From aa221b6b6c3939130c78e4219207d14ce877ff30 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 06 八月 2025 15:57:34 +0800
Subject: [PATCH] 1
---
src/main/java/com/zy/asrs/controller/AgvOpenController.java | 402 ++++++++++++++++++++++++++++++--------------------------
1 files changed, 216 insertions(+), 186 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/AgvOpenController.java b/src/main/java/com/zy/asrs/controller/AgvOpenController.java
index e825c78..86f6fdc 100644
--- a/src/main/java/com/zy/asrs/controller/AgvOpenController.java
+++ b/src/main/java/com/zy/asrs/controller/AgvOpenController.java
@@ -1,17 +1,22 @@
package com.zy.asrs.controller;
+import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.AppAuth;
import com.core.common.Cools;
import com.core.common.R;
+import com.zy.asrs.entity.AgvBasDevp;
import com.zy.asrs.entity.AgvWrkMast;
-import com.zy.asrs.entity.ApiLog;
+import com.zy.asrs.entity.WrkMastExecute;
import com.zy.asrs.entity.param.AgvTaskCallBackParam;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.AppAuthUtil;
import com.zy.common.web.BaseController;
import lombok.Setter;
import lombok.extern.slf4j.Slf4j;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
@@ -21,10 +26,14 @@
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.PostConstruct;
+import javax.servlet.http.HttpServletRequest;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.Date;
import java.util.EnumSet;
+import java.util.Map;
+
+import static org.reflections.Reflections.log;
/**
* 涓婃姤浜嬩欢绫诲瀷锛坋ventType锛夛細
@@ -35,7 +44,7 @@
* 飦� robot_reach锛氭満鍣ㄤ汉鍒拌揪宸ヤ綔绔欍��
* 飦� weight锛氱О閲嶄簨浠跺洖璋冦��
* 飦� rfid锛歊FID璇嗗埆浜嬩欢鍥炶皟銆�
- *
+ * <p>
* 浠诲姟鐘舵�侊紙status锛夛細
* 飦� success锛氭垚鍔熴��
* 飦� fail锛氬け璐ャ��
@@ -47,247 +56,259 @@
@RequestMapping("/agv")
public class AgvOpenController extends BaseController {
+ private static final Logger log = LoggerFactory.getLogger(AgvMobileController.class);
+
@Autowired
AgvWrkMastService agvWrkMastService;
@Autowired
ApiLogService apiLogService;
+ @Autowired
+ private WrkMastExecuteService wrkMastExecuteService;
+ @Autowired
+ private AgvBasDevpService agvBasDevpService;
@PostMapping("/task/event/status")
@AppAuth(memo = "ESS浠诲姟鍥炶皟")
- public R taskEventStaus(@RequestBody AgvTaskCallBackParam param){
+ public R taskEventStaus(@RequestBody AgvTaskCallBackParam param, HttpServletRequest request) {
- //淇濆瓨姣忔璋冪敤璇ユ帴鍙ｇ殑鍙傛暟锛屼綔涓哄巻鍙插彲鏌ヨ
- //saveApiLog(param);
- AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("wrk_no", param.getTaskCode()));
- if(Cools.isEmpty(agvWrkMast)){
- return R.error("浠诲姟缂栧彿閿欒");
+ //save api log (appkey 鍚庣画娣诲姞)
+
+ R r = new R(0, "鎴愬姛");
+
+ AppAuthUtil.auth("", param, request);
+ int wrkNo = Integer.parseInt(param.getTaskCode());
+ if (wrkNo < 0) {
+ wrkNo = -wrkNo;
}
-
- if(!checkParam(param,agvWrkMast)){
- return R.error("浠诲姟鍙傛暟涓庡伐浣滄。鍙傛暟涓嶇鍚�");
+ AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
+ if (Cools.isEmpty(agvWrkMast)) {
+ agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", param.getPodCode()));
+ if (Cools.isEmpty(agvWrkMast)) {
