#改造

cpT

2025-07-02 15154033d40f857f61760f137ca59eaf29908aa3

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

@@ -6,11 +6,13 @@
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.BasCrnErrorServiceImpl;
import com.zy.asrs.service.impl.TaskWrkLogServiceImpl;
import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
import com.zy.core.CrnThread;
@@ -70,6 +72,8 @@
    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    @Autowired
    private TaskWrkLogServiceImpl taskWrkLogService;

    //agv任务完成
    @PostMapping("/toAgvTaskOver")
@@ -339,21 +343,53 @@
    public R outboundTaskSend(@RequestHeader String appkey,
                              @RequestBody List<CarryParam> params,//中航下发  1：出库，2：移库 3：入库
                              HttpServletRequest request) {

        try{
            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
            deviceErrorService.addDeviceError("wms/taskCreate", 1, "wms任务下发,任务数:"+params.size());
        } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
        }
        auth(appkey, params, request);
//        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (CarryParam param:params){
            param.updateIoTyoe(param.getIoType());//中航下发  1：出库，2：移库 3：入库   ====转换为====>  1：入库，2：出库，3：移库
            param.updateLocNo();
            if (Cools.isEmpty(param)){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "参数为空,param:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("参数为空！");
            } else if (Cools.isEmpty(param.getTaskNo())){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "任务号为空,taskNo:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("任务号为空！");
            } else if (Cools.isEmpty(param.getIoType())){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "任务类型为空,ioType:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("任务类型为空！");
            }
            if (Cools.isEmpty(param.getStartPoint()) || Cools.isEmpty(param.getTargetPoint())){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "初始目标或者目标位为空,Point:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("初始目标或者目标位为空");
            }

            param.updateIoTyoe(param.getIoType());//中航下发  1：出库，2：移库 3：入库   ====转换为====>  1：入库，2：出库，3：移库
            param.updateLocNo();
//            if (Cools.isEmpty(param.getContainerCode())){
//                return R.error("容器编码(托盘码)为空！");
//            }
@@ -375,6 +411,12 @@
            }
            LocMast locMast = locMastService.selectByLocNo(locNo);
            if(Cools.isEmpty(locMast)){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "初始库位无法找到,locNo:"+JSON.toJSONString(locNo));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("初始库位无法找到");
            }

@@ -387,6 +429,12 @@
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getStartPoint()));
                if(Cools.isEmpty(staDesc)){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "入库路劲不存在,param:"+JSON.toJSONString(param));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("入库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));
@@ -398,15 +446,33 @@
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getTargetPoint()));
                if(Cools.isEmpty(staDesc)){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "出库路劲不存在,param:"+JSON.toJSONString(param));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("出库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getStnNo()));
            }else if (param.getIoType() == 3){
                LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
                if(Cools.isEmpty(locMast2)){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "目标库位无法找到,locNo:"+JSON.toJSONString(param.getTargetPoint()));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("目标库位无法找到");
                }
                if (!locMast2.getCrnNo().equals(locMast.getCrnNo())){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "起始库位与目标库位不再同一巷道,param:"+JSON.toJSONString(param));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("起始库位与目标库位不再同一巷道");
                }
                //移库任务创建
@@ -520,97 +586,10 @@
            basCrnpWmsParam.sync(basCrnp);

            basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());
            basCrnpWmsParam.setCrnSts(crnProtocol.getStatus().intValue());

            try{
                BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
            } catch (Exception e){
                basCrnpWmsParam.setCrnErrM("未知异常");
            }
            if (crnProtocol.getMode()!=3){
                basCrnpWmsParam.setCrnErr(999L);
                basCrnpWmsParam.setCrnErrM("非自动！！！");
            }
            basCrnpWmsParamList.add(basCrnpWmsParam);

