呼叫AGV搬运

野心家

2025-05-05 7ea6501464a8df3cad55c21e04b606e88d7b8580

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

@@ -1,7 +1,9 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
@@ -10,17 +12,31 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.MobileAdjustParam;
import com.zy.asrs.entity.param.OffSaleParam;
import com.zy.asrs.entity.param.RCSParam;
import com.zy.asrs.entity.result.MobileAdjustResult;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.task.WorkMastScheduler;
import com.zy.common.model.LocDto;
import com.zy.common.model.TaskDto;
import com.zy.common.model.WrkDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.common.web.BaseController;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.*;

import static jdk.nashorn.internal.runtime.regexp.joni.Config.log;

/**
 * 移动端接口控制器
@@ -29,6 +45,7 @@
@RestController
@RequestMapping("mobile")
public class MobileController extends BaseController  {
    private static final Logger log = LoggerFactory.getLogger(WorkMastScheduler.class);

    @Autowired
    private MobileService mobileService;
@@ -51,7 +68,35 @@
    @Autowired
    private PackService packService;
    @Autowired
    private  WorkService workService;
    private ManLocDetlMapper manLocDetlMapper;
    @Autowired
    private CommonService commonService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private ApiLogService apiLogService;
    @Value("${rcs.address.url}")
    private String url;
    @Value("${rcs.address.attrcs}")
    private String attrcs;


    // 商品上架
    @RequestMapping("/mat/onSale/auth")
    @ManagerAuth
    public R matOnSale(@RequestBody CombParam combParam){
        mobileService.onSale(combParam);
        return R.ok("上架成功");
    }
    // 商品下架
    @RequestMapping("/mat/offSale/auth")
    //@ManagerAuth
    public R matOffSale(@RequestBody OffSaleParam offSaleParam){
        mobileService.offSale(offSaleParam);
        return R.ok("下架成功");
    }



    // 组托 ----------------------------------------------------------------------------------------------------

@@ -154,48 +199,10 @@
    }

    /**
     * 出库确认 - 拣料出库 - 选择具体条码商品
     * 出库确认完成
     * @param list
     * @return
     */
    @RequestMapping("/pakout/confirm/pick/auth")
    @ManagerAuth
    public R pakoutQueryByBarcode(@RequestParam(required = false) Integer wrkNo
                                , @RequestParam(required = false) String matnr){
        if (Cools.isEmpty(wrkNo)) {
            return R.ok();
        }
        if (Cools.isEmpty(matnr)) {
            return R.ok();
        }
        WrkMast wrkMast = wrkMastService.selectById(wrkNo);
        if (wrkMast == null) {
            return R.ok();
        }
        String orderNo = null;
        List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo());
        for (WrkDetl wrkDetl : wrkDetls) {
            if (Cools.isEmpty(orderNo)) {
                orderNo = wrkDetl.getOrderNo();
            }
            if ((wrkDetl.getMatnr() + "-" + wrkDetl.getBatch()).equals(matnr)) {
                return R.ok().add(wrkDetl);
            }
        }
        // 替换 明细
        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
        for (LocDetl locDetl : locDetls) {
            if ((locDetl.getMatnr() + "-" + locDetl.getBatch()).equals(matnr)) {
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.sync(locDetl);
                wrkDetl.setOrderNo(orderNo);
                wrkDetl.setIoTime(wrkMast.getIoTime());
                wrkDetl.setWrkNo(wrkNo);
                return R.ok().add(wrkDetl);
            }
        }
        return R.error("系统错误，条码不存在");
    }


    @RequestMapping("/pakout/confirm/auth")
    @ManagerAuth
    @Transactional
@@ -245,7 +252,7 @@

        for (Integer wrkNo : wrkNos) {
            WrkMast wrkMast = wrkMastService.selectById(wrkNo);
            if (wrkMast.getWrkSts() == 14 && (Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N"))) {
            if (wrkMast.getWrkSts() == 15 && (Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N"))) {
                List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkNo);
                boolean complete = true;
                for (WrkDetl wrkDetl : wrkDetls) {
@@ -265,6 +272,222 @@
        }
        return R.ok("完成确认");
    }


    /**
     * 补空托盘到入库缓存位
     * @param map
     * @return
     */
    @RequestMapping("/supplementEmpty")
    @ManagerAuth
    @Transactional
    public R supplementEmpty(@RequestBody HashMap<String,Object> map){
        if (Cools.isEmpty(map)) {
            return R.error("补空托盘库位为空");
        }
        List<LocMast> locMastList=locMastService.selectList(new EntityWrapper<LocMast>().eq("loc_sts", "D"));
        if (locMastList.isEmpty()) {
            return R.error("立库里没有空托盘");
        }
        // 获取工作号
        int workNo = commonService.getWorkNo(WorkNoType.PAKOUT.type);

