人员入侵调用以及回调接口

zyh

2 天以前 b26b26e7170f4b86642176ac62955e57e1dc74a9

人员入侵调用以及回调接口

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

@@ -1,6 +1,7 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSONObject;
import com.core.annotations.AppAuth;
import com.zy.asrs.entity.mes.TransParent;
import com.zy.asrs.entity.rcs.RcsReporterEqpt;
import com.zy.asrs.entity.rcs.RcsReporterTask;
@@ -43,4 +44,18 @@
        return rcsService.hxApplyInLine(param);
    }


    @PostMapping("/api/robot/personIn")
    @AppAuth(memo = "人员入侵回调接口")
    public JSONObject personIn(@RequestBody JSONObject param){
        JSONObject jsonObject = new JSONObject();
        if (rcsService.personIn(param) == 1){
            jsonObject.put("code", 200);
            jsonObject.put("message", "success");
        }else {
            jsonObject.put("code", 500);
            jsonObject.put("message", "fail");
        }
        return jsonObject;
    }
}

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

@@ -68,4 +68,6 @@
     * 2.1.12 存储对象与搬运对象绑定解绑接口
     */
    RcsReturn siteBind(SiteBind siteBind);

    int personIn(JSONObject param);
}

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

@@ -6,7 +6,6 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.TransArrivalStation;
import com.zy.asrs.entity.mes.TransInOutStationAllow;
import com.zy.asrs.entity.mes.TransParent;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.enums.RcsRetMethodEnum;
@@ -15,8 +14,11 @@
import com.zy.asrs.mapper.BlockTaskMapper;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.RedisUtil;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
@@ -30,13 +32,15 @@
import java.net.URLConnection;
import java.nio.charset.StandardCharsets;
import java.util.*;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

@Slf4j
@Service
public class RcsServiceImpl implements RcsService {

    @Value("${wms.address}")
    private String WMS_ADDRESS;
    @Value("${personIn.url}")
    private String PERSON_URL;
    // 海康RCS地址
    @Value("${hik.url}")
    private String HIK_URL;
@@ -64,8 +68,15 @@
    @Resource
    private WrkMastService wrkMastService;

    @Autowired
    private RedisUtil redisUtil;
    @Resource
    private ApiLogService apiLogService;

    private static final String IS_START_CHECK_INTRUSION = "intrusion:check";
    private static final String IS_PERSON_INTRUSION = "intrusion:person";
    private static final String LAST_INTRUSION_TIME = "intrusion:lastTime";
    private static final String IS_BLOCK_AREA = "intrusion:block";


    // region 封锁区逻辑，目前只有一个大封锁区，任务全部转到滑块库处理，或直接写到滑块库
@@ -96,40 +107,40 @@
     */
    public void managerBlock() {

       try {
           BlockTask firstTask = blockTaskMapper.findTop();
           if (firstTask == null) {
               return;
           }
           EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
           wrapper.eq("block_no", firstTask.getBlockNo());
           List<BlockStation> stations = blockStationMapper.selectList(wrapper);
           if (!stations.isEmpty()) {
               boolean locked = false;
               for (BlockStation station : stations) {
                   // 只允许1个厂家设备进入封锁区，status状态：0 空闲；1 海康封锁中；2 华晓封锁中；-1 异常；
                   if (station.getStatus() > 0 && !station.getStatus().equals(firstTask.getAgvFactory())) {
                       locked = true;
                       break;
                   }
               }
        try {
            BlockTask firstTask = blockTaskMapper.findTop();
            if (firstTask == null) {
                return;
            }
            EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
            wrapper.eq("block_no", firstTask.getBlockNo());
            List<BlockStation> stations = blockStationMapper.selectList(wrapper);
            if (!stations.isEmpty()) {
                boolean locked = false;
                for (BlockStation station : stations) {
                    // 只允许1个厂家设备进入封锁区，status状态：0 空闲；1 海康封锁中；2 华晓封锁中；-1 异常；
                    if (station.getStatus() > 0 && !station.getStatus().equals(firstTask.getAgvFactory())) {
                        locked = true;
                        break;
                    }
                }

