1.完善出库任务呼叫agv 2.完善agv任务下发 3.等等

zwl

7 天以前 b6681bc12173c1179d0185805ba461211472ac18

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

@@ -1,5 +1,6 @@
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;
@@ -9,18 +10,27 @@
import com.core.common.R;
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.*;
import com.zy.asrs.entity.result.MobileAdjustResult;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
import com.zy.common.model.LocDto;
import com.zy.common.model.TaskDto;
import com.zy.asrs.service.impl.OrderDetlPakinServiceImpl;
import com.zy.asrs.service.impl.OrderDetlPakoutServiceImpl;
import com.zy.asrs.service.impl.OrderPakinServiceImpl;
import com.zy.asrs.service.impl.OrderPakoutServiceImpl;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.WrkDto;
import com.zy.common.utils.HttpHandler;
import com.zy.common.web.BaseController;
import io.swagger.annotations.ApiOperation;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.text.SimpleDateFormat;
import java.util.*;

/**
@@ -51,6 +61,143 @@
    private BasDevpService basDevpService;
    @Autowired
    private PackService packService;
    @Autowired
    private ManLocDetlMapper manLocDetlMapper;
    @Autowired
    private WrkDetlLogService wrkDetlLogService;

    @Resource
    private StaDescService staDescService;
    @Autowired
    private OrderPakinServiceImpl orderPakinService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private OrderDetlPakinServiceImpl orderDetlPakinService;
    @Autowired
    private OrderPakoutServiceImpl orderPakoutService;
    @Autowired
    private OrderDetlPakoutServiceImpl orderDetlPakoutService;
    @Value("${wcs.url}")
    private String WCS_URL;

    @RequestMapping("/pda/WarehouseOut/v1")
    @ManagerAuth(memo = "并板途中拣料-参考念初")
    public R WarehouseOutV1(@RequestBody CombParam combParam) {
        return mobileService.WarehouseOutV1(combParam, getHostId(), getUserId());
    }

    @RequestMapping("/pda/WarehouseOutPickMerge/v1")
    @ManagerAuth(memo = "拣料途中并板")
    public R WarehouseOutPickMergeV1(@RequestBody WarehouseOutPickMergeParam param) {
        if (Cools.isEmpty(param,param.getLocNo(),param.getBarcode(),param.getCombMats())) {
            return R.parse("参数不能为空！");
        }
        return mobileService.WarehouseOutPickMergeV1(param, getHostId(), getUserId());
    }

    @RequestMapping("/pick/in")
    @ManagerAuth(memo = "并板入库")
    public R pickConfirm(@RequestBody PickConfirmParam param) {

        if(Cools.isEmpty(param,param.getList(),param.getLocNo(),param.getStaNo())) {
            return R.parse("参数不完整");
        }
        return mobileService.pickConfirm(param, getUserId());
    }

    @RequestMapping("/barcode/list/all")
    @ManagerAuth(memo = "并板入库途中拣料出库获取任务信息")
    public R orderOutListOrder(@RequestParam(required = false) String barcode) {
        return mobileService.orderOutListOrder(barcode, getUserId());
    }

    @RequestMapping("/barcode/list/pick")
    @ManagerAuth(memo = "拣料入库途中并板获取任务信息")
    public R orderOutListOrderPick(@RequestParam(required = false) String barcode) {
        return mobileService.orderOutListOrderPick(barcode, getUserId());
    }

    @RequestMapping("/loc/f/list")
    @ManagerAuth(memo = "获取在库库位")
    public R locNoF(@RequestParam(required = false) String locNo) {
        Wrapper<LocMast> wrapper = new EntityWrapper<LocMast>()
                .eq("loc_sts", "F");
        if (!Cools.isEmpty(locNo)) {
            wrapper.like("loc_no", locNo);
        }
        List<LocMast> list = locMastService.selectList(wrapper);
        return R.ok().add(list);
    }

    @RequestMapping("/pick/sta/list")
    @ManagerAuth(memo = "获取并板站")
    public R pickSta() {
        List<StaDesc> list = staDescService.selectList(new EntityWrapper<StaDesc>()
                .eq("type_no", 104));
        return R.ok().add(list);
    }

    @RequestMapping("/pick/mat/list")
    @ManagerAuth(memo = "获取并板物料")
    public R pickMats(@RequestParam(required = false) String matnr, @RequestParam(required = false) String orderNo) {
        return mobileService.pickMats(matnr, orderNo);
    }

