From 617a8c4fc0b81ec4b96db8a013a91f4e666b0b96 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期三, 08 一月 2025 14:33:45 +0800
Subject: [PATCH] 出现空指针异常
---
src/main/java/com/zy/asrs/service/impl/AgvWrkMastServiceImp.java | 368 +++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 288 insertions(+), 80 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/AgvWrkMastServiceImp.java b/src/main/java/com/zy/asrs/service/impl/AgvWrkMastServiceImp.java
index ad0cdbd..af24386 100644
--- a/src/main/java/com/zy/asrs/service/impl/AgvWrkMastServiceImp.java
+++ b/src/main/java/com/zy/asrs/service/impl/AgvWrkMastServiceImp.java
@@ -2,119 +2,327 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
+import com.core.common.Cools;
import com.core.exception.CoolException;
+import com.zy.asrs.entity.AgvBasDevp;
+import com.zy.asrs.entity.AgvLocMast;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.entity.param.AgvTaskCreateParam;
import com.zy.asrs.entity.param.AgvTaskParam;
-import com.zy.asrs.entity.param.AgvTaskkDescribeParam;
import com.zy.asrs.mapper.AgvWrkMastMapper;
-import com.zy.asrs.service.AgvWrkMastService;
-import com.zy.asrs.service.ApiLogService;
+import com.zy.asrs.service.*;
+import com.zy.common.service.AgvCommonService;
import com.zy.common.utils.HttpHandler;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import java.io.IOException;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.stream.Collectors;
+import java.util.*;
+import java.util.concurrent.TimeUnit;
@Service
+@Slf4j
public class AgvWrkMastServiceImp extends ServiceImpl<AgvWrkMastMapper, AgvWrkMast> implements AgvWrkMastService {
+ @Value("${agv.flag}")
+ private boolean flag;
+
+ @Value("${agv.url}")
private String url;
- private String path;
+ @Value("${agv.taskCreatePath}")
+ private String taskCreatePath;
+
+ @Value("${agv.taskCancelPath}")
+ private String taskCancelPath;
+
+ @Value("${agv.containerMoveInPath}")
+ private String containerMoveInPath;
+
+ @Value("${agv.containerMoveOutPath}")
+ private String containerMoveOutPath;
+
+ @Value("${agv.containerArrivedPath}")
+ private String containerArrivedPath;
@Autowired
AgvWrkMastMapper agvWrkMastMapper;
@Autowired
+ AgvWrkDetlService agvWrkDetlService;
+ @Autowired
+ AgvLocMastService agvLocMastService;
+ @Autowired
ApiLogService apiLogService;
+ @Autowired
+ AgvBasDevpService agvBasDevpService;
+ @Autowired
+ private AgvCommonService agvCommonService;
+ @Autowired
+ private AgvWrkMastService agvWrkMastService;
- public void updateWrkStsByWrkNo(int wrkNo, long wrkSts) {
+
+ public Boolean updateWrkStsByWrkNo(int wrkNo, long wrkSts) {
AgvWrkMast agvWrkMast = this.selectById(wrkNo);
+ //鍒ゆ柇瑕佷慨鏀圭殑宸ヤ綔妗ｇ姸鎬佹槸鍚﹀悎鐞嗭紝濡傛灉涓嶅悎鐞嗗垯鎶涘嚭寮傚父
+ checkWrkSts(agvWrkMast, wrkSts);
agvWrkMast.setWrkSts(wrkSts);
+ agvWrkMast.setModiTime(new Date());
+ return this.updateById(agvWrkMast);
+ }
+
+ public void updateWrkStsByWrkNo(int wrkNo, long wrkSts, String manuType, long userId) {
+ Date now = new Date();
+ AgvWrkMast agvWrkMast = this.selectById(wrkNo);
+ //鍒ゆ柇瑕佷慨鏀圭殑宸ヤ綔妗ｇ姸鎬佹槸鍚﹀悎鐞嗭紝濡傛灉涓嶅悎鐞嗗垯鎶涘嚭寮傚父
+ checkWrkSts(agvWrkMast, wrkSts);
+ agvWrkMast.setWrkSts(wrkSts);
+ agvWrkMast.setManuType(manuType);
+ agvWrkMast.setModiTime(now);
