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Junjie

2023-09-08 448340025aefd8edbb72a23f2f1677fc3c74d486

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

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package com.zy.asrs.controller;

import com.zy.asrs.domain.param.RobotReportActionStatusParam;
import com.zy.asrs.domain.param.ReportExceptionParam;
import com.zy.common.utils.RobotUtils;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RestController;

import java.util.HashMap;

@RestController
public class RobotController {

    //机械手向WCS回报任务结果完成
    @PostMapping("/request/wcs/single_class_depal_task/report_action_status")
    public HashMap<String,Object> reportActionStatus(@RequestBody RobotReportActionStatusParam param) {
        HashMap<String, Object> map = new HashMap<>();
        String taskId = param.getTask_id();
        Integer taskStatus = param.getTask_status();
        Integer pickNum = param.getPick_num();
        Integer targetNum = param.getTarget_num();
        String message = param.getMessage();

        map.put("error", 0);
        map.put("error_message", "success");
        return map;
    }

    //机械手向WCS回报异常
    @PostMapping("/request/wcs/report_exception")
    public HashMap<String,Object> reportException(@RequestBody ReportExceptionParam param) {
        HashMap<String, Object> map = new HashMap<>();
        String taskId = param.getTask_id();
        String errorCode = param.getError_code();
        String msg = param.getMsg();
        String tip = param.getTip();

        map.put("error", 0);
        map.put("error_message", "success");
        return map;
    }

}

 src/main/java/com/zy/asrs/domain/param/ReportExceptionParam.java

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package com.zy.asrs.domain.param;

import lombok.Data;

/**
 * Robot向WCS回报异常参数
 */
@Data
public class ReportExceptionParam {

    //任务编号
    private String task_id;

    //错误代码
    private String error_code;

    //错误信息
    private String msg;

    //提示
    private String tip;

}

 src/main/java/com/zy/asrs/domain/param/RobotReportActionStatusParam.java

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package com.zy.asrs.domain.param;

import lombok.Data;

/**
 * 机械臂向WCS回报单次抓取已完成参数
 */
@Data
public class RobotReportActionStatusParam {

    //任务编号
    private String task_id;

    //任务状态
    private Integer task_status;

    //任务总抓取数量
    private Integer pick_num;

    //目标抓取数量
    private Integer target_num;

    //结果讯息
    private String message;

}

 src/main/java/com/zy/common/utils/RobotUtils.java

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package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.SpringUtils;
import org.springframework.core.env.Environment;

import java.io.IOException;
import java.util.HashMap;
import java.util.Map;

/**
 * 机械手(Robot)工具类
 */
public class RobotUtils {

    //获取Robot系统状态
    public static boolean getSystemStatus() {
        Environment environment = SpringUtils.getBean(Environment.class);
        String robotUrl = environment.getProperty("robot.url");

        HashMap<String, Object> map = new HashMap<>();
        try {
            String response = new HttpHandler.Builder()
                    .setUri(robotUrl)
                    .setPath("/api/wcs/is_system_ready")
                    .setJson(JSON.toJSONString(map))
                    .build()
                    .doPost();

            JSONObject data = JSON.parseObject(response);
            int status = Integer.parseInt(data.get("status").toString());
            if (status == 0) {
                return true;//系统正常
            }
        } catch (IOException e) {
            e.printStackTrace();
        }
        return false;//系统异常，没有准备好
    }

    //WCS向机械臂下发单拆任务
    public static boolean sendTask(String taskId, Map<String, Object> skuInfo, String from, String to) {
        Environment environment = SpringUtils.getBean(Environment.class);
        String robotUrl = environment.getProperty("robot.url");

        HashMap<String, Object> map = new HashMap<>();
        map.put("task_id", taskId);
        map.put("sku_info", skuInfo);
        map.put("from", from);
        map.put("to", to);
        try {
            String response = new HttpHandler.Builder()
                    .setUri(robotUrl)
                    .setPath("api/wcs/single_class_depal_task")
                    .setJson(JSON.toJSONString(map))
                    .build()
                    .doPost();

            JSONObject data = JSON.parseObject(response);
            int error = Integer.parseInt(data.get("error").toString());
            if (error == 0) {
                return true;//成功
            }
        } catch (IOException e) {
            e.printStackTrace();
        }
        return false;//异常
    }

}

 src/main/webapp/static/robotStatus.json

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{
  "message": "ready",
  "status": 0
}