#1

lsh

2024-05-31 d417e332b39e7da99f637e94ebacf199fb158a72

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

@@ -6,7 +6,10 @@
import com.core.annotations.AppAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.AgvBasDevp;
import com.zy.asrs.entity.AgvLocMast;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.entity.WrkMastExecute;
import com.zy.asrs.entity.param.AgvTaskCallBackParam;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.AppAuthUtil;
@@ -53,6 +56,10 @@
    AgvWrkMastService agvWrkMastService;
    @Autowired
    ApiLogService apiLogService;
    @Autowired
    private WrkMastExecuteService wrkMastExecuteService;
    @Autowired
    private AgvBasDevpService agvBasDevpService;

    @PostMapping("/task/event/status")
    @AppAuth(memo = "ESS任务回调")
@@ -72,7 +79,7 @@
        //save api log (appkey 后续添加)

        AppAuthUtil.auth("",param, request);
        int wrkNo = Integer.parseInt(param.getReqCode());
        int wrkNo = Integer.parseInt(param.getTaskCode());
        if(wrkNo < 0){
            wrkNo = -wrkNo;
        }
@@ -83,26 +90,47 @@
                return R.error("任务编号错误");
            }
        }
        if (agvWrkMast.getIoType().equals(121)){
            try{
                if (agvWrkMast.getWrkSts().equals(12L)){
                    WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectOne(new EntityWrapper<WrkMastExecute>().eq("wrk_no", wrkNo));
                    if (Cools.isEmpty(wrkMastExecute) || wrkMastExecute.getWrkSts()!=1){
                        return R.error("任务状态WrkSts参数有误,WrkSts:"+wrkMastExecute.getWrkSts$());
                    } else {
                        wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsCode());
                        wrkMastExecuteService.updateById(wrkMastExecute);
                    }
                }else {
                    return R.error("任务异常");
                }
            }catch (Exception e){
                return R.error(""+e.getMessage());
            }
        }else {
            if(agvWrkMast.getWrkSts() >= 205){
                return R.error("当前任务已完成");
            }

        AgvTask agvTask = AgvTask.valueOf(param.getMethod());
        Class<AgvTask> clz = AgvTask.class;
        try {
            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");
        } catch (InvocationTargetException e) {
            log.error(e.getMessage());
            return R.error();
        } catch (IllegalAccessException e) {
            log.error(e.getMessage());
            return R.error();
            AgvTask agvTask = AgvTask.valueOf(param.getMethod());
            Class<AgvTask> clz = AgvTask.class;
            try {
                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");
            } catch (InvocationTargetException e) {
                log.error(e.getMessage());
                return R.error();
            } catch (IllegalAccessException e) {
                log.error(e.getMessage());
                return R.error();
            }
        }
        return R.ok();
        return new R(0, "成功");
    }

    @PostMapping("/conveyor/loadContainerFinish ")
    @AppAuth(memo = "取容器完成通知")
    @AppAuth(memo = "取货架完成通知")
    public R loadContainerFinish(@RequestBody Map<String,Object> params){

        return R.ok();
@@ -112,17 +140,13 @@
enum AgvTask{

    /**
     * 上报任务状态
     * 上报任务完成
     */
    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
            agvWrkMast.setWrkSts(205L);

            //agvWrkMast.setLocNo(param.getLocationCode());
            agvWrkMastService.updateById(agvWrkMast);
            //agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),205);

            //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){
@@ -132,21 +156,24 @@
            //出库任务 110.空板出库
            if(agvWrkMast.getIoType() == 110){
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
                agvWrkMast.setWrkSts(206L);
            }
            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 上报任务分配给机器人
     * 任务开始
     */
    start{
        @Transactional
        public void success(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
     */
    outbin{
        @Transactional
@@ -159,7 +186,7 @@
            }

            //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);

        }

@@ -170,11 +197,7 @@
    cancel{
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
            //修改工作档状态为204.放货完成
            agvWrkMast.setWrkSts(204L);
            //agvWrkMast.setLocNo(param.getLocationCode());
            agvWrkMastService.updateById(agvWrkMast);
            //agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(),204);


        }