#agv对接完成

zjj

2024-07-07 d8415a9733082b783e89b75ffef51dd725829a6e

#agv对接完成

 zy-asrs-common/src/main/java/com/zy/asrs/common/utils/HttpHandler.java

@@ -2,7 +2,12 @@

import okhttp3.*;

import javax.net.ssl.*;
import java.io.IOException;
import java.security.KeyStore;
import java.security.SecureRandom;
import java.security.cert.X509Certificate;
import java.util.Arrays;
import java.util.Map;
import java.util.Optional;
import java.util.concurrent.TimeUnit;
@@ -124,11 +129,14 @@
     * @return the HttpHandler instance
     */
    private OkHttpClient getClient(Integer timeout, TimeUnit timeUnit){
        return new OkHttpClient
                .Builder()
                .connectTimeout(timeout, timeUnit)
                .readTimeout(timeout, timeUnit)
                .build();
//        return new OkHttpClient
//                .Builder()
//                .sslSocketFactory(getSSLSocketFactory(),getX509TrustManager())
//                .hostnameVerifier(getHostnameVerifier())
//                .connectTimeout(timeout, timeUnit)
//                .readTimeout(timeout, timeUnit)
//                .build();
        return OKHttpUtil.getInstance();
    }

    /**
@@ -208,5 +216,67 @@
        }

    }
    /**
     * description 忽略https证书验证
     */
    private static HostnameVerifier getHostnameVerifier() {
        HostnameVerifier hostnameVerifier = new HostnameVerifier() {
            @Override
            public boolean verify(String s, SSLSession sslSession) {
                return true;
            }
        };
        return hostnameVerifier;
    }

    /**
     * description 忽略https证书验证
     */
    private static SSLSocketFactory getSSLSocketFactory() {
        try {
            SSLContext sslContext = SSLContext.getInstance("SSL");
            sslContext.init(null, getTrustManager(), new SecureRandom());
            return sslContext.getSocketFactory();
        } catch (Exception e) {
            throw new RuntimeException(e);
        }
    }

    private static X509TrustManager getX509TrustManager() {
        X509TrustManager trustManager = null;
        try {
            TrustManagerFactory trustManagerFactory = TrustManagerFactory.getInstance(TrustManagerFactory.getDefaultAlgorithm());
            trustManagerFactory.init((KeyStore) null);
            TrustManager[] trustManagers = trustManagerFactory.getTrustManagers();
            if (trustManagers.length != 1 || !(trustManagers[0] instanceof X509TrustManager)) {
                throw new IllegalStateException("Unexpected default trust managers:" + Arrays.toString(trustManagers));
            }
            trustManager = (X509TrustManager) trustManagers[0];
        } catch (Exception e) {
            e.printStackTrace();
        }

        return trustManager;
    }

    private static TrustManager[] getTrustManager() {
        TrustManager[] trustAllCerts = new TrustManager[]{
                new X509TrustManager() {
                    @Override
                    public void checkClientTrusted(X509Certificate[] chain, String authType) {
                    }

                    @Override
                    public void checkServerTrusted(X509Certificate[] chain, String authType) {
                    }

                    @Override
                    public X509Certificate[] getAcceptedIssuers() {
                        return new X509Certificate[]{};
                    }
                }
        };
        return trustAllCerts;
    }

}

 zy-asrs-common/src/main/java/com/zy/asrs/common/utils/OKHttpUtil.java

New file
@@ -0,0 +1,101 @@
package com.zy.asrs.common.utils;


import okhttp3.ConnectionPool;
import okhttp3.OkHttpClient;

import java.net.Proxy;
import java.security.KeyStore;
import java.security.SecureRandom;
import java.security.cert.X509Certificate;
import java.util.Arrays;
import java.util.concurrent.TimeUnit;
import javax.net.ssl.*;

public class OKHttpUtil {
    private static OkHttpClient okHttpClient;
    public static ConnectionPool connectionPool = new ConnectionPool(10, 5, TimeUnit.MINUTES);

