添加了联结器库特殊站点时调用AGV特殊模板，添加人员入侵系统检测到有人时急停AGV的接口，修复AGV工作档没有任务号的漏洞

zyh

16 小时以前 a8bb23b90b99f1898c2a0d0335115c69a6db761d

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

@@ -1,23 +1,21 @@
package com.zy.asrs.service.impl;

import com.alibaba.excel.util.DateUtils;
import com.alibaba.excel.util.StringUtils;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SnowflakeIdWorker;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.*;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.EmptyPlateOutParam;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.mapper.AgvInfoMapper;
import com.zy.asrs.mapper.MatItemBarcodeMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.DetlDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import lombok.extern.slf4j.Slf4j;
@@ -30,16 +28,22 @@
import javax.annotation.Resource;
import java.text.ParseException;
import java.util.*;
import java.util.concurrent.ExecutionException;
import java.util.stream.Collectors;
import java.util.stream.Stream;

@Slf4j
@Service
public class MesServiceImpl implements MesService {

    @Value("${mes.url}")
    public String MES_URL;

    // 海康RCS地址
    @Value("${hik.url}")
    private String HIK_URL;

    // 华晓RCS地址
    @Value("${hx.url}")
    private String HX_URL;

    @Value("${wms.currentName}")
    public String WMS_CURRENT_NAME;
    @Value("${wms.wmsTransStartStation1}")
@@ -239,12 +243,11 @@
            newMemo.put("itemdata", list);



            // 生成订单
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(entry.getKey());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setOrderTime(DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(1L);
            orderPakin.setStatus(1);
@@ -260,8 +263,8 @@

                    // 生成明细
                    Mat mat = matService.selectByMatnr(mesMatInfo.getItemNo());
                    if(Cools.isEmpty(mat)){
                        log.error("该物料编号立库没有="+mesMatInfo.getItemNo());
                    if (Cools.isEmpty(mat)) {
                        log.error("该物料编号立库没有=" + mesMatInfo.getItemNo());
                        continue;
                    }
                    OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
@@ -554,7 +557,7 @@
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(mesInApply.getOrderNo());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setOrderTime(DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(settle);
            orderPakin.setStatus(1);
@@ -957,7 +960,7 @@
            OrderPakout orderPakout = new OrderPakout();
            orderPakout.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakout.setOrderNo(mesCallOutApply.getOrderNo());
            orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakout.setOrderTime(DateUtils.convert(now));
            orderPakout.setDocType(docType.getDocId());
            orderPakout.setSettle(settle);
            orderPakout.setStatus(1);
@@ -967,6 +970,7 @@
            orderPakout.setUpdateTime(now);
            orderPakout.setMemo(JSONObject.toJSONString(mesCallOutApply));
            orderPakout.setPakinPakoutStatus(2);
            orderPakout.setCstmrName(mesCallOutApply.getStationId());//agv目标站点
            if (!orderPakoutService.insert(orderPakout)) {
                log.error("MES保存出库订单（叫料）主档失败");
                throw new CoolException("保存出库订单（叫料）主档失败");
@@ -978,6 +982,10 @@

                    set.add(mesOutApplyItem.getTrayid());
                    Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
                    if (Cools.isEmpty(mat)) {
                        log.error("物料编号不存在: {}", mesOutApplyItem.getItemno());
                        throw new CoolException("物料编号不存在: " + mesOutApplyItem.getItemno());
                    }
                    OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
                    orderDetlPakout.setOrderId(orderPakout.getId());
                    orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
@@ -1003,9 +1011,9 @@
            }

            //有多少种不同的配盘号   只有配盘出库单需要知道
            if (mesCallOutApply.getTransType().equals("配盘出库单")){
            if (mesCallOutApply.getTransType().equals("配盘出库单")) {
                orderPakout.setPayType(set.size());
                String shipCode =mesCallOutApply.getItemdata().get(0).getTrayid().split("-")[2];
                String shipCode = mesCallOutApply.getItemdata().get(0).getTrayid().split("-")[2];
                orderPakout.setShipCode(shipCode);//区域  是否是特殊托盘
                orderPakoutService.updateById(orderPakout);
            }
@@ -1027,7 +1035,7 @@
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(mesCallOutApply.getOrderNo());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setOrderTime(DateUtils.convert(now));
            orderPakin.setDocType(docType.getDocId());
            orderPakin.setSettle(1L);
            orderPakin.setStatus(1);
@@ -1039,11 +1047,11 @@
            orderPakin.setPakinPakoutStatus(1);
            orderPakinService.insert(orderPakin);
            if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
                for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()){
                for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()) {
                    // 生成明细
                    Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
                    if(Cools.isEmpty(mat)){
                        log.error("该物料编号立库没有="+mesOutApplyItem.getItemno());
                    if (Cools.isEmpty(mat)) {
                        log.error("该物料编号立库没有=" + mesOutApplyItem.getItemno());
                        continue;
                    }
                    OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
@@ -1104,73 +1112,39 @@
            return result;
        }

