From d8415a9733082b783e89b75ffef51dd725829a6e Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期日, 07 七月 2024 16:04:01 +0800
Subject: [PATCH] #agv对接完成
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java | 116 +++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 111 insertions(+), 5 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..9aa18b1 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;
@@ -24,11 +26,10 @@
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.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.util.*;
@@ -40,6 +41,7 @@
@RequestMapping("/openapi")
public class OpenController extends BaseController {
+ private static final Logger log = LoggerFactory.getLogger(OpenController.class);
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
@@ -62,6 +64,29 @@
private BasConveyorStaService basConveyorStaService;
+ @PostMapping("/agvPickupComplete")
+ public Map<String, Object> agvPickupComplete(@RequestBody AgvTaskParam agvTaskParam) {
+ 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) {
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("code","0");
+ map.put("message","鎴愬姛");
+ map.put("reqCode", "");
+ log.info("agv璇锋眰浠诲姟瀹屾垚锛寃ms浠诲姟鍙�:"+JSON.toJSONString(agvTaskParam));
+ return map;
+ }
+
+
+ //鍙栨秷wcs浠诲姟
@PostMapping("/cancelWcsTask")
public HashMap<String,Object> cancelWcsTask(@RequestBody CreateWcsTaskParam param){
HashMap<String, Object> map = new HashMap<>();
@@ -154,6 +179,20 @@
ArrayList<String> outlist = new ArrayList<>();
outlist.add("2");outlist.add("9");
if (inlist.contains(param.getTrkType())){
+ try {
+ AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
+ getInRequestParam(agvTaskCreateParam,param);
+ boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
+ if (!httpRequest){
+ map.put("success", "0");
+ map.put("message", "杞彂AGV浠诲姟鍑洪敊");
+ map.put("result", "");
+ map.put("requestPK", param.getRequestPK());
+ return map;
+ }
+ }catch (Exception e){
+
+ }
CreateInTaskParam createInTaskParam = new CreateInTaskParam();
createInTaskParam.setTaskNo(param.getRequestPK());
createInTaskParam.setDestLoc(getWMStoWCSLocNo(param.getToPos()));
@@ -184,12 +223,31 @@
}
}
} else if (outlist.contains(param.getTrkType())) {
+// try {
+// AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
+// getOutRequestParam(agvTaskCreateParam,param);
+// boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.94:8001", "/api/robot/controller/task/submit");
+// if (!httpRequest){
+// map.put("success", "0");
+// map.put("message", "杞彂AGV浠诲姟鍑洪敊");
+// map.put("result", "");
+// map.put("requestPK", param.getRequestPK());
+// 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());
+// return map;
+// }
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());
R outTask = null;
try {
outTask = createOutTask(createOutTaskParam);
@@ -229,6 +287,54 @@
int lev = Integer.parseInt(loc.substring(10,12));
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 boolean doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
+ String response = "";
+ boolean success = false;
+ 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 = true;
+ }
+ 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
@@ -472,7 +578,7 @@
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
--
Gitblit v1.9.1