From 05142e44912f1d8fd0a64cfd8bc29199f00c474f Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 22 七月 2024 09:06:58 +0800
Subject: [PATCH] #OFFLINE状态复位
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java | 275 ++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 262 insertions(+), 13 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java
index 970bd2c..ed35e06 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java
@@ -1,7 +1,9 @@
package com.zy.asrs.wcs.core.controller;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
@@ -24,12 +26,13 @@
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
+import org.apache.poi.ss.formula.functions.T;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
+import java.text.SimpleDateFormat;
import java.util.*;
/**
@@ -40,6 +43,7 @@
@RequestMapping("/openapi")
public class OpenController extends BaseController {
+ private static final Logger log = LoggerFactory.getLogger(OpenController.class);
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
@@ -62,6 +66,124 @@
private BasConveyorStaService basConveyorStaService;
+ @PostMapping("/agvPickupComplete")
+ public Map<String, Object> agvPickupComplete(@RequestBody AgvTaskParam agvTaskParam) {
+ HashMap<String, String> mesMap = new HashMap<>();
+ mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
+ mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
+ boolean returnTask3 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "3",agvTaskParam.getExtra().getValues().getSlotName());
+
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("code","0");
+ map.put("message","鎴愬姛");
+ map.put("reqCode", "");
+ log.info("agv璇锋眰鍙栬揣瀹屾垚锛寃ms浠诲姟鍙�:"+JSON.toJSONString(agvTaskParam));
+ return map;
+
+ }
+
+ @PostMapping("/agvTaskComplete")
+ public Map<String, Object> agvTaskComplete(@RequestBody AgvTaskParam agvTaskParam) {
+ log.info("agv璇锋眰浠诲姟瀹屾垚锛寃ms浠诲姟鍙�:"+JSON.toJSONString(agvTaskParam));
+ HashMap<String, Object> map = new HashMap<>();
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getWmsTaskNo, agvTaskParam.getRobotTaskCode()));
+ if (!Cools.isEmpty(task)){
+ if (agvTaskParam.getExtra().getValues().getSlotName().equals("06YZ0001")){
+ Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
+ .eq(Device::getStatus, 1)
+ .eq(Device::getDeviceNo, 1));
+ if (device == null) {
+ map.put("code","1");
+ map.put("message","澶辫触锛岃澶囦笉瀛樺湪");
+ map.put("reqCode", "");
+ return map;
+ }
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, device.getId().intValue());
+ if (devpThread == null) {
+ map.put("code","1");
+ map.put("message","澶辫触锛岃緭閫佺嚎涓嶅湪绾�");
+ map.put("reqCode", "");
+ return map;
+ }
+ boolean result = devpThread.writeWorkSta(100, Short.parseShort("9999"), (short) 101);
+ if (!result) {
+ map.put("code","1");
+ map.put("message","澶辫触锛岃緭閫佺嚎鍛戒护涓嬪彂澶辫触");
+ map.put("reqCode", "");
+ return map;
+ }
+ }else {
+ if (task.getTaskSts() == 1000 && task.getMemo().equals(agvTaskParam.getExtra().getValues().getSlotName())){
+ HashMap<String, String> mesMap = new HashMap<>();
+ mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
+ mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
+ boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",agvTaskParam.getExtra().getValues().getSlotName());
+ if (returnTask4){
+ task.setTaskSts(1001L);
+ taskService.updateById(task);
+ log.info("鍑哄簱浠诲姟瀹屾垚鎺ㄩ�乵es"+task.getWmsTaskNo());
+ }else {
+ log.error("鍑哄簱浠诲姟瀹屾垚鎺ㄩ�乵es澶辫触"+task.getWmsTaskNo());
+ }
+
+ }
+ }
+ }else {
+ HashMap<String, String> mesMap = new HashMap<>();
+ mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
+ mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
+ boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",agvTaskParam.getExtra().getValues().getSlotName());
+ if (returnTask4){
+ log.info("鍑哄簱浠诲姟瀹屾垚鎺ㄩ�乵es"+agvTaskParam.getRobotTaskCode());
+ }else {
+ log.error("鍑哄簱浠诲姟瀹屾垚鎺ㄩ�乵es澶辫触"+agvTaskParam.getRobotTaskCode());
+ }
+ }
+
+ map.put("code","0");
+ map.put("message","鎴愬姛");
+ map.put("reqCode", "");
+ return map;
+ }
+
+ private boolean toMesHttpRequest(Map<String,String> map, String url, String path, String code,String location){
+ Date now = new Date();
+ long time = now.getTime()/1000;
+ ReturnWcsTaskStatisParam returnWcsTaskStatisParam = new ReturnWcsTaskStatisParam();
+ returnWcsTaskStatisParam.setRequestPK(map.get("taskNo"));
