceStaNo();

                        // 清除输送线任务号
                        Map<String,Object> params = new HashMap<>();
                        params.put("siteId",staNo);
                        params.put("workNo",0);
                        params.put("staNo", 0);
                        params.put("pakMk","Y");
                        String response = new HttpHandler.Builder()
                                .setUri(WCS_URL)
                                .setPath("/site/detl/update")
                                .setParams(params)
                                .build()
                                .doPost();
                        log.info("agv反馈pickComplete给wcs发命令:{},返回：{}",JSONObject.toJSONString(params),response);
                        // agv继续执行
//                        TransInOutStationAllow inOutStationAllow = new TransInOutStationAllow();
//                        inOutStationAllow.setTaskno(robotTaskCode);
//                        inOutStationAllow.setStatus("Y");
//                        inOutStationAllow.setAgvCode("agv001");
//                        mesService.allowOutStation(inOutStationAllow);
                    } break;
                    case TASK_END: {
                        // 更新任务状态等内部逻辑
                        task.setWrkSts(304L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
@@ -367,6 +493,37 @@
                        taskService.updateById(task);
                        // 任务完成
//                        mesService.reporterTask(rcsReporterTask);

                        // 入立库时，区分是空托还是满托，给输送线下发命令9990 空，9995满
                        // 侧面205 9996空，9997满
                        String transType = memo.getString("TransType");
                        if("02".equals(transType) || "04".equals(transType)) {
                            int wrkNo = 9995;
                            if("02".equals(transType)) {
                                TaskDetl taskDetl = taskDetlService.selectOne(new EntityWrapper<TaskDetl>().eq("wrk_no", task.getWrkNo()));
                                if (taskDetl != null) {
                                    if("tuopan".equals(taskDetl.getMatnr())){
                                        wrkNo = 9990;
                                    }
                                }
                            }
                            int staNo = Integer.parseInt(task.getStaNo());
                            if(staNo == 205) { // 侧面任务号转换
                                wrkNo = wrkNo == 9990 ? 9996 : 9997;
                            }
                            Map<String,Object> params = new HashMap<>();
                            params.put("siteId",staNo);
                            params.put("workNo",wrkNo);
                            params.put("staNo", staNo == 205 ? 205 : (staNo-1) );
                            params.put("pakMk","Y");
                            String response = new HttpHandler.Builder()
                                    .setUri(WCS_URL)
                                    .setPath("/site/detl/update")
                                    .setParams(params)
                                    .build()
                                    .doPost();
                            log.info("agv反馈end给wcs发命令:{},返回：{}",JSONObject.toJSONString(params),response);
                        }

//                    EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
//                    wapper2.eq("wrk_no", task.getWrkNo())
@@ -403,14 +560,16 @@
                            mesService.applyOutStation(apply);
                        } else if (RcsRetMethodEnum.ARRIVE_OFF_STATION.getCode().equals(method)) {
                            mesService.outStation(apply);
                            // agv继续执行

//                            TransInOutStationAllow inOutStationAllow = new TransInOutStationAllow();
//                            inOutStationAllow.setTaskno(robotTaskCode);
//                            inOutStationAllow.setStatus("Y");
//                            inOutStationAllow.setAgvCode("agv001");
//                            mesService.allowOutStation(inOutStationAllow);
                        }
                    } break;
                    case ARRIVE_ON_STATION: {
                        // TODO: 如果产线是运输起点，则不发送到站完成，暂时调试使用lG，未实现判断
                        if (rcsReporterTask.getCurrentSeq() == 0 && task.getSourceStaNo().startsWith("LG")) {
                            break;
                        }

                        EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
                        wapper2.eq("wrk_no", task.getWrkNo())
                                .eq("matnr", memo.getString("Itemno"))
@@ -419,7 +578,7 @@
                        TransArrivalStation arrivalStation = new TransArrivalStation();
                        arrivalStation.setTaskno(robotTaskCode);
                        arrivalStation.setTaskname(memo.getString("taskName"));
                        arrivalStation.setTuoPanId(taskDetl.getZpallet());  // memo.getString("TuoPanId")
                        arrivalStation.setTuoPanId(task.getBarcode());  // memo.getString("TuoPanId")
                        arrivalStation.setProductLineId(memo.getString("ProductLineId"));
                        String transType = memo.getString("TransType");
                        arrivalStation.setDaotype(transType);
@@ -431,18 +590,19 @@
                        arrivalStation.setOrderNo(memo.getString("OrderNo"));
                        arrivalStation.setAgvCode(singleRobotCode);
                        arrivalStation.setItemno(memo.getString("Itemno"));
                        String memo2 = taskDetl.getMemo();
                        List<String> itemBarCode = new ArrayList<>();
                        Matcher matcher = Pattern.compile("\"([^\"]*)\"").matcher(memo2);
                        while (matcher.find()) {
                            itemBarCode.add(matcher.group(1));
                        }
                        arrivalStation.setItemBarcode(itemBarCode);
                        String memo2 = taskDetl == null ? "":taskDetl.getMemo();
                        String[] array = memo2.split(",");
//                        List<String> itemBarCode = new ArrayList<>();
//                        Matcher matcher = Pattern.compile("\"([^\"]*)\"").matcher(memo2);
//                        while (matcher.find()) {
//                            itemBarCode.add(matcher.group(1));
//                        }
                        arrivalStation.setItemBarcode(Arrays.asList(array));
                        mesService.arriveOnStation(arrivalStation);
                    } break;
                    default: {} break;
                }
            }
//            }
//            else if ("CTU".equals(carrierType)) { //CTU
//                EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
//                wrapper.eq("task_no", robotTaskCode);
@@ -679,5 +839,19 @@
        return result.toString();
    }

    @Override
    public RcsReturn siteBind(SiteBind siteBind) {
        RcsReturn rcsReturn = new RcsReturn();
        String url = HIK_URL + "api/robot/controller/site/bind";
        String response = sendPost(url, JSONObject.toJSONString(siteBind));
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
        } else {
            rcsReturn.setCode("ERROR");
            rcsReturn.setMessage("调用绑定接口RCS无返回");
        }
        return rcsReturn;
    }

    // endregion
}