From b26b26e7170f4b86642176ac62955e57e1dc74a9 Mon Sep 17 00:00:00 2001
From: zyh <zyh@123>
Date: 星期五, 13 三月 2026 14:35:00 +0800
Subject: [PATCH] 人员入侵调用以及回调接口
---
src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java | 237 ++++++++++++++++++++++++++++++++++++++++-------
src/main/resources/application-dev.yml | 1
src/main/java/com/zy/asrs/controller/RcsController.java | 15 +++
src/main/java/com/zy/asrs/service/RcsService.java | 2
4 files changed, 218 insertions(+), 37 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RcsController.java b/src/main/java/com/zy/asrs/controller/RcsController.java
index 49ba93e..20ec140 100644
--- a/src/main/java/com/zy/asrs/controller/RcsController.java
+++ b/src/main/java/com/zy/asrs/controller/RcsController.java
@@ -1,6 +1,7 @@
package com.zy.asrs.controller;
import com.alibaba.fastjson.JSONObject;
+import com.core.annotations.AppAuth;
import com.zy.asrs.entity.mes.TransParent;
import com.zy.asrs.entity.rcs.RcsReporterEqpt;
import com.zy.asrs.entity.rcs.RcsReporterTask;
@@ -43,4 +44,18 @@
return rcsService.hxApplyInLine(param);
}
+
+ @PostMapping("/api/robot/personIn")
+ @AppAuth(memo = "浜哄憳鍏ヤ镜鍥炶皟鎺ュ彛")
+ public JSONObject personIn(@RequestBody JSONObject param){
+ JSONObject jsonObject = new JSONObject();
+ if (rcsService.personIn(param) == 1){
+ jsonObject.put("code", 200);
+ jsonObject.put("message", "success");
+ }else {
+ jsonObject.put("code", 500);
+ jsonObject.put("message", "fail");
+ }
+ return jsonObject;
+ }
}
diff --git a/src/main/java/com/zy/asrs/service/RcsService.java b/src/main/java/com/zy/asrs/service/RcsService.java
index c4dd4c8..0a27072 100644
--- a/src/main/java/com/zy/asrs/service/RcsService.java
+++ b/src/main/java/com/zy/asrs/service/RcsService.java
@@ -68,4 +68,6 @@
* 2.1.12 瀛樺偍瀵硅薄涓庢惉杩愬璞＄粦瀹氳В缁戞帴鍙�
*/
RcsReturn siteBind(SiteBind siteBind);
+
+ int personIn(JSONObject param);
}
diff --git a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
index f8ac53d..ccc0db8 100644
--- a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
@@ -6,7 +6,6 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.TransArrivalStation;
-import com.zy.asrs.entity.mes.TransInOutStationAllow;
import com.zy.asrs.entity.mes.TransParent;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.enums.RcsRetMethodEnum;
@@ -15,8 +14,11 @@
import com.zy.asrs.mapper.BlockTaskMapper;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
+import com.zy.common.utils.RedisUtil;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
@@ -30,13 +32,15 @@
import java.net.URLConnection;
import java.nio.charset.StandardCharsets;
import java.util.*;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
@Slf4j
@Service
public class RcsServiceImpl implements RcsService {
+ @Value("${wms.address}")
+ private String WMS_ADDRESS;
