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 | 128 ++++++++++++++++++++++++++++++++++++++++++
1 files changed, 128 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/MobileController.java b/src/main/java/com/zy/asrs/controller/MobileController.java
index 9568608..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;
@@ -12,20 +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
@@ -34,6 +46,7 @@
@RestController
@RequestMapping("mobile")
public class MobileController extends BaseController {
+ private static final Logger log = LoggerFactory.getLogger(WorkMastScheduler.class);
@Autowired
private MobileService mobileService;
@@ -61,6 +74,12 @@
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
@@ -323,6 +342,115 @@
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
--
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