呼叫agv自动绑定，pda解绑

pang.jiabao

2024-11-07 a489f1aeefb1cccea10c785a84d3d833b1eef648

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

@@ -7,14 +7,12 @@
import com.core.common.*;
import com.core.exception.CoolException;
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.OpenOrderPakinParam;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.MatUtils;
import com.zy.common.CodeRes;
import com.zy.common.constant.AgvSiteConstant;
import com.zy.common.constant.ApiInterfaceConstant;
import com.zy.common.constant.MesConstant;
import com.zy.common.entity.Parameter;
import com.zy.common.model.DetlDto;
@@ -77,6 +75,170 @@


    @Override
    public R inLocCallAgv(String sta, String inSta) {
        // 判断入库站点有无出库任务过滤盘点捡料
        int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("sta_no", inSta).ne("wrk_sts",15).notIn("io_type",103,107));
        if (count > 0) {
            return R.parse(inSta + "站点存在出库任务");
        }

        // 先绑定
        boolean flag = bindPodAndBerth(sta);
        if (!flag) {
            return R.parse(inSta + "绑定失败");
        }

        ForwardAGVTaskParam forwardAGVTaskParam = new ForwardAGVTaskParam();
        forwardAGVTaskParam.setReqCode(UUID.randomUUID().toString().replace("-", ""));
        forwardAGVTaskParam.setTaskTyp("GT3");
        forwardAGVTaskParam.setCtnrTyp("2");
        forwardAGVTaskParam.setPriority("1");
        List<ForwardAGVTaskParam.PositionCodePaths> positionCodePathsList = new ArrayList<>();
        positionCodePathsList.add(new ForwardAGVTaskParam.PositionCodePaths(sta, "05"));
        positionCodePathsList.add(new ForwardAGVTaskParam.PositionCodePaths(inSta, "05"));
        forwardAGVTaskParam.setPositionCodePath(positionCodePathsList);

        String body = JSON.toJSONString(forwardAGVTaskParam);
        String response = "";
        String message = "";
        boolean success = false;
        try {
            response = new HttpHandler.Builder()
                    .setUri(ApiInterfaceConstant.AGV_IP)
                    .setPath(ApiInterfaceConstant.AGV_CALL_IN_PATH)
                    .setJson(body)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            jsonObject.getString("message");
            if (jsonObject.getInteger("code").equals(0)) {
                success = true;
            } else {
                log.error("入库呼叫agv失败！！！url：{}；request：{}；response：{}", ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CALL_IN_PATH, body, response);
            }
        } catch (Exception e) {
            log.error("入库呼叫agv异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "入库呼叫agv",
                        ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CALL_IN_PATH,
                        null,
                        "127.0.0.1",
                        body,
                        response,
                        success
                );
            } catch (Exception e) {
                log.error("", e);
            }
        }

        return success ? R.ok("呼叫agv成功") : R.parse(message);
    }

    @Override
    public R unbind(String site) {
        String staMap = AgvSiteConstant.SiteMap.get(site);
        if (staMap == null) {
            return R.parse("没有找到该站点的入库映射：" + site);
        }
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("reqCode",UUID.randomUUID().toString().replace("-", "")); // 请求唯一值
        jsonObject.put("ctnrTyp","2"); // 容器类型2
        jsonObject.put("stgBinCode",staMap); // 仓位编号，根据客仓编号转换
        jsonObject.put("indBind","0"); // 1绑定，0解绑

        String body = jsonObject.toJSONString();
        String response = "";
        String message = "";
        boolean success = false;
        try {
            response = new HttpHandler.Builder()
                    .setUri(ApiInterfaceConstant.AGV_IP)
                    .setPath(ApiInterfaceConstant.AGV_BIND_PATH)
                    .setJson(body)
                    .build()
                    .doPost();
            JSONObject res = JSON.parseObject(response);
            message = jsonObject.getString("message");
            if (res.getInteger("code").equals(0)) {
                success = true;
            } else {
                log.error("调用agv解绑暂存位失败！！！url：{}；request：{}；response：{}", ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_BIND_PATH, body, response);
            }
        } catch (Exception e) {
            log.error("调用agv解绑暂存位异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "调用agv解绑暂存位",
                        ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_BIND_PATH,
                        null,
                        "127.0.0.1",
                        body,
                        response,
                        success
                );
            } catch (Exception e) {
                log.error("", e);
            }
        }
        return success ? R.ok("解绑成功") : R.parse(message);
    }

    private boolean bindPodAndBerth(String sta) {
        String staMap = AgvSiteConstant.SiteMap.get(sta);
        if (staMap == null) {
            log.error("没有找到该站点的入库映射:{}",sta);
            return false;
        }
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("reqCode",UUID.randomUUID().toString().replace("-", "")); // 请求唯一值
        jsonObject.put("ctnrTyp","2"); // 容器类型2
        jsonObject.put("stgBinCode",staMap); // 仓位编号，根据客仓编号转换
        jsonObject.put("indBind","1"); // 1绑定，0解绑

        String body = jsonObject.toJSONString();
        String response = "";
        boolean success = false;
        try {
            response = new HttpHandler.Builder()
                    .setUri(ApiInterfaceConstant.AGV_IP)
                    .setPath(ApiInterfaceConstant.AGV_BIND_PATH)
                    .setJson(body)
                    .build()
                    .doPost();
            JSONObject res = JSON.parseObject(response);
            if (res.getInteger("code").equals(0)) {
                success = true;
            } else {
                log.error("调用agv绑定仓位失败！！！url：{}；request：{}；response：{}", ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_BIND_PATH, body, response);
            }
        } catch (Exception e) {
            log.error("调用agv绑定仓位异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "调用agv绑定仓位",
                        ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_BIND_PATH,
                        null,
                        "127.0.0.1",
                        body,
                        response,
                        success
                );
            } catch (Exception e) {
                log.error("", e);
            }
        }
        return success;
    }

