From 5317a45f64ae948e7351cce8ccf06ed88ffe4eeb Mon Sep 17 00:00:00 2001
From: zwl <1051256694@qq.com>
Date: 星期一, 20 十月 2025 10:30:03 +0800
Subject: [PATCH] 新增AGV拣料回库或者移动
---
src/main/java/com/zy/asrs/controller/MobileController.java | 91 +++++++++++++++++++++++++++------------------
1 files changed, 54 insertions(+), 37 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/MobileController.java b/src/main/java/com/zy/asrs/controller/MobileController.java
index 75264dd..d73bd84 100644
--- a/src/main/java/com/zy/asrs/controller/MobileController.java
+++ b/src/main/java/com/zy/asrs/controller/MobileController.java
@@ -32,6 +32,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;
+import javax.xml.crypto.Data;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.*;
@@ -347,15 +348,36 @@
* @return
*/
@RequestMapping("/AGVSite")
- public R AGVSite(@RequestParam(required = false) String locNo){
+ public R AGVSite(@RequestParam(required = false) String locNo,@RequestParam(required = false) String barcode){
HashMap<Integer,String> map=new HashMap<>();
- map.put(100,"100-鍏ュ簱鍙�");
- map.put(1000,"1000-琛ョ┖鏉垮彛");
- map.put(2001,"2001-鍑哄簱鍙�1");
- map.put(2002,"2002-鍑哄簱鍙�2");
- map.put(3001,"3001-浣滀笟鍙�1");
- map.put(3002,"3002-浣滀笟鍙�2");
- map.remove(Integer.parseInt(locNo));
+ if(!Cools.isEmpty(barcode)){
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));
+ if(!Cools.isEmpty(wrkMast)){
+ if (!Cools.isEmpty(wrkMast.getInvWh())&&wrkMast.getWrkNo().equals("Y")&&(wrkMast.getIoType()==103||wrkMast.getIoType()==107)){
+ map.put(100,"100-鍏ュ簱鍙�");
+ }else {
+ return R.error("璇蜂笅鏋跺悗鍐嶆搷浣渁gv");
+ }
+ }else {
+ map.put(100,"100-鍏ュ簱鍙�");
+ map.put(1001,"1000-琛ョ┖鏉垮彛");
+ map.put(2001,"2001-鍑哄簱鍙�1");
+ map.put(2002,"2002-鍑哄簱鍙�2");
+ map.put(3001,"3001-浣滀笟鍙�1");
+ map.put(3002,"3002-浣滀笟鍙�2");
+ map.put(4001,"4001-涓嶅悎鏍�");
+ map.remove(Integer.parseInt(locNo));
+ }
+ }else {
+ map.put(100,"100-鍏ュ簱鍙�");
+ map.put(1001,"1000-琛ョ┖鏉垮彛");
+ map.put(2001,"2001-鍑哄簱鍙�1");
+ map.put(2002,"2002-鍑哄簱鍙�2");
+ map.put(3001,"3001-浣滀笟鍙�1");
+ map.put(3002,"3002-浣滀笟鍙�2");
+ map.put(4001,"4001-涓嶅悎鏍�");
+ map.remove(Integer.parseInt(locNo));
+ }
return R.ok(map);
}
@@ -368,37 +390,28 @@
@RequestMapping("/AGVMove")
public R AGVMove(@RequestParam(required = false) String sourceStaNo
,@RequestParam(required = false) String staNo){
- RCSParam rcsParam = new RCSParam();
LocalDateTime now = LocalDateTime.now();
- DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy骞碝M鏈坉d鏃� HH:mm:ss");
+ String noww=new Date().getTime()+"";
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
String formattedDate = now.format(formatter); // 鏍煎紡鍖栨棩鏈熸椂闂�
- //缃戠粶娴佹按鍙�
- rcsParam.setReqId(now.toString());
- //搴旂敤鏍囪瘑
- rcsParam.setClientId("WMS");
- //閫氱煡鏃堕棿
- rcsParam.setReqTime(formattedDate);
- RCSParam.DataBody dataBody=new RCSParam.DataBody();
- //浠诲姟鍙�
- dataBody.setId(formattedDate);
- List<RCSParam.TaskBody> taskBodyList=new ArrayList<>();
- RCSParam.TaskBody taskBody=new RCSParam.TaskBody();
- //鍙栬揣绫诲瀷
- taskBody.setType("load");
- taskBody.setStation(sourceStaNo);
- taskBodyList.add(taskBody);
+ LinkedHashMap<String,Object> rcsParam=new LinkedHashMap<>();
+ rcsParam.put("task_id",noww);
+ rcsParam.put("start_location",sourceStaNo);
+ rcsParam.put("start_site_level",1);
+ rcsParam.put("start_command",1);
+ rcsParam.put("target_location",staNo);
+ rcsParam.put("target_site_level",1);
+ rcsParam.put("target_command",2);
+ rcsParam.put("priority",1);
+ rcsParam.put("robot_type",3);//杞� 杈� 绫� 鍨� 0:XC 1:XCD 2:XP_T 3:XP_L
+ rcsParam.put("MoverID","XS1");
- RCSParam.TaskBody taskBody1=new RCSParam.TaskBody();
- //鏀捐揣绫诲瀷
- taskBody1.setType("unload");
- taskBody1.setStation(staNo);
- taskBodyList.add(taskBody1);
-
- dataBody.setTasks(taskBodyList);
- rcsParam.setData(dataBody);
+ LinkedHashMap<String,Object> map=new LinkedHashMap<>();
+ map.put("data",rcsParam);
String response ="";
Boolean bool =false;
+ String msg = "";
try {
log.info("wms娲惧彂鎼繍浠诲姟缁橝GV鎼繍={}", rcsParam);
@@ -406,12 +419,16 @@
// .setHeaders(headParam)
.setUri(url)
.setPath(attrcs)
- .setJson(JSON.toJSONString(rcsParam))
+ .setJson(JSON.toJSONString(map))
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
- if(jsonObject.getBoolean("IsSuccess")){
+ JSONObject data = jsonObject.getJSONObject("data");
+ JSONObject errInfo = jsonObject.getJSONObject("err_info");
+ if(data.getInteger("result")==0){
bool = true;
+ }else{
+ msg=errInfo.getString("err_msg");
}
} catch (Exception e) {
log.error("wms娲惧彂鎼繍浠诲姟缁橝GV鎼繍澶辫触杩斿洖鍊�={}", response);
@@ -420,7 +437,7 @@
, url + attrcs
, null
, "127.0.0.1"
- , JSON.toJSONString(rcsParam)
+ , JSON.toJSONString(map)
, response
, bool
);
@@ -428,7 +445,7 @@
if(bool){
return R.ok();
}else {
- return R.error("涓嬪彂浠诲姟澶辫触");
+ return R.error(msg);
}
}
--
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