From 19e6e3559842d23fc5bd4f28a688dd8c2c747d4b Mon Sep 17 00:00:00 2001
From: pjb <123456>
Date: 星期四, 13 三月 2025 15:35:37 +0800
Subject: [PATCH] 联调agv完成
---
zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java | 179 ++++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 110 insertions(+), 69 deletions(-)
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java
index 250c15d..0a18483 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java
@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.fasterxml.jackson.core.JsonProcessingException;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wms.apis.wcs.entity.domain.SystemProperties;
@@ -10,6 +11,7 @@
import com.zy.asrs.wms.apis.wcs.entity.request.*;
import com.zy.asrs.wms.apis.wcs.entity.response.CommonReponse;
import com.zy.asrs.wms.apis.wcs.services.WcsApiService;
+import com.zy.asrs.wms.apis.wcs.utils.HttpEssUtils;
import com.zy.asrs.wms.asrs.entity.*;
import com.zy.asrs.wms.asrs.entity.enums.CacheSiteStatusType;
import com.zy.asrs.wms.asrs.entity.enums.OrderPickStatus;
@@ -28,11 +30,9 @@
import org.springframework.util.MultiValueMap;
import org.springframework.web.client.RestTemplate;
+import javax.annotation.Resource;
import java.math.BigDecimal;
-import java.util.Date;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
+import java.util.*;
import java.util.stream.Collectors;
@Slf4j
@@ -62,6 +62,9 @@
@Autowired
private PlatformService platformService;
+ @Resource
+ private SystemProperties systemProperties;
+
/**
* 瀹瑰櫒鍒拌揪鎺ユ敹
@@ -77,35 +80,70 @@
*/
@Override
@Transactional(rollbackFor = Exception.class)
- public R containerArrivedNotify(ContainerArrivedParam arrivedParam, String taskType, Long hostId) {
- List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, arrivedParam.getContainerCode()));
- if (Collections.isEmpty(tasks)) {
+ public R containerArrivedNotify(ContainerArrivedParam arrivedParam, String taskType, Long hostId){
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, arrivedParam.getContainerCode()));
+ if (task == null) {
return R.error("浠诲姟涓嶅瓨鍦紒锛�");
}
+ log.info("瀹瑰櫒鍒拌揪鎺ユ敹锛屼换鍔″彿锛歿}锛屽綋鍓嶇姸鎬侊細{}锛屼笂鎶ョ姸鎬侊細{}",task.getTaskNo(),task.getTaskSts$(),TaskStsType.WCS_CONTAINER_RECEIVE.desc);
+
+ taskType = task.getTaskType() > 100 ? "outStock":"inStock";
if (taskType.equals("inStock")) {
- //DONE 鏍规嵁ESS杩斿洖鐨勫鍣ㄧ紪鐮佷慨鏀逛换鍔℃。涓殑杈撻�佺嚎璧峰浣嶇疆鑺傜偣锛屽強浠诲姟妗ｅ鍣ㄥ埌杈剧姸鎬�
- taskService.update(new LambdaUpdateWrapper<Task>()
- .set(Task::getTaskSts, TaskStsType.WCS_CONTAINER_RECEIVE.id)
- //杈撻�佺嚎鑺傜偣缂栫爜锛屼笉鏄簮搴撲綅
- .set(Task::getOriginLoc, arrivedParam.getSlotCode())
- .eq(Task::getBarcode, arrivedParam.getContainerCode()));
- } else {
- //瀹瑰櫒鍒拌揪鏃舵洿鏂颁换鍔＄姸鎬佷负锛氬叆搴撳畬鎴愶紝瀹氭椂浠诲姟鏍规嵁鐘舵�佺爜鏇存柊搴撳瓨
- //褰撶姸鎬佷负鍏ュ簱瀹屾垚鏃讹紝鏇存柊搴撳瓨淇℃伅
-// boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
-// .set(Task::getTaskSts, TaskStsType.COMPLETE_OUT.id)
-// .set(Task::getOriginLoc, arrivedParam.getSlotCode())
-// .eq(Task::getBarcode, arrivedParam.getContainerCode()));
- //fixme 瀹瑰櫒鍒拌揪鐘舵�佹洿鏀逛负鎾涓�...
- boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
- .set(Task::getTaskSts, TaskStsType.WAVE_SEED.id)
- .set(Task::getOriginLoc, arrivedParam.getSlotCode())
- .eq(Task::getBarcode, arrivedParam.getContainerCode()));
- if (!update) {
- throw new CoolException("瀹瑰櫒鍒拌揪浠诲姟鏇存柊澶辫触锛侊紒");
+ if (task.getTaskSts() == 198) {
+ return R.error("鎾涓紒锛�");
}
+ if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_IN.id ) {
+ //DONE 鏍规嵁ESS杩斿洖鐨勫鍣ㄧ紪鐮佷慨鏀逛换鍔℃。涓殑杈撻�佺嚎璧峰浣嶇疆鑺傜偣锛屽強浠诲姟妗ｅ鍣ㄥ埌杈剧姸鎬�
+ taskService.update(new LambdaUpdateWrapper<Task>()
+ .set(Task::getTaskSts, TaskStsType.WCS_CONTAINER_RECEIVE.id)
+ //杈撻�佺嚎鑺傜偣缂栫爜锛屼笉鏄簮搴撲綅
+ .set(Task::getOriginSite, arrivedParam.getSlotCode())
+ .eq(Task::getBarcode, arrivedParam.getContainerCode()));
+ } else {
+ log.warn("{}娌℃湁涓嬪彂浠诲姟",task.getTaskNo());
+ R.error(task.getTaskNo()+"娌℃湁涓嬪彂浠诲姟");
+ }
+ } else {
+ if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_ARRIVED.id
+ || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id ) {
+ // 鍒拌揪鎷ｉ�変綅锛屾帶鍒舵挱绉嶅浜伅
+ List<CacheSite> cacheSites = cacheSiteService.list(new LambdaQueryWrapper<CacheSite>().eq(CacheSite::getBarcode, task.getBarcode()));
+ if(cacheSites.size() == 0) {
+ log.error("鏉＄爜锛歿}锛屾湭鎵惧埌鎾澧欎寒鐏�",task.getBarcode());
+ throw new CoolException("鏈壘鍒版挱绉嶅");
+ }
+ for (CacheSite cacheSite:cacheSites) {
+ SlapLightControlParam slapLightControlParam = new SlapLightControlParam();
+ slapLightControlParam.setControllerCode(cacheSite.getMemo()).setTagCode(cacheSite.getSiteNo())
+ .setColor("GREEN").setMode("LIGHT");
+ // 鍙戣捣浜伅璇锋眰
+ CommonReponse response = HttpEssUtils.post("鍒拌揪鎷ｉ�変綅锛屾挱绉嶅浜伅", HttpEssUtils.PLT_SEND_COMMAND, slapLightControlParam);
+ if (response.getCode().equals(0)) {
+ log.info("浠诲姟{}鍒拌揪鎷ｉ�変綅锛屾挱绉嶅{}浜伅鎴愬姛",task.getTaskNo(),cacheSite.getSiteNo());
+ } else {
+ log.info("浠诲姟{}鍒拌揪鎷ｉ�変綅锛屾挱绉嶅{}浜伅澶辫触",task.getTaskNo(),cacheSite.getSiteNo());
+ }
+ }
+ boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
+ .set(Task::getTaskSts, TaskStsType.WAVE_SEED.id)
+ .set(Task::getOriginSite, arrivedParam.getSlotCode())
+ .eq(Task::getBarcode, arrivedParam.getContainerCode()));
+ if (!update) {
+ throw new CoolException("瀹瑰櫒鍒拌揪浠诲姟鏇存柊澶辫触锛侊紒");
+ }
+ } else if(task.getTaskSts().equals(TaskStsType.UPDATED_OUT.id)) {
+ ConveyorStarParam conveyorStarParam = new ConveyorStarParam();
+ conveyorStarParam.setSlotCode(task.getOriginSite())
+ .setContainerCode(task.getBarcode())
+ .setDirection("200");
+ // 鍑哄簱瀹屾垚锛屾竻闄よ緭閫佺嚎鏉＄爜锛屽彇涓嬬瀛�
+ CommonReponse response = HttpEssUtils.post("娓呴櫎杈撻�佺嚎鏉＄爜", HttpEssUtils.CONVEYOR_START, conveyorStarParam);
+ if (response.getCode().equals(200)) {
+ log.info("{}鍑哄簱瀹屾垚锛屾竻闄}杈撻�佺嚎鏉＄爜{}鎴愬姛",task.getTaskNo(),task.getOriginSite(),task.getBarcode());
+ }
+ }
}
return R.success("success");
@@ -126,39 +164,43 @@
.eq(Task::getTaskNo, callbackParam.getTaskCode()));
if (!Collections.isEmpty(list)) {
list.forEach(task -> {
+ log.info("瀹瑰櫒鎵ц鐘舵�佷笂鎶ワ紝浠诲姟鍙凤細{}锛屽綋鍓嶇姸鎬侊細{}锛屼笂鎶ョ姸鎬侊細{}",task.getTaskNo(),task.getTaskSts$(),callbackParam.getEventType());
+ if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_ALLOCATED.event)) {
+ return;
+ }
// ESS鍙兘閰嶇疆涓�涓姸鎬佷笂鎶ユ帴鍙ｏ紝鏍规嵁浠诲姟鍙峰垽鏂槸鍏ュ簱浠诲姟鎴栧嚭搴撲换鍔�
String taskType = task.getTaskType() > 100 ? "outStock":"inStock";
TaskStsType taskStsType = null;
if (taskType.equals("inStock")) { //鍏ュ簱浠诲姟
if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //涓婃姤鍙栫鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_CONVEYOR_START.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_CONVEYOR_START.id) {
