#

1

2 天以前 53f87c2ff10f7ab71d6b0340a5a4811089d7cd1e

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

@@ -403,6 +403,9 @@
        } catch (Exception e){
            return R.error("单据编号[order_id]以 "+sign_arm_sku+" 与 "+sign_arm_order+" 作为拆分标记拆分失败！！！");
        }
        if (param.getArm_no()>4){
            return R.ok().add(true);
        }

        boolean taskArmWorkOrderSign = openService.TaskArmWorkOrderSign(param);
        return R.ok().add(taskArmWorkOrderSign);
@@ -511,4 +514,36 @@
        return R.error("库位不存在或无明细");
    }

    /**
     * AGV申请过光栅
     */
    @PostMapping("/agv/arm/grating/v1/agvCallback")
    @AppAuth(memo = "AGV申请过光栅")
    public synchronized R agvGrating(@RequestHeader(required = false) String appkey,
                                         @RequestBody AgvGoTheArnParam param,
                                         HttpServletRequest request) {
//        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getCurrentPositionCode())) {
            return R.error("位置[currentPositionCode]不能为空");
        }
        boolean bindCtnrAndBin = true;
        List<ArmAgvGratingParam> armList = param.getArmNo();
        if (armList.isEmpty()){
            return R.error("库位不存在或无明细");
        }
        for (ArmAgvGratingParam arm : armList){
            if (bindCtnrAndBin){
                bindCtnrAndBin = openService.agvApplicationPassedTheGrating(arm);
//                System.out.println("请求通过光栅"+armNo);
            }
        }
        if (bindCtnrAndBin) {
            return new R(0,"成功");
        }
        return R.error("库位不存在或无明细");
    }

}

 src/main/java/com/zy/asrs/entity/param/AgvGoTheArnParam.java

New file
@@ -0,0 +1,59 @@
package com.zy.asrs.entity.param;

import lombok.Data;

import java.util.ArrayList;
import java.util.List;

@Data
public class AgvGoTheArnParam {
    String reqCode; //任务号
    String reqTime; //
    String currentPositionCode; //  位置
    String method; //
    String robotCode; //
    String taskCode; //

    public List<ArmAgvGratingParam> getArmNo() {
        List<ArmAgvGratingParam> armList = new ArrayList<>();
        if (this.currentPositionCode == null) return armList;
        switch (this.currentPositionCode) {
            case "028370CC015200":
            case "029870CC015200":
            case "3100101":
            case "3100201":
                ArmAgvGratingParam armAgvGratingParam1 = new ArmAgvGratingParam();
                armAgvGratingParam1.setArmNo(5);
                armAgvGratingParam1.setChannel("A1");
                armList.add(armAgvGratingParam1);
                return armList;
            case "028440CC024257":
            case "029940CC024257":
            case "3000101":
            case "3000201":
            case "2900101":
            case "2900201":
                ArmAgvGratingParam armAgvGratingParam2 = new ArmAgvGratingParam();
                armAgvGratingParam2.setArmNo(5);
                armAgvGratingParam2.setChannel("A2");
                armList.add(armAgvGratingParam2);
                ArmAgvGratingParam armAgvGratingParam3 = new ArmAgvGratingParam();
                armAgvGratingParam3.setArmNo(6);
                armAgvGratingParam3.setChannel("A1");
                armList.add(armAgvGratingParam3);
                return armList;
            case "028440CC031993":
            case "029940CC031993":
            case "2800101":
            case "2800201":
                ArmAgvGratingParam armAgvGratingParam4 = new ArmAgvGratingParam();
                armAgvGratingParam4.setArmNo(6);
                armAgvGratingParam4.setChannel("A2");
                armList.add(armAgvGratingParam4);
                return armList;
            default:
                return armList;
        }
    }

}

 src/main/java/com/zy/asrs/entity/param/ArmAgvGratingParam.java

New file
@@ -0,0 +1,16 @@
package com.zy.asrs.entity.param;

import com.core.common.DateUtils;
import lombok.Data;

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

@Data
public class ArmAgvGratingParam {
    Integer armNo; //
    String channel; //
    String date_time = DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmss_F); //