+ agvWrkMast.setModiUser(userId);
this.updateById(agvWrkMast);
}
- public Map<String,List<Map<String,String>>> startWrk(List<AgvWrkMast> agvWrkMastList) throws IOException {
+ // TODO 鍒ゆ柇瑙勫垯
+ private boolean checkWrkSts(AgvWrkMast agvWrkMast, long wrkSts) {
- AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
- agvTaskCreateParam.setTaskType("putaway");
- //璋冪敤瀹瑰櫒鍏ュ満鏃舵墍闇�瑕佸弬鏁�
- Map<String,List<Map<String,String>>> containerMoveParam = new HashMap<>();
- List<Map<String,String>> positionCodeMapList = new ArrayList<>();
- containerMoveParam.put("containerMoveIns",positionCodeMapList);
-
- List<AgvTaskParam> agvTaskParamList = agvWrkMastList.stream().map(agvWrkMast -> {
- AgvTaskParam agvTaskParam = new AgvTaskParam();
- AgvTaskkDescribeParam agvTaskkDescribeParam = new AgvTaskkDescribeParam();
- agvTaskParam.setTaskDescribe(agvTaskkDescribeParam);
- //AgvTaskParam
- agvTaskParam.setTaskCode(agvWrkMast.getWrkNo().toString());
- agvTaskParam.setTaskPriority(agvWrkMast.getIoPri().intValue());
-
- //寰�瀹瑰櫒鍏ュ満鍙傛暟涓斁鍏ユ簮绔欑偣浣嶇疆
- Map<String,String> positionCodeMap = new HashMap<>();
- positionCodeMap.put("positionCode",agvWrkMast.getSourceLocNo());
- positionCodeMapList.add(positionCodeMap);
-
- //AgvTaskkDescribeParam
- agvTaskkDescribeParam.setFromLocationCode(agvWrkMast.getSourceLocNo());
- agvTaskkDescribeParam.setToLocationCode(agvWrkMast.getLocNo());
- agvTaskkDescribeParam.setContainerCode(agvWrkMast.getBarcode());
- return agvTaskParam;
- }).collect(Collectors.toList());
-
- agvTaskCreateParam.setTasks(agvTaskParamList);
-
- String response = "";
-
- try {
- response = new HttpHandler.Builder()
- .setUri("localhost:8080")
- .setPath("test/task/create")
- .setJson(JSONObject.toJSONString(agvTaskCreateParam))
- .build()
- .doPost();
- }catch (Exception e){
-
- }finally {
-// apiLogService.save(
-// "涓婃灦浠诲姟涓嬪彂",
-// url + path,
-// null,
-// "127.0.0.1",
-// JSON.toJSONString(requestMap),
-// response,
-// success
-// );
- }
-
- JSONObject jsonObject = JSON.parseObject(response);
- //save log api
- int code = (int) jsonObject.get("code");
- if(code != 0){
- throw new CoolException("璋冪敤AGV鎺ュ彛澶辫触");
- }
-
- return containerMoveParam;
+ return true;
}
- public int containerMove(Map<String, List<Map<String, String>>> containerMoveParam) throws IOException {
- String response = new HttpHandler.Builder()
- .setUri("localhost:8080")
- .setPath("test/container/moveIn")
- .setJson(JSONObject.toJSONString(containerMoveParam))
- .build()
- .doPost();
+ public int startWrk(AgvWrkMast agvWrkMast) throws IOException {
- JSONObject jsonObject = JSON.parseObject(response);
- return (int) jsonObject.get("code");
+ AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
+ //agvTaskCreateParam.setTaskType(taskType);
+
+ getRequestParam(agvTaskCreateParam, agvWrkMast);
+
+ return doHttpRequest(agvTaskCreateParam, "鎼繍浠诲姟涓嬪彂", url, taskCreatePath, null, "127.0.0.1");
+
+ //return containerMoveParam;
+ }
+
+ public int startAllcationIn(AgvWrkMast agvWrkMast) throws IOException {
+ AgvBasDevp basDevp = agvBasDevpService.selectByDevNo(agvWrkMast.getSourceLocNo());
+ //妫�绱㈠簱浣嶏紝閫夋嫨鍚堥�傜殑搴撲綅
+ AgvLocMast locMast = agvCommonService.getLocNo(basDevp.getLocType1(), basDevp.getFloor(), false, true);