               if (!locked) {
                   // 封锁状态
                   int success = blockStationMapper.addByBlockNo(firstTask.getBlockNo(), firstTask.getAgvFactory());
                   if (success > 0) {
                       // 通知RCS
                       RcsEqptNotify notify = new RcsEqptNotify();
                       notify.setEqptCode(firstTask.getBlockNo());
                       notify.setTaskCode(firstTask.getTaskCode());
                       notify.setActionStatus("1");
                       notifyEqpt(notify, firstTask.getAgvFactory());
                   }
               }
           }
       } catch (Exception e) {
           log.error("管理封锁区异常", e);
       }
                if (!locked) {
                    // 封锁状态
                    int success = blockStationMapper.addByBlockNo(firstTask.getBlockNo(), firstTask.getAgvFactory());
                    if (success > 0) {
                        // 通知RCS
                        RcsEqptNotify notify = new RcsEqptNotify();
                        notify.setEqptCode(firstTask.getBlockNo());
                        notify.setTaskCode(firstTask.getTaskCode());
                        notify.setActionStatus("1");
                        notifyEqpt(notify, firstTask.getAgvFactory());
                    }
                }
            }
        } catch (Exception e) {
            log.error("管理封锁区异常", e);
        }
    }

    /**
@@ -553,12 +564,44 @@
                        } else {
                            apply.setStationId(task.getStaNo());
                        }

                        if (RcsRetMethodEnum.APPLY_IN_STATION.getCode().equals(method)) {
                            JSONObject personRequest = new JSONObject();
                            personRequest.put("TaskType", 2);
                            personRequest.put("callback", WMS_ADDRESS+"/api/robot/personIn");
                            List<String> areaCodes = new ArrayList<>(Arrays.asList("03-H01", "03-H02", "03-M01"));
                            int i = 0;
                            for (String areaCode : areaCodes){
                                personRequest.put("AreaCode", areaCode);
                                int j = PersonRequest(personRequest, "IN");
                                if (j == 0){
                                    log.error("人员入侵系统调用失败");
                                }
                            }
                            redisUtil.set(IS_START_CHECK_INTRUSION, "T");
                            // 延迟处理，确保人员入侵系统信号优先处理
                            try {
                                Thread.sleep(10000); // 睡眠10秒
                            } catch (InterruptedException e) {
                                Thread.currentThread().interrupt();
                            }
                            mesService.applyInStation(apply);
                        } else if (RcsRetMethodEnum.APPLY_OFF_STATION.getCode().equals(method)) {
                            mesService.applyOutStation(apply);
                        } else if (RcsRetMethodEnum.ARRIVE_OFF_STATION.getCode().equals(method)) {
                            JSONObject personRequest = new JSONObject();
                            personRequest.put("TaskType", 2);
                            personRequest.put("callback", WMS_ADDRESS+"/api/robot/personIn");
                            List<String> areaCodes = new ArrayList<>(Arrays.asList("03-H01", "03-H02", "03-M01"));
                            int i = 0;
                            for (String areaCode:areaCodes){
                                personRequest.put("AreaCode", areaCode);
                                int j = PersonRequest(personRequest, "OUT");
                                if (j == 0){
                                    log.error("人员入侵系统调用失败");
                                }
                            }
                            redisUtil.set(IS_START_CHECK_INTRUSION, "F");

                            mesService.outStation(apply);
                            // agv继续执行

@@ -853,5 +896,125 @@
        return rcsReturn;
    }

    int PersonRequest(JSONObject personRequest, String Type){
        String url;
        if (Type.equals("IN")){
            url = "/detect/start";
        }else{
            url = "/detect/stop";
        }
        String URL = PERSON_URL + url;
        String blockResponse = RcsServiceImpl.sendPost(URL, JSONObject.toJSONString(personRequest));
        JSONObject jsonObject = JSON.parseObject(blockResponse);
        if (!StringUtils.isEmpty(blockResponse) && (jsonObject.getInteger("code") == 200)) {
            return 1;
        }
        return 0;
    }

    @Scheduled(fixedDelay = 1000)
    public void personOut(){
        Object lastTimeObj = redisUtil.get(LAST_INTRUSION_TIME);
        if (lastTimeObj == null) {
            return;  // 没有记录，直接返回
        }
        long lastTime = Long.parseLong(lastTimeObj.toString());  // 先转String再转long
        long now = System.currentTimeMillis();
        long waitTime = now - lastTime;
        //循环检测是否有超过10秒没有更新有人信号
        if (waitTime > 10000){
            JSONObject personReturn = new JSONObject();

            String hik_blockUrl = "api/robot/controller/zone/blockade";
            String hik_pauseUrl = "api/robot/controller/zone/pause";

