excel导入堆垛机异常码

pang.jiabao

2025-05-13 688e299d29bd76cbd30bf3d7267bdc9afad954b0

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

@@ -1,7 +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.core.annotations.AppAuth;
import com.core.common.BaseRes;
@@ -9,18 +8,18 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.entity.param.CrnStatusParam;
import com.zy.asrs.entity.param.TaskCreateParam;
import com.zy.asrs.entity.param.TaskOverParam;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
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.lang.reflect.Field;
import java.util.ArrayList;
import java.util.HashMap;
@@ -56,8 +55,7 @@
    private LocMastService locMastService;
    @Autowired
    private BasCrnErrorService basCrnErrorService;
    @Value("${wms.url}")
    private String wmsUrl;


    public static <T> List<T> convertListMapToListObject(List<HashMap<String, Object>> listMap, Class<T> clazz) throws Exception {
        List<T> list = new ArrayList<>();
@@ -106,25 +104,6 @@
        }
    }

    //agv任务完成
    @PostMapping("/toAgvTaskOver")
    @AppAuth(memo = "agv任务完成接口")
    public R getAgvTaskOver(@RequestHeader String appkey,
                            @RequestBody TaskOverParam param,
                            HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        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();
    }

    //创建任务
    @PostMapping("/taskCreate")
@@ -190,252 +169,6 @@
        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");
        }
        return R.ok().add(taskWrk);
    }

    //取放货申请
    @PostMapping("/pick/and/place/v1")
    @AppAuth(memo = "agv取放货申请")
    public R getAgvPickAndPlaceV1(@RequestHeader String appkey,
                                  @RequestBody TaskOverParam param,
                                  HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getStaNo())) {
            return R.error("码头[staNo]不能为空");
        }
        if (Cools.isEmpty(param.getType())) {
            return R.error("类型[type]不能为空");
        }
        return openService.getAgvPickAndPlaceV1(param);
    }

    //取放货完成反馈
    @PostMapping("/pick/and/place/v2")
    @AppAuth(memo = "agv取放货完成反馈")
    public R getAgvPickAndPlaceV2(@RequestHeader String appkey,
                                  @RequestBody TaskOverParam param,
                                  HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getStaNo())) {
            return R.error("码头[staNo]不能为空");
        }
        if (Cools.isEmpty(param.getType())) {
            return R.error("类型[type]不能为空");
        }
        return openService.getAgvPickAndPlaceV2(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);
    }

    private void auth(String appkey, Object obj, HttpServletRequest request) {
        log.info("{}接口被访问；appkey:{}；请求数据：{}", request.getServletPath(), appkey, JSON.toJSONString(obj));
        request.setAttribute("cache", obj);
        if (Cools.isEmpty(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
        if (!APP_KEY_LIST.contains(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
    }

    //AGV请求入库码头接口
    @PostMapping("/targetWharfApply")
    @AppAuth(memo = "AGV请求入库码头接口")
    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！");
        }
        R r = openService.AgvToWCSToWms(param);
        apiLogService.save("AGV请求入库码头接口"
                , request.getRemoteAddr() + request.getRequestURI()
                , appkey
                , request.getRemoteAddr()
                , JSON.toJSONString(param)
                , r.toString()
                , true
        );
        return r;
    }

    //AGV请求动作接口
    @PostMapping("/agvTaskRequest")
    @AppAuth(memo = "AGV请求动作接口")
    public R agvTaskRequest(@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.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！");
        }

        Map<String, Integer> map = new HashMap<>();
        map.put("J-1102", 102);
        map.put("J-1101", 101);
        map.put("J-1103", 105);
        map.put("J-1104", 106);
        map.put("J-1105", 109);
        map.put("J-1106", 110);
        map.put("J-1107", 113);
        map.put("J-1108", 114);
        map.put("J-1109", 117);
        map.put("J-1110", 118);
        map.put("J-1111", 121);
        map.put("J-1112", 122);
        map.put("H-1102", 300);
        map.put("H-1101", 305);
        map.put("G-1102", 400);
        map.put("G-1101", 405);
//        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
//                .eq("stn_desc", param.getWharfCode()));
//
//        if (Cools.isEmpty(staDesc)){
//            return R.error("程序报错，未查询到站点");
//        }
        if (Cools.isEmpty(map.get(param.getWharfCode()))) {
            return R.error("未查询到站点");
        }
        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
//        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))) {
            apiLogService.save("AGV请求入库码头接口"
                    , request.getRemoteAddr() + request.getRequestURI()
                    , appkey
                    , request.getRemoteAddr()
                    , JSON.toJSONString(param)
                    , R.ok().toString()
                    , true
            );
            return R.ok("可入");
        } else {
            apiLogService.save("AGV请求入库码头接口"
                    , request.getRemoteAddr() + request.getRequestURI()
                    , appkey
                    , request.getRemoteAddr()
                    , JSON.toJSONString(param)
                    , R.error("站点状态不可入").toString()
                    , true
            );
            return R.error("站点状态不可入");
        }


