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 | 345 ++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 277 insertions(+), 68 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/MobileController.java b/src/main/java/com/zy/asrs/controller/MobileController.java
index c832de4..d73bd84 100644
--- a/src/main/java/com/zy/asrs/controller/MobileController.java
+++ b/src/main/java/com/zy/asrs/controller/MobileController.java
@@ -1,5 +1,6 @@
package com.zy.asrs.controller;
+import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
@@ -12,18 +13,31 @@
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.MobileAdjustParam;
import com.zy.asrs.entity.param.OffSaleParam;
+import com.zy.asrs.entity.param.RCSParam;
import com.zy.asrs.entity.result.MobileAdjustResult;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
+import com.zy.asrs.task.WorkMastScheduler;
import com.zy.common.model.LocDto;
import com.zy.common.model.TaskDto;
import com.zy.common.model.WrkDto;
+import com.zy.common.model.enums.WorkNoType;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.HttpHandler;
import com.zy.common.web.BaseController;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
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.*;
+
+import static jdk.nashorn.internal.runtime.regexp.joni.Config.log;
/**
* 绉诲姩绔帴鍙ｆ帶鍒跺櫒
@@ -32,6 +46,7 @@
@RestController
@RequestMapping("mobile")
public class MobileController extends BaseController {
+ private static final Logger log = LoggerFactory.getLogger(WorkMastScheduler.class);
@Autowired
private MobileService mobileService;
@@ -55,6 +70,16 @@
private PackService packService;
@Autowired
private ManLocDetlMapper manLocDetlMapper;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private StaDescService staDescService;
+ @Autowired
+ private ApiLogService apiLogService;
+ @Value("${rcs.address.url}")
+ private String url;
+ @Value("${rcs.address.attrcs}")
+ private String attrcs;
// 鍟嗗搧涓婃灦
@@ -174,6 +199,258 @@
return R.ok();
}
+ /**
+ * 鍑哄簱纭瀹屾垚
+ * @param list
+ * @return
+ */
+ @RequestMapping("/pakout/confirm/auth")
+ @ManagerAuth
+ @Transactional
+ public R pakoutConfirm(@RequestBody List<WrkDetl> list) {
+ if (Cools.isEmpty(list)) {
+ return R.ok();
+ }
+ Set<Integer> wrkNos = new HashSet<>();
+ List<WrkDto> dtos = new ArrayList<>();
+ for (WrkDetl wrkDetl : list) {
+ if (wrkNos.contains(wrkDetl.getWrkNo())) {
+ for (WrkDto dto : dtos) {
+ if (dto.getWrkNo().equals(wrkDetl.getWrkNo())) {
+ dto.getWrkDetls().add(wrkDetl);
+ break;
+ }
+ }
+ } else {
+ wrkNos.add(wrkDetl.getWrkNo());
+ dtos.add(new WrkDto(wrkDetl.getWrkNo(), wrkDetl));
+ }
+ }
+
+ for (WrkDto dto : dtos) {
+ WrkMast wrkMast = wrkMastService.selectById(dto.getWrkNo());
+ if (wrkMast != null) {
+ // 101
+ if (wrkMast.getIoType() == 101) {
+ for (WrkDetl wrkDetl : dto.getWrkDetls()) {
+ wrkDetlService.updateInspect(wrkDetl.getWrkNo(), wrkDetl.getMatnr(), wrkDetl.getBatch());
+ }
+ }
+ // 103
+ if (wrkMast.getIoType() == 103) {
+ if (!wrkDetlService.delete(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()))) {
+ throw new CoolException("鎷ｆ枡鍑哄簱纭澶辫触");
+ }
+ for (WrkDetl wrkDetl : dto.getWrkDetls()) {
