侧面出库完成上报执行状态替代plc码盘完成信号交互

pang.jiabao

8 天以前 3b17ccf3fd001cbec7a8bac368f07cd9237faae8

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

@@ -1,37 +1,45 @@
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.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.ApplyInDevpDto;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverParam;
import com.zy.asrs.entity.param.CrnStatusParam;
import com.zy.asrs.entity.param.PreStoragePallet;
import com.zy.asrs.entity.param.TaskCreateParam;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.entity.param.taskCreateParam;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.asrs.service.impl.OpenServiceImpl;
import com.zy.common.web.BaseController;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.Task;
import com.zy.core.model.protocol.StaProtocol;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

@Slf4j
@RestController
@RequestMapping("/open")
public class OpenController extends BaseController {

    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    private static final boolean auth = true;
    @Autowired
    private OpenService openService;
    @Autowired
@@ -42,81 +50,183 @@
    private TaskWrkController taskWrkController;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasCrnErrorService basCrnErrorService;

    @Value("${wms.url}")
    private String wmsUrl;
    @AppAuth(memo = "WMS入库前下发码盘信息")
    @PostMapping("/preStoragePallet")
    public R preStoragePallet(@RequestHeader String appkey, @RequestBody PreStoragePallet preStoragePallet, HttpServletRequest request) {
        auth(appkey, preStoragePallet, request);
        if(Cools.isEmpty(preStoragePallet.getSite(),preStoragePallet.getLx(),preStoragePallet.getLev())) {
            return R.error("参数不完整，请检查："  + preStoragePallet);
        }
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        StaProtocol staProtocol = devpThread.getStation().get(preStoragePallet.getSite());
        if (staProtocol == null) {
            return R.error("站点线程不存在：" + preStoragePallet.getSite());
        } else {
            staProtocol = staProtocol.clone();
        }

    private static final boolean auth = true;
        staProtocol.setMp((short) (preStoragePallet.getLev() > 1 ? 1 : 2));
        staProtocol.setLev(preStoragePallet.getLev());
        staProtocol.setLx(OpenServiceImpl.getGzlx(preStoragePallet.getLx()));

    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    @PostMapping("/toAgvTaskOver")
    public R getAgvTaskOver(@RequestHeader String appkey,
                           @RequestBody TaskOverParam param,
                           HttpServletRequest request){
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        boolean offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol));
        if(!offer) {
            return R.error("推送队列失败");
        }
        if (Cools.isEmpty(param.getWharfCode())){
            return R.error("码头[wharfCode]不能为空");
        }
        if (Cools.isEmpty(param.getStatus())){
            return R.error("完成标记[status]不能为空");
        }
        openService.getAgvTaskOver(param);
        return R.ok();
        return R.ok("入库前下发码盘信息成功");
    }

    //创建任务
    @AppAuth(memo = "WMS任务下发")
    @PostMapping("/taskCreate")
    @Transactional
    public R taskCreate(@RequestHeader String appkey,
                          @RequestBody taskCreateParam param,
                          HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
                        @RequestBody List<TaskCreateParam> param1,
                        HttpServletRequest request) {
        auth(appkey, param1, request);
        try {
            List<TaskCreateParam> paramList = new ArrayList<>();
            List<String> locNoList = new ArrayList<>();
            for (TaskCreateParam param : param1) {
                if (Cools.isEmpty(param)) {
                    return R.parse(BaseRes.PARAM);
                }
                if (Cools.isEmpty(param.getTaskNo())) {
                    return R.error("任务号[taskNo]不能为空");
                }
                if (Cools.isEmpty(param.getIoType())) {
                    return R.error("任务类型[ioType]不能为空");
                }
                if (Cools.isEmpty(param.getBarcode())) {
                    return R.error("条码[barcode]不能为空");
                }
                String locNo = null;
                if (param.getIoType() == 1) {
                    locNo = param.getTargetPoint();
                } else {
                    locNo = param.getStartPoint();
                }
                try {
                    LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                            .eq("loc_no", locNo).ne("loc_sts", "X"));
                    if (Cools.isEmpty(locMast)) {
                        log.error("库位号不存在" + locNo);
                        return R.error("库位号不存在" + locNo).add("库位号不存在" + locNo);
                    }
                } catch (Exception e) {
                    log.error("库位号检测程序异常==》异常信息" + e);
                    return R.error("库位号检测程序异常").add("库位号检测程序异常==》异常信息" + e);
                }
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "F")
                        .eq("loc_no", locNo)
                        .eq("barcode", param.getBarcode()));
                if (Cools.isEmpty(locMast)) {
                    return R.error("该库位不满足出库条件" + param.getTargetPoint());
                }
                if (!locNoList.contains(locMast.getLocNo())) {
                    locNoList.add(locMast.getLocNo());
                    paramList.add(param);
                } else {
                    return R.error("该库位不能同时下发两笔任务" + locMast.getLocNo());
                }
            }
            for (TaskCreateParam param : paramList) {
                openService.taskCreate(param);
            }
        } catch (Exception e) {
            log.error("任务下发异常" + e);
            return R.error();
        }
        if (Cools.isEmpty(param.getTaskNo())) {
            return R.error("任务号[taskNo]不能为空");
        }
        if (Cools.isEmpty(param.getIoType())) {
            return R.error("任务类型[ioType]不能为空");
        }
        if (Cools.isEmpty(param.getBarcode())) {
            return R.error("条码[barcode]不能为空");
        }
        openService.taskCreate(param);
        return R.ok();
    }

