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/timer/TaskTimer.java | 150 +++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 141 insertions(+), 9 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java
index 66edce3..489497e 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java
@@ -1,19 +1,22 @@
package com.zy.asrs.wcs.core.timer;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.asrs.wcs.core.entity.Loc;
-import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.common.utils.HttpHandler;
+import com.zy.asrs.wcs.core.domain.param.AgvTaskCreateParam;
+import com.zy.asrs.wcs.core.domain.param.CreateWcsTaskParam;
+import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.enums.LocStsType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
-import com.zy.asrs.wcs.core.service.LocService;
-import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.service.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
+import org.springframework.transaction.annotation.Transactional;
-import java.util.ArrayList;
-import java.util.List;
+import java.util.*;
@Slf4j
@Component
@@ -22,16 +25,114 @@
@Autowired
private TaskService taskService;
@Autowired
+ private TaskLogService taskLogService;
+ @Autowired
+ private MotionService motionService;
+ @Autowired
+ private MotionLogService motionLogService;
+ @Autowired
private LocService locService;
+ @Autowired
+ private BasConveyorStaService basConveyorStaService;
@Scheduled(cron = "0/1 * * * * ? ")
+ @Transactional
+ public synchronized void sendOutTaskToAgv() {
+ ArrayList<Long> taskSts = new ArrayList<>();
+ taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
+
+ BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, 100));
+ if (basConveyorSta == null) {
+ return;
+ }
+ if (basConveyorSta.getWorkMode() != 2){
+ return;
+ }
+ if (basConveyorSta.getTaskNo() == 0){
+ return;
+ }
+ if (!basConveyorSta.getAutoing().equals("Y") || !basConveyorSta.getLoading().equals("Y")) {
+ return;
+ }
+
+ List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
+ .eq(Task::getStatus, 1)
+ .in(Task::getTaskSts, taskSts));
+ for (Task task : tasks) {
+ if (task.getTaskNo().equals(basConveyorSta.getTaskNo().toString())) {
+ AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
+ getOutRequestParam(agvTaskCreateParam,task);
+ boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
+ if (httpRequest){
+ task.setTaskSts(1000L);
+ taskService.updateById(task);
+ }else {
+ log.error("鍑哄簱浠诲姟鎺ㄩ�乺gv澶辫触"+task.getWmsTaskNo());
+ }
+ }
+ }
+ }
+
+ private void getOutRequestParam(AgvTaskCreateParam agvTaskCreateParam, Task param){
+ List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
+ //璧峰浣�
+ new AgvTaskCreateParam.AgvTaskParam("SITE","06YZ0001",0,1),
+ //鐩爣浣�
+ new AgvTaskCreateParam.AgvTaskParam("SITE",param.getMemo(),1,1)
+ );
+ List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
+ //璧峰浣�
+ new AgvTaskCreateParam.carrierInfoParam()
+
+ );
+ agvTaskCreateParam.setTaskType("F01");
+ agvTaskCreateParam.setInitPriority(param.getPriority().toString());
+ agvTaskCreateParam.setRobotTaskCode(param.getWmsTaskNo());
+ 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;
+ }
+
+ }catch (Exception e){
+
+ }
+ return success;
+ }
+
+ @Scheduled(cron = "0/1 * * * * ? ")
+ @Transactional
public synchronized void clearCompletedTask() {
ArrayList<Long> taskSts = new ArrayList<>();
taskSts.add(TaskStsType.COMPLETE_INBOUND.sts);
- taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
+// taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
taskSts.add(TaskStsType.COMPLETE_CHARGE.sts);
taskSts.add(TaskStsType.COMPLETE_MOVE.sts);
taskSts.add(TaskStsType.COMPLETE_MANUAL.sts);
+ taskSts.add(TaskStsType.COMPLETE_LADEN_MOVE.sts);
List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
.eq(Task::getStatus, 1)
@@ -39,12 +140,18 @@
for (Task task : tasks) {
//璁板綍搴撳瓨淇℃伅
updateRecordLoc(task);
+ //浠诲姟杞巻鍙叉。
+ saveTaskLog(task);
}
-
}
//鏇存柊搴撳瓨淇℃伅
- private void updateRecordLoc(Task task) {
+ @Transactional
+ public void updateRecordLoc(Task task) {
+ if (task.getRecordLoc() == null) {
+ return;
+ }
+
if (task.getRecordLoc().equals("Y")) {//璁板綍搴撳瓨淇℃伅
//婧愬簱浣� => 绌哄簱
//鐩爣搴撲綅 => 鍦ㄥ簱
@@ -60,6 +167,7 @@
locService.updateById(destLoc);
}
} else if (task.getRecordLoc().equals("record-dest")) {//鍙褰曠洰鏍囧簱浣嶄俊鎭�
+ //鐩爣搴撲綅 => 鍦ㄥ簱
Loc destLoc = locService.selectByLocNo(task.getDestLoc());
if (destLoc != null) {
destLoc.setLocSts(LocStsType.F.val());
@@ -68,4 +176,28 @@
}
}
+ //鏇存柊鍘嗗彶妗�
+ @Transactional
+ public void saveTaskLog(Task task) {
+ //鍒涘缓鍘嗗彶妗�
+ TaskLog taskLog = new TaskLog();
+ taskLog.sync(task);
+ taskLog.setUpdateTime(new Date());
+ taskLogService.save(taskLog);
+
+ List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
+ for (Motion motion : motions) {
+ //鍒涘缓鍔ㄤ綔鍘嗗彶妗�
+ MotionLog motionLog = new MotionLog();
+ motionLog.sync(motion);
+ motionLog.setUpdateTime(new Date());
+ motionLogService.save(motionLog);
+ }
+
+ //鍒犻櫎婧愪换鍔�
+ taskService.removeById(task.getId());
+ //鍒犻櫎鍔ㄤ綔
+ motionService.remove(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
+ }
+
}
--
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