#

zjj

2024-03-21 7be75a0302732bb0ec2f4bd9eeeb1d1c9701af96

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

@@ -1,26 +1,37 @@
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.entity.BasDevp;
import com.zy.asrs.entity.CommandInfo;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverParam;
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.common.web.BaseController;
import com.zy.core.CrnThread;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.CrnProtocol;
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
@@ -37,10 +48,41 @@
    private TaskWrkController taskWrkController;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private ApiLogService apiLogService;

    @Autowired
    private StaDescService staDescService;
    @Autowired
    private BasCrnpService basCrnpService;

    @Value("${wms.url}")
    private String wmsUrl;

    private static final boolean auth = true;

    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    //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")
@@ -105,9 +147,12 @@

    //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) {
                              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())){
@@ -116,19 +161,29 @@
            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！");
        }
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());

        return R.ok(taskWrk.getStartPoint());
//        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())){
@@ -136,58 +191,126 @@
        } else if (Cools.isEmpty(param.getWharfCode())){
            return R.error("码头编号为空！");
        }
        BasDevp basDevp = basDevpService.selectById(param.getWharfCode());
        if (basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N")){
            return R.ok();
        }else {
            return R.error();

        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 R outboundTaskSend(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              @RequestBody List<WMSAndAGVInterfaceParam> params,
                              HttpServletRequest request) {
        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
            }
        auth(appkey, params, request);
        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (WMSAndAGVInterfaceParam param:params){

            openService.taskCreate(new taskCreateParam(param));
                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 (!param.getTaskType().equals("YK")){
                    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
                    }
                }

            return R.ok(param);
        }catch (Exception e){
            String errorMsg = Cools.isEmpty(e.getLocalizedMessage()) ? "" : e.getLocalizedMessage();
            return R.ok("生成任务失败，请联系管理员!"+ errorMsg);
                StaDesc staDesc = new StaDesc();
                if (param.getTaskType().equals("CK") && param.getTargetWharf().contains("J")){
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no",param.getTaskTunnel())
                            .eq("type_no",2)
                            .lt("stn_no",200));
                }else if (param.getTaskType().equals("CK") && param.getTargetWharf().contains("H")){
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no",param.getTaskTunnel())
                            .eq("type_no",2)
                            .lt("stn_no",400)
                            .gt("stn_no",200));
                }else {
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no",param.getTaskTunnel())
                            .eq("type_no",2)
                            .lt("stn_no",500)
                            .ge("stn_no",400));
                }
                param.setTargetLocationCode(staDesc.getStnNo().toString());


                R r = openService.taskCreate(new taskCreateParam(param));

                apiLogService.save("Wms任务下发接口"
                        ,request.getRemoteAddr()+request.getRequestURI()
                        ,appkey
                        ,request.getRemoteAddr()
                        ,JSON.toJSONString(param)
                        ,r.toString()
                        ,true
                );


        }

        return R.ok();
    }

    //任务取消接口
@@ -212,20 +335,20 @@
        }
        boolean sign =false;
        switch (param.getTaskStatus()){
            case "1"://正常取消
            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
            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
            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
            case 4://强制完成
                if (taskWrk.getWrkSts()>14){
                    return R.error("任务已执行完成");
                }
@@ -249,5 +372,78 @@
            return R.error();
        }
    }
    @PostMapping("/getCrnStatus")
    public R getCrnStatus(HttpServletRequest request){
        List<Integer> crnStatusDtos = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
            // 表格行
            CrnStateTableVo vo = new CrnStateTableVo();
            vo.setCrnNo(basCrnp.getCrnNo());   //  堆垛机号
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            if (basCrnp.getOutEnable().equals("N")){
                continue;
            }
            if (crnProtocol.getAlarm() != 0){
                continue;
            }
            if (crnProtocol.getMode() != 3){
                continue;
            }

            crnStatusDtos.add(basCrnp.getCrnNo());

        }
        return R.ok(crnStatusDtos);
    }

//    @PostMapping("/getCrnStatus")
//    public R getCrnStatus(HttpServletRequest request) {
//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>());
//        if (Cools.isEmpty(basCrnps)){
//            return R.error("数据库异常，堆垛机列表为空");
//        }
//        List<CrnStatusDto> crnStatusDtos = new ArrayList<>();
//        for (BasCrnp basCrnp : basCrnps){
//            CrnStatusDto crnStatusDto = new CrnStatusDto();
//            crnStatusDto.setCrnNo(basCrnp.getCrnNo());
//            if (basCrnp.getOutEnable().equals("N")){
//                crnStatusDto.setCrnStatus(500);
//                crnStatusDto.setCrnErrMsg("堆垛机出库被禁用");
//                crnStatusDtos.add(crnStatusDto);
//                continue;
//            }
//            if (basCrnp.getCrnErr() != 0){
//                crnStatusDto.setCrnStatus(500);
//                crnStatusDto.setCrnErrMsg("堆垛机处于报警状态");
//                crnStatusDtos.add(crnStatusDto);
//                continue;
//            }
//            if (basCrnp.getCrnSts() != 3){
//                crnStatusDto.setCrnStatus(500);
//                crnStatusDto.setCrnErrMsg("堆垛机处于非自动状态");
//                crnStatusDtos.add(crnStatusDto);
//                continue;
//            }
//
//            crnStatusDto.setCrnStatus(200);
//            crnStatusDto.setCrnErrMsg("");
//            crnStatusDtos.add(crnStatusDto);
//
//
//        }
//
//        return R.ok(crnStatusDtos);
//    }


}