    public static OkHttpClient getInstance() {
        if (okHttpClient == null) { //加同步安全
            synchronized (OkHttpClient.class) {
                if (okHttpClient == null) { //okhttp可以缓存数据....指定缓存路径
                    okHttpClient = new OkHttpClient.Builder()//构建器
                            .proxy(Proxy.NO_PROXY) //来屏蔽系统代理
                            .connectionPool(connectionPool)
                            .sslSocketFactory(getSSLSocketFactory(),  getX509TrustManager())
                            .hostnameVerifier(getHostnameVerifier())
                            .connectTimeout(10, TimeUnit.SECONDS)//连接超时
                            .writeTimeout(600, TimeUnit.SECONDS)//写入超时
                            .readTimeout(600, TimeUnit.SECONDS)//读取超时
                            .build();
                    okHttpClient.dispatcher().setMaxRequestsPerHost(200);
                    okHttpClient.dispatcher().setMaxRequests(200);
                }
            }
        }
        return okHttpClient;
    }

    /**
     * description 忽略https证书验证
     */
    private static HostnameVerifier getHostnameVerifier() {
        HostnameVerifier hostnameVerifier = new HostnameVerifier() {
            @Override
            public boolean verify(String s, SSLSession sslSession) {
                return true;
            }
        };
        return hostnameVerifier;
    }
    /**
     * description 忽略https证书验证
     */
    private static SSLSocketFactory getSSLSocketFactory() {
        try {
            SSLContext sslContext = SSLContext.getInstance("SSL");
            sslContext.init(null, getTrustManager(), new SecureRandom());
            return sslContext.getSocketFactory();
        } catch (Exception e) {
            throw new RuntimeException(e);
        }
    }

    private static X509TrustManager getX509TrustManager() {
        X509TrustManager trustManager = null;
        try {
            TrustManagerFactory trustManagerFactory = TrustManagerFactory.getInstance(TrustManagerFactory.getDefaultAlgorithm());
            trustManagerFactory.init((KeyStore) null);
            TrustManager[] trustManagers = trustManagerFactory.getTrustManagers();
            if (trustManagers.length != 1 || !(trustManagers[0] instanceof X509TrustManager)) {
                throw new IllegalStateException("Unexpected default trust managers:" + Arrays.toString(trustManagers));
            }
            trustManager = (X509TrustManager) trustManagers[0];
        } catch (Exception e) {
            e.printStackTrace();
        }

        return trustManager;
    }

    private static TrustManager[] getTrustManager() {
        TrustManager[] trustAllCerts = new TrustManager[]{
                new X509TrustManager() {
                    @Override
                    public void checkClientTrusted(X509Certificate[] chain, String authType) {
                    }

                    @Override
                    public void checkServerTrusted(X509Certificate[] chain, String authType) {
                    }

                    @Override
                    public X509Certificate[] getAcceptedIssuers() {
                        return new X509Certificate[]{};
                    }
                }
        };
        return trustAllCerts;
    }
}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java

@@ -1,7 +1,9 @@
package com.zy.asrs.wcs.core.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
@@ -24,11 +26,10 @@
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;

import java.util.*;

@@ -40,6 +41,7 @@
@RequestMapping("/openapi")
public class OpenController extends BaseController {

    private static final Logger log = LoggerFactory.getLogger(OpenController.class);
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
@@ -62,6 +64,29 @@
    private BasConveyorStaService basConveyorStaService;


    @PostMapping("/agvPickupComplete")
    public Map<String, Object> agvPickupComplete(@RequestBody AgvTaskParam agvTaskParam) {
        HashMap<String, Object> map = new HashMap<>();
        map.put("code","0");
        map.put("message","成功");
        map.put("reqCode", "");
        log.info("agv请求取货完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
        return map;

    }

    @PostMapping("/agvTaskComplete")
    public Map<String, Object> agvTaskComplete(@RequestBody AgvTaskParam agvTaskParam) {
        HashMap<String, Object> map = new HashMap<>();
        map.put("code","0");
        map.put("message","成功");
        map.put("reqCode", "");
        log.info("agv请求任务完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
        return map;
    }


    //取消wcs任务
    @PostMapping("/cancelWcsTask")
    public HashMap<String,Object> cancelWcsTask(@RequestBody CreateWcsTaskParam param){
        HashMap<String, Object> map = new HashMap<>();
@@ -154,6 +179,20 @@
        ArrayList<String> outlist = new ArrayList<>();
        outlist.add("2");outlist.add("9");
        if (inlist.contains(param.getTrkType())){
            try {
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getInRequestParam(agvTaskCreateParam,param);
                boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (!httpRequest){
                    map.put("success", "0");
                    map.put("message", "转发AGV任务出错");
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                    return map;
                }
            }catch (Exception e){