        // 获取源站
        Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                .eq("type_no", 110)
                .eq("stn_no", 102)
                .eq("crn_no", locMastList.get(0).getCrnNo());
        StaDesc staDesc = staDescService.selectOne(wrapper);
        Integer sourceStaNo = staDesc.getCrnStn();
        if (Cools.isEmpty(sourceStaNo)) {
            throw new CoolException("检索源站失败");
        }
        Date now = new Date();
        // 保存工作档
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(workNo);
        wrkMast.setIoTime(now);
        wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
        wrkMast.setIoType(110); // 入出库状态： 110.空板出库
        wrkMast.setIoPri(10D);
        wrkMast.setSourceStaNo(sourceStaNo); // 源站
        wrkMast.setStaNo(102); // 目标站
        wrkMast.setCrnNo(locMastList.get(0).getCrnNo());
        wrkMast.setSourceLocNo(locMastList.get(0).getLocNo()); // 源库位
        wrkMast.setFullPlt("N"); // 满板：Y
        wrkMast.setPicking("N"); // 拣料
        wrkMast.setExitMk("N"); // 退出
        wrkMast.setEmptyMk("Y"); // 空板
        wrkMast.setLinkMis("N");
        wrkMast.setAppeUser(getUserId());
        wrkMast.setAppeTime(now);
        wrkMast.setModiUser(getUserId());
        wrkMast.setModiTime(now);
        wrkMast.setMemo((String) map.get("locNo"));//agv放货位
        boolean res = wrkMastService.insert(wrkMast);
        if (!res) {
            throw new CoolException("保存工作档失败");
        }
        // 更新库位状态 D.空板 -> R.出库预约
        if (locMastList.get(0).getLocSts().equals("D")){
            locMastList.get(0).setLocSts("R");
            locMastList.get(0).setModiUser(getUserId());
            locMastList.get(0).setModiTime(now);
            if (!locMastService.updateById(locMastList.get(0))) {
                throw new CoolException("更新库位状态失败");
            }
        }
        return R.ok();
    }

    /**
     * agv扫描源站点显示目标站点
     * @param locNo
     * @return
     */
    @RequestMapping("/AGVSite")
    public R AGVSite(@RequestParam(required = false) String locNo){
        HashMap<Integer,String> map=new HashMap<>();
        map.put(100,"100-入库口");
        map.put(1000,"1000-补空板口");
        map.put(2001,"2001-出库口1");
        map.put(2002,"2002-出库口2");
        map.put(3001,"3001-作业口1");
        map.put(3002,"3002-作业口2");
        map.remove(Integer.parseInt(locNo));
        return R.ok(map);
    }

    /**
     * 执行移库任务
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/AGVMove")
    public R AGVMove(@RequestParam(required = false) String sourceStaNo
    ,@RequestParam(required = false) String staNo){
        RCSParam rcsParam = new RCSParam();
        LocalDateTime now = LocalDateTime.now();
        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy年MM月dd日 HH:mm:ss");
        String formattedDate = now.format(formatter); // 格式化日期时间
        //网络流水号
        rcsParam.setReqId(now.toString());
        //应用标识
        rcsParam.setClientId("WMS");
        //通知时间
        rcsParam.setReqTime(formattedDate);
        RCSParam.DataBody dataBody=new RCSParam.DataBody();
        //任务号
        dataBody.setId(formattedDate);

        List<RCSParam.TaskBody> taskBodyList=new ArrayList<>();
        RCSParam.TaskBody taskBody=new RCSParam.TaskBody();
        //取货类型
        taskBody.setType("load");
        taskBody.setStation(sourceStaNo);
        taskBodyList.add(taskBody);

        RCSParam.TaskBody taskBody1=new RCSParam.TaskBody();
        //放货类型
        taskBody1.setType("unload");
        taskBody1.setStation(staNo);
        taskBodyList.add(taskBody1);

        dataBody.setTasks(taskBodyList);
        rcsParam.setData(dataBody);
        String response ="";
        Boolean bool =false;

        try {
            log.info("wms派发搬运任务给AGV搬运={}", rcsParam);
            response = new HttpHandler.Builder()
                    // .setHeaders(headParam)
                    .setUri(url)
                    .setPath(attrcs)
                    .setJson(JSON.toJSONString(rcsParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if(jsonObject.getBoolean("IsSuccess")){
                bool = true;
            }
        } catch (Exception e) {
            log.error("wms派发搬运任务给AGV搬运失败返回值={}", response);
        } finally {
            apiLogService.save("wms派发搬运任务给AGV搬运"
                    , url + attrcs
                    , null
                    , "127.0.0.1"
                    , JSON.toJSONString(rcsParam)
                    , response
                    , bool
            );
        }
        if(bool){
            return R.ok();
        }else {
            return R.error("下发任务失败");
        }