    //查询任务详情
    @GetMapping("/queryTask")
    public R queryTask(@RequestHeader String appkey,
                       @RequestParam String taskNo,
                       HttpServletRequest request) {
        auth(appkey, taskNo, request);
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (taskWrk == null) {
            return R.error("任务不存在");

    @AppAuth(memo = "WMS取消任务")
    @PostMapping("/taskCancel")
    public R taskCancel(@RequestHeader String appkey,
                        @RequestBody WMSAndAGVInterfaceParam param,
                        HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())) {
            return R.error("工作号为空！");
        } else if (Cools.isEmpty(param.getIoType())) {
            return R.error("操作类型为空！");
        } else if (Cools.isEmpty(param.getBarcode())) {
            return R.error("托盘码不能为空！");
        }
        return R.ok().add(taskWrk);

        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>()
                .eq("task_no", param.getTaskNo())
                .eq("io_type", param.getIoType())
                .eq("barcode", param.getBarcode()));
        if (Cools.isEmpty(taskWrk)) {
            return R.error("未查到当前任务---" + param);
        }
        boolean sign = false;
        switch (param.getTaskStatus()) {
            case 1://正常取消
                if (taskWrk.getStatus() > 1) {
                    return R.error("任务已开始执行");
                }
                break;
            case 2://正常完成
                if (taskWrk.getStatus() > 1) {
                    return R.error("任务已开始执行");
                }
                sign = true;
                break;
            default:
                return R.error("未知操作");
        }
        return taskWrkOperate(taskWrk, sign);
    }

    //查询任务指令集合
    @GetMapping("/queryTaskCommand")
    public R queryTaskCommand(@RequestHeader String appkey,
                              @RequestParam String taskNo,
                              HttpServletRequest request) {
        auth(appkey, taskNo, request);
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (taskWrk == null) {
            return R.error("任务不存在");
    //任务操作
    private R taskWrkOperate(TaskWrk taskWrk, boolean sign) {
        try {
            if (sign) {//完成
                return taskWrkController.complete(taskWrk.getTaskNo());
            } else {//取消
                return taskWrkController.cancel(taskWrk.getTaskNo());
            }
        } catch (Exception e) {
            return R.error();
        }
    }

        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
        return R.ok().add(commandInfos);
    //设备状态查询接口
    @GetMapping("/deviceStatus")
    @Transactional
    public R deviceStatus() {
        List<CrnStatusParam> crnStatusParams = new ArrayList<>();
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            CrnStatusParam crnStatusParam = new CrnStatusParam();
            crnStatusParam.setCrnNo(basCrnp.getCrnNo());
            crnStatusParam.setCrnSts(basCrnp.getCrnSts());
            crnStatusParam.setErrorCode(basCrnp.getCrnErr());
            BasCrnError error = basCrnErrorService.selectOne(new EntityWrapper<BasCrnError>().eq("error_code", basCrnp.getCrnErr()));
            if (Cools.isEmpty(error)) {
                crnStatusParam.setErrorMsg("");
            } else {
                crnStatusParam.setErrorMsg(error.getErrName());
            }
            crnStatusParams.add(crnStatusParam);
        }
        return R.ok(crnStatusParams);
    }

    private void auth(String appkey, Object obj, HttpServletRequest request) {
@@ -130,169 +240,49 @@
        }
    }

    //AGV请求入库码头接口
    @PostMapping("/targetWharfApply")
    public R targetWharfApply(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              HttpServletRequest request) throws IOException {
        auth(appkey,param,request);

        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())){
            return R.error("工作号为空！");
        } else if (Cools.isEmpty(param.getContainerCode())){
            return R.error("托盘编码为空！");
        } else if (Cools.isEmpty(param.getWharfSource())){
            return R.error("源码头为空！");
        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
            return R.error("空闲的入库码头（AGV）为空！");
    //查询任务详情
    @GetMapping("/queryTask")
    public R queryTask(@RequestHeader String appkey,
                       @RequestParam(required = false) String taskNo,
                       HttpServletRequest request) {
        auth(appkey, taskNo, request);
        List<TaskWrk> taskWrks = new ArrayList<>();
        if (Cools.isEmpty(taskNo)) {
            taskWrks = taskWrkService.selectList(new EntityWrapper<>());
            return R.ok().add(taskWrks);
        }
        R r = openService.AgvToWCSToWms(param);
        return r;
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (taskWrk == null) {
            return R.error("任务不存在");
        }
        taskWrks.add(taskWrk);
        return R.ok().add(taskWrks);
    }