+ @Value("${personIn.url}")
+ private String PERSON_URL;
// 娴峰悍RCS鍦板潃
@Value("${hik.url}")
private String HIK_URL;
@@ -64,8 +68,15 @@
@Resource
private WrkMastService wrkMastService;
+ @Autowired
+ private RedisUtil redisUtil;
@Resource
private ApiLogService apiLogService;
+
+ private static final String IS_START_CHECK_INTRUSION = "intrusion:check";
+ private static final String IS_PERSON_INTRUSION = "intrusion:person";
+ private static final String LAST_INTRUSION_TIME = "intrusion:lastTime";
+ private static final String IS_BLOCK_AREA = "intrusion:block";
// region 灏侀攣鍖洪�昏緫锛岀洰鍓嶅彧鏈変竴涓ぇ灏侀攣鍖猴紝浠诲姟鍏ㄩ儴杞埌婊戝潡搴撳鐞嗭紝鎴栫洿鎺ュ啓鍒版粦鍧楀簱
@@ -96,40 +107,40 @@
*/
public void managerBlock() {
- try {
- BlockTask firstTask = blockTaskMapper.findTop();
- if (firstTask == null) {
- return;
- }
- EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
- wrapper.eq("block_no", firstTask.getBlockNo());
- List<BlockStation> stations = blockStationMapper.selectList(wrapper);
- if (!stations.isEmpty()) {
- boolean locked = false;
- for (BlockStation station : stations) {
- // 鍙厑璁�1涓巶瀹惰澶囪繘鍏ュ皝閿佸尯锛宻tatus鐘舵�侊細0 绌洪棽锛�1 娴峰悍灏侀攣涓紱2 鍗庢檽灏侀攣涓紱-1 寮傚父锛�
- if (station.getStatus() > 0 && !station.getStatus().equals(firstTask.getAgvFactory())) {
- locked = true;
- break;
- }
- }
+ try {
+ BlockTask firstTask = blockTaskMapper.findTop();
+ if (firstTask == null) {
+ return;
+ }
+ EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
+ wrapper.eq("block_no", firstTask.getBlockNo());
+ List<BlockStation> stations = blockStationMapper.selectList(wrapper);
+ if (!stations.isEmpty()) {
+ boolean locked = false;
+ for (BlockStation station : stations) {
+ // 鍙厑璁�1涓巶瀹惰澶囪繘鍏ュ皝閿佸尯锛宻tatus鐘舵�侊細0 绌洪棽锛�1 娴峰悍灏侀攣涓紱2 鍗庢檽灏侀攣涓紱-1 寮傚父锛�
+ if (station.getStatus() > 0 && !station.getStatus().equals(firstTask.getAgvFactory())) {
+ locked = true;
+ break;
+ }
+ }
- if (!locked) {
- // 灏侀攣鐘舵��
- int success = blockStationMapper.addByBlockNo(firstTask.getBlockNo(), firstTask.getAgvFactory());
- if (success > 0) {
- // 閫氱煡RCS
- RcsEqptNotify notify = new RcsEqptNotify();
- notify.setEqptCode(firstTask.getBlockNo());
- notify.setTaskCode(firstTask.getTaskCode());
- notify.setActionStatus("1");
- notifyEqpt(notify, firstTask.getAgvFactory());
- }
- }
- }
- } catch (Exception e) {
- log.error("绠＄悊灏侀攣鍖哄紓甯�", e);
- }
+ if (!locked) {
+ // 灏侀攣鐘舵��
+ int success = blockStationMapper.addByBlockNo(firstTask.getBlockNo(), firstTask.getAgvFactory());
+ if (success > 0) {
+ // 閫氱煡RCS
+ RcsEqptNotify notify = new RcsEqptNotify();
+ notify.setEqptCode(firstTask.getBlockNo());
+ notify.setTaskCode(firstTask.getTaskCode());
+ notify.setActionStatus("1");
+ notifyEqpt(notify, firstTask.getAgvFactory());
+ }
+ }
+ }
+ } catch (Exception e) {
+ log.error("绠＄悊灏侀攣鍖哄紓甯�", e);
+ }
}
/**
@@ -553,12 +564,44 @@
} else {
