From e1b28ee09836787555448083bf9a6b59477ad330 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期六, 21 九月 2024 08:18:58 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java | 453 --------------------------------------------------------
1 files changed, 5 insertions(+), 448 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 ed35e06..c1e15a8 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
@@ -64,6 +64,8 @@
private BasConveyorService basConveyorService;
@Autowired
private BasConveyorStaService basConveyorStaService;
+ @Autowired
+ private OpenService openService;
@PostMapping("/agvPickupComplete")
@@ -275,462 +277,22 @@
log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
}
- 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);
- }catch (Exception e){
- map.put("success", "0");
- 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");
- if (code == 200){
- map.put("success", "1");
- map.put("message", inTask.get("msg"));
- map.put("result", "");
- map.put("requestPK", param.getRequestPK());
- }else {
- map.put("success", "0");
- map.put("message", inTask.get("msg"));
- map.put("result", "");
- map.put("requestPK", param.getRequestPK());
- }
- }
- } 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);
- }catch (Exception e){
- map.put("success", "0");
- 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");
- if (code == 200){
- map.put("success", "1");
- map.put("message", outTask.get("msg"));
- map.put("result", "");
- map.put("requestPK", param.getRequestPK());
- }else {
- map.put("success", "0");
- map.put("message", outTask.get("msg"));
- map.put("result", "");
- map.put("requestPK", param.getRequestPK());
- }
- }
-
- } 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());
- }
+ map = openService.createWcsTaskCache(param);
log.info("杩斿洖mes淇℃伅:"+JSONObject.toJSONString(map));
return map;
- }
- public static String getWMStoWCSLocNo(String loc){
- String locNo = "";
- 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
@PostMapping("/createInTask")
public R createInTask(@RequestBody CreateInTaskParam param) {
- //鑾峰彇鍏ュ簱浠诲姟绫诲瀷
- TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
- .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
- .eq(TaskCtg::getStatus, 1));
- if (taskCtg == null) {
- return R.error("浠诲姟绫诲瀷寮傚父");
- }
-
- Long hostId = 1L;//榛樿涓讳粨搴�
-
- Loc loc = locService.selectByLocNo(param.getDestLoc());
- if (loc == null) {
- return R.error("搴撲綅鍙蜂笉瀛樺湪");
- }
-
- //鑾峰彇涓ユ牸妯″紡鍙傛暟
- boolean mapStrict = true;//榛樿涓ユ牸妯″紡
- Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
- if (dict != null) {
- mapStrict = Boolean.parseBoolean(dict.getValue());
- }
-
- if (mapStrict && !loc.getLocStsFlag().equals("O")) {
- return R.error("搴撲綅鐘舵�佷笉婊¤冻鍏ュ簱鏉′欢");
- }
-
- Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskCtg, taskCtg.getId())
- .eq(Task::getOriginSite, param.getOriginSite())
- .eq(Task::getDestSite, param.getDestSite())
- .eq(Task::getDestLoc, param.getDestLoc()));
- if (one != null) {
- return R.error("浠诲姟宸插瓨鍦�");
- }
-
- String destSite = param.getDestSite();
- if (Cools.isEmpty(param.getDestSite())) {
- //鐩爣绔欎负绌哄垯浣跨敤WCS绯荤粺鍐呯疆璺緞
- BasConveyorPath path = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
- .eq(BasConveyorPath::getTypeNo, taskCtg.getId())
- .eq(BasConveyorPath::getHostId, hostId)
- .eq(BasConveyorPath::getStnNo, param.getOriginSite()));
- if(path == null) {
- return R.error("鍐呯疆璺緞涓嶅瓨鍦�");
- }
- destSite = String.valueOf(path.getDeviceStn());
- }
-
- //鍒ゆ柇鍑哄叆搴撴ā寮�
- BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>()
- .eq(BasConveyorSta::getSiteNo, destSite));
- if (!basConveyorSta.getWorkMode().equals((int) WorkModeType.PAKIN_MODE.id)) {
- //涓嶆槸鍏ュ簱妯″紡锛屾娴嬫槸鍚﹀彲鍒囨崲鍏ュ簱
- //鑾峰彇鍑哄簱浠诲姟绫诲瀷
- TaskCtg taskInCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
- .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
- .eq(TaskCtg::getStatus, 1));
- if (taskInCtg == null) {
- return R.error("浠诲姟绫诲瀷寮傚父");
- }
- List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskCtg, taskInCtg.getId()));
- if (!tasks.isEmpty()) {
- return R.error("褰撳墠瀛樺湪鍑哄簱浠诲姟锛屾棤娉曞垏鎹㈠叆搴撴ā寮�");
- }
-
- BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
- if(basConveyor == null) {
- return R.error("杈撻�佺嚎涓嶅瓨鍦�");
- }
-
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
- if(devpThread == null) {
- return R.error("杈撻�佺嚎绾跨▼涓嶅瓨鍦�");
- }
-
- boolean result = devpThread.switchWorkMode(Integer.parseInt(destSite), WorkModeType.PAKIN_MODE.id);
- if (!result) {
- return R.error("妯″紡鍒囨崲澶辫触");
- }
- }
-
- //浼樺厛绾�
- Integer priority = 10;
- if (param.getPriority() != null) {
- priority = param.getPriority();
- }
-
- Task task = new Task();
- task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
- task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