    //AGV请求动作接口
    @PostMapping("/agvTaskRequest")
    public R agvTaskRequest(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
    //查询任务指令集合
    @GetMapping("/queryTaskCommand")
    public R queryTaskCommand(@RequestHeader String appkey,
                              @RequestParam String taskNo,

                              HttpServletRequest request) {
        auth(appkey, taskNo, request);
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (taskWrk == null) {
            return R.error("任务不存在");
        }

        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
        return R.ok().add(commandInfos);
    }

    // 外置输送线wms通知输送线流动,上报时候上报站点即可
    @AppAuth(memo = "外置输送线wms通知输送线流动")
    @PostMapping("/applyInDevp")
    public R applyInDevp(@RequestHeader String appkey,
                         @RequestBody ApplyInDevpDto param,
                         HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getRequestType())){
            return R.error("请求类型为空！");
        } else if (Cools.isEmpty(param.getWharfCode())){
            return R.error("码头编号为空！");
        }

        try{
            BasDevp basDevp = basDevpService.selectById(param.getWharfCode());
            if (basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N")){
                return R.ok();
            }else {
                return R.error();
            }
        }catch (Exception e){
            log.error("AGV请求动作接口报错:"+e);
            return R.error("程序报错，未查询到站点");
        }

        return openService.applyInDevp(param);
    }

    //任务下发接口
    @PostMapping("/outboundTaskSend")
    @Transactional
    public R outboundTaskSend(@RequestHeader String appkey,
                              @RequestBody List<WMSAndAGVInterfaceParam> params,
                              HttpServletRequest request) {
        auth(appkey, params, request);
        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (WMSAndAGVInterfaceParam param:params){
            try {
                if (Cools.isEmpty(param)){
                    return R.error("参数为空！");
                } else if (Cools.isEmpty(param.getTaskNo())){
                    return R.error("任务号为空！");
                } else if (Cools.isEmpty(param.getTaskType())){
                    return R.error("任务类型为空！");
                } else if (Cools.isEmpty(param.getWarehouseId())){
                    return R.error("仓库标识为空！");
                }
                if (Cools.isEmpty(param.getTaskPriority())){
                    param.setTaskPriority(1);
                }
                if (Cools.isEmpty(param.getContainerCode())){
                    return R.error("容器编码(托盘码)为空！");
                }
                if (Cools.isEmpty(param.getEmptyContainer())){
                    return R.error("是否空托盘信号为空！");
                }
//        if (Cools.isEmpty(param.getTaskTunnel())){
//            return R.error("任务巷道为空！");
//        }
//        if (Cools.isEmpty(param.getGroupNo())){
//            return R.error("任务组为空！");
//        }
//        if (Cools.isEmpty(param.getTaskSerialNo())){
//            return R.error("任务执行顺序为空！");
//        }
                if (Cools.isEmpty(param.getTargetWharf())){
                    return R.error("目标码头区域为空！");//G开头=7车间，H开头=8层，J开头=9车间
                }

                openService.taskCreate(new taskCreateParam(param));

                params1.add(param);
//                return R.ok(param);
            }catch (Exception e){
                String errorMsg = Cools.isEmpty(e.getLocalizedMessage()) ? "" : e.getLocalizedMessage();
                return R.error("生成任务失败，请联系管理员!"+ errorMsg);
            }
        }
        return R.ok(params1);
    }

    //任务取消接口
    @PostMapping("/taskCancel")
    public R taskCancel(@RequestHeader String appkey,
                               @RequestBody WMSAndAGVInterfaceParam param,
                               HttpServletRequest request) {
        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())){
            return R.error("工作号为空！");
        } else if (Cools.isEmpty(param.getTaskStatus())){
            return R.error("操作类型为空！");
        }
//        else if (Cools.isEmpty(param.getWarehouseId())){
//            return R.error("仓库标识为空！");
//        }

        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("task_no", param.getTaskNo()));
        if (Cools.isEmpty(taskWrk)){
            return R.error("未查到当前任务");
        }
        boolean sign =false;
        switch (param.getTaskStatus()){
            case 1://正常取消
                if (taskWrk.getWrkSts()>1){
                    return R.error("任务已开始执行");
                }
            case 2://强制取消
                if (taskWrk.getWrkSts()>3){
                    return R.error("任务已执行完成");
                }
                break;
            case 3://正常完成
                if (taskWrk.getWrkSts()>11){
                    return R.error("任务已开始执行");
                }
            case 4://强制完成
                if (taskWrk.getWrkSts()>14){
                    return R.error("任务已执行完成");
                }
                sign=true;
                break;
            default:
                return R.error("未知操作");
        }
        return taskWrkOperate(taskWrk,sign);
    }

    //任务操作
    private R taskWrkOperate(TaskWrk taskWrk,boolean sign){
        try{
            if (sign){//完成
                return taskWrkController.complete(taskWrk.getTaskNo());
            }else {//取消
                return taskWrkController.cancel(taskWrk.getTaskNo());
            }
        }catch (Exception e){
            return R.error();
        }
    }



}