//            list.add(basCrnpWmsParam);
        }
        wcsStatusResponseModel.setPilingCarList(basCrnpWmsParamList);
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
            if (Cools.isEmpty(rgvStatus)){
                continue;
            }
            BasRgvWmsParam basRgvWmsParam = new BasRgvWmsParam();
            basRgvWmsParam.setWrkNo(rgvStatus.getTaskNo());
            basRgvWmsParam.setCrnSts(rgvStatus.getStatus().intValue());
            basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
            basRgvWmsParam.setSteNo(rgvSlave.getId());
            basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
            try{
                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());

                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
            } catch (Exception e){
                basRgvWmsParam.setSteErrM("未知异常");
            }
            if (rgvStatus.getMode()!=1){
                basRgvWmsParam.setSteErr(999L);
                basRgvWmsParam.setSteErrM("非自动！！！");
            }
//            list.add(basRgvWmsParam);
            wcsStatusResponseModel.getRgvList().add(basRgvWmsParam);

        }
//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
//        for (BasCrnp basCrnp:basCrnps){
//            list.add(basCrnp);
//        }
        return R.ok(wcsStatusResponseModel);
    }



    //设备状态查询接口
    @PostMapping("/errorRgv1")
    @Transactional
    public R errorRgv(@RequestHeader String appkey,
                          HttpServletRequest request) {
        auth(appkey, "设备状态查询接口", request);
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        List<Object> list = new ArrayList<>();
        WcsStatusResponseModel wcsStatusResponseModel = new WcsStatusResponseModel();
        for (BasDevp basDevp:basDevps){
            BasDevpWmsParam basDevpWmsParam = new BasDevpWmsParam();
            basDevpWmsParam.setDevNo(basDevp.getDevNo());
            basDevpWmsParam.setWrkNo(basDevp.getWrkNo().longValue());
            basDevpWmsParam.setAutoing(basDevp.getAutoing());
            basDevpWmsParam.setLoading(basDevp.getLoading());
            basDevpWmsParam.setInEnable(basDevp.getInEnable());
            basDevpWmsParam.setOutEnable(basDevp.getOutEnable());
            basDevpWmsParam.setDevErr(basDevp.getStaErr().longValue());
            basDevpWmsParam.setDevErrM(basDevpWmsParam.getDevErr$());
//            list.add(basDevpWmsParam);
            wcsStatusResponseModel.getChainList().add(basDevpWmsParam);
        }
        List<BasCrnpWmsParam> basCrnpWmsParamList = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }
            BasCrnpWmsParam basCrnpWmsParam = new BasCrnpWmsParam();
            basCrnpWmsParam.sync(basCrnp);

            basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());

            try{
                BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
                BasCrnError basCrnError = basCrnErrorService.selectById(crnProtocol.getAlarm());
                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
            } catch (Exception e){
                basCrnpWmsParam.setCrnErrM("未知异常");
@@ -636,13 +615,13 @@
            basRgvWmsParam.setSteNo(rgvSlave.getId());
            basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
            basRgvWmsParam.setSteErrM(rgvStatus.getAlarmM());
            try{
//            try{
//                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());

//
//                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
            } catch (Exception e){
                basRgvWmsParam.setSteErrM("未知异常");
            }
//            } catch (Exception e){
//                basRgvWmsParam.setSteErrM("未知异常");
//            }
            if (rgvStatus.getMode()!=1){
                basRgvWmsParam.setSteErr(999L);
                basRgvWmsParam.setSteErrM("非自动！！！");
@@ -658,5 +637,32 @@
        return R.ok(wcsStatusResponseModel);
    }

    //设备状态查询接口
    @PostMapping("/taskWrkLogs")
    @Transactional
    public R taskWrkLogs(@RequestHeader String appkey,
                          HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }

    //设备状态查询接口
    @PostMapping("/error")
    @Transactional
    public R errorRgv(@RequestHeader String appkey,
                      HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }

    //设备状态查询接口
    @PostMapping("/wrkNo/wmsTaskNo")
    @Transactional
    public R wrkNoWmsTaskNo(@RequestHeader String appkey,
                      HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }


}