+ r = R.error("浠诲姟缂栧彿閿欒");
+ logPost(param, JSONObject.toJSONString(r), false);
+ return r;
+ }
}
-
- AgvTask agvTask = AgvTask.valueOf(param.getEventType());
- Class<AgvTask> clz = AgvTask.class;
try {
- Method method = clz.getDeclaredMethod(param.getStatus(),AgvTaskCallBackParam.class);
- method.invoke(agvTask,param);
- } catch (NoSuchMethodException e) {
- return R.error("浠诲姟鐘舵�乻tatus鍙傛暟鏈夎");
- } catch (InvocationTargetException e) {
- log.error(e.getMessage());
- return R.error();
- } catch (IllegalAccessException e) {
- log.error(e.getMessage());
- return R.error();
+ if (!Cools.isEmpty(agvWrkMast.getBarcode()) && !Cools.isEmpty(param.getPodCode())) {
+ if (!agvWrkMast.getBarcode().equals(param.getPodCode())) {
+ log.info("AGV鍥炶皟鐨勮繑鍥炵殑鎵樼洏鐮佸拰宸ヤ綔妗ｆ墭鐩樹笉涓�鑷�,{}{}", agvWrkMast.getBarcode(), param.getPodCode());
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
}
+ if (agvWrkMast.getIoType().equals(121)) {
+ try {
+ if (agvWrkMast.getWrkSts().equals(12L)) {
+ WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectOne(new EntityWrapper<WrkMastExecute>().eq("wrk_no", wrkNo));
+ if (Cools.isEmpty(wrkMastExecute) || wrkMastExecute.getWrkSts() != 1) {
+ r = R.error("浠诲姟鐘舵�乄rkSts鍙傛暟鏈夎,WrkSts:" + wrkMastExecute.getWrkSts$());
+ logPost(param, "浠诲姟鐘舵�乄rkSts鍙傛暟鏈夎,WrkSts:" + wrkMastExecute.getWrkSts$() + JSONObject.toJSONString(r), false);
+ return r;
+ } else {
+ wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsCode());
+ wrkMastExecuteService.updateById(wrkMastExecute);
+ }
+ } else {
+ r = R.error("浠诲姟寮傚父");
+ logPost(param, JSONObject.toJSONString(r), false);
+
+ return r;
+ }
+ } catch (Exception e) {
+ r = R.error("" + e.getMessage());
+ logPost(param, JSONObject.toJSONString(r), false);
+ return r;
+ }
+ } else {
+ if (agvWrkMast.getWrkSts() >= 205) {
+ r = R.error("褰撳墠浠诲姟宸插畬鎴�");
+ logPost(param, JSONObject.toJSONString(r), false);
+ return r;
+ }
+
+ AgvTask agvTask = AgvTask.valueOf(param.getMethod());
+ Class<AgvTask> clz = AgvTask.class;
+ try {
+ Method method = clz.getDeclaredMethod("success", AgvWrkMast.class, AgvTaskCallBackParam.class);
+ method.invoke(agvTask, agvWrkMast, param);
+ } catch (NoSuchMethodException e) {
+ r = R.error("浠诲姟鐘舵�乻tatus鍙傛暟鏈夎");
+ logPost(param, JSONObject.toJSONString(r), false);
+ return r;
+ } catch (InvocationTargetException e) {
+ log.error(e.getMessage());
+ r = R.error("" + e.getMessage());
+ logPost(param, JSONObject.toJSONString(r), false);
+ return r;
+ } catch (IllegalAccessException e) {
+ log.error(e.getMessage());
+ r = R.error("" + e.getMessage());
+ logPost(param, JSONObject.toJSONString(r), false);
+ return r;
+ }
+ }
+ logPost(param, JSONObject.toJSONString(r), true);
+ return r;
+ }
+
+ @PostMapping("/conveyor/loadContainerFinish ")
+ @AppAuth(memo = "鍙栬揣鏋跺畬鎴愰�氱煡")
+ public R loadContainerFinish(@RequestBody Map<String, Object> params) {
+
return R.ok();
}
- private boolean checkParam(AgvTaskCallBackParam param, AgvWrkMast agvWrkMast){
- if(!agvWrkMast.getLocNo().equals(param.getLocationCode())){
- return false;
- }
