From 6923315545b3f97c86719148f85dac1220a14a63 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期三, 14 一月 2026 19:23:54 +0800
Subject: [PATCH] agv空托入库接口以及机器人组站点配置
---
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 61 ++++++++++++++++++++++++++----
1 files changed, 52 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
index 96d2be9..fdc0fe8 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -12,17 +12,19 @@
import com.zy.asrs.service.TaskLogService;
import com.zy.asrs.service.TaskService;
import com.zy.common.constant.ApiInterfaceConstant;
+import com.zy.common.properties.AgvProperties;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
-import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.Collections;
+import java.util.HashSet;
import java.util.List;
+import java.util.Set;
import java.util.stream.Collectors;
/**
@@ -49,15 +51,15 @@
@Resource
private BasStationMapper basStationMapper;
- @Value("${Agv.sendTask}")
- private boolean agvSendTask;
+ @Resource
+ private AgvProperties agvProperties;
/**
* 鍛煎彨agv鎼繍
*/
public void callAgv(List<Task> taskList) {
- if (!agvSendTask) {
+ if (!agvProperties.isSendTask()) {
return;
}
@@ -99,6 +101,7 @@
success = true;
task.setWrkSts(8L);
taskService.updateById(task);
+ log.info(namespace + "鍛煎彨agv鎼繍璇锋眰鍙傛暟锛歿}", body);
log.info(namespace + "鍛煎彨agv鎼繍鎴愬姛锛歿}", task.getId());
} else {
log.error(namespace + "鍛煎彨agv鎼繍澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
@@ -131,19 +134,34 @@
JSONObject object = new JSONObject();
// taskId浣跨敤浠诲姟ID锛屾牸寮忥細T + 浠诲姟ID
object.put("taskId", "T" + task.getId());
- object.put("fromBin", task.getSourceStaNo());
+ // fromBin浣跨敤婧愬簱浣嶇紪鍙凤紙sourceLocNo锛夛紝濡傛灉涓虹┖鍒欎娇鐢ㄦ簮绔欑偣缂栧彿锛坰ourceStaNo锛変綔涓哄閫�
+ String fromBin = task.getSourceLocNo();
+ if (fromBin == null || fromBin.isEmpty()) {
+ fromBin = task.getSourceStaNo();
+ }
+ if (fromBin == null || fromBin.isEmpty() || "0".equals(fromBin)) {
+ log.warn("浠诲姟{}鐨勬簮搴撲綅鍜屾簮绔欑偣閮戒负绌猴紝浣跨敤榛樿鍊�", task.getId());
+ fromBin = "0";
+ }
+ object.put("fromBin", fromBin);
+ // toBin浣跨敤鐩爣绔欑偣缂栧彿
object.put("toBin", task.getStaNo());
- // robotGroup浠巌nvWh瀛楁鑾峰彇锛屽鏋滄病鏈夊垯浣跨敤榛樿鍊�
+ // robotGroup浠巌nvWh瀛楁鑾峰彇锛屽鏋滄病鏈夊垯鏍规嵁绔欑偣缂栧彿鍒ゆ柇
String robotGroup = task.getInvWh();
if (robotGroup == null || robotGroup.isEmpty()) {
- robotGroup = "Group-001"; // 榛樿鏈哄櫒浜虹粍
+ robotGroup = determineRobotGroupByStation(task.getStaNo());
}
object.put("robotGroup", robotGroup);
// kind鏍规嵁浠诲姟绫诲瀷鏄犲皠
String kind = "";
switch (nameSpace) {
case "鍏ュ簱":
- kind = "瀹炴墭鍏ュ簱";
+ // 鍒ゆ柇鏄惁涓虹┖鎵樺叆搴擄細ioType=10 鎴� emptyMk="Y"
+ if (task.getIoType() == 10 || "Y".equals(task.getEmptyMk())) {
+ kind = "绌烘墭鍏ュ簱";
+ } else {
+ kind = "瀹炴墭鍏ュ簱";
+ }
break;
case "鍑哄簱":
kind = "瀹炴墭鍑哄簱";
@@ -156,6 +174,31 @@
}
object.put("kind", kind);
return object.toJSONString();
+ }
+
+ /**
+ * 鏍规嵁绔欑偣缂栧彿鍒ゆ柇鏈哄櫒浜虹粍
+ * @param staNo 绔欑偣缂栧彿
+ * @return 鏈哄櫒浜虹粍鍚嶇О
+ */
+ private String determineRobotGroupByStation(String staNo) {
+ if (staNo == null || staNo.isEmpty()) {
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
+
+ // 浠庨厤缃腑鑾峰彇绔欑偣鍒楄〃
+ Set<String> eastStations = new HashSet<>(agvProperties.getEastStations());
+ Set<String> westStations = new HashSet<>(agvProperties.getWestStations());
+
+ // 鍒ゆ柇绔欑偣灞炰簬鍝竴渚�
+ if (eastStations.contains(staNo)) {
+ return agvProperties.getRobotGroupEast(); // 涓滀晶鏈哄櫒浜�
+ } else if (westStations.contains(staNo)) {
+ return agvProperties.getRobotGroupWest(); // 瑗夸晶鏈哄櫒浜�
+ } else {
+ log.warn("绔欑偣缂栧彿涓嶅湪閰嶇疆鍒楄〃涓紝浣跨敤榛樿鏈哄櫒浜虹粍锛歿}", staNo);
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
}
/**
@@ -231,7 +274,7 @@
* @return 鏄惁鎴愬姛
*/
public boolean cancelAgvTask(Task task) {
- if (!agvSendTask) {
+ if (!agvProperties.isSendTask()) {
return false;
}
--
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