From 67a2c5fb41efcbcc028c8f4da0783c45f6b90f41 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期一, 16 三月 2026 16:37:35 +0800
Subject: [PATCH] lsh#
---
rsf-server/src/main/java/com/vincent/rsf/server/api/service/impl/AgvServiceImpl.java | 269 ++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 224 insertions(+), 45 deletions(-)
diff --git a/rsf-server/src/main/java/com/vincent/rsf/server/api/service/impl/AgvServiceImpl.java b/rsf-server/src/main/java/com/vincent/rsf/server/api/service/impl/AgvServiceImpl.java
index f6ee6f4..af790ef 100644
--- a/rsf-server/src/main/java/com/vincent/rsf/server/api/service/impl/AgvServiceImpl.java
+++ b/rsf-server/src/main/java/com/vincent/rsf/server/api/service/impl/AgvServiceImpl.java
@@ -1,27 +1,48 @@
package com.vincent.rsf.server.api.service.impl;
-import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.vincent.rsf.framework.common.Cools;
import com.vincent.rsf.framework.common.R;
import com.vincent.rsf.framework.exception.CoolException;
+import com.vincent.rsf.server.api.controller.erp.params.SyncOrderParams;
+import com.vincent.rsf.server.api.controller.erp.params.SyncOrdersItem;
import com.vincent.rsf.server.api.service.AgvService;
+import com.vincent.rsf.server.api.service.ReceiveMsgService;
import com.vincent.rsf.server.manager.controller.params.WaitPakinParam;
import com.vincent.rsf.server.manager.entity.*;
+import com.vincent.rsf.server.manager.entity.param.AgvBindAndInTParam;
import com.vincent.rsf.server.manager.enums.LocStsType;
import com.vincent.rsf.server.manager.enums.PakinIOStatus;
+import com.vincent.rsf.server.manager.enums.StationTypeEnum;
+import com.vincent.rsf.server.manager.enums.TaskType;
import com.vincent.rsf.server.manager.service.*;
+import com.vincent.rsf.server.manager.service.impl.DeviceSiteServiceImpl;
+import com.vincent.rsf.server.manager.service.impl.MatnrServiceImpl;
import com.vincent.rsf.server.manager.utils.LocManageUtil;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
+import java.time.Instant;
+import java.time.LocalDateTime;
+import java.time.ZoneId;
+import java.time.format.DateTimeFormatter;
import java.util.ArrayList;
+import java.util.Collections;
import java.util.List;
import java.util.Map;
+import java.util.Objects;
+import java.util.concurrent.CompletableFuture;
+import java.util.stream.Collectors;
@Service
public class AgvServiceImpl implements AgvService {
+
+ private static final String AGV_MISC_ORDER_PREFIX = "AGVT";
+ private static final DateTimeFormatter BATCH_FORMATTER = DateTimeFormatter.ofPattern("yyyyMMddHHmmss");
+
+ @Autowired
+ private ReceiveMsgService receiveMsgService;
@Autowired
private WaitPakinService waitPakinService;
@@ -32,9 +53,15 @@
@Autowired
private WarehouseAreasService warehouseAreasService;
@Autowired
+ private LocService locService;
+ @Autowired
private TaskService taskService;
@Autowired
private BasContainerService basContainerService;
+ @Autowired
+ private DeviceSiteServiceImpl deviceSiteService;
+ @Autowired
+ private MatnrServiceImpl matnrService;
@Override
