From a8bb23b90b99f1898c2a0d0335115c69a6db761d Mon Sep 17 00:00:00 2001
From: zyh <zyh@123>
Date: 星期六, 24 一月 2026 08:33:19 +0800
Subject: [PATCH] 添加了联结器库特殊站点时调用AGV特殊模板，添加人员入侵系统检测到有人时急停AGV的接口，修复AGV工作档没有任务号的漏洞
---
src/main/java/com/zy/asrs/task/AGVTaskReportScheduler.java | 5 +
src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java | 47 ++++++++++++---
src/main/java/com/zy/asrs/controller/LocDetlController.java | 2
src/main/java/com/zy/asrs/task/handler/WorkMastHandler.java | 28 +++++----
src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java | 4
src/main/java/com/zy/asrs/task/OrderSyncScheduler.java | 2
src/main/resources/application-dev.yml | 2
src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java | 24 ++++++-
src/main/resources/mapper/TaskMapper.xml | 2
src/main/java/com/zy/asrs/controller/MesController.java | 23 +++++++
src/main/java/com/zy/asrs/service/MesService.java | 2
11 files changed, 105 insertions(+), 36 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/LocDetlController.java b/src/main/java/com/zy/asrs/controller/LocDetlController.java
index 619459d..a9213d4 100644
--- a/src/main/java/com/zy/asrs/controller/LocDetlController.java
+++ b/src/main/java/com/zy/asrs/controller/LocDetlController.java
@@ -306,7 +306,7 @@
if (Cools.isEmpty(mat)) {
continue;
}
- if (!Cools.isEmpty(mat .getStoreMax()) || !Cools.isEmpty(mat.getStoreMin())) {
+ if (!Cools.isEmpty(mat.getStoreMax()) || !Cools.isEmpty(mat.getStoreMin())) {
abnormalLocDetlParam.setStoreMax(mat.getStoreMax());
abnormalLocDetlParam.setStoreMaxDate(mat.getStoreMaxDate());
abnormalLocDetlParam.setStoreMin(mat.getStoreMin());
diff --git a/src/main/java/com/zy/asrs/controller/MesController.java b/src/main/java/com/zy/asrs/controller/MesController.java
index 3497c5a..a690371 100644
--- a/src/main/java/com/zy/asrs/controller/MesController.java
+++ b/src/main/java/com/zy/asrs/controller/MesController.java
@@ -13,6 +13,7 @@
import javax.annotation.Resource;
import javax.servlet.http.HttpServletRequest;
+import java.io.IOException;
@RestController
@Slf4j
@@ -118,4 +119,26 @@
return mesService.queryInventory(itemno,orderNo);
}
+ @PostMapping("/api/mes/pauseAGV")
+ public MesReturn AGVPause(@RequestBody JSONObject param) throws IOException {
+ MesReturn mesReturn = new MesReturn();
+ int AGVType;
+ if (param.containsKey("zoneCode")){
+ param.put("mapCode", "BB");
+ param.put("invoke", "FREEZE");
+ AGVType = 1;
+ }else {
+ AGVType = 2;
+ }
+ if (mesService.AGVPause(param, AGVType) == 1){
+ mesReturn.setSuccess("1");
+ mesReturn.setMessage("鎴愬姛");
+ return mesReturn;
+ }else {
+ mesReturn.setSuccess("2");
+ mesReturn.setMessage("澶辫触");
+ return mesReturn;
+ }
+ }
+
}
diff --git a/src/main/java/com/zy/asrs/service/MesService.java b/src/main/java/com/zy/asrs/service/MesService.java
index f88f88b..f3ba28b 100644
--- a/src/main/java/com/zy/asrs/service/MesService.java
+++ b/src/main/java/com/zy/asrs/service/MesService.java
@@ -147,4 +147,6 @@
int outStation(TransParent apply);
MesReturn queryInventory(String itemno,String orderNo);
+
+ int AGVPause(JSONObject params, int AGVType);
}
diff --git a/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java
index 54e1104..d49c220 100644