            }
            CreateInTaskParam createInTaskParam = new CreateInTaskParam();
            createInTaskParam.setTaskNo(param.getRequestPK());
            createInTaskParam.setDestLoc(getWMStoWCSLocNo(param.getToPos()));
@@ -184,12 +223,31 @@
                }
            }
        } else if (outlist.contains(param.getTrkType())) {
//            try {
//                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
//                getOutRequestParam(agvTaskCreateParam,param);
//                boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.94:8001", "/api/robot/controller/task/submit");
//                if (!httpRequest){
//                    map.put("success", "0");
//                    map.put("message", "转发AGV任务出错");
//                    map.put("result", "");
//                    map.put("requestPK", param.getRequestPK());
//                    return map;
//                }
//            }catch (Exception e){
//                map.put("success", "0");
//                map.put("message", "转发AGV任务出错");
//                map.put("result", "");
//                map.put("requestPK", param.getRequestPK());
//                return map;
//            }
            CreateOutTaskParam createOutTaskParam = new CreateOutTaskParam();
            createOutTaskParam.setTaskNo(param.getRequestPK());
            createOutTaskParam.setOriginLoc(getWMStoWCSLocNo(param.getFrmPos()));
            createOutTaskParam.setOriginSite("101");
            createOutTaskParam.setDestSite("100");
            createOutTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
            createOutTaskParam.setEndSite(param.getToPos());
            R outTask = null;
            try {
                outTask = createOutTask(createOutTaskParam);
@@ -229,6 +287,54 @@
        int lev = Integer.parseInt(loc.substring(10,12));
        locNo = row +"-"+bay+"-"+lev;
        return locNo;
    }
    private void getInRequestParam(AgvTaskCreateParam agvTaskCreateParam,CreateWcsTaskParam param){
        List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getFrmPos(),0,1),
                //目标位
                new AgvTaskCreateParam.AgvTaskParam("SITE","06YZ0001",1,1)
        );
        List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.carrierInfoParam()

        );
        agvTaskCreateParam.setTaskType("F01");
        agvTaskCreateParam.setInitPriority(param.getTrkPrty());
        agvTaskCreateParam.setRobotTaskCode(param.getRequestPK());
        agvTaskCreateParam.setTargetRoute(agvTaskParamList);
        agvTaskCreateParam.setCarrierInfo(carrierInfoParam);

    }
    private boolean doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
        String response = "";
        boolean success = false;
        Map<String, Object> map = new HashMap<>();
        map.put("Content-Type", "application/json;charset=UTF-8");
        map.put("X-lr-request-id", requestParam.getRobotTaskCode());
        map.put("X-lr-version", 4.1);
        map.put("X-lr-trace-id", "{{$guid}}");
        try {
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(path)
                    .setJson(JSONObject.toJSONString(requestParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);

            String code = jsonObject.get("code").toString();
            if(code.equals("SUCCESS")){
                success = true;
            }
            log.info("转发agv任务：请求体:"+JSONObject.toJSONString(requestParam)+",返回值:"+jsonObject);
        }catch (Exception e){

        }
        return success;
    }

    //生成入库任务
@@ -472,7 +578,7 @@
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("");
        task.setMemo(param.getEndSite());
        task.setShuttleNo(null);//等待主线程分配小车
        task.setRecordLoc("Y");//记录库存信息
        task.setHostId(hostId);//临时控制只允许host为1

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/AgvTaskCreateParam.java

New file
@@ -0,0 +1,39 @@
package com.zy.asrs.wcs.core.domain.param;

import lombok.Data;

import java.lang.reflect.Array;
import java.util.List;

@Data
public class AgvTaskCreateParam {
    private String robotTaskCode;
    private String taskType;
    private String initPriority;
    private List<AgvTaskParam> targetRoute;
    private List<carrierInfoParam> carrierInfo;


    @Data
    public static class AgvTaskParam {
        private String type;
        private String code;
        private Integer seq;
        private Integer autoStart;


        public AgvTaskParam(String type, String code, Integer seq, Integer autoStart) {
            this.type = type;
            this.code = code;
            this.seq = seq;
            this.autoStart = autoStart;
        }
    }
    @Data
    public static class carrierInfoParam{
        private String carrierType = "2";
        private String carrierCode = "2";
    }
}