@Transactional(rollbackFor = Exception.class)
@@ -58,6 +85,148 @@
}
@Override
+ @Transactional(rollbackFor = Exception.class)
+ public boolean AGVBindAndInTaskStart(String barcode, String sta) {
+ //楠岃瘉鏉＄爜
+ checkStaStatus(barcode,sta);
+ return true;
+ }
+
+ @Override
+ @Transactional(rollbackFor = Exception.class)
+ public R AGVBindAndInTaskStartT(AgvBindAndInTParam param, Long loginUserId) {
+ if (Objects.isNull(param)) {
+ throw new CoolException("鍙傛暟涓嶈兘涓虹┖锛侊紒");
+ }
+ if (Cools.isEmpty(param.getMatNr())) {
+ throw new CoolException("鐗╂枡缂栫爜涓嶈兘涓虹┖锛侊紒");
+ }
+ if (Cools.isEmpty(param.getPalletBarcode())) {
+ throw new CoolException("鎵樼洏鐮佷笉鑳戒负绌猴紒锛�");
+ }
+ if (Cools.isEmpty(param.getPalletSta())) {
+ throw new CoolException("鎿嶄綔绔欑偣涓嶈兘涓虹┖锛侊紒");
+ }
+
+ checkPalletBarcodeAvailable(param.getPalletBarcode());
+
+ Matnr matnr = matnrService.getOne(new LambdaQueryWrapper<Matnr>()
+ .eq(Matnr::getCode, param.getMatNr())
+ .last("limit 1"));
+ if (Objects.isNull(matnr)) {
+ throw new CoolException("鐗╂枡缂栫爜涓嶅瓨鍦細" + param.getMatNr());
+ }
+
+ long nowMillis = System.currentTimeMillis();
+ long nowSeconds = nowMillis / 1000;
+ String orderNo = buildAgvMiscOrderNo(param.getPalletBarcode(), nowMillis);
+ SyncOrderParams syncOrder = new SyncOrderParams()
+ .setWkType(SyncOrderParams.BusinessType.STK_MISCELLANEOUS)
+ .setType("in")
+ .setOrderNo(orderNo)
+ .setOrderInternalCode(nowMillis)
+ .setCreateTime(nowSeconds)
+ .setBusinessTime(nowSeconds)
+ .setAnfme(1.0)
+ .setOrderItems(Collections.singletonList(buildOrderItem(param, matnr, nowMillis, nowSeconds).setBarcode(param.getPalletBarcode())));
+ syncOrder.setStationId(param.getPalletSta());
+ R r = receiveMsgService.syncCheckOrder(Collections.singletonList(syncOrder), loginUserId);
+ if (!Objects.isNull(r) && Objects.equals(String.valueOf(r.get("code")), "200")) {
+ autoCallAgvInTask(param, loginUserId);
+ }
+ return R.ok(Cools.add("orderNo", orderNo).add("palletBarcode", param.getPalletBarcode()));
+ }
+
+ private void autoCallAgvInTask(AgvBindAndInTParam param, Long loginUserId) {
+ CompletableFuture.runAsync(() -> {
+ int retry = 0;
+ while (retry < 5) {
+ retry++;
+ try {
+ Thread.sleep(3000);
+ WaitPakin waitPakin = waitPakinService.getOne(new LambdaQueryWrapper<WaitPakin>()
+ .eq(WaitPakin::getBarcode, param.getPalletBarcode())
+ .eq(WaitPakin::getIoStatus, PakinIOStatus.PAKIN_IO_STATUS_DONE.val)
+ .last("limit 1"));
+ if (Objects.isNull(waitPakin)) {
+ continue;
+ }
+
+ BasStation basStation = basStationService.getOne(new LambdaQueryWrapper<BasStation>()
+ .eq(BasStation::getStationName, param.getPalletSta())
+ .last("limit 1"));
+ if (Objects.isNull(basStation)) {
+ return;
+ }
+// if (Objects.isNull(basStation) || Objects.isNull(basStation.getArea())) {
+// return;
+// }
+
+ WaitPakinParam waitPakinPda = new WaitPakinParam()
+ .setBarcode(param.getPalletBarcode())
+ .setStaNo(param.getPalletSta())
+ .setArea(param.getArea());
+ AGVInTaskStart(waitPakinPda, loginUserId);
+ return;
+ } catch (Exception ignored) {
+ }
+ }
+ });
+ }
+