+ agvWrkMast.setLocNo(locMast.getLocNo());
+ agvWrkMast.setWrkSts(201L);
+ agvWrkMast.setLogErrMemo("startAllcationIn");
+ agvWrkMast.setModiTime(new Date());
+ agvWrkMastService.updateById(agvWrkMast);
+ // 鏇寸洰鏍囧簱浣�
+ locMast.setLocSts("S");
+ agvLocMastService.updateById(locMast);
+ return 0;
+
+ }
+
+ //璐ф灦鍏ュ満
+ public int containerMoveIn(List<AgvWrkMast> agvWrkMastList) throws IOException {
+ //璋冪敤璐ф灦鍏ュ満鏃舵墍闇�瑕佸弬鏁�
+ Map<String, List<Map<String, String>>> containerMoveParam = new HashMap<>();
+ List<Map<String, String>> positionCodeMapList = new ArrayList<>();
+ containerMoveParam.put("containerMoveIns", positionCodeMapList);
+
+ getContainerMoveParam(agvWrkMastList, positionCodeMapList);
+
+ if (Cools.isEmpty(positionCodeMapList)) {
+ return 0;
+ }
+ return doHttpRequest(containerMoveParam, "璐ф灦鍏ュ満浠诲姟涓嬪彂", url, containerMoveInPath, null, "127.0.0.1");
+
+ }
+
+ //璐ф灦绂诲満
+ public int containerMoveOut(List<AgvWrkMast> agvWrkMastList) {
+ Map<String, List<Map<String, String>>> containerMoveParam = new HashMap<>();
+ List<Map<String, String>> positionCodeMapList = new ArrayList<>();
+ containerMoveParam.put("containerMoveOuts", positionCodeMapList);
+ for (AgvWrkMast agvWrkMast : agvWrkMastList) {
+ Map<String, String> positionCodeMap = new HashMap<>();
+ positionCodeMap.put("positionCode", agvWrkMast.getLocNo());
+ positionCodeMapList.add(positionCodeMap);
+ }
+ return doHttpRequest(containerMoveParam, "璐ф灦绂诲満浠诲姟涓嬪彂", url, containerMoveOutPath, null, "127.0.0.1");
+ }
+
+ public boolean insertByIncrease(AgvWrkMast agvWrkMast) {
+ int index = this.baseMapper.insertByIncrease(agvWrkMast);
+
+ return index > 0;
+ }
+
+ @Override
+ public boolean deleteByWrkNo(int wrkNo) {
+ return this.delete(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
+ }
+
+ //璐ф灦鍒拌揪閫氱煡
+ public int containerArrived(AgvWrkMast agvWrkMast) {
+
+ Map<String, String> containerArrivedParam = new HashMap<>();
+ containerArrivedParam.put("slotCode", agvWrkMast.getSourceLocNo());
+ containerArrivedParam.put("containerCode", agvWrkMast.getBarcode());
+
+ return doHttpRequest(containerArrivedParam, "璐ф灦杈惧埌閫氱煡", url, containerArrivedPath, null, "127.0.0.1");
+ }
+
+ @Override
+ public List<AgvWrkMast> selectReadyAgvWrkMast() {
+ List<String> stationCodes = agvBasDevpService.selectAllStationCode();
+ Wrapper<AgvWrkMast> wrapper = new EntityWrapper<AgvWrkMast>().eq("wrk_sts", 21L).like(false, "loc_no", "@");
+ wrapper.in("loc_no", stationCodes);
+ return this.selectList(wrapper);
+ //return this.baseMapper.selectReadyAgvWrkMast();
+ }
+
+ @Override
+ public AgvWrkMast selectByContainerCode(String containerCode) {
+ return this.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", containerCode));
+ }
+
+ @Override
+ public int callCancelTask(int wrkNo) {
+
+ AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
+ agvTaskCreateParam.setTaskCode(wrkNo + "");
+
+ return doHttpRequest(agvTaskCreateParam, "鍙栨秷浠诲姟涓嬪彂", url, taskCancelPath, null, "127.0.0.1");
+
+ }
+
+
+ private void getContainerMoveParam(List<AgvWrkMast> agvWrkMastList, List<Map<String, String>> positionCodeMapList) {
+ //寰�璐ф灦鍏ュ満鍙傛暟涓斁鍏ユ簮绔欑偣浣嶇疆
+ for (AgvWrkMast agvWrkMast : agvWrkMastList) {