}

 src/main/java/com/zy/asrs/mapper/BasArmMastMapper.java

@@ -9,6 +9,6 @@
@Mapper
@Repository
public interface BasArmMastMapper extends BaseMapper<BasArmMast> {
    boolean updateArmMastStatus(@Param("armNo")int armNo, @Param("sortingLine")int sortingLine, @Param("status")int status, @Param("endStatus")int endStatus);
    boolean updateArmMastStatus(@Param("armNo")int armNo, @Param("sortingLine")int sortingLine, @Param("status")int status, @Param("endStatus")int endStatus, @Param("staNoEnd")int staNoEnd);

}

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

@@ -4,6 +4,6 @@
import com.baomidou.mybatisplus.service.IService;

public interface BasArmMastService extends IService<BasArmMast> {
    boolean updateArmMastStatus(int armNo,int sortingLine,int status,int endStatus);
    boolean updateArmMastStatus(int armNo,int sortingLine,int status,int endStatus,int staNoEnd);

}

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

@@ -53,4 +53,5 @@
    boolean taskAgvCreate(TaskAgvCreateParam param);
    List<AgvLocListDetlParam> getAgvLocList(AgvLocListParam param);
    boolean bindCtnrAndBin(bindCtnrAndBinParam param);
    boolean agvApplicationPassedTheGrating(ArmAgvGratingParam arm);
}

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

@@ -9,7 +9,7 @@
@Service("basArmMastService")
public class BasArmMastServiceImpl extends ServiceImpl<BasArmMastMapper, BasArmMast> implements BasArmMastService {
    @Override
    public boolean updateArmMastStatus(int armNo,int sortingLine,int status,int endStatus){
        return this.baseMapper.updateArmMastStatus(armNo,sortingLine,status,endStatus);
    public boolean updateArmMastStatus(int armNo,int sortingLine,int status,int endStatus,int staNoEnd){
        return this.baseMapper.updateArmMastStatus(armNo,sortingLine,status,endStatus,staNoEnd);
    }
}

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

@@ -14,13 +14,16 @@
import com.zy.asrs.entity.result.StockVo;
import com.zy.asrs.mapper.TagMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.task.core.ReturnT;
import com.zy.asrs.utils.MatUtils;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.asrs.utils.Utils;
import com.zy.common.constant.ArmConstant;
import com.zy.common.model.DetlDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.NodeUtils;
import com.zy.erp.kingdee.utils.PostMesDataUtils;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -663,7 +666,8 @@
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)){
            throw new CoolException("机械臂配置异常，查询不到机械臂数据！！！"+ JSON.toJSONString(param));
            return;
//            throw new CoolException("机械臂配置异常，查询不到机械臂数据！！！"+ JSON.toJSONString(param));
        }

        try{
@@ -733,7 +737,8 @@
        if (Cools.isEmpty(basArmMast)){
            throw new CoolException("未查询到相关机械臂拆码垛任务！！！"+ JSON.toJSONString(param));
        }
        basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),2,3);
        basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),basArmMast.getStaNo(),1,3);
        basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),basArmMast.getStaNo(),2,3);
    }

    @Override
@@ -754,7 +759,7 @@
                        .eq("status", 5)
        );
        if (!Cools.isEmpty(basArmMast)){
            basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(), 5,6);
            basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),basArmMast.getStaNo(), 5,6);
        }
    }

@@ -913,5 +918,16 @@
    }


    @Override
    @Transactional
    public boolean agvApplicationPassedTheGrating(ArmAgvGratingParam arm) {
        ReturnT<String> result = new PostMesDataUtils().postMesDataArmGrating("光栅请求下发：", ArmConstant.getArmUrl(arm.getArmNo()), ArmConstant.ARM_ADAPTOR_GRATING_AGVENTER, arm);
        if (result.getCode()==200){
            return true;
        }
        return false;
    }



}

 src/main/java/com/zy/asrs/task/handler/WrkMastAgvHandler.java

@@ -111,6 +111,16 @@
                    if (!locDetls2.isEmpty()) {
                        locDetlService.delete(new EntityWrapper<LocDetl>().eq("loc_no", basAgvMast.getLocNo()));
                    }