+ private SyncOrdersItem buildOrderItem(AgvBindAndInTParam param, Matnr matnr, long uniqueSeed, long nowSeconds) {
+ String suffix = String.valueOf(uniqueSeed);
+ String batch = LocalDateTime.ofInstant(Instant.ofEpochSecond(nowSeconds), ZoneId.systemDefault())
+ .format(BATCH_FORMATTER);
+ SyncOrdersItem syncOrdersItem = new SyncOrdersItem()
+ .setModel(matnr.getModel())
+ .setAnfme(1.0)
+ .setUnit(matnr.getUnit())
+ .setBaseUnitId(matnr.getUnit())
+ .setPriceUnitId(matnr.getUnit())
+ .setBatch(batch)
+ .setPlanNo(AGV_MISC_ORDER_PREFIX + "-PLAN-" + suffix)
+ .setLineId(AGV_MISC_ORDER_PREFIX + "-LINE-" + suffix)
+ .setPlatItemId("1")
+ .setPalletId(param.getPalletBarcode());
+ syncOrdersItem.setMatnr(matnr.getCode());
+ syncOrdersItem.setMaktx(matnr.getName());
+ syncOrdersItem.setSpec(matnr.getSpec());
+ return syncOrdersItem;
+ }
+
+ private String buildAgvMiscOrderNo(String palletBarcode, long uniqueSeed) {
+ String cleanBarcode = palletBarcode.replaceAll("[^A-Za-z0-9]", "");
+ if (cleanBarcode.length() > 24) {
+ cleanBarcode = cleanBarcode.substring(cleanBarcode.length() - 24);
+ }
+ return AGV_MISC_ORDER_PREFIX + cleanBarcode + uniqueSeed;
+ }
+
+ private void checkPalletBarcodeAvailable(String palletBarcode) {
+ WaitPakin waitPakin = waitPakinService.getOne(new LambdaQueryWrapper<WaitPakin>()
+ .eq(WaitPakin::getBarcode, palletBarcode)
+ .last("limit 1"));
+ if (!Objects.isNull(waitPakin)) {
+ throw new CoolException("鎵樼洏鐮侊細" + palletBarcode + "宸茶缁勬墭鍗曪細" + waitPakin.getCode() + "浣跨敤锛侊紒");
+ }
+
+ BasStation basStation = basStationService.getOne(new LambdaQueryWrapper<BasStation>()
+ .eq(BasStation::getBarcode, palletBarcode)
+ .last("limit 1"));
+ if (!Objects.isNull(basStation)) {
+ throw new CoolException("鎵樼洏鐮侊細" + palletBarcode + "宸茶绔欑偣锛�" + basStation.getStationName() + "缁戝畾锛侊紒");
+ }
+
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getBarcode, palletBarcode)
+ .last("limit 1"));
+ if (!Objects.isNull(loc)) {
+ throw new CoolException("鎵樼洏鐮侊細" + palletBarcode + "宸茶搴撲綅锛�" + loc.getCode() + "浣跨敤锛侊紒");
+ }
+ }
+
+ @Override
public R getStaMsgSelect(Map<String, Object> params) {
String sta = params.get("sta").toString();
if (Cools.isEmpty(sta)) {
@@ -70,15 +239,17 @@
if (Cools.isEmpty(basStation)) {
throw new CoolException("鏈壘鍒版帴椹崇珯鐐逛俊鎭紝璇锋鏌ョ珯鐐圭姸鎬�");
}
- List<Long> ids = new ArrayList<>();
- ids.add(basStation.getArea());
- if (basStation.getIsCrossZone() == 1) {
- String content = basStation.getCrossZoneArea().substring(1, basStation.getCrossZoneArea().length() - 1);
- String[] parts = content.split(",");
- for (int i = 0; i < parts.length; i++) {
- ids.add(Long.parseLong(parts[i].trim()));
- }
- }
+ List<Long> ids = basStation.getCrossZoneArea().stream()
+ .map(Integer::longValue)
+ .collect(Collectors.toList());
+// ids.add(basStation.getArea());
+// if (basStation.getIsCrossZone() == 1) {
+// String content = basStation.getCrossZoneArea().substring(1,.length() - 1);
+// String[] parts = content.split(",");
+// for (int i = 0; i < parts.length; i++) {
+// ids.add(Long.parseLong(parts[i].trim()));