            String BLOCK_URL = HIK_URL + hik_blockUrl;
            String PAUSE_URL = HIK_URL + hik_pauseUrl;

            // 三个AGV区域
            List<String> areaCodes = new ArrayList<>(Arrays.asList("oprs1", "oprs2", "oprs3"));

            for (String areaCode:areaCodes){
                JSONObject rcsBlock = new JSONObject();
                JSONObject rcsPause = new JSONObject();
                rcsBlock.put("mapCode", "AA");
                rcsPause.put("mapCode", "AA");
                rcsBlock.put("invoke", "OPENUP");
                rcsPause.put("invoke","RUN");
                rcsBlock.put("zoneCode", areaCode);
                rcsPause.put("zoneCode", areaCode);

                // 解除AGV锁定区域与解除暂停
                String blockResponse = RcsServiceImpl.sendPost(BLOCK_URL, JSONObject.toJSONString(rcsBlock));
                String PauseResponse = RcsServiceImpl.sendPost(PAUSE_URL, JSONObject.toJSONString(rcsPause));
                JSONObject blockJsonObject = JSON.parseObject(blockResponse);
                JSONObject pauseJsonObject = JSON.parseObject(PauseResponse);
                if (!StringUtils.isEmpty(blockResponse) && (blockJsonObject.getString("code").equals("SUCCESS"))) {
                    if (!StringUtils.isEmpty(PauseResponse) && (pauseJsonObject.getString("code").equals("SUCCESS"))) {
                        personReturn.put("code", 200);
                        personReturn.put("message", "success");
                    }
                }
            }
            //重置封锁状态
            redisUtil.set(IS_BLOCK_AREA, "F");
        }
    }

    @Override
    //人员入侵系统回调接口实现方法
    public int personIn(JSONObject param) {

        //人员入侵系统检测到有人
        if (param.getString("AlarmValue").equals("1")){
            long date = new Date().getTime();
            //重置redis计时
            redisUtil.set(LAST_INTRUSION_TIME, String.valueOf(date));

            //如果已经封锁区域就直接返回，避免多次调用agv接口
            Object blockArea = redisUtil.get(IS_BLOCK_AREA);
            if (blockArea != null && "T".equals(blockArea)) {
                return 1;
            }

            redisUtil.set(IS_PERSON_INTRUSION, "T");
        }

        JSONObject personReturn = new JSONObject();

        String hik_blockUrl = "api/robot/controller/zone/blockade";
        String hik_pauseUrl = "api/robot/controller/zone/pause";

        String BLOCK_URL = HIK_URL + hik_blockUrl;
        String PAUSE_URL = HIK_URL + hik_pauseUrl;

        JSONObject rcsBlock = new JSONObject();
        JSONObject rcsPause = new JSONObject();
        rcsBlock.put("mapCode", "AA");
        rcsPause.put("mapCode", "AA");

        List<String> areaCodes = new ArrayList<>(Arrays.asList("oprs1", "oprs2", "oprs3"));

        for (String areaCode:areaCodes){
            rcsBlock.put("zoneCode", areaCode);
            rcsPause.put("zoneCode", areaCode);
            rcsBlock.put("invoke", "BLOCKADE");
            rcsPause.put("invoke","FREEZE");
            String blockResponse = RcsServiceImpl.sendPost(BLOCK_URL, JSONObject.toJSONString(rcsBlock));
            String PauseResponse = RcsServiceImpl.sendPost(PAUSE_URL, JSONObject.toJSONString(rcsPause));
            JSONObject blockJsonObject = JSON.parseObject(blockResponse);
            JSONObject pauseJsonObject = JSON.parseObject(PauseResponse);
            if (!StringUtils.isEmpty(blockResponse) && (blockJsonObject.getString("code").equals("SUCCESS"))) {
                if (!StringUtils.isEmpty(PauseResponse) && (pauseJsonObject.getString("code").equals("SUCCESS"))) {
                    personReturn.put("code", 200);
                    personReturn.put("message", "success");
                }
            }
        }
        // 更新存储封锁信息
        redisUtil.set(IS_BLOCK_AREA, "T");
        //直接返回，不需要信息
        return 1;
    }
    // endregion
}

 src/main/resources/application-dev.yml

@@ -116,6 +116,7 @@

#分库配置
wms:
  address: 172.26.11.88:8089/jgwms
  #当前是第几库
  currentId: 2
  #当前库名称