四期

zhangc

2025-03-06 fbdad64fe45fa120beb4332e7a3615856d05ab96

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

@@ -6,7 +6,9 @@
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.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;
@@ -25,6 +27,7 @@
import javax.servlet.http.HttpServletRequest;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.Date;
import java.util.EnumSet;
import java.util.Map;

@@ -53,241 +56,212 @@
    AgvWrkMastService agvWrkMastService;
    @Autowired
    ApiLogService apiLogService;
    @Autowired
    private WrkMastExecuteService wrkMastExecuteService;
    @Autowired
    private AgvBasDevpService agvBasDevpService;

    @PostMapping("/task/event/status")
    @AppAuth(memo = "ESS任务回调")
    public R taskEventStaus(@RequestBody AgvTaskCallBackParam param, HttpServletRequest request){

        apiLogService.save(
                "ESS任务回调",
                "/tzskwms/agv/task/event/status",
                null,
                null,
                JSON.toJSONString(JSONObject.toJSONString(param)),
                null,
                true
        );
    public R taskEventStaus(@RequestBody AgvTaskCallBackParam param, HttpServletRequest request) {


        //save api log (appkey 后续添加)

        AppAuthUtil.auth("",param, request);
        R r = new R(0, "成功");

        AppAuthUtil.auth("", param, request);
        int wrkNo = Integer.parseInt(param.getTaskCode());
        if(wrkNo < 0){
        if (wrkNo < 0) {
            wrkNo = -wrkNo;
        }
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
        if(Cools.isEmpty(agvWrkMast)){
            agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode",param.getContainerCode()));
            if (Cools.isEmpty(agvWrkMast)){
                return R.error("任务编号错误");
        if (Cools.isEmpty(agvWrkMast)) {
            agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", param.getPodCode()));
            if (Cools.isEmpty(agvWrkMast)) {
                r = R.error("任务编号错误");
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }
        }
        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) {
                        r = R.error("任务状态WrkSts参数有误,WrkSts:" + wrkMastExecute.getWrkSts$());
                        logPost(param, "任务状态WrkSts参数有误,WrkSts:" + wrkMastExecute.getWrkSts$() + JSONObject.toJSONString(r), false);
                        return r;
                    } else {
                        wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsCode());
                        wrkMastExecuteService.updateById(wrkMastExecute);
                    }
                } else {
                    r = R.error("任务异常");
                    logPost(param, JSONObject.toJSONString(r), false);

        AgvTask agvTask = AgvTask.valueOf(param.getEventType());
        Class<AgvTask> clz = AgvTask.class;
        try {
            Method method = clz.getDeclaredMethod(param.getStatus(), 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;
                }
            } catch (Exception e) {
                r = R.error("" + e.getMessage());
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }
        } else {
            if (agvWrkMast.getWrkSts() >= 205) {
                r = R.error("当前任务已完成");
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }

            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) {
                r = R.error("任务状态status参数有误");
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            } catch (InvocationTargetException e) {
                log.error(e.getMessage());
                r = R.error("" + e.getMessage());
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            } catch (IllegalAccessException e) {
                log.error(e.getMessage());
                r = R.error("" + e.getMessage());
                logPost(param, JSONObject.toJSONString(r), false);
                return r;
            }
        }
        return R.ok();
        logPost(param, JSONObject.toJSONString(r), true);
        return r;
    }

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

        return R.ok();
    }

    private void logPost(AgvTaskCallBackParam param, String response, boolean success) {
        apiLogService.save(
                "ESS任务回调",
                "/phyzwms/agv/task/event/status",
                null,
                null,
                JSON.toJSONString(JSONObject.toJSONString(param)),
                response,
                success
        );
    }
}

enum AgvTask{
enum AgvTask {

    /**
     * 上报任务状态
     * 上报任务完成
     */
    task{
    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){
            if (agvWrkMast.getIoType() == 101 || agvWrkMast.getIoType() == 103 || agvWrkMast.getIoType() == 107) {
                //修改出库站点状态
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode());
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(), "F", agvWrkMast.getBarcode(), agvWrkMast.getWhsType().shortValue());
            }
            //出库任务 110.空板出库
            if(agvWrkMast.getIoType() == 110){
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode());
            if (agvWrkMast.getIoType() == 110) {
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(), "F", agvWrkMast.getBarcode(), agvWrkMast.getWhsType().shortValue());
                agvWrkMast.setWrkSts(206L);
            }
        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

            agvWrkMast.setModiTime(new Date());
            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 上报任务分配给机器人
     * 任务开始
     */
    task_allocated{
    start {
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

            //修改AGV工作档的工作状态为203.任务开始
            agvWrkMast.setWrkSts(203L);
            agvWrkMast.setModiTime(new Date());
            agvWrkMast.setPdcType(param.getRobotCode());
            agvWrkMastService.updateById(agvWrkMast);
        }
    },
    /**
     * 上报取箱状态
     * 走出储位状态
     */
    tote_load{
    outbin {
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

            //入库任务 || 拣料入库任务 ||盘点再入库 ||空板入库
            if(agvWrkMast.getIoType() == 1 || agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57 || agvWrkMast.getIoType() == 10){
                //修改源站点状态为O.空，以及解绑托盘条码
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","");
            switch (agvWrkMast.getIoType()) {
                //入库任务
                case 1:
                    // 空板入库
                case 10:
                    // 拣料入库任务
                case 53:
                    // 盘点再入库
                case 57:
                    AgvBasDevp byDevNo = agvBasDevpService.getByDevNo(agvWrkMast.getSourceLocNo());
                    String locSts = "O";
                    if (byDevNo != null && byDevNo.getLocSts() == "R") {
                        locSts = "O";
                    } else {
                        locSts = byDevNo.getLocSts();
                    }
                    agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(), locSts, "", null);
                    break;
            }
            //if(agvWrkMast.getIoType() == 1 || agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57 || agvWrkMast.getIoType() == 10){
            //    //修改源站点状态为O.空，以及解绑托盘条码
            //    agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","",null);
            //}

            //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);

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    },
    /**
     * 上报放箱状态
     */
    tote_unload{
    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);


        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    },
    robot_reach{
    apply {
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    },
    weight{
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    },
    rfid{
        @Transactional
        public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }

        public void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {

        }
    };

    //任务状态为成功
    public abstract void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
    //任务状态为失败
    public abstract void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
    //任务状态为取消
    public abstract void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
    //任务状态为挂起
    public abstract void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
//    //任务状态为失败
//    public abstract void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
//    //任务状态为取消
//    public abstract void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
//    //任务状态为挂起
//    public abstract void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);

    @Setter
    AgvBasDevpService agvBasDevpService;
@@ -330,8 +304,8 @@
        AgvWrkDetlLogService agvWrkDetlLogService;

        @PostConstruct
        public void postConstruct(){
            for(AgvTask task : EnumSet.allOf(AgvTask.class)){
        public void postConstruct() {
            for (AgvTask task : EnumSet.allOf(AgvTask.class)) {
                task.setAgvBasDevpService(agvBasDevpService);
                task.setAgvLocDetlService(agvLocDetlService);
                task.setAgvLocMastService(agvLocMastService);