    @PostMapping("/scan/order/mats")
    @ManagerAuth(memo = "扫码获取组托物料")
    public R scanMats(@RequestBody PakinMatsByQRParams params) {
        if (Objects.isNull(params)) {
            return R.parse("参数不能为空！！");
        }
        return mobileService.getMatsByQRcode(params);
    }

    // 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");
    }


    @GetMapping("/cache/locs")
    @ManagerAuth
    @ApiOperation("获取缓存区库位信息")
    public R getCacheLocs() {
        return mobileService.getCacheLocs();
    }


    @PostMapping("/cache/agv/call")
    @ApiOperation("呼叫AGV搬运")
    @ManagerAuth
    public R callAgvMove(@RequestBody AgvCallParams params) {
        if (Objects.isNull(params)) {
            return R.error("参数不能为空！！");
        }
        return mobileService.callAgvMove(params, getUserId());
    }


    @PostMapping("/cache/out/call")
    @ApiOperation("呼叫AGV搬运")
    @ManagerAuth
    public R OutCallAgv(@RequestBody AgvCallParams params) {
        if (Objects.isNull(params)) {
            return R.error("参数不能为空！！");
        }
        return mobileService.OutCallAgv(params, getUserId());
    }


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

@@ -58,25 +205,73 @@
     * 根据单号检索单据数据
     * http://localhost:8081/jkwms/mobile/order/serach/orderNo/auth?orderNo=123123
     */
//    @RequestMapping("/order/search/orderNo/auth")
//    @ManagerAuth
//    public R orderSearchByBarcode(@RequestParam String orderNo){
//        Order order = orderService.selectByNo(orderNo);
//        if (order == null) {
//            return R.ok();
//        }
//        DocType docType = docTypeService.selectById(order.getDocType());
//        if (docType.getPakin() == null || docType.getPakin() != 1) {
//            return R.ok();
//        }
//        if (order.getSettle() > 2) {
//            return R.ok();
//        }
//        List<OrderDetl> orderDetls = orderService.selectWorkingDetls(order.getId());
//        if (Cools.isEmpty(orderDetls)) {
//            return R.ok();
//        }
//        return R.ok().add(orderDetls);
//    }
    @RequestMapping("/order/search/orderNo/auth")
    @ManagerAuth
    public R orderSearchByBarcode(@RequestParam String orderNo){
        Order order = orderService.selectByNo(orderNo);
        if (order == null) {
        OrderPakin orderPakin = orderPakinService.selectByNo(orderNo);
        if (orderPakin == null) {
            return R.ok();
        }
        DocType docType = docTypeService.selectById(order.getDocType());
        if (docType.getPakin() == null || docType.getPakin() != 1) {
        DocType docType = docTypeService.selectById(orderPakin.getDocType());
        if (docType.getPakin() != 1) {
            return R.ok();
        }
        if (order.getSettle() > 2) {

        List<OrderDetlPakin> orderDetlPakins = orderPakinService.selectWorkingDetls(orderPakin.getId());
        if (Cools.isEmpty(orderDetlPakins)) {
            return R.ok();
        }
        List<OrderDetl> orderDetls = orderService.selectWorkingDetls(order.getId());
        if (Cools.isEmpty(orderDetls)) {
        List<OrderDetlPakin> orderDetls1= new ArrayList<>();
        for (OrderDetlPakin orderDetl : orderDetlPakins) {
            if(orderDetl.getAnfme()-orderDetl.getWorkQty()>0){
                orderDetls1.add(orderDetl);
            }

        }
        return R.ok().add(orderDetls1);
    }

    @RequestMapping("/order/search/orderNo/out/auth")
    @ManagerAuth
    public R orderSearchByBarcodeOut(@RequestParam String orderNo){
        OrderPakout orderPakout = orderPakoutService.selectByNo(orderNo);
        if (orderPakout == null) {
            return R.ok();
        }
        return R.ok().add(orderDetls);
        DocType docType = docTypeService.selectById(orderPakout.getDocType());

        List<OrderDetlPakout> orderDetlPakouts = orderPakoutService.selectWorkingDetls(orderPakout.getId());
        if (Cools.isEmpty(orderDetlPakouts)) {
            return R.ok();
        }
        List<OrderDetlPakout> orderDetls1= new ArrayList<>();
        for (OrderDetlPakout orderDetl : orderDetlPakouts) {
            if(orderDetl.getAnfme()-orderDetl.getWorkQty()>0){
                orderDetls1.add(orderDetl);
            }