+ wrkDetl.setInspect(1);
+ if (!wrkDetlService.insert(wrkDetl)) {
+ throw new CoolException("鎷ｆ枡鍑哄簱纭澶辫触");
+ }
+ }
+ }
+ }
+ }
+
+ for (Integer wrkNo : wrkNos) {
+ WrkMast wrkMast = wrkMastService.selectById(wrkNo);
+ if (wrkMast.getWrkSts() == 15 && (Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N"))) {
+ List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkNo);
+ boolean complete = true;
+ for (WrkDetl wrkDetl : wrkDetls) {
+ if (wrkDetl.getInspect() == null || wrkDetl.getInspect() == 0) {
+ complete = false;
+ break;
+ }
+ }
+ if (complete) {
+ wrkMast.setInvWh("Y");
+ wrkMast.setModiTime(new Date());
+ if (!wrkMastService.updateById(wrkMast)) {
+ throw new CoolException("淇敼宸ヤ綔妗�" + wrkNo + "澶辫触");
+ }
+ }
+ }
+ }
+ return R.ok("瀹屾垚纭");
+ }
+
+
+ /**
+ * 琛ョ┖鎵樼洏鍒板叆搴撶紦瀛樹綅
+ * @param map
+ * @return
+ */
+ @RequestMapping("/supplementEmpty")
+ @ManagerAuth
+ @Transactional
+ public R supplementEmpty(@RequestBody HashMap<String,Object> map){
+ if (Cools.isEmpty(map)) {
+ return R.error("琛ョ┖鎵樼洏搴撲綅涓虹┖");
+ }
+ List<LocMast> locMastList=locMastService.selectList(new EntityWrapper<LocMast>().eq("loc_sts", "D"));
+ if (locMastList.isEmpty()) {
+ return R.error("绔嬪簱閲屾病鏈夌┖鎵樼洏");
+ }
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PAKOUT.type);
+
+ // 鑾峰彇婧愮珯
+ Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+ .eq("type_no", 110)
+ .eq("stn_no", 102)
+ .eq("crn_no", locMastList.get(0).getCrnNo());
+ StaDesc staDesc = staDescService.selectOne(wrapper);
+ Integer sourceStaNo = staDesc.getCrnStn();
+ if (Cools.isEmpty(sourceStaNo)) {
+ throw new CoolException("妫�绱㈡簮绔欏け璐�");
+ }
+ Date now = new Date();
+ // 淇濆瓨宸ヤ綔妗�
+ WrkMast wrkMast = new WrkMast();
+ wrkMast.setWrkNo(workNo);
+ wrkMast.setIoTime(now);
+ wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+ wrkMast.setIoType(110); // 鍏ュ嚭搴撶姸鎬侊細 110.绌烘澘鍑哄簱
+ wrkMast.setIoPri(10D);
+ wrkMast.setSourceStaNo(sourceStaNo); // 婧愮珯
+ wrkMast.setStaNo(102); // 鐩爣绔�
+ wrkMast.setCrnNo(locMastList.get(0).getCrnNo());
+ wrkMast.setSourceLocNo(locMastList.get(0).getLocNo()); // 婧愬簱浣�
+ wrkMast.setFullPlt("N"); // 婊℃澘锛歒
+ wrkMast.setPicking("N"); // 鎷ｆ枡
+ wrkMast.setExitMk("N"); // 閫�鍑�
+ wrkMast.setEmptyMk("Y"); // 绌烘澘
+ wrkMast.setLinkMis("N");
+ wrkMast.setAppeUser(getUserId());
+ wrkMast.setAppeTime(now);
+ wrkMast.setModiUser(getUserId());
+ wrkMast.setModiTime(now);
+ wrkMast.setMemo((String) map.get("locNo"));//agv鏀捐揣浣�
+ boolean res = wrkMastService.insert(wrkMast);
+ if (!res) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+ // 鏇存柊搴撲綅鐘舵�� D.绌烘澘 -> R.鍑哄簱棰勭害
+ if (locMastList.get(0).getLocSts().equals("D")){
+ locMastList.get(0).setLocSts("R");
+ locMastList.get(0).setModiUser(getUserId());
+ locMastList.get(0).setModiTime(now);
+ if (!locMastService.updateById(locMastList.get(0))) {
+ throw new CoolException("鏇存柊搴撲綅鐘舵�佸け璐�");
+ }
+ }
+ return R.ok();
+ }
+
+ /**
+ * agv鎵弿婧愮珯鐐规樉绀虹洰鏍囩珯鐐�
+ * @param locNo
+ * @return
+ */
+ @RequestMapping("/AGVSite")
+ public R AGVSite(@RequestParam(required = false) String locNo,@RequestParam(required = false) String barcode){
+ HashMap<Integer,String> map=new HashMap<>();
