#

zwl

2025-07-19 6193eddf242c4b879402367704b8b5b2e8df84a4

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

@@ -1,17 +1,19 @@
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.fasterxml.jackson.databind.ObjectMapper;
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.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.BasShuttleServiceImpl;
import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -21,7 +23,10 @@

import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.lang.reflect.Field;
import java.util.*;

import static org.apache.ibatis.ognl.OgnlRuntime.setFieldValue;

@Slf4j
@RestController
@@ -46,6 +51,8 @@
    private StaDescService staDescService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasCrnErrorService basCrnErrorService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -55,75 +62,8 @@
    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")
    public R taskCreate(@RequestHeader String appkey,
                          @RequestBody TaskCreateParam param,
                          HttpServletRequest request) {
        auth(appkey, param, request);
        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");
        }
        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");
        }
        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);
    }
    @Autowired
    private BasShuttleServiceImpl basShuttleService;

    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));
@@ -136,192 +76,73 @@
        }
    }

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

//    @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<>();
        for (CarryParam param:params){
            if (Cools.isEmpty(param)){
                return R.error("参数为空！");
                map.put("Code","0");
                map.put("Msg","参数为空！");
                return map;
            } 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！");
                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;
            }
            if (Cools.isEmpty(param.getTaskPriority())){
                param.setTaskPriority(1);
            }
            if (Cools.isEmpty(param.getSourceLocationCode()) || Cools.isEmpty(param.getTargetLocationCode())){
                return R.error("初始目标或者目标位为空");
            }
//            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
//                }
//            }

            LocMast locMast = locMastService.selectByLocNo(param.getSourceLocationCode());
            String fusion = Utils.Fusion(param.getOriginalRowNo(), param.getOriginalFloorNo(), param.getOriginalColumnNo());
            param.setOriginStartPoint(fusion);
            LocMast locMast = locMastService.selectByLocNo(fusion);
            if(Cools.isEmpty(locMast)){
                return R.error("初始库位无法找到");
                map.put("Code","0");
                map.put("Msg","初始库位无法找到！");
                return map;
            }

            Integer ioType = TaskCreateParam.convertParamIoType(param.getTaskType());
            if(ioType == 2){
            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.getTargetLocationCode()));
                        .eq("stn_no",param.getTerminalNo()));
                if(Cools.isEmpty(staDesc)){
                    return R.error("出库路劲不存在");
                    map.put("Code","0");
                    map.put("Msg","出库路劲不存在！");
                    return map;
                }
                param.setTargetLocationCode(staDesc.getStnNo().toString());
                R r = openService.taskCreate(new TaskCreateParam(param));
            }else if (ioType == 3){
                r = openService.taskCreate(param);
                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(param);
                if(r.get("Code").equals("0")){
                    return r;
                }
            }

//            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();
        map.put("Code","1");
        map.put("Msg","ok");
        return map;
    }

    //任务取消接口
@@ -334,35 +155,29 @@
            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())){
        } 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！");
        }
//        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()));
        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");
            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.getWrkSts()>1){
                if (taskWrk.getStatus()>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){
            case 2://正常完成
                if (taskWrk.getStatus()>1){
                    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;
@@ -386,36 +201,41 @@
    }

    //设备状态查询接口
    @PostMapping("/deviceStatus")
    @GetMapping("/deviceStatus")
    @Transactional
    public R deviceStatus(@RequestHeader String appkey,
                              HttpServletRequest request) {
        auth(appkey, "设备状态查询接口", request);
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        List<Map<String, Object>> list = new ArrayList<>();
        for (BasDevp basDevp:basDevps){
            Map<String, Object> map = new HashMap<>();
            map.put("devNo", basDevp.getDevNo());
            map.put("devType", "输送线");
            map.put("devStatus", basDevp.getAutoing().equals("Y")? 1:0);
            map.put("errorCode", 0);
            map.put("errorMsg", "");
            map.put("newDate",new Date());
            list.add(map);
        }
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp:basCrnps){
            Map<String, Object> map = new HashMap<>();
            map.put("devNo", basCrnp.getCrnNo());
            map.put("devType", "堆垛机");
            map.put("devStatus", basCrnp.getCrnSts());
            map.put("errorCode", 0);
            map.put("errorMsg", "");
            map.put("newDate",new Date());
            list.add(map);
        }
        return R.ok(list);
    public R deviceStatus() {
        HashMap<String,Object> map = new HashMap<>();
        List<BasShuttle> basShuttle = basShuttleService.selectList(null);
        List<BasDevp> basDevp = basDevpService.selectList(null);
        map.put("basShuttle",basShuttle);
        map.put("basDevp",basDevp);
        return R.ok(map);
    }

    //设备状态查询接口
    @PostMapping("/devpdeviceStatus")
    @Transactional
    public String devpDeviceStatus(@RequestBody HashMap staNo) {
        BasDevp basDevp=basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no",staNo.get("staNo")));
        if(basDevp==null||basDevp.getLoading().equals("Y")||basDevp.getOutEnable().equals("N")){
            return "no";
        }
        return "ok";
    }

    //rcs和wcs校验入库工作号是否一致
    //设备状态查询接口
    @PostMapping("/devpdeviceStatusTaskNo")
    @Transactional
    public String devpDeviceStatusTaskNo(@RequestBody HashMap staNo) {
        BasDevp basDevp=basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no",staNo.get("staNo")));
        String taskNo=staNo.get("superTaskNo").toString();
        if(Cools.isEmpty(basDevp)&&Cools.isEmpty(taskNo)){
            return "no";
        }else if(!basDevp.getWrkNo().equals(Integer.valueOf(taskNo))){
            return "no";
        }
        return "ok";
    }

}