        }
        return R.ok().add(orderDetls1);
    }

    @RequestMapping("/comb/auth")
@@ -153,12 +348,57 @@
    }

    /**
     * 出库确认 - 扫货物  广德宜科版
     * 1.全板 返回 101
     * 2.拣料 返回 103
     */
    @RequestMapping("/pakout/confirm/goods/auth")       //待完善  原因（客户未给出详细信息）
    @ManagerAuth
    public R pakoutQueryByGoods(@RequestBody GDYKConfirmGoodsParam combParam){
        if (Cools.isEmpty(combParam)) {
            return R.ok();
        }
//        List<Order> orders = orderService.selectorderNoL(batch);
//        OrderDetl orderDetl = orderDetlService.selectOne(new EntityWrapper<OrderDetl>().eq("matnr", combParam.getMatnr()).eq("batch", combParam.getBatch()).eq("order_no",combParam.getOrderNo()));
        Order order = OrderInAndOutUtil.selectByNo(Boolean.FALSE, combParam.getOrderNo());
        List<OrderDetl> orderDetlList = OrderInAndOutUtil.selectByOrderId(Boolean.FALSE, order.getId());
        OrderDetl orderDetl = null;
        for (OrderDetl orderDetl1 : orderDetlList){
            if (combParam.getMatnr().equals(orderDetl1.getMatnr()) && combParam.getBatch().equals(orderDetl1.getBatch())){
                orderDetl = orderDetl1;
                break;
            }
        }
        if (Cools.isEmpty(orderDetl)){
            return R.error("未查到数据");
        }
        if (!orderDetl.getQty$().equals("已完成")){
            return R.error("任务未完成");
        }
        //复核数
        orderDetl.setSource(1);
//        orderDetlService.updateById(orderDetl);
        OrderInAndOutUtil.updateOrderDetl(Boolean.FALSE,order,orderDetl);
        return R.ok();
    }

    // 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){
            , @RequestParam(required = false) String matnr){
        if (Cools.isEmpty(wrkNo)) {
            return R.ok();
        }
@@ -299,49 +539,196 @@
    }

    @PostMapping("/order/out/pakout/auth")
//    @ManagerAuth(memo = "根据订单出库")
    @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);
        }
        mobileService.pakoutByOrder(param,getUserId());
        return R.ok("出库成功");

//        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();
    }

    /**
     * 补空板
     *
     * @param locNo 目标站点
     * @param size  托盘大小 1：小托盘  2：大托盘
     * @return
     */
    // pda呼叫空料框出库
    @PostMapping("/callEmptyBinOutBound")
    @ManagerAuth(memo = "pda呼叫空料框出库")
    public synchronized R callEmptyBinOutBound(@RequestParam(required = false) String locNo
            , @RequestParam(required = false) String size) {
        if (Cools.isEmpty(locNo) || Cools.isEmpty(size)) {
            return R.error("站点或者大小不能为空");
        }
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("io_type", 110).eq("memo", locNo));
        if (wrkMast != null) {
            return R.error("该站点="+locNo+"已经有空板出库任务，为了不堵塞堆垛机接驳站点，禁止下发多个空板出库任务");
        }
        return mobileService.callEmptyBinOutBound(locNo,size,getUserId());
    }

    /**
     * 空板回库或者拣料回库
     *
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/AGVStartReturn")
    public synchronized R AGVStartReturn(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String staNo
            , @RequestParam(required = false) String taskNo) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) {
            return R.error("源站点和托盘码不能为空");
        }
        List<Task> tasks = taskService.selectList(new EntityWrapper<Task>().eq("source_sta_no", sourceStaNo).eq("barcode", staNo));
        if (tasks.size() > 0) {
            return R.error("该托盘="+staNo+"已经存在搬运任务，请不要重复下发");
        }

        String barcode = staNo.substring(0,1);
        if(barcode.equals("3")){
            taskNo = "307";
        }else if(barcode.equals("4")){
            taskNo = "402";
        }else if(barcode.equals("5")){
            taskNo = "401";
        }