    }

    //任务下发接口
    @PostMapping("/outboundTaskSend")
    @Transactional
    public HashMap<String, Object> outboundTaskSend(@RequestBody HashMap<String, Object> hashMap) {
        String jsonString = JSON.toJSONString(hashMap.get("TaskList"));
        List<CarryParam> params = JSONObject.parseArray(jsonString, CarryParam.class);
        HashMap<String, Object> map = new HashMap<>();
        List<WMSAndAGVInterfaceParam> params1 = new ArrayList<>();
        for (CarryParam param : params) {
            if (Cools.isEmpty(param)) {
                map.put("Code", "0");
                map.put("Msg", "参数为空！");
                return map;
            } else if (Cools.isEmpty(param.getTaskNo())) {
                map.put("Code", "0");
                map.put("Msg", "任务号为空！");
                return map;
            } else if (Cools.isEmpty(param.getStereoscopicTaskType())) {
                map.put("Code", "0");
                map.put("Msg", "任务类型为空！");
                return map;
            }
            String fusion = Utils.Fusion(param.getOriginalRowNo(), param.getOriginalFloorNo(), param.getOriginalColumnNo());
            param.setStartPoint(fusion);
            LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
            if (Cools.isEmpty(locMast)) {
                map.put("Code", "0");
                map.put("Msg", "初始库位无法找到！");
                return map;
            }

            HashMap<String, Object> r = new HashMap<>();

            if (param.getStereoscopicTaskType() == 2) {
                //出库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no", 2)
                        .eq("crn_no", locMast.getCrnNo())
                        .eq("stn_no", param.getTerminalNo()));
                if (Cools.isEmpty(staDesc)) {
                    map.put("Code", "0");
                    map.put("Msg", "出库路劲不存在！");
                    return map;
                }
                r = openService.taskCreate(new TaskCreateParam(param, staDesc.getCrnNo()));
                if (r.get("Code").equals("0")) {
                    return r;
                }
            } else if (param.getStereoscopicTaskType() == 3) {
                String fusion1 = Utils.Fusion(param.getGoalRowNo(), param.getGoalFloorNo(), param.getGoalColumnNo());
                param.setTerminalNo(fusion1);
                //移库任务创建
                r = openService.taskCreate(new TaskCreateParam(param, locMast.getCrnNo()));
                if (r.get("Code").equals("0")) {
                    return r;
                }
            }
            apiLogService.save("Wms任务下发接口"
                    , request.getRemoteAddr() + request.getRequestURI()
                    , ""
                    , request.getRemoteAddr()
                    , JSON.toJSONString(param)
                    , r.toString()
                    , true
            );
        }
        map.put("Code", "1");
        map.put("Msg", "ok");
        return map;
    }

    //任务取消接口
    @PostMapping("/taskCancel")
@@ -514,4 +247,266 @@
        return R.ok(crnStatusParams);
    }

    //取放货申请
    @PostMapping("/pick/and/place/v1")
    @AppAuth(memo = "agv取放货申请")
    public R getAgvPickAndPlaceV1(@RequestHeader String appkey,
                                  @RequestBody TaskOverParam param,
                                  HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getStartPoint())) {
            return R.error("码头[staNo]不能为空");
        }
        if (Cools.isEmpty(param.getType())) {
            return R.error("类型[type]不能为空");
        }
        return openService.getAgvPickAndPlaceV1(param);
    }

    //取放货完成反馈
    @PostMapping("/pick/and/place/v2")
    @AppAuth(memo = "agv取放货完成反馈")
    public R getAgvPickAndPlaceV2(@RequestHeader String appkey,
                                  @RequestBody TaskOverParam param,
                                  HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getStartPoint())) {
            return R.error("码头[staNo]不能为空");
        }
        if (Cools.isEmpty(param.getType())) {
            return R.error("类型[type]不能为空");
        }
        return openService.getAgvPickAndPlaceV2(param);
    }


    private void auth(String appkey, Object obj, HttpServletRequest request) {
        log.info("{}接口被访问；appkey:{}；请求数据：{}", request.getServletPath(), appkey, JSON.toJSONString(obj));
        request.setAttribute("cache", obj);
        if (Cools.isEmpty(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
        if (!APP_KEY_LIST.contains(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
    }

    //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");
        }
        return R.ok().add(taskWrk);
    }