- task.setWmsTaskNo(param.getTaskNo());
- task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
- task.setTaskCtg(taskCtg.getId());
- task.setPriority(priority);
- task.setOriginSite(param.getOriginSite());
- task.setOriginLoc(null);
- task.setDestSite(destSite);
- task.setDestLoc(param.getDestLoc());
- task.setZpallet(param.getBarcode());
- task.setIoTime(new Date());
- task.setStartTime(new Date());
- task.setStatus(1);
- task.setMemo("");
- 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) {
- return R.error("鐢熸垚鍏ュ簱浠诲姟澶辫触锛�");
- }
- return R.ok();
+ return openService.createInTask(param, null);
}
//鐢熸垚鍑哄簱浠诲姟
@PostMapping("/createOutTask")
public R createOutTask(@RequestBody CreateOutTaskParam param) {
- //鑾峰彇鍑哄簱浠诲姟绫诲瀷
- TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
- .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
- .eq(TaskCtg::getStatus, 1));
- if (taskCtg == null) {
- return R.error("浠诲姟绫诲瀷寮傚父");
- }
-
- Long hostId = 1L;//榛樿涓讳粨搴�
-
- Loc loc = locService.selectByLocNo(param.getOriginLoc());
- if (loc == null) {
- return R.error("搴撲綅鍙蜂笉瀛樺湪");
- }
-
- //鑾峰彇涓ユ牸妯″紡鍙傛暟
- boolean mapStrict = true;//榛樿涓ユ牸妯″紡
- Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
- if (dict != null) {
- mapStrict = Boolean.parseBoolean(dict.getValue());
- }
-
- if (mapStrict && !loc.getLocStsFlag().equals("F")) {
- return R.error("搴撲綅鐘舵�佷笉婊¤冻鍑哄簱鏉′欢");
- }
-
- Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskCtg, taskCtg.getId())
- .eq(Task::getOriginSite, param.getOriginSite())
- .eq(Task::getOriginLoc, param.getOriginLoc())
- .eq(Task::getDestSite, param.getDestSite()));
- if (one != null) {
- return R.error("浠诲姟宸插瓨鍦�");
- }
-
- String originSite = param.getOriginSite();
- if (Cools.isEmpty(param.getOriginSite())) {
- //浣跨敤WCS绯荤粺鍐呯疆璺緞
- BasConveyorPath path = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
- .eq(BasConveyorPath::getTypeNo, taskCtg.getId())
- .eq(BasConveyorPath::getHostId, hostId)
- .eq(BasConveyorPath::getStnNo, param.getDestSite()));
- if(path == null) {
- return R.error("鍐呯疆璺緞涓嶅瓨鍦�");
- }
- Integer deviceNo = path.getDeviceNo();//鑾峰彇鎻愬崌鏈哄彿
- BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, deviceNo).eq(BasLift::getHostId, hostId));
- if(basLift == null) {
- return R.error("鎻愬崌鏈哄璞′笉瀛樺湪");
- }
- List<BasLiftStaDto> staList = JSON.parseArray(basLift.getSta(), BasLiftStaDto.class);
- BasLiftStaDto originStaDto = null;
- for (BasLiftStaDto sta : staList) {
- if (sta.getLev() == Utils.getLev(param.getOriginLoc())) {
- originStaDto = sta;
- break;
- }
- }
-
- if (originStaDto == null) {
- return R.error("婧愮珯涓嶅瓨鍦�");
- }
-
- originSite = String.valueOf(originStaDto.getStaNo());
- }
-
- //鍒ゆ柇鍑哄叆搴撴ā寮�
- BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>()
- .eq(BasConveyorSta::getSiteNo, originSite));
- if (!basConveyorSta.getWorkMode().equals((int) WorkModeType.PAKOUT_MODE.id)) {
- //涓嶆槸鍑哄簱妯″紡锛屾娴嬫槸鍚﹀彲鍒囨崲鍑哄簱
- //鑾峰彇鍏ュ簱浠诲姟绫诲瀷
- TaskCtg taskInCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
- .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
- .eq(TaskCtg::getStatus, 1));
- if (taskInCtg == null) {
- return R.error("浠诲姟绫诲瀷寮傚父");
- }
- List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskCtg, taskInCtg.getId()));
- if (!tasks.isEmpty()) {
- return R.error("褰撳墠瀛樺湪鍏ュ簱浠诲姟锛屾棤娉曞垏鎹㈠嚭搴撴ā寮�");
- }
-
- BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
- if(basConveyor == null) {
- return R.error("杈撻�佺嚎涓嶅瓨鍦�");
- }
-
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
- if(devpThread == null) {
- return R.error("杈撻�佺嚎绾跨▼涓嶅瓨鍦�");
- }
-
- boolean result = devpThread.switchWorkMode(Integer.parseInt(originSite), WorkModeType.PAKOUT_MODE.id);
- if (!result) {
- return R.error("妯″紡鍒囨崲澶辫触");
- }
- }
-
- //浼樺厛绾�
- Integer priority = 10;
- if (param.getPriority() != null) {
- priority = param.getPriority();
- }
-
- Task task = new Task();
- task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
- task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
- task.setWmsTaskNo(param.getTaskNo());
- task.setTaskSts(TaskStsType.NEW_OUTBOUND.sts);
- task.setTaskCtg(taskCtg.getId());
- task.setPriority(priority);
- task.setOriginSite(originSite);
- task.setOriginLoc(param.getOriginLoc());
- task.setDestSite(param.getDestSite());
- task.setDestLoc(null);
- task.setIoTime(new Date());
- task.setStartTime(new Date());
- task.setStatus(1);
- 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) {
- return R.error("鐢熸垚鍑哄簱浠诲姟澶辫触锛�");
- }
- return R.ok();
+ return openService.createOutTask(param, null);
}
//鐢熸垚鎵嬪姩鍙栨斁璐т换鍔�
@@ -923,11 +485,6 @@
return R.error("妯″紡鍒囨崲澶辫触");
}
return R.ok();
- }
-
- public static void main(String[] args) {
- String wmStoWCSLocNo = getWMStoWCSLocNo("0601KW010101");
- System.out.println(wmStoWCSLocNo);
}
}
--
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