+ returnWcsTaskStatisParam.setTrkId(map.get("taskNo"));
+ returnWcsTaskStatisParam.setContNo(map.get("contNo"));
+ returnWcsTaskStatisParam.setCode(code);
+ returnWcsTaskStatisParam.setOperator("wcs");
+ returnWcsTaskStatisParam.setOperationTime(time);
+ returnWcsTaskStatisParam.setTrkType("01");
+ returnWcsTaskStatisParam.setCurPos(location);
+ String response = "";
+ boolean success = false;
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(url)
+ .setPath(path)
+ .setJson(JSONObject.toJSONString(returnWcsTaskStatisParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+
+ String code1 = jsonObject.get("success").toString();
+ log.info("涓婃姤mes鎺ュ彛璇锋眰浣�:"+JSON.toJSONString(returnWcsTaskStatisParam) +",杩斿洖鍊�:"+jsonObject.toJSONString());
+ if(code1.equals("1")){
+ success = true;
+ }
+ }catch (Exception e){
+ return success;
+ }
+ return success;
+ }
+
+
+ //鍙栨秷wcs浠诲姟
@PostMapping("/cancelWcsTask")
public HashMap<String,Object> cancelWcsTask(@RequestBody CreateWcsTaskParam param){
HashMap<String, Object> map = new HashMap<>();
@@ -123,14 +245,16 @@
//mes涓嬪彂浠诲姟
- @PostMapping("/createWcsTaskParam")
+ @PostMapping("/createWcsTask")
public HashMap<String,Object> createWcsTask(@RequestBody CreateWcsTaskParam param){
+ log.info("mes浠诲姟涓嬪彂锛岃姹備綋:"+JSONObject.toJSONString(param));
HashMap<String, Object> map = new HashMap<>();
if (Cools.isEmpty(param)){
map.put("success", "0");
map.put("message", "澶辫触锛岃姹傚弬鏁颁负绌�");
map.put("result", "");
map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
}
if (Cools.isEmpty(param.getRequestPK()) || Cools.isEmpty(param.getContNo()) || Cools.isEmpty(param.getTrkPrty()) || Cools.isEmpty(param.getToPos())){
@@ -138,6 +262,7 @@
map.put("message", "澶辫触锛岃姹傚弬鏁颁负绌�");
map.put("result", "");
map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
}
@@ -147,19 +272,42 @@
map.put("message", "澶辫触锛屽瓨鍦ㄧ浉鍚岀紪鍙风殑浠诲姟");
map.put("result", "");
map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
}
- ArrayList<String> inlist = new ArrayList<>();
- inlist.add("1");inlist.add("8");
- ArrayList<String> outlist = new ArrayList<>();
- outlist.add("2");outlist.add("9");
- if (inlist.contains(param.getTrkType())){
+ String sta = "06YZ";
+ String loc = "0601KW";
+ if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,6).equals(loc)){
+ if (!param.getFrmPos().equals("06YZ0001")){
+ try {
+ AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
+ getInRequestParam(agvTaskCreateParam,param);
+ String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
+ if (!httpRequest.equals("SUCCESS")){
+ map.put("success", "0");
+ map.put("message", httpRequest);
+ map.put("result", "");
+ map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
+ return map;
+ }
+ }catch (Exception e){
+ map.put("success", "0");
+ map.put("message", "杞彂AGV浠诲姟鍑洪敊");
+ map.put("result", "");
+ map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
+ return map;
+ }
+ }
+
CreateInTaskParam createInTaskParam = new CreateInTaskParam();
createInTaskParam.setTaskNo(param.getRequestPK());
createInTaskParam.setDestLoc(getWMStoWCSLocNo(param.getToPos()));
createInTaskParam.setOriginSite("100");
createInTaskParam.setBarcode(param.getContNo());
createInTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
+ createInTaskParam.setEndSite(param.getToPos());
R inTask = null;
try {
inTask = createInTask(createInTaskParam);
@@ -168,6 +316,7 @@
map.put("message", "鐢熸垚浠诲姟鍑洪敊");
map.put("result", "");
map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
}finally {
int code = (int) inTask.get("code");
@@ -183,13 +332,15 @@
map.put("requestPK", param.getRequestPK());
}
}
- } else if (outlist.contains(param.getTrkType())) {
+ } else if (param.getFrmPos().substring(0,6).equals(loc) && param.getToPos().substring(0,4).equals(sta)) {
CreateOutTaskParam createOutTaskParam = new CreateOutTaskParam();
createOutTaskParam.setTaskNo(param.getRequestPK());
createOutTaskParam.setOriginLoc(getWMStoWCSLocNo(param.getFrmPos()));
createOutTaskParam.setOriginSite("101");
createOutTaskParam.setDestSite("100");
createOutTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
+ createOutTaskParam.setEndSite(param.getToPos());
+ createOutTaskParam.setZpallet(param.getContNo());
R outTask = null;
try {
outTask = createOutTask(createOutTaskParam);
@@ -198,6 +349,7 @@
map.put("message", "鐢熸垚浠诲姟鍑洪敊");
map.put("result", "");