        R r = R.ok();
        //生成AGV搬运出库任务
        // 保存工作档
        Task task = new Task();
        Date date = new Date();
        String TaskNo = 555555 + "aa" + date.getTime();
        task.setWrkNo((int) date.getTime())
                .setTaskNo(TaskNo)
                .setIoTime(date)
                .setWrkSts(301L) // 工作状态：301.任务下发
                .setIoType(3) // 入出库状态： 3.站到站  4.站到区域
                .setTaskType("agv")
                .setIoPri(10D)
                .setFullPlt("Y") // 满板：Y
                .setPicking("N") // 拣料
                .setExitMk("N")// 退出
                .setStaNo(taskNo)
                .setSourceStaNo(sourceStaNo)//agv取货站点
                .setEmptyMk("N")// 空板
                .setBarcode(staNo)// 托盘码
                .setLinkMis("N")
                .setAppeUser(9945L)
                .setAppeTime(date)
                .setModiUser(9945L)
                .setModiTime(date);
        if (!taskService.insert(task)) {
            throw new CoolException("保存工作档失败");
        }

        return r;
    }

    @RequestMapping("/orderIn")
    public synchronized R AGVOrderInReturn() {
        List<OrderPakin> settle = orderPakinService.selectList(new EntityWrapper<OrderPakin>().in("settle", 1, 2));
        List<String> list = new ArrayList<>();
        for (OrderPakin orderPakin : settle) {
            if (orderPakin.getSettle()==2){
                List<OrderDetlPakin> orderId = orderDetlPakinService.selectList(new EntityWrapper<OrderDetlPakin>().eq("order_id", orderPakin.getId()));
                Boolean boo=true;
                for (OrderDetlPakin orderDetlPakin : orderId) {
                    if (orderDetlPakin.getAnfme()>orderDetlPakin.getWorkQty()){
                        boo=false;
                        break;
                    }
                }
                if (boo) {
                    settle.remove(orderPakin);
                }else {
                    list.add(orderPakin.getOrderNo());
                }
            }else {
                list.add(orderPakin.getOrderNo());
            }
        }
        return R.ok(list);
    }

    @RequestMapping("/orderOut")
    public synchronized R AGVOrderOutReturn() {
        List<OrderPakout> settle = orderPakoutService.selectList(new EntityWrapper<OrderPakout>().in("settle", 1, 2).eq("doc_type",11));
        List<String> list = new ArrayList<>();
        for (OrderPakout orderPakout: settle) {
            if (orderPakout.getSettle()==2){
                List<OrderDetlPakout> orderId = orderDetlPakoutService.selectList(new EntityWrapper<OrderDetlPakout>().eq("order_id", orderPakout.getId()));
                Boolean boo=true;
                for (OrderDetlPakout orderDetlPakout: orderId) {
                    if (orderDetlPakout.getAnfme()>orderDetlPakout.getWorkQty()){
                        boo=false;
                        break;
                    }
                }
                if (boo) {
                    settle.remove(orderPakout);
                }else {
                    list.add(orderPakout.getOrderNo());
                }
            }else {
                list.add(orderPakout.getOrderNo());
            }
        }
        return R.ok(list);
    }

    /**
     * 输送线任务下发
     * @return
     */

    @RequestMapping("/toInSta")
    public synchronized R AGVOrderOutReturn(@RequestParam(required = false) Integer staNo) {
        BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", staNo));
        if (Cools.isEmpty(devNo)) {
            return R.error("没有该站点");
        }
        //查看是否已经下发任务，或者已经有出库任务正在运行禁止给输送下下发任务
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().in("io_type", 101, 103).eq("wrk_sts",12));
        if (!Cools.isEmpty(wrkMast)) {
            return R.error("当前输送线有堆垛机正在作业禁止入库");
        }
        Integer wrkNo = 0;
        switch (staNo) {
            case 301: wrkNo = 9991; break;
            case 302: wrkNo = 9992; break;
            case 303: wrkNo = 9993; break;
            case 304: wrkNo = 9994; break;
            case 305: wrkNo = 9995; break;
            case 306: wrkNo = 9996; break;
            case 307: wrkNo = 9997; break;
        }
        try {
            HashMap<String,Object> hashMap=new HashMap<>();
            hashMap.put("staNo",staNo);
            hashMap.put("wrkNo",wrkNo);
            String response = new HttpHandler.Builder()
                    .setUri(WCS_URL)
                    .setPath("/open/toInSta")
                    .setJson(JSON.toJSONString(hashMap))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getInteger("code").equals(200)) {
            } else {
                return  R.error(jsonObject.getString("msg"));
            }
        } catch (Exception e) {
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return R.ok(staNo);
    }


}