#

whycq

2024-05-20 9f2749cff3cc5c05ed6314f0dfac3f405052b21c

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

@@ -26,6 +26,7 @@
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.EnumSet;
import java.util.Map;

/**
 * 上报事件类型（eventType）：
@@ -59,7 +60,7 @@

        apiLogService.save(
                "ESS任务回调",
                "/tzskwms/agv/task/event/status",
                "/phyzwms/agv/task/event/status",
                null,
                null,
                JSON.toJSONString(JSONObject.toJSONString(param)),
@@ -77,17 +78,20 @@
        }
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
        if(Cools.isEmpty(agvWrkMast)){
            return R.error("任务编号错误");
            agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode",param.getPodCode()));
            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(agvWrkMast.getWrkSts() >= 205){
            return R.error("当前任务已完成");
        }

        AgvTask agvTask = AgvTask.valueOf(param.getEventType());
        AgvTask agvTask = AgvTask.valueOf(param.getMethod());
        Class<AgvTask> clz = AgvTask.class;
        try {
            Method method = clz.getDeclaredMethod(param.getStatus(), AgvWrkMast.class, AgvTaskCallBackParam.class);
            Method method = clz.getDeclaredMethod("success", AgvWrkMast.class, AgvTaskCallBackParam.class);
            method.invoke(agvTask,agvWrkMast,param);
        } catch (NoSuchMethodException e) {
            return R.error("任务状态status参数有误");
@@ -101,190 +105,94 @@
        return R.ok();
    }

    private boolean checkParam(AgvTaskCallBackParam param, AgvWrkMast agvWrkMast){
        if(!agvWrkMast.getLocNo().equals(param.getLocationCode())){
            return false;
        }
        if(!agvWrkMast.getSourceLocNo().equals(param.getStationCode())){
            return false;
        }
        return true;
    }
    @PostMapping("/conveyor/loadContainerFinish ")
    @AppAuth(memo = "取容器完成通知")
    public R loadContainerFinish(@RequestBody Map<String,Object> params){

        return R.ok();
    }
}

enum AgvTask{

    /**
     * 上报任务状态
     * 上报任务完成
     */
    task{
    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
            agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),205);
            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());
                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(),"D",agvWrkMast.getBarcode());
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
                agvWrkMast.setWrkSts(206L);
            }
        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 上报任务分配给机器人
     * 任务开始
     */
    task_allocated{
    start{
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

            //修改AGV工作档的工作状态为203.任务开始
            agvWrkMast.setWrkSts(203L);
            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 上报取箱状态
     * 走出储位状态
     */
    tote_load{
    outbin{
        @Transactional
        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","");
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","",null);
            }

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


            agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),204);

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    },
    /**
     * 上报放箱状态
     */
    tote_unload{
    cancel{
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
            //修改工作档状态为204.放货完成
            agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),204);
        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

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

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

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

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

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

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    };

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

    @Setter
    AgvBasDevpService agvBasDevpService;