    //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);
    }


    //任务下发接口
//    @PostMapping("/outboundTaskSend")
//    @Transactional
//    public HashMap<String, Object> outboundTaskSend(@RequestBody List<CarryParam> params) {
//        HashMap<String, Object> map = new HashMap<>();
//        for (CarryParam param : params) {
//            if (Cools.isEmpty(param)) {
//                map.put("Code", "0");
//                map.put("Msg", "参数为空！");
//                return map;
//            } else if (Cools.isEmpty(param.getTaskNo())) {
//                map.put("Code", "0");
//                map.put("Msg", "任务号为空！");
//                return map;
//            } else if (Cools.isEmpty(param.getStereoscopicTaskType())) {
//                map.put("Code", "0");
//                map.put("Msg", "任务类型为空！");
//                return map;
//            }
//            String fusion = Utils.Fusion(param.getOriginalRowNo(), param.getOriginalFloorNo(), param.getOriginalColumnNo());
//            param.setStartPoint(fusion);
//            LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
//            if (Cools.isEmpty(locMast)) {
//                map.put("Code", "0");
//                map.put("Msg", "初始库位无法找到！");
//                return map;
//            }
//
//            HashMap<String, Object> r = new HashMap<>();
//
//            if (param.getStereoscopicTaskType() == 2) {
//                //出库任务创建
//                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
//                        .eq("type_no", 2)
//                        .eq("crn_no", locMast.getCrnNo())
//                        .eq("stn_no", param.getTerminalNo()));
//                if (Cools.isEmpty(staDesc)) {
//                    map.put("Code", "0");
//                    map.put("Msg", "出库路径不存在！");
//                    return map;
//                }
//                r = openService.taskCreate(new TaskCreateParam(param, staDesc.getCrnNo()));
//                if (r.get("Code").equals("0")) {
//                    return r;
//                }
//            } else if (param.getStereoscopicTaskType() == 3) {
//                String fusion1 = Utils.Fusion(param.getGoalRowNo(), param.getGoalFloorNo(), param.getGoalColumnNo());
//                param.setTerminalNo(fusion1);
//                //移库任务创建
//                r = openService.taskCreate(new TaskCreateParam(param, locMast.getCrnNo()));
//                if (r.get("Code").equals("0")) {
//                    return r;
//                }
//            }
//            apiLogService.save("Wms任务下发接口"
//                    , request.getRemoteAddr() + request.getRequestURI()
//                    , ""
//                    , request.getRemoteAddr()
//                    , JSON.toJSONString(param)
//                    , r.toString()
//                    , true
//            );
//        }
//        map.put("Code", "1");
//        map.put("Msg", "ok");
//        return map;
//    }

    //AGV请求入库码头接口
//    @PostMapping("/targetWharfApply")
//    @AppAuth(memo = "AGV请求入库码头接口")
//    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！");
//        }
//        R r = openService.AgvToWCSToWms(param);
//        apiLogService.save("AGV请求入库码头接口"
//                , request.getRemoteAddr() + request.getRequestURI()
//                , appkey
//                , request.getRemoteAddr()
//                , JSON.toJSONString(param)
//                , r.toString()
//                , true
//        );
//        return r;
//    }
//
//    //AGV请求动作接口
//    @PostMapping("/agvTaskRequest")
//    @AppAuth(memo = "AGV请求动作接口")
//    public R agvTaskRequest(@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.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！");
//        }
//
//        Map<String, Integer> map = new HashMap<>();
//        map.put("J-1102", 102);
//        map.put("J-1101", 101);
//        map.put("J-1103", 105);
//        map.put("J-1104", 106);
//        map.put("J-1105", 109);
//        map.put("J-1106", 110);
//        map.put("J-1107", 113);
//        map.put("J-1108", 114);
//        map.put("J-1109", 117);
//        map.put("J-1110", 118);
//        map.put("J-1111", 121);
//        map.put("J-1112", 122);
//        map.put("H-1102", 300);
//        map.put("H-1101", 305);
//        map.put("G-1102", 400);
//        map.put("G-1101", 405);
////        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
////                .eq("stn_desc", param.getWharfCode()));
////
////        if (Cools.isEmpty(staDesc)){
////            return R.error("程序报错，未查询到站点");
////        }
//        if (Cools.isEmpty(map.get(param.getWharfCode()))) {
//            return R.error("未查询到站点");
//        }
//        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
//        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))) {
//            apiLogService.save("AGV请求入库码头接口"
//                    , request.getRemoteAddr() + request.getRequestURI()
//                    , appkey
//                    , request.getRemoteAddr()
//                    , JSON.toJSONString(param)
//                    , R.ok().toString()
//                    , true
//            );
//            return R.ok("可入");
//        } else {
//            apiLogService.save("AGV请求入库码头接口"
//                    , request.getRemoteAddr() + request.getRequestURI()
//                    , appkey
//                    , request.getRemoteAddr()
//                    , JSON.toJSONString(param)
//                    , R.error("站点状态不可入").toString()
//                    , true
//            );
//            return R.error("站点状态不可入");
//        }
//
//
//    }
//    @PostMapping("/toAgvTaskOver")
//    @AppAuth(memo = "agv任务完成接口")
//    public R getAgvTaskOver(@RequestHeader String appkey,
//                            @RequestBody TaskOverParam param,
//                            HttpServletRequest request) {
//        auth(appkey, param, request);
//        if (Cools.isEmpty(param)) {
//            return R.parse(BaseRes.PARAM);
//        }
//        if (Cools.isEmpty(param.getStartPoint())) {
//            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();
//    }
}