                    LocMast locMast2 = locMastService.selectById(basAgvMast.getLocNo());
                    // 修改库位状态 S ====>> F
                    if (locMast2.getLocSts().equals("S")) {
                        locMast2.setLocSts("F");
                        locMast2.setIoTime(now);
                        locMast2.setModiTime(now);
                    } else {
                        return FAIL.setMsg("库位状态异常");
                    }
                    List<LocDetl> locDetlList1 = new ArrayList<>();
                    List<LocDetl> locDetlList2 = new ArrayList<>();
                    List<BasAgvLocDetl> basAgvLocDetlList = basAgvLocDetlService.selectList(new EntityWrapper<BasAgvLocDetl>().eq("loc_no", basAgvMast.getSourceLocNo()));
@@ -123,59 +133,50 @@
                        }
                    } else if (!basAgvWrkDetlList.isEmpty()){
                        for (BasAgvWrkDetl wrkDetl : basAgvWrkDetlList){
                            LocDetl locDetl = new LocDetl();
                            locDetl.sync(wrkDetl);
                            locDetl.setLocNo(basAgvMast.getLocNo()); // 库位号
                            locDetl.setAnfme(wrkDetl.getAnfme()); // 数量
                            locDetl.setZpallet(wrkDetl.getZpallet()); // 托盘条码
                            locDetl.setModiTime(now);
                            locDetl.setAppeTime(now);
                            locDetl.setOrigin("在库");
                            locDetlList2.add(locDetl);

                            LocDetl locDetl = locDetlService.selectItem(basAgvMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),wrkDetl.getBrand()
                                    ,wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3());
                        }
                    } else {
                        locMast2.setLocSts("D");
                    }

                    if (!locMastService.updateById(locMast2)) {
                        return FAIL;
                    }
                    if (!locDetlList1.isEmpty()){
                        for (LocDetl locDetlold : locDetlList1) {
                            LocDetl locDetl = locDetlService.selectItem(basAgvMast.getLocNo(), locDetlold.getMatnr(), locDetlold.getBatch(),locDetlold.getBrand()
                                    ,locDetlold.getStandby1(),locDetlold.getStandby2(),locDetlold.getStandby3(),locDetlold.getBoxType1(),locDetlold.getBoxType2(),locDetlold.getBoxType3());
                            if (null != locDetl) {
                                if (!locDetlService.updateAnfme(wrkDetl.getAnfme(), basAgvMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3()
                                        ,wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3())) {
//                                exceptionHandle("全板入库 ===>> 更新库存明细失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("全板入库 ===>> 更新库存明细失败; [workNo=" + basAgvMast.getTaskNo() + "],[locNo=" + basAgvMast.getLocNo() + "]");
                                if (!locDetlService.updateAnfme(locDetlold.getAnfme(), basAgvMast.getLocNo(), locDetlold.getMatnr(), locDetlold.getBatch(),locDetlold.getBrand(),locDetlold.getStandby1(),locDetlold.getStandby2(),locDetlold.getStandby3()
                                        ,locDetlold.getBoxType1(),locDetlold.getBoxType2(),locDetlold.getBoxType3())) {
                                }
                            } else {
                                locDetl = new LocDetl();
                                locDetl.sync(wrkDetl);
                                locDetl.setLocNo(basAgvMast.getLocNo()); // 库位号
                                locDetl.setAnfme(wrkDetl.getAnfme()); // 数量
                                locDetl.setZpallet(wrkDetl.getZpallet()); // 托盘条码
                                locDetl.setModiTime(now);
                                locDetl.setAppeTime(now);
                                locDetl.setOrigin("在库");
                                if (!locDetlService.insert(locDetl)) {
//                                exceptionHandle("全板入库 ===>> 添加库存明细失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("入库 ===>> 添加库存明细失败; [workNo=" + basAgvMast.getTaskNo() + "],[locNo=" + basAgvMast.getLocNo() + "]");
                                if (!locDetlService.insert(locDetlold)) {
                                }
                            }

                        }
                    }

                    LocMast locMast2 = locMastService.selectById(basAgvMast.getLocNo());


