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/service/impl/MesServiceImpl.java | 173 +++++++++++++++++++++++++++++----------------------------
1 files changed, 88 insertions(+), 85 deletions(-)
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 9e42536..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}")
@@ -239,12 +243,11 @@
newMemo.put("itemdata", list);
-
// 鐢熸垚璁㈠崟
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);
@@ -260,8 +263,8 @@
// 鐢熸垚鏄庣粏
Mat mat = matService.selectByMatnr(mesMatInfo.getItemNo());
- if(Cools.isEmpty(mat)){
- log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�="+mesMatInfo.getItemNo());
+ if (Cools.isEmpty(mat)) {
+ log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�=" + mesMatInfo.getItemNo());
continue;
}
OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
@@ -554,7 +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);
@@ -957,7 +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);
@@ -967,6 +970,7 @@
orderPakout.setUpdateTime(now);
orderPakout.setMemo(JSONObject.toJSONString(mesCallOutApply));
orderPakout.setPakinPakoutStatus(2);
+ orderPakout.setCstmrName(mesCallOutApply.getStationId());//agv鐩爣绔欑偣
if (!orderPakoutService.insert(orderPakout)) {
log.error("MES淇濆瓨鍑哄簱璁㈠崟锛堝彨鏂欙級涓绘。澶辫触");
throw new CoolException("淇濆瓨鍑哄簱璁㈠崟锛堝彨鏂欙級涓绘。澶辫触");
@@ -978,6 +982,10 @@
set.add(mesOutApplyItem.getTrayid());
Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
+ if (Cools.isEmpty(mat)) {
+ log.error("鐗╂枡缂栧彿涓嶅瓨鍦�: {}", mesOutApplyItem.getItemno());
+ throw new CoolException("鐗╂枡缂栧彿涓嶅瓨鍦�: " + mesOutApplyItem.getItemno());
+ }
OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
orderDetlPakout.setOrderId(orderPakout.getId());
orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
@@ -1003,9 +1011,9 @@
}
//鏈夊灏戠涓嶅悓鐨勯厤鐩樺彿 鍙湁閰嶇洏鍑哄簱鍗曢渶瑕佺煡閬�
- if (mesCallOutApply.getTransType().equals("閰嶇洏鍑哄簱鍗�")){
+ if (mesCallOutApply.getTransType().equals("閰嶇洏鍑哄簱鍗�")) {
orderPakout.setPayType(set.size());
- String shipCode =mesCallOutApply.getItemdata().get(0).getTrayid().split("-")[2];
+ String shipCode = mesCallOutApply.getItemdata().get(0).getTrayid().split("-")[2];
orderPakout.setShipCode(shipCode);//鍖哄煙 鏄惁鏄壒娈婃墭鐩�
orderPakoutService.updateById(orderPakout);
}
@@ -1027,7 +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);
@@ -1039,11 +1047,11 @@
orderPakin.setPakinPakoutStatus(1);
orderPakinService.insert(orderPakin);
if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
- for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()){
+ for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()) {
// 鐢熸垚鏄庣粏
Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
- if(Cools.isEmpty(mat)){
- log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�="+mesOutApplyItem.getItemno());
+ if (Cools.isEmpty(mat)) {
+ log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�=" + mesOutApplyItem.getItemno());
continue;
}
OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
@@ -1104,73 +1112,39 @@
return result;
}
- // 涓嬪彂缁橰CS
- RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
- rcsTaskSubmit.setRobotTaskCode(transTask.getTaskno());
- rcsTaskSubmit.setInitPriority(10); //榛樿10
- List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
- RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
- startRoute.setSeq(0);
- startRoute.setCode(transTask.getCurStationId());
- startRoute.setOperation("COLLECT");
- targetRouteList.add(startRoute);
- RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
- endRoute.setSeq(1);
- endRoute.setCode(transTask.getNextStationId());
- endRoute.setOperation("DELIVERY");
- targetRouteList.add(endRoute);
- rcsTaskSubmit.setTargetRoute(targetRouteList);
+ int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
+ Date now = new Date();
+ Task task = new Task();
+ task.setWrkNo(workNo);
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ task.setTaskType("ZX-AGV-"+transTask.getTransType());
+ task.setWrkSts(301L);//301.AGV浠诲姟鍒涘缓
+ task.setIoType(3);//3.绔欏埌绔�
+ task.setIoPri(10.00);
+ task.setWrkDate(now);
+ task.setBarcode(transTask.getBarcode());
