*

lsh

2025-09-09 0228e6fe7a5293f866460cb837914829022c5e0f

*

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

New file
@@ -0,0 +1,84 @@
package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.AppAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.param.ArmPrecomputeParam;
import com.zy.asrs.service.OpenService;
import com.zy.common.web.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletRequest;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;

/**
 * Created by vincent on 2024/10/16
 */
@Slf4j
@RestController
@RequestMapping("open/hd")
public class OpenController extends BaseController {

    private static final boolean auth = true;
    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};

    @Autowired
    private OpenService openService;

    /**
     * 添加出库单
     */
    @PostMapping("/task/cs/down/default/v1")
    @AppAuth(memo = "WCS任务下发")
    public synchronized R wcsTaskDistribution(@RequestHeader(required = false) String appkey,
                                              @RequestBody ArmPrecomputeParam param,
                                              HttpServletRequest request) {
        try{
            auth(appkey, param, request);
        } catch (Exception e){
            return new R(403,e.getMessage());
        }
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
//        if (Cools.isEmpty(param.getTaskNo())) {
//            return R.error("工作号[taskNo]不能为空");
//        }
//        if (Cools.isEmpty(param.getStartSta()) || param.getStartSta$()==0) {
//            return R.error("起点[startSta]不能为空");
//        }
//        if (Cools.isEmpty(param.getEndSta())  || param.getEndSta$()==0) {
//            return R.error("终点[endSta]不能为空");
//        }

        return R.ok().add(param);
    }


    private void auth(String appkey, Object obj, HttpServletRequest request) {
//        log.info("{}接口被访问；appkey:{}；请求数据：{}", "open/sensorType/list/auth/v1", appkey, JSON.toJSONString(obj));
        request.setAttribute("cache", obj);
        if (!auth) {
            return;
        }
        if (Cools.isEmpty(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
        if (!APP_KEY_LIST.contains(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
    }


}

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

New file
@@ -0,0 +1,34 @@
package com.zy.asrs.entity.param;

import lombok.Data;

import java.util.List;

/*
 *  Created by Monkey D. Luffy on 2025.09.09
 * */
@Data
public class ArmPrecomputeParam {

    private List<CombMat> matList;

    @Data
    public static class CombMat {

        // 长度
        private Double material_length;

        // 宽度
        private Double material_width;

        // 高度
        private Double material_height;

        // 重量
        private Double material_weight;

        // 数量
        private Double material_number = 10.0;

    }
}

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

New file
@@ -0,0 +1,8 @@
package com.zy.asrs.service;

import com.core.common.R;
import com.zy.asrs.entity.param.ArmPrecomputeParam;

public interface OpenService {

}

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

New file
@@ -0,0 +1,25 @@
package com.zy.asrs.service.impl;

import com.core.common.R;
import com.zy.asrs.entity.param.ArmPrecomputeParam;
import com.zy.asrs.service.OpenService;
import com.zy.asrs.service.WrkMastService;
import com.zy.core.properties.SlaveProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;

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

/**
 * Created by vincent on 2022/4/9
 */
@Slf4j
@Service
public class OpenServiceImpl implements OpenService {


}

 src/main/java/com/zy/core/thread/RoboticArmThread.java

@@ -42,7 +42,7 @@
        new Thread(this::roboticArmConnect).start();

        // 启动读数据线程
        new Thread(this::readStatusRoboticArm).start();
//        new Thread(this::readStatusRoboticArm).start();

        // 启动任务下发线程
        new Thread(this::taskIssued).start();