                    // 修改库位状态 S ====>> F
                    if (locMast2.getLocSts().equals("S")) {
                        locMast2.setLocSts("F");
                        locMast2.setIoTime(now);
                        locMast2.setModiTime(now);
                        if (!locMastService.updateById(locMast2)) {
//                            exceptionHandle("全板入库 ===>> 修改库位状态失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                            return FAIL.setMsg("全入库 ===>> 修改库位状态失败; [TaskNo=" + basAgvMast.getTaskNo() + "],[locNo=" + basAgvMast.getLocNo() + "]");
                        }
                    }


                    if (!locDetlList1.isEmpty()){
                        for (LocDetl locDetl : locDetlList1) {
                            locDetlService.insert(locDetl);
                        }
                    }
                    if (!locDetlList2.isEmpty()){
                        for (LocDetl locDetl : locDetlList2) {
                            locDetlService.insert(locDetl);
                        for (LocDetl locDetlold : locDetlList2) {
                            LocDetl locDetl = locDetlService.selectItem(basAgvMast.getLocNo(), locDetlold.getMatnr(), locDetlold.getBatch(),locDetlold.getBrand()
                                    ,locDetlold.getStandby1(),locDetlold.getStandby2(),locDetlold.getStandby3(),locDetlold.getBoxType1(),locDetlold.getBoxType2(),locDetlold.getBoxType3());
                            if (null != locDetl) {
                                if (!locDetlService.updateAnfme(locDetlold.getAnfme(), basAgvMast.getLocNo(), locDetlold.getMatnr(), locDetlold.getBatch(),locDetlold.getBrand(),locDetlold.getStandby1(),locDetlold.getStandby2(),locDetlold.getStandby3()
                                        ,locDetlold.getBoxType1(),locDetlold.getBoxType2(),locDetlold.getBoxType3())) {
                                }
                            } else {
                                if (!locDetlService.insert(locDetlold)) {
                                }
                            }
                        }
                    }


 src/main/java/com/zy/asrs/task/kingdee/handler/InboundOrderHandler.java

@@ -131,7 +131,7 @@
//                    jsonObject.put("start_biztime", latestUpdateTime);//业务起始日期
                    jsonObject.put("start_biztime",  "2025-01-01 00:00:00");//业务起始日期
                    jsonObject.put("end_biztime", sdf1.format(now));//业务结束日期
                    jsonObject.put("billno", "CGSL-251125-000001");
                    jsonObject.put("billno", "CGSL-251126-000001");
                    jsonObject.put("billstatus", Arrays.asList("C"));//数据状态 [A:暂存, B:已提交, C:已审核]
                    jsonObject.put("start_auditdate", "2025-11-25 00:00:00");
                    jsonObject.put("end_auditdate", sdf1.format(now));
@@ -203,6 +203,9 @@
                            Double length = jsonObjectNew.get("length") != null ? new BigDecimal(jsonObjectNew.get("eap7_decimalfield7").toString()).doubleValue() : 0.0;
                            Double netweight = jsonObjectNew.get("netweight") != null ? new BigDecimal(jsonObjectNew.get("eap7_decimalfield").toString()).doubleValue() : 0.0;
                            // 生成商品档案
                            height = height*10;
                            width = width*10;
                            length = length*10;
                            Mat mat = matService.selectByMatnr(matnr);
                            if (mat == null) {
                                mat = new Mat();
@@ -211,9 +214,9 @@
                                mat.setTagId(tag.getId());
                                mat.setWeight(grossweight);//净重
                                mat.setUnits(netweight);//毛重
                                mat.setManLength(length*10);
                                mat.setHeight(height*10);
                                mat.setWidth(width*10);
                                mat.setManLength(length);
                                mat.setHeight(height);
                                mat.setWidth(width);
                                mat.setCreateTime(sdf1.parse(createTime));
                                mat.setUpdateTime(modifyTime);
                                mat.setStatus(1);

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

New file
@@ -0,0 +1,41 @@
package com.zy.common.constant;

