#

zjj

2025-09-15 4cd83996517bedf7ed817ae4cadcd5b8ebc80086

#

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

@@ -82,6 +82,11 @@
    return R.ok();

}
    @PostMapping("/agv/finishedCall")
    @ManagerAuth
    public R pdaAgvFinishedCall(@RequestBody Map<String,Object> map){
        return mobileService.FinishedCall(map);
    }
    @PostMapping("/agv/lineCall")
    @ManagerAuth
    public R pdaAgvLineCall(@RequestBody Map<String,Object> map){

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

@@ -68,4 +68,6 @@
    R lineCall(Map<String, Object> map);

    void AgvStaBind(CombParam combParam,Long userID);

    R FinishedCall(Map<String, Object> map);
}

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

@@ -141,6 +141,25 @@
    }

    @Override
    public R FinishedCall(Map<String, Object> map) {
        String orgSite =  map.get("orgSite").toString();
        String tarSite = map.get("tarSite").toString();
        if (Cools.isEmpty(orgSite) || Cools.isEmpty(tarSite)) {
            return R.error("数据为空");
        }
        if (orgSite.charAt(0) != 'd'){
            throw new CoolException("站点异常，只允许d开头站点");
        }
//        呼叫agv
        boolean success = sendAgvTask2(orgSite, tarSite,"GT6");
        if (!success){
            throw new CoolException("呼叫agv失败");
        }

        return R.ok();
    }

    @Override
    public R inLocCallAgv(String sta, String inSta) {

        BasDevp basDevp = basDevpMapper.selectById(inSta);
@@ -288,6 +307,58 @@
        return success ? R.ok("解绑成功") : R.parse(message);
    }

    public boolean sendAgvTask2(String org,String tar,String type){

        ForwardAGVTaskParam forwardAGVTaskParam = new ForwardAGVTaskParam();
        forwardAGVTaskParam.setReqCode(UUID.randomUUID().toString().replace("-", ""));
        forwardAGVTaskParam.setClientCode("IWMS");
        forwardAGVTaskParam.setTaskTyp(type);
        forwardAGVTaskParam.setCtnrTyp("2");
        forwardAGVTaskParam.setPriority("1");
        List<ForwardAGVTaskParam.PositionCodePaths> positionCodePathsList = new ArrayList<>();
        positionCodePathsList.add(new ForwardAGVTaskParam.PositionCodePaths(org, "05"));
        positionCodePathsList.add(new ForwardAGVTaskParam.PositionCodePaths(tar, "04"));
        forwardAGVTaskParam.setPositionCodePath(positionCodePathsList);

        String body = JSON.toJSONString(forwardAGVTaskParam);
        String response = "";
        String message = "";
        boolean success = false;
        try {
            response = new HttpHandler.Builder()
                    .setUri(ApiInterfaceConstant.AGV_IP)
                    .setPath(ApiInterfaceConstant.AGV_CALL_IN_PATH)
                    .setJson(body)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getInteger("code").equals(0)) {
                success = true;
            } else {

                log.error("呼叫agv失败！！！url：{}；request：{}；response：{}", ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CALL_IN_PATH, body, response);
            }
        } catch (Exception e) {
            log.error("入库呼叫agv异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "入库呼叫agv",
                        ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CALL_IN_PATH,
                        null,
                        "127.0.0.1",
                        body,
                        response,
                        success
                );
            } catch (Exception e) {
                log.error("", e);
            }
        }
        return success;
    }

    public boolean sendAgvTask(String org,String tar,String type){

        ForwardAGVTaskParam forwardAGVTaskParam = new ForwardAGVTaskParam();