    @Override
    @Transactional
    public void comb(CombParam param, Long userId) {
        if (Cools.isEmpty(param.getBarcode(), param.getCombMats())) {
@@ -91,8 +253,8 @@
            throw new CoolException(param.getBarcode() + "数据正在进行入库");
        }

        if(param.getBarcode().length()!=8){
            throw new CoolException("条码长度不是8位===>>" + param.getBarcode());
        if(param.getBarcode().length()!=9){
            throw new CoolException("条码长度不是9位===>>" + param.getBarcode());
        }
        if (param.getCombMats().size()>1){
            throw new CoolException("不允许混料===>>" + param.getBarcode());
@@ -171,7 +333,7 @@
                    throw new CoolException("修改单据作业数量失败");
                }

                DetlDto detlDto = new DetlDto(elem.getMatnr(), elem.getBatch(), elem.getAnfme());
                DetlDto detlDto = new DetlDto(elem.getMatnr(), elem.getBatch(), elem.getAnfme(),orderDetl.getManu());
                if (DetlDto.has(detlDtos, detlDto)) {
                    DetlDto one = DetlDto.find(detlDtos, detlDto.getMatnr(), detlDto.getBatch());
                    assert one != null;
@@ -198,6 +360,7 @@
                waitPakin.setAppeTime(now);
                waitPakin.setModiUser(userId);
                waitPakin.setModiTime(now);
                waitPakin.setManu(detlDto.getMark());
                if (!waitPakinService.insert(waitPakin)) {
                    throw new CoolException("保存入库通知档失败");
                }
@@ -568,38 +731,44 @@
    @Override
//    @Transactional
    public void leftoversOut(Map<String, Object> map,Long userId) {

        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", map.get("barcode")).eq("io_type", 103));
        String barcode = map.get("barcode").toString();
        String barcode2 = map.get("barcode2").toString();
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode).eq("io_type", 103));
        if (Cools.isEmpty(wrkMast)) {
            throw new CoolException("未查询到拣料任务");
        }
        Date now = new Date();
        int workNo = commonService.getWorkNo(1);
        WrkMast wrkMast1 = new WrkMast();
        wrkMast1.sync(wrkMast);
        wrkMast1.setWrkNo(workNo);
        wrkMast1.setWrkSts(2L);
        wrkMast1.setIoType(200);
        wrkMast1.setSourceStaNo(wrkMast.getStaNo() == 113 ? 111 : 117);
        wrkMast1.setStaNo(map.get("floor").hashCode() == 2 ? 204:304);
        wrkMast1.setIoTime(now);
        wrkMast1.setIoPri(13D); // 优先级：13
        wrkMast1.setCrnNo(wrkMast.getCrnNo());
        wrkMast1.setSourceLocNo(wrkMast.getLocNo()); // 源库位
        wrkMast1.setFullPlt("Y"); // 满板：Y
        wrkMast1.setPicking("N"); // 拣料
        wrkMast1.setExitMk("N"); // 退出
        wrkMast1.setEmptyMk("N"); // 空板
        wrkMast1.setLinkMis("N");
        wrkMast1.setAppeUser(userId); // 操作人员数据
        wrkMast1.setAppeTime(now);
        wrkMast1.setModiUser(userId);
        wrkMast1.setModiTime(now);
        wrkMast1.setBarcode(wrkMast.getBarcode());
        if (!wrkMastService.insert(wrkMast1)) {
            throw new CoolException("保存工作档失败");
        WrkMast wrkMast2 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode2).eq("io_type", 200));
        if (Cools.isEmpty(wrkMast2)) {
            Date now = new Date();

            WrkMast wrkMast1 = new WrkMast();
            wrkMast1.sync(wrkMast);
            wrkMast1.setWrkNo(workNo);
            wrkMast1.setWrkSts(2L);
            wrkMast1.setIoType(200);
            wrkMast1.setSourceStaNo(wrkMast.getStaNo() == 113 ? 111 : 117);
            wrkMast1.setStaNo(wrkMast.getStaNo() == 113 ? 204 : 304);
            wrkMast1.setIoTime(now);
            wrkMast1.setIoPri(13D); // 优先级：13
            wrkMast1.setCrnNo(wrkMast.getCrnNo());
            wrkMast1.setSourceLocNo(wrkMast.getLocNo()); // 源库位
            wrkMast1.setFullPlt("Y"); // 满板：Y
            wrkMast1.setPicking("N"); // 拣料
            wrkMast1.setExitMk("N"); // 退出
            wrkMast1.setEmptyMk("N"); // 空板
            wrkMast1.setLinkMis("N");
            wrkMast1.setAppeUser(userId); // 操作人员数据
            wrkMast1.setAppeTime(now);
            wrkMast1.setModiUser(userId);
            wrkMast1.setModiTime(now);
            wrkMast1.setBarcode(barcode2);
            if (!wrkMastService.insert(wrkMast1)) {
                throw new CoolException("保存工作档失败");
            }
        }


        List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("zpallet", map.get("barcode")));
        if (Cools.isEmpty(wrkDetls)) {
            throw new CoolException("未查询到拣料任务明细");