- if(!agvWrkMast.getSourceLocNo().equals(param.getStationCode())){
- return false;
- }
- return true;
+ private void logPost(AgvTaskCallBackParam param, String response, boolean success) {
+ apiLogService.save(
+ "ESS浠诲姟鍥炶皟",
+ "/phyzwms/agv/task/event/status",
+ null,
+ null,
+ JSON.toJSONString(JSONObject.toJSONString(param)),
+ response,
+ success
+ );
}
-
- private void saveApiLog(AgvTaskCallBackParam param){
- ApiLog apiLog = new ApiLog();
- apiLog.setNamespace("ESS浠诲姟鍥炶皟");
- apiLog.setUrl("/agv/task/event/status");
- apiLog.setRequest(JSONObject.toJSONString(param));
- apiLog.setCreateTime(new Date());
- apiLogService.insert(apiLog);
- }
-
}
-enum AgvTask{
+enum AgvTask {
/**
- * 涓婃姤浠诲姟鐘舵��
+ * 涓婃姤浠诲姟瀹屾垚
*/
- task{
+ end {
@Transactional
- public void success(AgvTaskCallBackParam param) {
+ public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
//淇敼AGV宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负205.宸ヤ綔瀹屾垚
- agvWrkMastService.updateWrkStsByWrkNo(Integer.valueOf(param.getTaskCode()),205);
+ agvWrkMast.setWrkSts(205L);
- /*
- int wrkNo = Integer.valueOf(param.getTaskCode());
- String barcode = agvWrkMastService.selectById(wrkNo).getBarcode();
- //鐢熸垚AGV宸ヤ綔鍘嗗彶妗�
- agvWrkMastLogService.save(wrkNo);
- //鐢熸垚AGV宸ヤ綔鏄庣粏鍘嗗彶妗�
- agvWrkDetlLogService.save(wrkNo);
- //鍒犻櫎AGV宸ヤ綔妗�
- agvWrkMastService.deleteById(wrkNo);
- //鍒犻櫎AGV宸ヤ綔鏄庣粏妗�
- agvWrkDetlService.delete(new EntityWrapper<AgvWrkDetl>().eq("wrk_no",wrkNo));
- //鐢熸垚鍏ュ簱閫氱煡鍘嗗彶妗�
- agvWaitPakinLogService.save(barcode);
- //鍒犻櫎鍏ュ簱閫氱煡妗�
- agvWaitPakinService.delete(new EntityWrapper<AgvWaitPakin>().eq("zpallet",barcode));
- */
+ //鍑哄簱浠诲姟 101.鍑哄簱 || 103.鎷ｆ枡鍑哄簱 || 107.鐩樼偣鍑哄簱
+ if (agvWrkMast.getIoType() == 101 || agvWrkMast.getIoType() == 103 || agvWrkMast.getIoType() == 107) {
+ AgvBasDevp byDevNo = agvBasDevpService.getByDevNo(agvWrkMast.getLocNo());
+ if (byDevNo != null) {
+ log.info("鍑哄簱浠诲姟杩涘叆绔欑偣===>>绔欑偣鐮侊細{}锛岀珯鐐圭姸鎬亄}", byDevNo.getDevNo(), byDevNo.getLocSts());
+ //淇敼鍑哄簱绔欑偣鐘舵��
+ agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(), "F", agvWrkMast.getBarcode(), agvWrkMast.getWhsType().shortValue());
- }
+ }
+ }
+ //鍑哄簱浠诲姟 110.绌烘澘鍑哄簱
+ if (agvWrkMast.getIoType() == 110) {
+ agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(), "F", agvWrkMast.getBarcode(), agvWrkMast.getWhsType().shortValue());
+ agvWrkMast.setWrkSts(206L);
+ }
+ agvWrkMast.setModiTime(new Date());
+ agvWrkMastService.updateById(agvWrkMast);
- public void fail(AgvTaskCallBackParam param) {
-
- }
-
- public void cancel(AgvTaskCallBackParam param) {
-
- }
-
- public void suspend(AgvTaskCallBackParam param) {
}
},
/**
- * 涓婃姤浠诲姟鍒嗛厤缁欐満鍣ㄤ汉
+ * 浠诲姟寮�濮�
*/
- task_allocated{
+ start {
@Transactional
- public void success(AgvTaskCallBackParam param) {
-
- }
-
- public void fail(AgvTaskCallBackParam param) {
-
- }
-
- public void cancel(AgvTaskCallBackParam param) {
-
- }
-
- public void suspend(AgvTaskCallBackParam param) {
-
+ public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
+ //淇敼AGV宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负203.浠诲姟寮�濮�
+ agvWrkMast.setWrkSts(203L);
+ agvWrkMast.setModiTime(new Date());
+ agvWrkMast.setPdcType(param.getRobotCode());
+ agvWrkMastService.updateById(agvWrkMast);
}
},
/**
- * 涓婃姤鍙栫鐘舵��
+ * 璧板嚭鍌ㄤ綅鐘舵��
*/
- tote_load{
+ outbin {
@Transactional
- public void success(AgvTaskCallBackParam param) {
- //淇敼婧愮珯鐐圭姸鎬佷负O.绌猴紝浠ュ強瑙ｇ粦鎵樼洏鏉＄爜
- agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getStationCode(),"O","");
+ public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
+
+ switch (agvWrkMast.getIoType()) {
+ //鍏ュ簱浠诲姟
+ case 1:
+ // 绌烘澘鍏ュ簱
+ case 10:
+ // 鎷ｆ枡鍏ュ簱浠诲姟
+ case 53:
+ // 绔欑偣閫�鍥�
+ case 58:
+ // 鐩樼偣鍐嶅叆搴�
+ case 57:
+ AgvBasDevp byDevNo = agvBasDevpService.getByDevNo(agvWrkMast.getSourceLocNo());
+ String locSts = "O";
+ if (byDevNo != null) {
+ assert log != null;
+// if (!Cools.isEmpty(agvWrkMast.getBarcode())) {
+// AgvBasDevp agvBasDevp = agvBasDevpService.selectOne(new EntityWrapper<AgvBasDevp>().eq("barcode", agvWrkMast.getBarcode()));
+// if (!Cools.isEmpty(agvBasDevp) && agvBasDevp.getLocSts().equals("F") && !agvBasDevp.getDevNo().equals(byDevNo.getDevNo())) {
+// agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvBasDevp.getDevNo(), locSts, "", null);
+// }
+// }
+ log.info("鏂欐灦绂诲紑鏃跺綋鍓嶇珯鐐圭姸鎬�:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
+ if ("S".equals(byDevNo.getLocSts()) || "F".equals(byDevNo.getLocSts())) {
+ log.info("鏂欐灦绂诲紑鏃跺綋鍓嶇珯鐐圭姸鎬佷繚鎸佷笉鍙�1:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
+ locSts = byDevNo.getLocSts();
+ agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(), locSts, byDevNo.getBarcode(), null);
+ } else {
+ log.info("鏂欐灦绂诲紑鏃跺綋鍓嶇珯鐐圭姸鎬佷繚鎸佷笉鍙�2:{},{}", byDevNo.getDevNo(), byDevNo.getLocSts());
+ locSts = "O";
+ agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(), locSts, "", null);
+ }
+
+ }
+ break;
+ }
+
+ if (agvWrkMast.getIoType() == 108 || agvWrkMast.getIoType() == 114) {
+ //鏇存柊搴撳瓨鏄庣粏
+ agvLocDetlService.updateStock(agvWrkMast.getSourceLocNo(), agvWrkMast.getLocNo(), agvWrkMast.getAppeUser());
+ //淇敼婧愬簱浣嶇姸鎬佷负O
+ agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(), "O", "", agvWrkMast.getWhsType().shortValue(), "", (short) 0);
+ } else if (agvWrkMast.getIoType() == 109 && !agvWrkMast.getSourceLocNo().substring(0, 2).equals("DB")) {
+ //淇敼婧愬簱浣嶇姸鎬佷负O
+ agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(), "O", "", agvWrkMast.getWhsType().shortValue(), "", (short) 0);
+ }
+ //if(agvWrkMast.getIoType() == 1 || agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57 || agvWrkMast.getIoType() == 10){
+ // //淇敼婧愮珯鐐圭姸鎬佷负O.绌猴紝浠ュ強瑙ｇ粦鎵樼洏鏉＄爜
+ // agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","",null);
+ //}
+
//淇敼AGV宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负203.RCS鏀捐揣涓�
- agvWrkMastService.updateWrkStsByWrkNo(Integer.valueOf(param.getTaskCode()),203);
- //淇敼AGV鍏ュ簱閫氱煡妗ｇ姸鎬�
- //agvWaitPakinService.updateIoStatus(Integer.valueOf(param.getTaskCode()),"Y");
+ agvWrkMastService.updateWrkStsByWrkNo(agvWrkMast.getWrkNo(), 204);
}
- public void fail(AgvTaskCallBackParam param) {
-
- }
-
- public void cancel(AgvTaskCallBackParam param) {