        // 下发给RCS
        RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
        rcsTaskSubmit.setRobotTaskCode(transTask.getTaskno());
        rcsTaskSubmit.setInitPriority(10);  //默认10
        List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
        RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
        startRoute.setSeq(0);
        startRoute.setCode(transTask.getCurStationId());
        startRoute.setOperation("COLLECT");
        targetRouteList.add(startRoute);
        RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
        endRoute.setSeq(1);
        endRoute.setCode(transTask.getNextStationId());
        endRoute.setOperation("DELIVERY");
        targetRouteList.add(endRoute);
        rcsTaskSubmit.setTargetRoute(targetRouteList);
        int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
        Date now = new Date();
        Task task = new Task();
        task.setWrkNo(workNo);
        //08-1是空托盘转序任务
        //08-2是物料转序任务
        task.setTaskType("ZX-AGV-"+transTask.getTransType());
        task.setWrkSts(301L);//301.AGV任务创建
        task.setIoType(3);//3.站到站
        task.setIoPri(10.00);
        task.setWrkDate(now);
        task.setBarcode(transTask.getBarcode());
        task.setSourceStaNo(transTask.getCurStationId());
        task.setStaNo(transTask.getNextStationId());
        task.setBarcode(transTask.getTuoPanId());
        task.setModiUser(defaultUserId);
        task.setModiTime(now);
        task.setAppeUser(defaultUserId);
        task.setAppeTime(now);
        task.setTaskNo(transTask.getTaskno());
        task.setMemo(JSONObject.toJSONString(transTask));
        task.setPltType(transTask.getAgvFactory());//华晓AGV
        task.setPacked(transTask.getRackNumber());//料架号
        task.setCtnType(1);

        // 转发给海康或华晓RCS
        int success = rcsService.submitTask(rcsTaskSubmit, transTask.getAgvFactory());
        if (success == 1) {
            int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
            Date now = new Date();
            Task task = new Task();
            task.setWrkNo(workNo);
            task.setTaskType("ZX-AGV");
            task.setWrkSts(302L);//302.AGV任务执行中
            task.setIoType(3);//3.站到站
            task.setIoPri(10.00);
            task.setWrkDate(now);
            task.setBarcode(transTask.getBarcode());
            task.setSourceStaNo(transTask.getCurStationId());
            task.setStaNo(transTask.getNextStationId());
            task.setBarcode(transTask.getTuoPanId());
            task.setModiUser(defaultUserId);
            task.setModiTime(now);
            task.setAppeUser(defaultUserId);
            task.setAppeTime(now);
            task.setTaskNo(transTask.getTaskno());
            task.setMemo(JSONObject.toJSONString(transTask));
            task.setPltType(transTask.getAgvFactory());//华晓AGV
            task.setPacked(transTask.getRackNumber());//料架号

            taskService.insert(task);
//            Mat mat = matService.selectByMatnr(transTask.getItemno());
//            TaskDetl taskDetl = new TaskDetl();
//            taskDetl.setWrkNo(task.getWrkNo());
//            taskDetl.setIoTime(task.getIoTime());
//            taskDetl.setMatnr(transTask.getItemno());
//            taskDetl.setAnfme(0.0);
//            taskDetl.setStandby1(String.valueOf(transTask.getQty()));
//            taskDetl.setMaktx(mat.getMaktx());
//            taskDetl.setSpecs(mat.getSpecs());
//            taskDetl.setOrderNo(transTask.getOrderNo());
//            taskDetl.setZpallet(transTask.getTuoPanId());
//            taskDetl.setMemo(JSONObject.toJSONString(transTask.getItemBarcode()));
//            taskDetl.setModiUser(defaultUserId);
//            taskDetl.setModiTime(now);
//            taskDetl.setAppeUser(defaultUserId);
//            taskDetl.setAppeTime(now);
//            taskDetlService.insert(taskDetl);
        if (taskService.insert(task)) {
            result.put("Success", "1");
            result.put("Message", "任务接收成功");
        } else {

        }else {
            result.put("Success", "2");
            result.put("Message", "任务下发给RCS失败");
        }

        return result;
    }

@@ -1266,13 +1240,17 @@
        mesReturn.setSuccess("2");

        if ("Y".equals(allow.getStatus())) {
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
            String TaskNo = allow.getTaskno();
            if(allow.getTaskno().contains("-")){
                TaskNo = allow.getTaskno().substring(0, allow.getTaskno().length() - 2);
            }
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", TaskNo));
            if (Cools.isEmpty(task)) {
                mesReturn.setMessage("没有找个该任务编号=" + allow.getTaskno() + "的AGV移动任务");
            } else {
                //查看申请站点的是海康还是华晓
                //海康
                if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1) {
                if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1 || task.getPltType() == 0) {
                    RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                    rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
                    rcsTaskContinue.setTriggerType("TASK");
@@ -1354,13 +1332,17 @@
        mesReturn.setSuccess("2");

        if ("Y".equals(allow.getStatus())) {
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
            String TaskNo = allow.getTaskno();
            if(allow.getTaskno().contains("-")){
                TaskNo = allow.getTaskno().substring(0, allow.getTaskno().length() - 2);
            }
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", TaskNo));
            if (Cools.isEmpty(task)) {
                mesReturn.setMessage("没有找个该任务编号=" + allow.getTaskno() + "的AGV移动任务");
                mesReturn.setMessage("没有找个该任务编号=" + TaskNo + "的AGV移动任务");
            } else {
                //查看申请站点的是海康还是华晓
                //海康
                if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1) {
                if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1 || task.getPltType() == 0) {
                    RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                    rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
                    rcsTaskContinue.setTriggerType("TASK");
@@ -1418,6 +1400,27 @@
        return mesReturn;
    }

    @Override
    public int AGVPause(JSONObject params, int AGVType){
        MesReturn mesReturn = new MesReturn();

        String hik_url = "api/robot/controller/zone/pause";
        String hx_url = "";
        String URL = "";
        if (AGVType == 1){
            URL = HIK_URL + hik_url;
        }else {
            URL = HX_URL + hx_url;
        }

        String response = RcsServiceImpl.sendPost(URL, JSONObject.toJSONString(params));
        JSONObject jsonObject = JSON.parseObject(response);
        if (!StringUtils.isEmpty(response) && jsonObject.getString("code").equals("SUCCESS")) {
                return 1;
        }else
            return 2;
    }

    // endregion

    /**