    }


    // 根据库位码和商品码搜索商品
    @RequestMapping("/mat/find/auth")
    public R find(@RequestParam(required = false) String locNo
            , @RequestParam(required = false) String matnr){
        //List<ManLocDetl> manLocDetls = manLocDetlMapper.selectItem0(locNo, matnr);
        ManLocDetl manLocDetl = manLocDetlMapper.selectLocNo0(locNo, matnr);
        return R.ok(manLocDetl);
        //return R.ok(manLocDetlMapper.selectItem0(locNo, matnr));
    }

    /**
     * 出库确认 - 拣料出库 - 选择具体条码商品
     */
    @RequestMapping("/pakout/confirm/pick/auth")
    @ManagerAuth
    public R pakoutQueryByBarcode(@RequestParam(required = false) Integer wrkNo
                                , @RequestParam(required = false) String matnr){
        if (Cools.isEmpty(wrkNo)) {
            return R.ok();
        }
        if (Cools.isEmpty(matnr)) {
            return R.ok();
        }
        WrkMast wrkMast = wrkMastService.selectById(wrkNo);
        if (wrkMast == null) {
            return R.ok();
        }
        String orderNo = null;
        List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo());
        for (WrkDetl wrkDetl : wrkDetls) {
            if (Cools.isEmpty(orderNo)) {
                orderNo = wrkDetl.getOrderNo();
            }
            if ((wrkDetl.getMatnr() + "-" + wrkDetl.getBatch()).equals(matnr)) {
                return R.ok().add(wrkDetl);
            }
        }
        // 替换 明细
        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
        for (LocDetl locDetl : locDetls) {
            if ((locDetl.getMatnr() + "-" + locDetl.getBatch()).equals(matnr)) {
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.sync(locDetl);
                wrkDetl.setOrderNo(orderNo);
                wrkDetl.setIoTime(wrkMast.getIoTime());
                wrkDetl.setWrkNo(wrkNo);
                return R.ok().add(wrkDetl);
            }
        }
        return R.error("系统错误，条码不存在");
    }





    // 盘点 ----------------------------------------------------------------------------------------------------
@@ -299,58 +522,14 @@
        return R.ok("盘点成功");
    }

    @PostMapping("/out/pakout/auth")
//    @ManagerAuth(memo = "根据订单出库")
    @PostMapping("/order/out/pakout/auth")
    @ManagerAuth(memo = "订单出库")
    public synchronized R pakoutByOrder(@RequestBody JSONObject param) {
        if(!param.containsKey("staNo") || !param.containsKey("orderNo")){
            return R.parse(BaseRes.PARAM);
        }
        Integer staNo = param.containsKey("staNo") ? Integer.parseInt(param.get("staNo").toString()) : 0;
        String orderNo = param.containsKey("orderNo") ? param.get("orderNo").toString() : "";

        BasDevp sta = basDevpService.checkSiteStatus(staNo);
        //根据订单号生成出库任务工作档,待实现
        List<OrderDetl> orderDetls = orderDetlService.selectList(new EntityWrapper<OrderDetl>().eq("order_no", orderNo));
        for(OrderDetl orderDetl : orderDetls){

        }


//        if (Cools.isEmpty(locDtos)) {
//            return R.parse(BaseRes.PARAM);
//        }
//        boolean lack = true;
//        for (LocDto locDto : locDtos) {
//            if (!locDto.isLack()) {
//                lack = false;
//                break;
//            }
//        }
//        if (lack) {
//            return R.error("库存不足");
//        }
//
//        Thread.sleep(1000L);
//
//        List<TaskDto> taskDtos = new ArrayList<>();
//        // 根据 （库位 & 出库站） 分组； 理想状态：一组为一次出库任务
//        for (LocDto locDto : locDtos) {
//            if (locDto.isLack()) { continue; }
//            TaskDto taskDto = new TaskDto(locDto.getLocNo(), locDto.getStaNo(), locDto);
//            if (TaskDto.has(taskDtos, taskDto)) {
//                TaskDto dto = TaskDto.find(taskDtos, taskDto);
//                assert dto != null;
//                dto.getLocDtos().addAll(taskDto.getLocDtos());
//            } else {
//                taskDtos.add(taskDto);
//            }
//        }
//        // -----------------------------------------------------------------------------------------------
//        for (TaskDto taskDto : taskDtos) {
//            BasDevp staNo = basDevpService.checkSiteStatus(taskDto.getStaNo());
//            workService.stockOut(staNo, taskDto, getUserId());
//        }
        return R.ok();
        mobileService.pakoutByOrder(param,getUserId());
        return R.ok("出库成功");
    }

}