*

lsh

2025-04-28 aede5c5c19740a9903dfe2873caaacc10eebda66

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

@@ -8,13 +8,20 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.CarryParam;
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.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.BasCrnErrorServiceImpl;
import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
import com.zy.core.CrnThread;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -30,6 +37,8 @@
@RequestMapping("/open")
public class OpenController extends BaseController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private OpenService openService;
    @Autowired
@@ -48,6 +57,10 @@
    private StaDescService staDescService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasRgvErrService basRgvErrService;
    @Autowired
    private BasCrnErrorServiceImpl basCrnErrorService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -57,6 +70,7 @@
    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")
@@ -154,43 +168,43 @@
        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);
    }
//    //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")
@@ -314,13 +328,16 @@

    //任务下发接口
    @PostMapping("/outboundTaskSend")
//    @PostMapping("/taskCreate")
//    @AppAuth(memo = "任务下发接口")
    @Transactional
    public R outboundTaskSend(@RequestHeader String appkey,
                              @RequestBody List<CarryParam> params,
                              @RequestBody List<CarryParam> params,//中航下发  1：出库，2：移库 3：入库
                              HttpServletRequest request) {
        //auth(appkey, params, request);
        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        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

            if (Cools.isEmpty(param)){
                return R.error("参数为空！");
@@ -351,7 +368,18 @@

            R r = null;

            if(param.getIoType() == 2){
            if(param.getIoType() == 1){
                //入库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no",1)
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getStartPoint()));
                if(Cools.isEmpty(staDesc)){
                    return R.error("入库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));

            }else if(param.getIoType() == 2){
                //出库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no",2)
@@ -362,6 +390,13 @@
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
            }else if (param.getIoType() == 3){
                LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
                if(Cools.isEmpty(locMast2)){
                    return R.error("目标库位无法找到");
                }
                if (!locMast2.getCrnNo().equals(locMast.getCrnNo())){
                    return R.error("起始库位与目标库位不再同一巷道");
                }
                //移库任务创建
                r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
            }
@@ -383,9 +418,10 @@
    //任务取消接口
    @PostMapping("/taskCancel")
    public R taskCancel(@RequestHeader String appkey,
                               @RequestBody WMSAndAGVInterfaceParam param,
                               @RequestBody WMSAndAGVInterfaceParam param,//中航下发  1：出库，2：移库 3：入库    1：取消  2 完成
                               HttpServletRequest request) {
        auth(appkey, param, request);
//        param.updateTaskStatus(param.getTaskStatus());
        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())){
@@ -444,12 +480,67 @@
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        List<Object> list = new ArrayList<>();
        for (BasDevp basDevp:basDevps){
            list.add(basDevp);
            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);
        }
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp:basCrnps){
            list.add(basCrnp);
        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());
            basCrnpWmsParamList.add(basCrnpWmsParam);

            try{
                BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
            } catch (Exception e){
                basCrnpWmsParam.setCrnErrM("未知异常");
            }

            list.add(basCrnpWmsParam);
        }
        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(rgvStatus.getAlarm().longValue());

                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
            } catch (Exception e){
                basRgvWmsParam.setSteErrM("未知异常");
            }
            list.add(basRgvWmsParam);
        }
//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
//        for (BasCrnp basCrnp:basCrnps){
//            list.add(basCrnp);
//        }
        return R.ok(list);
    }