map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
}finally {
int code = (int) outTask.get("code");
@@ -214,12 +366,35 @@
}
}
- }else {
+ } else if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,4).equals(sta)) {
+ try {
+ AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
+ getTransmitRequestParam(agvTaskCreateParam,param);
+ String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
+ if (!httpRequest.equals("SUCCESS")){
+ map.put("success", "0");
+ map.put("message", httpRequest);
+ map.put("result", "");
+ map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
+ return map;
+ }
+ }catch (Exception e){
+ map.put("success", "0");
+ map.put("message", "杞彂AGV浠诲姟鍑洪敊");
+ map.put("result", "");
+ map.put("requestPK", param.getRequestPK());
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
+ return map;
+ }
+
+ } else {
map.put("success", "0");
map.put("message", "鏈壘鍒板搴斾换鍔＄被鍨�");
map.put("result", "");
map.put("requestPK", param.getRequestPK());
}
+ log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
}
public static String getWMStoWCSLocNo(String loc){
@@ -227,8 +402,80 @@
int row = Integer.parseInt(loc.substring(6,8));
int bay = Integer.parseInt(loc.substring(8,10));
int lev = Integer.parseInt(loc.substring(10,12));
+ if (row == 2){
+ row = 3;
+ }
locNo = row +"-"+bay+"-"+lev;
return locNo;
+ }
+ private void getInRequestParam(AgvTaskCreateParam agvTaskCreateParam,CreateWcsTaskParam param){
+ List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
+ //璧峰浣�
+ new AgvTaskCreateParam.AgvTaskParam("SITE",param.getFrmPos(),0,1),
+ //鐩爣浣�
+ new AgvTaskCreateParam.AgvTaskParam("SITE","06YZ0001",1,1)
+ );
+ List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
+ //璧峰浣�
+ new AgvTaskCreateParam.carrierInfoParam()
+
+ );
+ agvTaskCreateParam.setTaskType("F01");
+ agvTaskCreateParam.setInitPriority(param.getTrkPrty());
+ agvTaskCreateParam.setRobotTaskCode(param.getRequestPK());
+ agvTaskCreateParam.setTargetRoute(agvTaskParamList);
+ agvTaskCreateParam.setCarrierInfo(carrierInfoParam);
+
+ }
+ private void getTransmitRequestParam(AgvTaskCreateParam agvTaskCreateParam,CreateWcsTaskParam param){
+ List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
+ //璧峰浣�
+ new AgvTaskCreateParam.AgvTaskParam("SITE",param.getFrmPos(),0,1),
+ //鐩爣浣�
+ new AgvTaskCreateParam.AgvTaskParam("SITE",param.getToPos(),1,1)
+ );
+ List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
+ //璧峰浣�
+ new AgvTaskCreateParam.carrierInfoParam()
+
+ );
+ agvTaskCreateParam.setTaskType("F01");
+ agvTaskCreateParam.setInitPriority(param.getTrkPrty());
+ agvTaskCreateParam.setRobotTaskCode(param.getRequestPK());
+ agvTaskCreateParam.setTargetRoute(agvTaskParamList);
+ agvTaskCreateParam.setCarrierInfo(carrierInfoParam);
+
+ }
+ private String doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
+ String response = "";
+ String success = "error";
+ Map<String, Object> map = new HashMap<>();
+ map.put("Content-Type", "application/json;charset=UTF-8");
+ map.put("X-lr-request-id", requestParam.getRobotTaskCode());
+ map.put("X-lr-version", 4.1);
+ map.put("X-lr-trace-id", "{{$guid}}");
+ try {
+ response = new HttpHandler.Builder()
+ .setHeaders(map)
+ .setUri(url)
+ .setHttps(true)
+ .setPath(path)
+ .setJson(JSONObject.toJSONString(requestParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+
+ String code = jsonObject.get("code").toString();
+ if(code.equals("SUCCESS")){
+ success = "SUCCESS";
+ }else {
+ success = jsonObject.get("message").toString();
+ }
+ log.info("杞彂agv浠诲姟锛氳姹備綋:"+JSONObject.toJSONString(requestParam)+",杩斿洖鍊�:"+jsonObject);
+ }catch (Exception e){
+
+ }
+ return success;
}
//鐢熸垚鍏ュ簱浠诲姟
@@ -341,6 +588,7 @@
task.setShuttleNo(null);//绛夊緟涓荤嚎绋嬪垎閰嶅皬杞�
task.setRecordLoc("Y");//璁板綍搴撳瓨淇℃伅
task.setHostId(hostId);//涓存椂鎺у埗鍙厑璁竓ost涓�1
+ task.setMemo(param.getEndSite());
boolean result = taskService.save(task);
if (!result) {
@@ -472,10 +720,11 @@
task.setIoTime(new Date());
task.setStartTime(new Date());
task.setStatus(1);
- task.setMemo("");
+ task.setMemo(param.getEndSite());
task.setShuttleNo(null);//绛夊緟涓荤嚎绋嬪垎閰嶅皬杞�
task.setRecordLoc("Y");//璁板綍搴撳瓨淇℃伅
task.setHostId(hostId);//涓存椂鎺у埗鍙厑璁竓ost涓�1
+ task.setZpallet(param.getZpallet());
boolean result = taskService.save(task);
if (!result) {
--
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