+// }
+// }
List<WarehouseAreas> warehouseAreasList = warehouseAreasService.list(new LambdaQueryWrapper<WarehouseAreas>()
.in(WarehouseAreas::getId, ids)
);
@@ -97,17 +268,26 @@
String sta = waitPakinPda.getStaNo();
String area = waitPakinPda.getArea();
if (Cools.isEmpty(sta)) {
- throw new CoolException("鎺ラ┏浣嶆潯鐮佷笉鑳戒负绌�");
+ throw new CoolException("璧风偣涓嶈兘涓虹┖");
}
if (Cools.isEmpty(area)) {
throw new CoolException("鐩爣搴撳尯涓嶈兘涓虹┖");
}
+
+ DeviceSite deviceSite = deviceSiteService.getOne(new LambdaQueryWrapper<DeviceSite>()
+ .eq(DeviceSite::getSite, sta)
+ .eq(DeviceSite::getAreaIdEnd, Long.parseLong(area))
+ .eq(DeviceSite::getType, TaskType.TASK_TYPE_IN.type).last("limit 1"));
+ if (Cools.isEmpty(deviceSite)) {
+ throw new CoolException("鏃犲彲鐢ㄨ矾寰勶紒锛�");
+ }
+
BasStation basStation = basStationService.getOne(new LambdaQueryWrapper<BasStation>()
.eq(BasStation::getStationName, sta)
.eq(BasStation::getUseStatus, LocStsType.LOC_STS_TYPE_F.type)
);
if (Cools.isEmpty(basStation)) {
- throw new CoolException("鏈壘鍒版帴椹崇珯鐐逛俊鎭紝璇锋鏌ョ珯鐐圭姸鎬�");
+ throw new CoolException("鏈壘鍒拌捣鐐圭珯鐐逛俊鎭紝璇锋鏌ョ珯鐐圭姸鎬�");
}
if (Cools.isEmpty(basStation.getBarcode())) {
throw new CoolException("鏁版嵁閿欒锛屾帴椹崇珯鏃犳潯鐮佷俊鎭�");
@@ -121,9 +301,10 @@
}
String targetLoc = LocManageUtil.getTargetLoc(Long.parseLong(area));
- taskService.generateAGVTasks(waitPakin, targetLoc, sta, loginUserId);
-
- basStation.setUseStatus(LocStsType.LOC_STS_TYPE_R.type);
+ taskService.generateAGVTasks(waitPakin, targetLoc, sta, deviceSite.getDeviceCode(),loginUserId);
+ if (!basStation.getType().equals(0)){
+ basStation.setUseStatus(LocStsType.LOC_STS_TYPE_R.type);
+ }
if (!basStationService.updateById(basStation)) {
throw new CoolException("鏇存柊绔欑偣鐘舵�佸け璐�");
}
@@ -191,15 +372,17 @@
if (Cools.isEmpty(waitPakinItems)) {
throw new CoolException("鏁版嵁閿欒锛屾湭鎵惧埌缁勬墭鏄庣粏");
}
- List<Long> ids = new ArrayList<>();
- ids.add(basStation.getArea());
- if (basStation.getIsCrossZone() == 1) {
- String content = basStation.getCrossZoneArea().substring(1, basStation.getCrossZoneArea().length() - 1);
- String[] parts = content.split(",");
- for (int i = 0; i < parts.length; i++) {
- ids.add(Long.parseLong(parts[i].trim()));
- }
- }
+ List<Long> ids = basStation.getCrossZoneArea().stream()
+ .map(Integer::longValue)
+ .collect(Collectors.toList());
+// ids.add(basStation.getArea());
+// if (basStation.getIsCrossZone() == 1) {
+// String content = basStation.getCrossZoneArea().substring(1, basStation.getCrossZoneArea().length() - 1);
+// String[] parts = content.split(",");
+// for (int i = 0; i < parts.length; i++) {
+// ids.add(Long.parseLong(parts[i].trim()));
+// }
+// }
List<WarehouseAreas> warehouseAreasList = warehouseAreasService.list(new LambdaQueryWrapper<WarehouseAreas>()
.in(WarehouseAreas::getId, ids)
);
@@ -221,7 +404,9 @@
//楠岃瘉鍩虹淇℃伅
BasStation basStation = checkStaStatus(barcode, sta,waitPakinPda.getArea());
//鏇存柊绔欑偣鐘舵��
- basStation.setUseStatus(LocStsType.LOC_STS_TYPE_F.type);
+ if (!basStation.getType().equals(0)){
+ basStation.setUseStatus(LocStsType.LOC_STS_TYPE_F.type);