/*
 *  Created by Monkey D. Luffy on 2025.09.09
 * */
public class ArmConstant {

    public static final String ARM_URL = "http://10.10.10.171:7002";
    public static final String ARM_URL1 = "http://10.10.10.171:7002";
    public static final String ARM_URL2 = "http://10.10.10.174:7002";
    public static final String ARM_URL3 = "http://10.10.10.177:7002";
    public static final String ARM_URL4 = "http://10.10.10.180:7002";
    public static final String ARM_URL5 = "http://10.10.10.183:7002";
    public static final String ARM_URL6 = "http://10.10.10.186:7002";

    public static final String ARM_ADAPTOR = "adaptor/api/wcs/order";//创建订单
    public static final String ARM_ADAPTOR_GRATING_AGVLEAVE = "adaptor/api/wcs/agvleave";//创建订单
    public static final String ARM_ADAPTOR_GRATING_AGVENTER = "adaptor/api/wcs/agventer";//创建订单

    public static final String ARM_WORKSPACE = "adaptor/api/wcs/workspace/ready";//通知工作空间已就绪

    public static String getArmUrl(int armNo) {
        switch (armNo) {
            case 1:
                return ARM_URL1;
            case 2:
                return ARM_URL2;
            case 3:
                return ARM_URL3;
            case 4:
                return ARM_URL4;
            case 5:
                return ARM_URL5;
            case 6:
                return ARM_URL6;
            default:
                return ARM_URL;
        }
    }

}

 src/main/java/com/zy/erp/kingdee/utils/PostMesDataUtils.java

@@ -2,14 +2,18 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.ApiLog;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.task.AbstractHandler;
import com.zy.asrs.task.core.ReturnT;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;

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

@Slf4j
@@ -116,4 +120,88 @@
        }
        return SUCCESS;
    }

    public ReturnT<String> postMesDataArmGrating(String name, String URL, String mesPath, Object combParam){
//        if (true){
//            System.out.println("name:"+name+",URL:"+URL+",mesPath:"+mesPath+",combParam:"+combParam);
//            return SUCCESS;
//        }
        if(combParam != null){
            String response = "";
            boolean success = false;
            try {
//                Map<String, Object> map = new HashMap<>()
//                map.put("appkey","ea1f0459efc02a79f046f982767939ae");
                response = new HttpHandler.Builder()
//                        .setHeaders(map)
                        .setUri(URL)
                        .setPath(mesPath)
                        .setJson(JSON.toJSONString(combParam))
                        .build()
                        .doPost();
                System.out.println("response:"+response);
                JSONObject jsonObject = JSON.parseObject(response);

                if (jsonObject.getInteger("code").equals(0)) {
                    success = true;
                } else {
                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", URL+"/"+mesPath, JSON.toJSONString(combParam), response);
                    throw new CoolException(name);
                }
            } catch (Exception e) {
                log.error("请求接口失败！！！url：{}；request：{}；response：{}", URL+"/"+mesPath, JSON.toJSONString(combParam), response);
//                      TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                return FAIL.setMsg(e.getMessage());
            } finally {
                try {
                    if (success){
                        // 保存接口日志
                        ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
                        apiLogService.save(
                                name,
                                URL +"/"+ mesPath,
                                null,
                                "127.0.0.1",
                                JSON.toJSONString(combParam),
                                response,
                                success
                        );
                    } else {
                        postMesDataCallApiLogSave(response,success,name, URL, mesPath, combParam);
                    }
                } catch (Exception e) {
                    log.error("", e); }
            }
        }
        return SUCCESS;
    }

    public void postMesDataCallApiLogSave(String response,boolean success,String name, String URL, String mesPath, Object combParam) {
        ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);

        ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
                .eq("namespace", name)
                .eq("response", response)
                .eq("url", URL +"/"+ mesPath)
                .eq("result", success? 1:0)
                .orderBy("create_time", false)
        );

        if (!Cools.isEmpty(apiLog)){
            long parseLong = Long.parseLong(apiLog.getTimestamp());
            if (new Date().getTime()-parseLong<5*1000*60){
                return;
            }
        }
        // 保存接口日志
        apiLogService.save(
                name,
                URL +"/"+ mesPath,
                null,
                "127.0.0.1",
                JSON.toJSONString(combParam),
                response,
                success
        );
    }
}

 src/main/resources/mapper/BasArmMastMapper.xml

@@ -32,6 +32,7 @@
        where 1=1
          and arm_no = #{armNo}
          and sorting_line = #{sortingLine}
          and sta_no = #{staNoEnd}
          and status = #{status}
    </update>