taskStsType = TaskStsType.WCS_TOTE_LOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_LOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_LOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //涓婃姤鏀剧鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_TOTE_LOAD.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_TOTE_LOAD.id) {
taskStsType = TaskStsType.WCS_TOTE_UNLOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_UNLOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_UNLOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //TODO 闇�纭涓婃姤浠诲姟涓紝浠诲姟瀹屾垚鏄摢涓簨浠讹紝鐩墠鏆傚畾task浜嬩欢
- if (task.getTaskSts() == TaskStsType.WCS_TOTE_UNLOAD.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_TOTE_UNLOAD.id) {
taskStsType = TaskStsType.WCS_PUTAWAY_SUCESS;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_PUTAWAY_SUCESS.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_PUTAWAY_SUCESS.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
}
boolean result = taskService.update(new LambdaUpdateWrapper<Task>()
.set(Task::getRobotCode, callbackParam.getRobotCode())
- .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())
- .set(Task::getTaskSts, taskStsType.id)
+// .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())
+ .set(Task::getTaskSts, taskStsType != null ? taskStsType.id : task.getTaskType())
.set(Task::getExcudeStatus, callbackParam.getStatus())
.set(Task::getTaskDesc, callbackParam.getMessage())
.eq(Task::getBarcode, callbackParam.getContainerCode())
@@ -171,37 +213,36 @@
}
} else { //鍑哄簱浠诲姟
if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //涓婃姤鍙栫鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT.id ) {
+// if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT.id ) {
taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //涓婃姤鏀剧鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.id) {
taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //涓婃姤瀹屾垚鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.id || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.id || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id) {
//鍑哄簱浠诲姟瀹屾垚锛屼慨鏀圭姸鎬佷负瀹瑰櫒鍒拌揪锛屽畾鏃朵换鍔＄敓鎴愭挱绉嶆尝娆�
taskStsType = TaskStsType.WCS_EXECUTE_OUT_TASK_DONE;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
}
-
//鏇存柊鍑哄簱鐘舵�佸強鐩稿叧瀛楁
boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
.set(Task::getRobotCode, callbackParam.getRobotCode())
.set(Task::getSysTaskCode, callbackParam.getSysTaskCode())
- .set(Task::getTaskSts, taskStsType.id)
+ .set(Task::getTaskSts, taskStsType != null ? taskStsType.id : task.getTaskType())
.set(Task::getExcudeStatus, callbackParam.getStatus())
.set(Task::getTaskDesc, callbackParam.getMessage())
.eq(Task::getBarcode, callbackParam.getContainerCode())
@@ -325,7 +366,7 @@
//璋冪敤涓夋柟鎺ュ彛,闂伅涓嶅仛鎿嶄綔
// 璁剧疆璇锋眰鍙傛暟
params.add("params", JSONObject.toJSONString(slapParam));
- log.info("璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
+ log.info("鏈畬鎴愰棯鐏姹傚湴鍧�锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
} else {
//璋冪敤涓夋柟鎺ュ彛,鐏伅閫氱煡瀹瑰櫒娴佸姩锛� 浼犵伃鐏弬鏁�
//todo 鍒ゆ柇褰撳墠璁㈠崟鏄惁瀹屾垚锛屽畬鎴愮伃鐏紝鏈畬鎴愪繚鎸佹嫞璐х姸鎬佷寒鐏�
@@ -360,7 +401,7 @@
}
converyor = true;
params.add("params", JSONObject.toJSONString(slapParam));
- log.info("璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
+ log.info("瀹屾垚鐏伅璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
}
if (converyor) {
--
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