+ //鍒ゆ柇鏄惁涓鸿緭閫佺嚎鍏ュ簱锛屾槸鍒欎笉闇�瑕佽揣鏋惰繘鍦鸿姹�
+ if ("Y".equals(agvWrkMast.getMk())) {
+ continue;
+ }
+ Map<String, String> positionCodeMap = new HashMap<>();
+ positionCodeMap.put("positionCode", agvWrkMast.getSourceLocNo());
+ positionCodeMapList.add(positionCodeMap);
+ }
+ }
+
+ private void getRequestParam(AgvTaskCreateParam agvTaskCreateParam, AgvWrkMast agvWrkMast) {
+
+ List<AgvTaskParam> agvTaskParamList = Arrays.asList(
+ //璧峰浣�
+ new AgvTaskParam(agvWrkMast.getSourceLocNo()),
+ //鐩爣浣�
+ new AgvTaskParam(agvWrkMast.getLocNo()));
+
+// //璧峰浣�
+// agvTaskParamList.add(new AgvTaskParam(agvWrkMast.getSourceLocNo()));
+// //鐩爣浣�
+// agvTaskParamList.add(new AgvTaskParam(agvWrkMast.getLocNo()));
+
+ if (agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57) {
+ agvWrkMast.setWrkNo(-agvWrkMast.getWrkNo());
+ }
+ agvTaskCreateParam.setTaskCode(agvWrkMast.getWrkNo().toString());
+ switch (agvWrkMast.getIoType()) {
+ case 114:
+ case 108:
+ case 12:
+ agvTaskCreateParam.setTaskTyp("F06");
+ break;
+ case 109:
+ if (agvWrkMast.getWrkSts() == 201) {
+ agvTaskCreateParam.setTaskTyp("F06");
+ } else {
+ agvTaskCreateParam.setTaskTyp("F01");
+ }
+ break;
+ case 1:
+ case 57:
+ // 鍏ュ簱浠诲姟鏄彧鏈� 鎺ラ┏浣� -- > 搴撲綅
+ AgvLocMast loc = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvWrkMast.getLocNo()));
+ String locSub = loc.getLocNo().substring(loc.getLocNo().length() - 4).substring(0, 2).substring(0, 2);
+ AgvBasDevp agvBasDevp = agvBasDevpService.selectByDevNo(agvWrkMast.getSourceLocNo());
+ if ("02".equals(locSub)) {
+ if (agvBasDevp.getFloor() == 4) {
+ agvTaskCreateParam.setTaskTyp("F01");
+ } else {
+ agvTaskCreateParam.setTaskTyp("F06");
+ }
+
+ } else {
+ // 鐩爣妤煎眰浣�1妤� 浣嗘簮搴撲綅锛堟帴椹充綅锛夊湪鍚稿浜屾ゼ
+ if (agvBasDevp.getFloor() == 4) {
+ agvTaskCreateParam.setTaskTyp("F06");
+ } else {
+ agvTaskCreateParam.setTaskTyp("F01");
+ }
+
+
+ }
+ break;
+ default:
+ agvTaskCreateParam.setTaskTyp("F01");
+ break;
+ }
+
+ agvTaskCreateParam.setPositionCodePath(agvTaskParamList);
+
+ }
+
+ private int doHttpRequest(Object requestParam, String namespace, String url, String path, String appkey, String ip) {
+ if (!flag) {
+ return 1;
+ }
+ String response = "";
+ boolean success = false;
+ int code = 0;
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(url)
+ .setPath(path)
+ .setTimeout(30, TimeUnit.SECONDS)
+ .setJson(JSONObject.toJSONString(requestParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+
+ code = Integer.parseInt(jsonObject.get("code").toString());
+ if (code != 0) {
+ if (code == 6) {
+ log.info("AGV浠诲姟鍗曞彿宸蹭笂鎶�:{}", response);
+ String message = jsonObject.getString("message");
+ if (!Cools.isEmpty(message) && message.contains("宸插瓨鍦ㄤ换鍔″崟澶翠负")) {
+ success = true;
+ return 0;
+ }
+ }
+ throw new CoolException("璋冪敤AGV鍝嶅簲閿欒");
+ //return code;
+ }
+ success = true;
+ return code;
+ } catch (Exception e) {
+ log.error(e.getMessage());
+ throw new CoolException("璋冪敤AGV鍝嶅簲閿欒");
+ //return 1;
+ } finally {
+ if (code != 6) {
+ apiLogService.save(
+ namespace,
+ url + path,
+ appkey,
+ ip,
+ JSON.toJSONString(JSONObject.toJSONString(requestParam)),
+ response,
+ success
+ );
+ }
+ }
+
}
}
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