+ 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);
+ }
+
+ /**
+ * 鎵ц绉诲簱浠诲姟
+ * @param sourceStaNo
+ * @param staNo
+ * @return
+ */
+ @RequestMapping("/AGVMove")
+ public R AGVMove(@RequestParam(required = false) String sourceStaNo
+ ,@RequestParam(required = false) String staNo){
+ LocalDateTime now = LocalDateTime.now();
+ 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�
+
+ 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");
+
+ 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);
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(url)
+ .setPath(attrcs)
+ .setJson(JSON.toJSONString(map))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ 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);
+ } finally {
+ apiLogService.save("wms娲惧彂鎼繍浠诲姟缁橝GV鎼繍"
+ , url + attrcs
+ , null
+ , "127.0.0.1"
+ , JSON.toJSONString(map)
+ , response
+ , bool
+ );
+ }
+ if(bool){
+ return R.ok();
+ }else {
+ return R.error(msg);
+ }
+
+ }
+
+
// 鏍规嵁搴撲綅鐮佸拰鍟嗗搧鐮佹悳绱㈠晢鍝�
@RequestMapping("/mat/find/auth")
public R find(@RequestParam(required = false) String locNo
@@ -227,75 +504,7 @@
}
- @RequestMapping("/pakout/confirm/auth")
- @ManagerAuth
- @Transactional
- public R pakoutConfirm(@RequestBody List<WrkDetl> list) {
- if (Cools.isEmpty(list)) {
- return R.ok();
- }
- Set<Integer> wrkNos = new HashSet<>();
- List<WrkDto> dtos = new ArrayList<>();
- for (WrkDetl wrkDetl : list) {
- if (wrkNos.contains(wrkDetl.getWrkNo())) {
- for (WrkDto dto : dtos) {
- if (dto.getWrkNo().equals(wrkDetl.getWrkNo())) {
- dto.getWrkDetls().add(wrkDetl);
- break;
- }
- }
- } else {
- wrkNos.add(wrkDetl.getWrkNo());
- dtos.add(new WrkDto(wrkDetl.getWrkNo(), wrkDetl));
- }
- }
- for (WrkDto dto : dtos) {
- WrkMast wrkMast = wrkMastService.selectById(dto.getWrkNo());
- if (wrkMast != null) {
- // 101
- if (wrkMast.getIoType() == 101) {
- for (WrkDetl wrkDetl : dto.getWrkDetls()) {
- wrkDetlService.updateInspect(wrkDetl.getWrkNo(), wrkDetl.getMatnr(), wrkDetl.getBatch());
- }
- }
- // 103
- if (wrkMast.getIoType() == 103) {
- if (!wrkDetlService.delete(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()))) {
- throw new CoolException("鎷ｆ枡鍑哄簱纭澶辫触");
- }
- for (WrkDetl wrkDetl : dto.getWrkDetls()) {
- wrkDetl.setInspect(1);
- if (!wrkDetlService.insert(wrkDetl)) {
- throw new CoolException("鎷ｆ枡鍑哄簱纭澶辫触");
- }
- }
- }
- }
- }
-
- for (Integer wrkNo : wrkNos) {
- WrkMast wrkMast = wrkMastService.selectById(wrkNo);
- if (wrkMast.getWrkSts() == 14 && (Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N"))) {
- List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkNo);
- boolean complete = true;
- for (WrkDetl wrkDetl : wrkDetls) {
- if (wrkDetl.getInspect() == null || wrkDetl.getInspect() == 0) {
- complete = false;
- break;
- }
- }
- if (complete) {
- wrkMast.setInvWh("Y");
- wrkMast.setModiTime(new Date());
- if (!wrkMastService.updateById(wrkMast)) {
- throw new CoolException("淇敼宸ヤ綔妗�" + wrkNo + "澶辫触");
- }
- }
- }
- }
- return R.ok("瀹屾垚纭");
- }
// 鐩樼偣 ----------------------------------------------------------------------------------------------------
--
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