--- a/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java
@@ -1,23 +1,21 @@
package com.zy.asrs.service.impl;
-import com.alibaba.excel.util.DateUtils;
import com.alibaba.excel.util.StringUtils;
+import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
+import com.core.common.DateUtils;
import com.core.common.SnowflakeIdWorker;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.*;
-import com.zy.asrs.entity.param.CombParam;
-import com.zy.asrs.entity.param.EmptyPlateOutParam;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.mapper.AgvInfoMapper;
import com.zy.asrs.mapper.MatItemBarcodeMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.OrderInAndOutUtil;
-import com.zy.common.model.DetlDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import lombok.extern.slf4j.Slf4j;
@@ -30,16 +28,22 @@
import javax.annotation.Resource;
import java.text.ParseException;
import java.util.*;
-import java.util.concurrent.ExecutionException;
import java.util.stream.Collectors;
-import java.util.stream.Stream;
@Slf4j
@Service
public class MesServiceImpl implements MesService {
-
@Value("${mes.url}")
public String MES_URL;
+
+ // 娴峰悍RCS鍦板潃
+ @Value("${hik.url}")
+ private String HIK_URL;
+
+ // 鍗庢檽RCS鍦板潃
+ @Value("${hx.url}")
+ private String HX_URL;
+
@Value("${wms.currentName}")
public String WMS_CURRENT_NAME;
@Value("${wms.wmsTransStartStation1}")
@@ -243,7 +247,7 @@
OrderPakin orderPakin = new OrderPakin();
orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
orderPakin.setOrderNo(entry.getKey());
- orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
+ orderPakin.setOrderTime(DateUtils.convert(now));
orderPakin.setDocType(docType);
orderPakin.setSettle(1L);
orderPakin.setStatus(1);
@@ -553,7 +557,7 @@
OrderPakin orderPakin = new OrderPakin();
orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
orderPakin.setOrderNo(mesInApply.getOrderNo());
- orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
+ orderPakin.setOrderTime(DateUtils.convert(now));
orderPakin.setDocType(docType);
orderPakin.setSettle(settle);
orderPakin.setStatus(1);
@@ -956,7 +960,7 @@
OrderPakout orderPakout = new OrderPakout();
orderPakout.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
orderPakout.setOrderNo(mesCallOutApply.getOrderNo());
- orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
+ orderPakout.setOrderTime(DateUtils.convert(now));
orderPakout.setDocType(docType.getDocId());
orderPakout.setSettle(settle);
orderPakout.setStatus(1);
@@ -1031,7 +1035,7 @@
OrderPakin orderPakin = new OrderPakin();
orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
orderPakin.setOrderNo(mesCallOutApply.getOrderNo());
- orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
+ orderPakin.setOrderTime(DateUtils.convert(now));
orderPakin.setDocType(docType.getDocId());
orderPakin.setSettle(1L);
orderPakin.setStatus(1);
@@ -1396,6 +1400,27 @@
return mesReturn;
}
+ @Override
+ public int AGVPause(JSONObject params, int AGVType){
+ MesReturn mesReturn = new MesReturn();
+
+ String hik_url = "api/robot/controller/zone/pause";
+ String hx_url = "";
+ String URL = "";
+ if (AGVType == 1){
+ URL = HIK_URL + hik_url;
+ }else {
+ URL = HX_URL + hx_url;
+ }
+
+ String response = RcsServiceImpl.sendPost(URL, JSONObject.toJSONString(params));