+ }
basStation.setBarcode(barcode);
if (!basStationService.updateById(basStation)) {
throw new CoolException("鏇存柊绔欑偣鐘舵�佸け璐�");
@@ -235,18 +420,12 @@
throw new CoolException("瀹瑰櫒鐮佷笉鑳戒负绌�");
}
if (Cools.isEmpty(sta)) {
- throw new CoolException("鎺ラ┏浣嶆潯鐮佷笉鑳戒负绌�");
+ throw new CoolException("绔欑偣淇℃伅涓嶈兘涓虹┖");
}
- WaitPakin waitPakin = waitPakinService.getOne(new LambdaQueryWrapper<WaitPakin>()
- .eq(WaitPakin::getBarcode, barcode)
- .eq(WaitPakin::getIoStatus, PakinIOStatus.PAKIN_IO_STATUS_DONE.val)
- );
- if (Cools.isEmpty(waitPakin)) {
- throw new CoolException("瀹瑰櫒鐮佹湭鎵惧埌缁勬墭淇℃伅,璇锋鏌ョ粍鎵樼姸鎬�");
- }
+
BasStation isBarcodeSta = basStationService.getOne(new LambdaQueryWrapper<BasStation>()
.eq(BasStation::getBarcode, barcode)
- , false
+ .last("limit 1")
);
if (!Cools.isEmpty(isBarcodeSta)) {
throw new CoolException("璇ユ潯鐮佸凡琚�" + isBarcodeSta.getStationName() + "绔欑粦瀹�");
@@ -257,11 +436,10 @@
if (Cools.isEmpty(basStation)) {
throw new CoolException("鏈壘鍒扮珯鐐逛俊鎭�");
}
- if (!basStation.getUseStatus().equals("O")) {
- throw new CoolException("绔欑偣鐘舵�佷笉涓虹┖闂�");
- }
if (!Cools.isEmpty(basStation.getContainerType())) {
- List<Long> longs1 = JSONObject.parseArray(basStation.getContainerType(), Long.class);
+ List<Long> longs1 = basStation.getContainerType().stream()
+ .map(Integer::longValue)
+ .collect(Collectors.toList());
List<BasContainer> containers = basContainerService.list(
new LambdaQueryWrapper<BasContainer>()
.in(BasContainer::getContainerType, longs1)
@@ -274,9 +452,6 @@
break; // 鎵惧埌鍖归厤鐨勫氨閫�鍑哄惊鐜�
}
}
-// boolean matches = containers.stream()
-// .map(BasContainer::getCodeType)
-// .anyMatch(codeType -> barcode.matches(codeType));
if (!matches) {
throw new CoolException("鏉＄爜涓庣珯鐐逛笉鍖归厤");
}
@@ -316,13 +491,17 @@
if (!basStation.getUseStatus().equals("O")) {
throw new CoolException("绔欑偣鐘舵�佷笉涓虹┖闂�");
}
+ if (basStation.getType().equals(StationTypeEnum.STATION_TYPE_MUTI.type)) {
+ throw new CoolException("绔欑偣涓哄厜鐢电珯鐐癸紝绂佹鍛煎彨AGV");
+ }
- List<String> areaList = JSONObject.parseArray(basStation.getCrossZoneArea(), String.class);
- if (!areaList.contains(area)) {
+ if (!basStation.getCrossZoneArea().contains(Integer.parseInt(area))) {
throw new CoolException("褰撳墠绔欑偣涓嶆敮鎸佺洰鏍囧簱鍖�");
}
if (!Cools.isEmpty(basStation.getContainerType())) {
- List<Long> longs1 = JSONObject.parseArray(basStation.getContainerType(), Long.class);
+ List<Long> longs1 = basStation.getContainerType().stream()
+ .map(Integer::longValue)
+ .collect(Collectors.toList());
List<BasContainer> containers = basContainerService.list(
new LambdaQueryWrapper<BasContainer>()
.in(BasContainer::getContainerType, longs1)
@@ -332,7 +511,7 @@
for (BasContainer container : containers) {
String codeType = container.getCodeType(); // 鑾峰彇姝ｅ垯琛ㄨ揪寮�
if (barcode.matches(codeType)) { // 鍒ゆ柇鏉＄爜鏄惁绗﹀悎杩欎釜姝ｅ垯
- List<Integer> areaList2 = container.getAreas();
+ List<Integer> areaList2 = container.getAreasIds();
if (!areaList2.contains(Integer.valueOf(area))) {
matches2 = false;
continue;
--
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