-
- }
-
- public void suspend(AgvTaskCallBackParam param) {
-
- }
},
/**
* 涓婃姤鏀剧鐘舵��
*/
- tote_unload{
+ cancel {
@Transactional
- public void success(AgvTaskCallBackParam param) {
- int wrkNo = Integer.valueOf(param.getTaskCode());
- String barcode = agvWrkMastService.selectById(wrkNo).getBarcode();
- //淇敼鐩爣搴撲綅鐘舵�佷负F.鍦ㄥ簱
- //agvLocMastService.updateLocStsByLocNo(param.getLocationCode(),"F");
- //鏇存柊鐩爣搴撲綅鏄庣粏
- //agvLocDetlService.addLocDetlInfo(param.getLocationCode(),wrkNo);
- //淇敼宸ヤ綔妗ｇ姸鎬佷负204.鏀捐揣瀹屾垚
- agvWrkMastService.updateWrkStsByWrkNo(wrkNo,204);
- }
+ public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
- public void fail(AgvTaskCallBackParam param) {
}
- public void cancel(AgvTaskCallBackParam param) {
-
- }
-
- public void suspend(AgvTaskCallBackParam param) {
-
- }
},
- robot_reach{
+ apply {
@Transactional
- public void success(AgvTaskCallBackParam param) {
-
- }
-
- public void fail(AgvTaskCallBackParam param) {
-
- }
-
- public void cancel(AgvTaskCallBackParam param) {
-
- }
-
- public void suspend(AgvTaskCallBackParam param) {
-
- }
- },
- weight{
- @Transactional
- public void success(AgvTaskCallBackParam param) {
-
- }
-
- public void fail(AgvTaskCallBackParam param) {
-
- }
-
- public void cancel(AgvTaskCallBackParam param) {
-
- }
-
- public void suspend(AgvTaskCallBackParam param) {
-
- }
- },
- rfid{
- @Transactional
- public void success(AgvTaskCallBackParam param) {
-
- }
-
- public void fail(AgvTaskCallBackParam param) {
-
- }
-
- public void cancel(AgvTaskCallBackParam param) {
-
- }
-
- public void suspend(AgvTaskCallBackParam param) {
+ public void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param) {
}
};
//浠诲姟鐘舵�佷负鎴愬姛
- public abstract void success(AgvTaskCallBackParam param);
- //浠诲姟鐘舵�佷负澶辫触
- public abstract void fail(AgvTaskCallBackParam param);
- //浠诲姟鐘舵�佷负鍙栨秷
- public abstract void cancel(AgvTaskCallBackParam param);
- //浠诲姟鐘舵�佷负鎸傝捣
- public abstract void suspend(AgvTaskCallBackParam param);
+ public abstract void success(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
+// //浠诲姟鐘舵�佷负澶辫触
+// public abstract void fail(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
+// //浠诲姟鐘舵�佷负鍙栨秷
+// public abstract void cancel(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
+// //浠诲姟鐘舵�佷负鎸傝捣
+// public abstract void suspend(AgvWrkMast agvWrkMast, AgvTaskCallBackParam param);
@Setter
AgvBasDevpService agvBasDevpService;
@@ -330,8 +351,8 @@
AgvWrkDetlLogService agvWrkDetlLogService;
@PostConstruct
- public void postConstruct(){
- for(AgvTask task : EnumSet.allOf(AgvTask.class)){
+ public void postConstruct() {
+ for (AgvTask task : EnumSet.allOf(AgvTask.class)) {
task.setAgvBasDevpService(agvBasDevpService);
task.setAgvLocDetlService(agvLocDetlService);
task.setAgvLocMastService(agvLocMastService);
@@ -345,6 +366,15 @@
}
}
+
+ public static void main(String[] args) {
+ try {
+ String s = null;
+ System.out.println(s.equals("1"));
+ }catch (Exception e){
+
+ }
+ }
}
--
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