+ task.setSourceStaNo(transTask.getCurStationId());
+ task.setStaNo(transTask.getNextStationId());
+ task.setBarcode(transTask.getTuoPanId());
+ task.setModiUser(defaultUserId);
+ task.setModiTime(now);
+ task.setAppeUser(defaultUserId);
+ task.setAppeTime(now);
+ task.setTaskNo(transTask.getTaskno());
+ task.setMemo(JSONObject.toJSONString(transTask));
+ task.setPltType(transTask.getAgvFactory());//鍗庢檽AGV
+ task.setPacked(transTask.getRackNumber());//鏂欐灦鍙�
+ task.setCtnType(1);
- // 杞彂缁欐捣搴锋垨鍗庢檽RCS
- int success = rcsService.submitTask(rcsTaskSubmit, transTask.getAgvFactory());
- if (success == 1) {
- int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
- Date now = new Date();
- Task task = new Task();
- task.setWrkNo(workNo);
- task.setTaskType("ZX-AGV");
- task.setWrkSts(302L);//302.AGV浠诲姟鎵ц涓�
- task.setIoType(3);//3.绔欏埌绔�
- task.setIoPri(10.00);
- task.setWrkDate(now);
- task.setBarcode(transTask.getBarcode());
- task.setSourceStaNo(transTask.getCurStationId());
- task.setStaNo(transTask.getNextStationId());
- task.setBarcode(transTask.getTuoPanId());
- task.setModiUser(defaultUserId);
- task.setModiTime(now);
- task.setAppeUser(defaultUserId);
- task.setAppeTime(now);
- task.setTaskNo(transTask.getTaskno());
- task.setMemo(JSONObject.toJSONString(transTask));
- task.setPltType(transTask.getAgvFactory());//鍗庢檽AGV
- task.setPacked(transTask.getRackNumber());//鏂欐灦鍙�
-
- taskService.insert(task);
-// Mat mat = matService.selectByMatnr(transTask.getItemno());
-// TaskDetl taskDetl = new TaskDetl();
-// taskDetl.setWrkNo(task.getWrkNo());
-// taskDetl.setIoTime(task.getIoTime());
-// taskDetl.setMatnr(transTask.getItemno());
-// taskDetl.setAnfme(0.0);
-// taskDetl.setStandby1(String.valueOf(transTask.getQty()));
-// taskDetl.setMaktx(mat.getMaktx());
-// taskDetl.setSpecs(mat.getSpecs());
-// taskDetl.setOrderNo(transTask.getOrderNo());
-// taskDetl.setZpallet(transTask.getTuoPanId());
-// taskDetl.setMemo(JSONObject.toJSONString(transTask.getItemBarcode()));
-// taskDetl.setModiUser(defaultUserId);
-// taskDetl.setModiTime(now);
-// taskDetl.setAppeUser(defaultUserId);
-// taskDetl.setAppeTime(now);
-// taskDetlService.insert(taskDetl);
+ if (taskService.insert(task)) {
result.put("Success", "1");
result.put("Message", "浠诲姟鎺ユ敹鎴愬姛");
- } else {
+
+ }else {
result.put("Success", "2");
result.put("Message", "浠诲姟涓嬪彂缁橰CS澶辫触");
}
-
return result;
}
@@ -1266,13 +1240,17 @@
mesReturn.setSuccess("2");
if ("Y".equals(allow.getStatus())) {
- Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
+ String TaskNo = allow.getTaskno();
+ if(allow.getTaskno().contains("-")){
+ TaskNo = allow.getTaskno().substring(0, allow.getTaskno().length() - 2);
+ }
+ Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", TaskNo));
if (Cools.isEmpty(task)) {
mesReturn.setMessage("娌℃湁鎵句釜璇ヤ换鍔＄紪鍙�=" + allow.getTaskno() + "鐨凙GV绉诲姩浠诲姟");
} else {
//鏌ョ湅鐢宠绔欑偣鐨勬槸娴峰悍杩樻槸鍗庢檽
//娴峰悍
- if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1) {
+ if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1 || task.getPltType() == 0) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
rcsTaskContinue.setTriggerType("TASK");
@@ -1354,13 +1332,17 @@
mesReturn.setSuccess("2");
if ("Y".equals(allow.getStatus())) {
- Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
+ String TaskNo = allow.getTaskno();
+ if(allow.getTaskno().contains("-")){
+ TaskNo = allow.getTaskno().substring(0, allow.getTaskno().length() - 2);
+ }
+ Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", TaskNo));
if (Cools.isEmpty(task)) {
- mesReturn.setMessage("娌℃湁鎵句釜璇ヤ换鍔＄紪鍙�=" + allow.getTaskno() + "鐨凙GV绉诲姩浠诲姟");
+ mesReturn.setMessage("娌℃湁鎵句釜璇ヤ换鍔＄紪鍙�=" + TaskNo + "鐨凙GV绉诲姩浠诲姟");
} else {
//鏌ョ湅鐢宠绔欑偣鐨勬槸娴峰悍杩樻槸鍗庢檽
//娴峰悍
- if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1) {
+ if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1 || task.getPltType() == 0) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
rcsTaskContinue.setTriggerType("TASK");
@@ -1418,6 +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
/**
--
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