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (!StringUtils.isEmpty(response) && jsonObject.getString("code").equals("SUCCESS")) {
+ return 1;
+ }else
+ return 2;
+ }
+
// endregion
/**
diff --git a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
index c16434d..6364b12 100644
--- a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
@@ -1331,7 +1331,7 @@
@Transactional
public R callEmptyBinOutBound(String staNo, String locType, String palletFormat, String agvTaskNo, Long userId) {
EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
- wrapper.eq("loc_sts", 'D').eq("loc_type2", locType);
+ wrapper.eq("loc_sts", "D").eq("loc_type2", Integer.parseInt(locType));
if (palletFormat != null && !palletFormat.isEmpty()) {
wrapper.like("barcode", palletFormat);
}
@@ -1380,12 +1380,12 @@
wrkMast.setEmptyMk("Y"); // 绌烘澘
wrkMast.setLinkMis("N");
wrkMast.setUserNo(agvTaskNo);
+ wrkMast.setUserNo(String.valueOf(agvTaskNo));
wrkMast.setAppeUser(userId);
wrkMast.setAppeTime(now);
wrkMast.setModiUser(userId);
wrkMast.setModiTime(now);
wrkMast.setMemo(staNo);
- wrkMast.setUserNo(String.valueOf(agvTaskNo));
wrkMastService.insert(wrkMast);
// 鏇存柊搴撲綅鐘舵��
diff --git a/src/main/java/com/zy/asrs/task/AGVTaskReportScheduler.java b/src/main/java/com/zy/asrs/task/AGVTaskReportScheduler.java
index c53aa0d..684dc50 100644
--- a/src/main/java/com/zy/asrs/task/AGVTaskReportScheduler.java
+++ b/src/main/java/com/zy/asrs/task/AGVTaskReportScheduler.java
@@ -76,11 +76,14 @@
List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo());
if (wrkMast.getIoType()==110){
- TaskNo = wrkDetls.get(0).getOrderNo();
+ if (wrkMast == null){
+ TaskNo = 55555 + "aa" + date.getTime();
+ }
taskType = "ZX-AGV-08-1";
}else{
if (wrkDetls != null && !Cools.isEmpty(wrkDetls.get(0).getOrderNo())){
OrderPakout orderPakout = orderPakoutService.selectByNo(wrkDetls.get(0).getOrderNo());
+ TaskNo = wrkDetls.get(0).getOrderNo();
if (orderPakout.getDocType()==11){
taskType = "PP-AGV";
}else if (orderPakout.getDocType()==12){
diff --git a/src/main/java/com/zy/asrs/task/OrderSyncScheduler.java b/src/main/java/com/zy/asrs/task/OrderSyncScheduler.java
index 410abbd..1e31768 100644
--- a/src/main/java/com/zy/asrs/task/OrderSyncScheduler.java
+++ b/src/main/java/com/zy/asrs/task/OrderSyncScheduler.java
@@ -138,7 +138,7 @@
}
// 鍏ュ簱璁㈠崟瀹屾垚涓婃姤-棰嗘枡鍗曪紝鍘熸潗鏂�
- //@Scheduled(cron = "0/30 * * * * ? ")
+ @Scheduled(cron = "0/30 * * * * ? ")
@Async("orderThreadPool")
void inOrderCompleteReport() {
String erpReport = Parameter.get().getErpReport();
diff --git a/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java b/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java
index cfdec07..f9eb275 100644
--- a/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java
@@ -45,18 +45,32 @@
String taskType = "PP";
Boolean flag1 = false;
Boolean flag2 = false;
-
+ Boolean cpFlag1 = false;
+ Boolean cpFlag2 = false;
if(stationProperties.getStation().contains(task.getStaNo())){
- taskType = "LJIN";
- flag1 = true;
+ if (task.getStaNo().equals("Z-LVL18")){
+ taskType = "LJCPIN";
+ cpFlag1 = true;
+ }else {
+ taskType = "LJIN";
+ flag1 = true;
+ }
}
if (stationProperties.getStation().contains(task.getSourceStaNo())){
