#AGV

zhou zhou

昨天 071b6b6eb7add4aa6e067b87259697101bff4119

#AGV

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

@@ -60,6 +60,13 @@
    @Resource
    private StaDescService staDescService;


    @PostMapping("/agv/callEmptyCar")
    @ManagerAuth
    public R pdaAgvFinishedCall(@RequestBody AgvCallParams params){
        return mobileService.callEmptyCar(params);
    }

    @RequestMapping("/pda/WarehouseOut/v1")
    @ManagerAuth(memo = "并板途中拣料-参考念初")
    public R WarehouseOutV1(@RequestBody CombParam combParam) {

 src/main/java/com/zy/asrs/entity/result/ForwardAGVTaskDTO.java

New file
@@ -0,0 +1,39 @@
package com.zy.asrs.entity.result;

import lombok.Data;

import java.util.List;

@Data
public class ForwardAGVTaskDTO {
    private String reqCode;
    private String reqTime;
    private String taskTyp;
    private String ctnrCode;
    private List<PositionCodePaths> positionCodePath;
    private String clientCode = "";
    private String tokenCode = "";
    private String ctnrTyp = "";
    private String ctnrNum = "";
    private String wbCode = "";
    private String podCode = "";
    private String podDir = "";
    private String podTyp = "";
    private String materialLot = "";
    private String priority = "";
    private String taskCode;
    private String agvCode = "";
    private String data = "";

    @Data
    public static class PositionCodePaths{
        private String positionCode;
        private String type;

        public PositionCodePaths(String positionCode, String type){
            this.positionCode = positionCode;
            this.type = type;

        }
    }
}

 src/main/java/com/zy/asrs/entity/result/HIKApiDTO.java

New file
@@ -0,0 +1,38 @@
package com.zy.asrs.entity.result;

import lombok.Data;
import lombok.experimental.Accessors;

@Data
@Accessors(chain = true)
public class HIKApiDTO {
    /**
     * 源站
     */
    private String org;
    /**
     * 源站类型
     */
    private String orgType;
    /**
     * 目标站
     */
    private String tar;
    /**
     * 目标站类型
     */
    private String tarType;
    /**
     * 任务类型
     */
    private String taskType;
    /**
     * 容器类型
     */
    private String ctnrType;
    /**
     * 优先级
     */
    private String priority;

}

 src/main/java/com/zy/asrs/entity/result/HIKResultDTO.java

New file
@@ -0,0 +1,9 @@
package com.zy.asrs.entity.result;

import lombok.Data;

@Data
public class HIKResultDTO {
    private boolean success = false;
    private String message;
}

 src/main/java/com/zy/asrs/service/MobileService.java

@@ -8,6 +8,7 @@
import com.zy.asrs.entity.param.*;

import java.util.Date;
import java.util.Map;

public interface MobileService {

@@ -99,4 +100,6 @@
     * @version 1.0
     */
    R OutCallAgv(AgvCallParams params, Long userId);

    R callEmptyCar(AgvCallParams params);
}

 src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java

@@ -8,13 +8,16 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.enums.CommonEnum;
import com.zy.asrs.entity.result.ForwardAGVTaskDTO;
import com.zy.asrs.entity.result.HIKApiDTO;
import com.zy.asrs.entity.result.HIKResultDTO;
import com.zy.asrs.enums.LocStsType;
import com.zy.asrs.mapper.LocMastMapper;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.MatUtils;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.constant.HIKApiConstant;
import com.zy.common.constant.MesConstant;
import com.zy.common.entity.Parameter;
import com.zy.common.model.DetlDto;
@@ -1272,6 +1275,31 @@
        return R.ok();
    }

    @Override
    public R callEmptyCar(AgvCallParams params) {

        List<LocCache> locSts = locCacheService.selectList(new EntityWrapper<LocCache>().eq("loc_sts", LocStsType.LOC_STS_TYPE_D.type));
        if (locSts.isEmpty()){
            throw new CoolException("暂无空板库位");
        }

        HIKApiDTO hikApiDTO =new HIKApiDTO()
                .setOrg(locSts.get(0).getLocNo())
                .setOrgType("05")
                .setTar(params.getTarSite())
                .setTarType("05")
                .setTaskType("GT5")
                .setPriority("1")
                .setCtnrType("2")
                ;
        HIKResultDTO hikResultDTO = sendAgvTask(hikApiDTO, HIKApiConstant.AGV_CALL_IN_PATH);
        if (!hikResultDTO.isSuccess()){
            return R.error(hikResultDTO.getMessage());
        }

        return R.ok();
    }

    /**
     * @author Ryan
     * @date 2025/9/25
@@ -1429,4 +1457,58 @@
            throw new CoolException("移转失败，目标库位状态：" + loc.getLocSts$());
        }
    }


    public HIKResultDTO sendAgvTask(HIKApiDTO haiKangApiDTO,String path){
        HIKResultDTO result = new HIKResultDTO();

        ForwardAGVTaskDTO forwardAGVTaskParam = new ForwardAGVTaskDTO();
        forwardAGVTaskParam.setReqCode(UUID.randomUUID().toString().replace("-", ""));
        forwardAGVTaskParam.setClientCode("IWMS");
        forwardAGVTaskParam.setTaskTyp(haiKangApiDTO.getTaskType());
        forwardAGVTaskParam.setCtnrTyp(haiKangApiDTO.getCtnrType());
        forwardAGVTaskParam.setPriority(haiKangApiDTO.getPriority());
        List<ForwardAGVTaskDTO.PositionCodePaths> positionCodePathsList = new ArrayList<>();
        positionCodePathsList.add(new ForwardAGVTaskDTO.PositionCodePaths(haiKangApiDTO.getOrg(), haiKangApiDTO.getOrgType()));
        positionCodePathsList.add(new ForwardAGVTaskDTO.PositionCodePaths(haiKangApiDTO.getTar(), haiKangApiDTO.getTarType()));
        forwardAGVTaskParam.setPositionCodePath(positionCodePathsList);

        String body = JSON.toJSONString(forwardAGVTaskParam);
        String response = "";
        try {
            response = new HttpHandler.Builder()
                    .setUri(HIKApiConstant.AGV_IP)
                    .setPath(path)
                    .setJson(body)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getInteger("code").equals(0)) {
                result.setSuccess(true);
            } else {
                result.setMessage(jsonObject.getString("message"));
                log.error("发送agv任务失败！！！url：{}；request：{}；response：{}", HIKApiConstant.AGV_IP + path, body, response);
            }
//            {"code":"1","data":"","interrupt":false,"message":"重复提交","msgErrCode":"0x3a80D012","reqCode":"fa92b49481a44627ae4d80c1400f28f6"}
        } catch (Exception e) {
            result.setMessage(e.getMessage());
            log.error("发送agv任务异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "发送agv任务",
                        HIKApiConstant.AGV_IP + path,
                        null,
                        "127.0.0.1",
                        body,
                        response,
                        result.isSuccess()
                );
            } catch (Exception e) {
                log.error("", e);
            }
        }
        return result;
    }
}

 src/main/java/com/zy/common/constant/HIKApiConstant.java

New file
@@ -0,0 +1,15 @@
package com.zy.common.constant;


public class HIKApiConstant {

    // AGV IP地址
    public static final String AGV_IP = "10.0.100.110:8182";

    // 入库呼叫AGV取货
    public static final String AGV_CALL_IN_PATH = "/rcms/services/rest/hikRpcService/genAgvSchedulingTask";

    // AGV绑定仓位
    public static final String AGV_BIND_PATH = "/rcms/services/rest/hikRpcService/bindCtnrAndBin";

}