#

zwl

2025-09-22 b60a42861cc0b1e61fe0f4685831bb51ddd58257

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

@@ -1,11 +1,18 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.AppAuth;
import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.WaitPakin;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.entity.result.RobotTaskMessage;
import com.zy.asrs.service.OpenService;
import com.zy.asrs.service.WaitPakinService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.model.DetlDto;
import com.zy.common.web.BaseController;
import lombok.extern.slf4j.Slf4j;
@@ -15,6 +22,7 @@
import javax.servlet.http.HttpServletRequest;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -32,6 +40,83 @@

    @Autowired
    private OpenService openService;
    @Autowired
    private WaitPakinService waitPakinService;
    @Autowired
    private WrkMastService wrkMastService;

    /**
     * RGV任务反馈
     * 1:任务开始
     * 2：取到载具
     * 3：离开起点
     * 4：任务完成
     */
    @RequestMapping(value = "/api/robot/reporter/task")
    public HashMap<String, Object> RGVtask(@RequestBody RobotTaskMessage robotTaskMessage) {
        HashMap<String, Object> map = new HashMap<>();
        RobotTaskMessage.Extra extra = robotTaskMessage.getExtra();
        RobotTaskMessage.Values values = extra.getValues();
        int method =Integer.valueOf(values.getMethod());
        log.info("agv任务反馈AGV任务号={}任务状态为={}",robotTaskMessage.getRobotTaskCode(),method);
        if(method == 4){
            WaitPakin waitPakin = waitPakinService.selectOne(new EntityWrapper<WaitPakin>()
                    .eq("supp", robotTaskMessage.getRobotTaskCode())
                    .eq("be_batch",2));
            if(!Cools.isEmpty(waitPakin)){
                /**
                 * agv状态
                 * be_batch
                 * 0：无需调用AGV
                 * 1：等待调用AGV
                 * 2：AGV任务下发成功
                 * 3：AGV任务完成
                 * 4：给输送线下发入库指令完成
                 */
                waitPakin.setBeBatch(3);
                waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("supp_code",waitPakin.getSuppCode()));
            }

            //拣料回库，agv搬运货物到输送线入库口--》修改inv_wh状态等待输送线入库--》wcs下发入库指令
            WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                    .in("wrk_sts", 16L)//16.下架完成等待回库
                    .eq("inv_wh","0")
                    .eq("pdc_type", robotTaskMessage.getRobotTaskCode()));//AGV出库搬运任务号
            if(!Cools.isEmpty(wrkMast)){
                /**
                 * inv_wh
                 * 拣料回库输送线出发
                 * 0等待agv放货完成
                 * 1等待输送线入库
                 * 2输送线入库任务下发成功
                 */
                wrkMast.setInvWh("1");
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
            }

        }
        if(method == 3 || method == 4){
            /**
             * wrk_sts
             * 30.等待给AGV下发出库任务
             * 31.AGV出库任务下发成功
             * 32.AGV已搬离
             * 33.等待下架
             */
            WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                    .in("wrk_sts", 31L)//31.AGV出库任务下发成功
                    .eq("Pdc_type", robotTaskMessage.getRobotTaskCode()));//AGV出库搬运任务号
            if(!Cools.isEmpty(wrkMast)){
                wrkMast.setWrkSts(32L);//31.AGV出库任务下发成功---->32.AGV已搬离 32后移交给wcs系统，对站点信息进行清除
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
            }
        }
        map.put("code", "SUCCESS");
        map.put("message", "成功");
        return map;
    }

    @PostMapping("/order/matSync/default/v1")
    @AppAuth(memo = "商品信息同步接口")