- taskType = "LJOUT";
- flag2 = true;
+ if (task.getSourceStaNo().equals("Z-LVL18")){
+ cpFlag2 = true;
+ taskType = "LJCPOUT";
+ }else{
+ taskType = "LJOUT";
+ flag2 = true;
+ }
}
if(flag1 && flag2){
taskType = "LJBOTH";
}
+ if (cpFlag1 && cpFlag2){
+ taskType = "LJCPBOTH";
+ }
//AGV鍖哄煙涓棤娉曠敤-
String StaNo = task.getStaNo();
String SourceStaNo = task.getSourceStaNo();
diff --git a/src/main/java/com/zy/asrs/task/handler/WorkMastHandler.java b/src/main/java/com/zy/asrs/task/handler/WorkMastHandler.java
index 1d1278b..c9a3aed 100644
--- a/src/main/java/com/zy/asrs/task/handler/WorkMastHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/WorkMastHandler.java
@@ -628,19 +628,21 @@
//瀵硅浆搴忔惉杩愬畬鎴愮殑浠诲姟缁撴灉鍙嶉缁檓es
}else if(task.getTaskType().equals("ZX-AGV-08-1")||task.getTaskType().equals("ZX-AGV-08-2")){
- HashMap<String,Object> map = new HashMap<>();
- map.put("taskno", task.getTaskNo());
- map.put("StationId", task.getSourceStaNo());
- String mesUrl = url+"AGVArrivalCompletedFit";
- String response = RcsServiceImpl.sendPost(mesUrl, JSONObject.toJSONString(map));
- if (!StringUtils.isEmpty(response) && response.contains("Success")){
- MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
- if("1".equals(mesReturn.getSuccess())) {
- task.setWrkSts(305L);//浠诲姟鐘舵�佷粠304--銆�305
- task.setModiTime(new Date());
- taskService.updateById(task);
- }else {
- return new ReturnT<>(500, mesReturn.getMessage());
+ if(!task.getStaNo().equals("307")){
+ HashMap<String,Object> map = new HashMap<>();
+ map.put("taskno", task.getTaskNo());
+ map.put("StationId", task.getSourceStaNo());
+ String mesUrl = url+"AGVArrivalCompletedFit";
+ String response = RcsServiceImpl.sendPost(mesUrl, JSONObject.toJSONString(map));
+ if (!StringUtils.isEmpty(response) && response.contains("Success")){
+ MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
+ if("1".equals(mesReturn.getSuccess())) {
+ task.setWrkSts(305L);//浠诲姟鐘舵�佷粠304--銆�305
+ task.setModiTime(new Date());
+ taskService.updateById(task);
+ }else {
+ return new ReturnT<>(500, mesReturn.getMessage());
+ }
}
}
}else {
diff --git a/src/main/resources/application-dev.yml b/src/main/resources/application-dev.yml
index 8efb6f7..871500f 100644
--- a/src/main/resources/application-dev.yml
+++ b/src/main/resources/application-dev.yml
@@ -12,7 +12,7 @@
driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
username: sa
password: sa@123
- url: jdbc:sqlserver://127.0.0.1:1433;databasename=jnejc-ljqwms
+ url: jdbc:sqlserver://172.26.11.80:1433;databasename=jnejc-ljqwms
# username: sa
# password: Skyouc#23
# url: jdbc:sqlserver://192.168.4.24:1433;databasename=jsxswms
diff --git a/src/main/resources/mapper/TaskMapper.xml b/src/main/resources/mapper/TaskMapper.xml
index 37b366b..86e6ec7 100644
--- a/src/main/resources/mapper/TaskMapper.xml
+++ b/src/main/resources/mapper/TaskMapper.xml
@@ -9,7 +9,7 @@
</resultMap>
<select id="selectToBeCompleteData" resultType="com.zy.asrs.entity.Task">
- select * from agv_task where wrk_sts = 305 order by upd_mk,error_time,io_time,wrk_no
+ select * from agv_task where wrk_sts = 304 order by upd_mk,error_time,io_time,wrk_no
</select>
</mapper>
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