 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/AgvTaskParam.java

New file
@@ -0,0 +1,40 @@
package com.zy.asrs.wcs.core.domain.param;

import lombok.Data;

import java.util.List;

@Data
public class AgvTaskParam {
    private String robotTaskCode;
    private String singleRobotCode;
    private Integer currentSeq;
    private extras extra;

    @Data
    public static class extras{
        private String async;
        private valuess values;
    }
    @Data
    public static class valuess{
        private String slotName;
        private String carrierCategory;
        private String method;
        private String carrierCode;
        private Integer x;
        private String carrierType;
        private Integer y;
        private String slotCategory;
        private String mapCode;
        private Integer pileCount;
        private String slotCode;
        private String orgCode;
        private String amrCategory;
        private String amrType;
        private String amrCode;
        private String carrierDir;
    }


}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/CreateOutTaskParam.java

@@ -19,5 +19,7 @@

    //优先级
    private Integer priority;
    //agv放货站
    private String endSite;

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java

@@ -1,7 +1,11 @@
package com.zy.asrs.wcs.core.timer;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.wcs.core.domain.param.AgvTaskCreateParam;
import com.zy.asrs.wcs.core.domain.param.CreateWcsTaskParam;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.enums.LocStsType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
@@ -12,9 +16,7 @@
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.*;

@Slf4j
@Component
@@ -30,13 +32,103 @@
    private MotionLogService motionLogService;
    @Autowired
    private LocService locService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public synchronized void sendOutTaskToAgv() {
        ArrayList<Long> taskSts = new ArrayList<>();
        taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);

        BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, 100));
        if (basConveyorSta == null) {
            return;
        }
        if (basConveyorSta.getWorkMode() != 2){
            return;
        }
        if (basConveyorSta.getTaskNo() == 0){
            return;
        }
        if (!basConveyorSta.getAutoing().equals("Y") || !basConveyorSta.getLoading().equals("Y")) {
            return;
        }

        List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                .eq(Task::getStatus, 1)
                .in(Task::getTaskSts, taskSts));
        for (Task task : tasks) {
            if (task.getTaskNo().equals(basConveyorSta.getTaskNo().toString())) {
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getOutRequestParam(agvTaskCreateParam,task);
                boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (httpRequest){
                    task.setTaskSts(1000L);
                    taskService.updateById(task);
                }else {
                    log.error("出库任务推送rgv失败"+task.getWmsTaskNo());
                }
            }
        }
    }

    private void getOutRequestParam(AgvTaskCreateParam agvTaskCreateParam, Task param){
        List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.AgvTaskParam("SITE","06YZ0001",0,1),
                //目标位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getMemo(),1,1)
        );
        List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.carrierInfoParam()

        );
        agvTaskCreateParam.setTaskType("F01");
        agvTaskCreateParam.setInitPriority(param.getPriority().toString());
        agvTaskCreateParam.setRobotTaskCode(param.getWmsTaskNo());
        agvTaskCreateParam.setTargetRoute(agvTaskParamList);
        agvTaskCreateParam.setCarrierInfo(carrierInfoParam);

    }

    private boolean doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
        String response = "";
        boolean success = false;
        Map<String, Object> map = new HashMap<>();
        map.put("Content-Type", "application/json;charset=UTF-8");
        map.put("X-lr-request-id", requestParam.getRobotTaskCode());
        map.put("X-lr-version", 4.1);
        map.put("X-lr-trace-id", "{{$guid}}");
        try {
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(path)
                    .setJson(JSONObject.toJSONString(requestParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);

            String code = jsonObject.get("code").toString();
            if(code.equals("SUCCESS")){
                success = true;
            }

        }catch (Exception e){

        }
        return success;
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public synchronized void clearCompletedTask() {
        ArrayList<Long> taskSts = new ArrayList<>();
        taskSts.add(TaskStsType.COMPLETE_INBOUND.sts);
        taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
//        taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
        taskSts.add(TaskStsType.COMPLETE_CHARGE.sts);
        taskSts.add(TaskStsType.COMPLETE_MOVE.sts);
        taskSts.add(TaskStsType.COMPLETE_MANUAL.sts);