apply.setStationId(task.getStaNo());
}
-
if (RcsRetMethodEnum.APPLY_IN_STATION.getCode().equals(method)) {
+ JSONObject personRequest = new JSONObject();
+ personRequest.put("TaskType", 2);
+ personRequest.put("callback", WMS_ADDRESS+"/api/robot/personIn");
+ List<String> areaCodes = new ArrayList<>(Arrays.asList("03-H01", "03-H02", "03-M01"));
+ int i = 0;
+ for (String areaCode : areaCodes){
+ personRequest.put("AreaCode", areaCode);
+ int j = PersonRequest(personRequest, "IN");
+ if (j == 0){
+ log.error("浜哄憳鍏ヤ镜绯荤粺璋冪敤澶辫触");
+ }
+ }
+ redisUtil.set(IS_START_CHECK_INTRUSION, "T");
+ // 寤惰繜澶勭悊锛岀‘淇濅汉鍛樺叆渚电郴缁熶俊鍙蜂紭鍏堝鐞�
+ try {
+ Thread.sleep(10000); // 鐫＄湢10绉�
+ } catch (InterruptedException e) {
+ Thread.currentThread().interrupt();
+ }
mesService.applyInStation(apply);
} else if (RcsRetMethodEnum.APPLY_OFF_STATION.getCode().equals(method)) {
mesService.applyOutStation(apply);
} else if (RcsRetMethodEnum.ARRIVE_OFF_STATION.getCode().equals(method)) {
+ JSONObject personRequest = new JSONObject();
+ personRequest.put("TaskType", 2);
+ personRequest.put("callback", WMS_ADDRESS+"/api/robot/personIn");
+ List<String> areaCodes = new ArrayList<>(Arrays.asList("03-H01", "03-H02", "03-M01"));
+ int i = 0;
+ for (String areaCode:areaCodes){
+ personRequest.put("AreaCode", areaCode);
+ int j = PersonRequest(personRequest, "OUT");
+ if (j == 0){
+ log.error("浜哄憳鍏ヤ镜绯荤粺璋冪敤澶辫触");
+ }
+ }
+ redisUtil.set(IS_START_CHECK_INTRUSION, "F");
+
mesService.outStation(apply);
// agv缁х画鎵ц
@@ -853,5 +896,125 @@
return rcsReturn;
}
+ int PersonRequest(JSONObject personRequest, String Type){
+ String url;
+ if (Type.equals("IN")){
+ url = "/detect/start";
+ }else{
+ url = "/detect/stop";
+ }
+ String URL = PERSON_URL + url;
+ String blockResponse = RcsServiceImpl.sendPost(URL, JSONObject.toJSONString(personRequest));
+ JSONObject jsonObject = JSON.parseObject(blockResponse);
+ if (!StringUtils.isEmpty(blockResponse) && (jsonObject.getInteger("code") == 200)) {
+ return 1;
+ }
+ return 0;
+ }
+
+ @Scheduled(fixedDelay = 1000)
+ public void personOut(){
+ Object lastTimeObj = redisUtil.get(LAST_INTRUSION_TIME);
+ if (lastTimeObj == null) {
+ return; // 娌℃湁璁板綍锛岀洿鎺ヨ繑鍥�
+ }
+ long lastTime = Long.parseLong(lastTimeObj.toString()); // 鍏堣浆String鍐嶈浆long
+ long now = System.currentTimeMillis();
+ long waitTime = now - lastTime;
+ //寰幆妫�娴嬫槸鍚︽湁瓒呰繃10绉掓病鏈夋洿鏂版湁浜轰俊鍙�
+ if (waitTime > 10000){
+ JSONObject personReturn = new JSONObject();
+
+ String hik_blockUrl = "api/robot/controller/zone/blockade";
+ String hik_pauseUrl = "api/robot/controller/zone/pause";
+
+ String BLOCK_URL = HIK_URL + hik_blockUrl;
+ String PAUSE_URL = HIK_URL + hik_pauseUrl;
+
+ // 涓変釜AGV鍖哄煙
+ List<String> areaCodes = new ArrayList<>(Arrays.asList("oprs1", "oprs2", "oprs3"));
+
+ for (String areaCode:areaCodes){
+ JSONObject rcsBlock = new JSONObject();
+ JSONObject rcsPause = new JSONObject();
+ rcsBlock.put("mapCode", "AA");
+ rcsPause.put("mapCode", "AA");
+ rcsBlock.put("invoke", "OPENUP");
+ rcsPause.put("invoke","RUN");
+ rcsBlock.put("zoneCode", areaCode);
+ rcsPause.put("zoneCode", areaCode);
+
+ // 瑙ｉ櫎AGV閿佸畾鍖哄煙涓庤В闄ゆ殏鍋�
+ String blockResponse = RcsServiceImpl.sendPost(BLOCK_URL, JSONObject.toJSONString(rcsBlock));
+ String PauseResponse = RcsServiceImpl.sendPost(PAUSE_URL, JSONObject.toJSONString(rcsPause));
+ JSONObject blockJsonObject = JSON.parseObject(blockResponse);
+ JSONObject pauseJsonObject = JSON.parseObject(PauseResponse);
+ if (!StringUtils.isEmpty(blockResponse) && (blockJsonObject.getString("code").equals("SUCCESS"))) {
+ if (!StringUtils.isEmpty(PauseResponse) && (pauseJsonObject.getString("code").equals("SUCCESS"))) {
+ personReturn.put("code", 200);
+ personReturn.put("message", "success");
+ }
+ }
+ }
+ //閲嶇疆灏侀攣鐘舵��
+ redisUtil.set(IS_BLOCK_AREA, "F");
+ }
+ }
+
+ @Override
+ //浜哄憳鍏ヤ镜绯荤粺鍥炶皟鎺ュ彛瀹炵幇鏂规硶
+ public int personIn(JSONObject param) {
+
+ //浜哄憳鍏ヤ镜绯荤粺妫�娴嬪埌鏈変汉
+ if (param.getString("AlarmValue").equals("1")){
+ long date = new Date().getTime();
+ //閲嶇疆redis璁℃椂
+ redisUtil.set(LAST_INTRUSION_TIME, String.valueOf(date));
+
+ //濡傛灉宸茬粡灏侀攣鍖哄煙灏辩洿鎺ヨ繑鍥烇紝閬垮厤澶氭璋冪敤agv鎺ュ彛
+ Object blockArea = redisUtil.get(IS_BLOCK_AREA);
+ if (blockArea != null && "T".equals(blockArea)) {
+ return 1;
+ }
+
+ redisUtil.set(IS_PERSON_INTRUSION, "T");
+ }
+
+ JSONObject personReturn = new JSONObject();
+
+ String hik_blockUrl = "api/robot/controller/zone/blockade";
+ String hik_pauseUrl = "api/robot/controller/zone/pause";
+
+ String BLOCK_URL = HIK_URL + hik_blockUrl;
+ String PAUSE_URL = HIK_URL + hik_pauseUrl;
+
+ JSONObject rcsBlock = new JSONObject();
+ JSONObject rcsPause = new JSONObject();
+ rcsBlock.put("mapCode", "AA");
+ rcsPause.put("mapCode", "AA");
+
+ List<String> areaCodes = new ArrayList<>(Arrays.asList("oprs1", "oprs2", "oprs3"));
+
+ for (String areaCode:areaCodes){
+ rcsBlock.put("zoneCode", areaCode);
+ rcsPause.put("zoneCode", areaCode);
+ rcsBlock.put("invoke", "BLOCKADE");
+ rcsPause.put("invoke","FREEZE");
+ String blockResponse = RcsServiceImpl.sendPost(BLOCK_URL, JSONObject.toJSONString(rcsBlock));
+ String PauseResponse = RcsServiceImpl.sendPost(PAUSE_URL, JSONObject.toJSONString(rcsPause));
+ JSONObject blockJsonObject = JSON.parseObject(blockResponse);
+ JSONObject pauseJsonObject = JSON.parseObject(PauseResponse);
+ if (!StringUtils.isEmpty(blockResponse) && (blockJsonObject.getString("code").equals("SUCCESS"))) {
+ if (!StringUtils.isEmpty(PauseResponse) && (pauseJsonObject.getString("code").equals("SUCCESS"))) {
+ personReturn.put("code", 200);
+ personReturn.put("message", "success");
+ }
+ }
+ }
+ // 鏇存柊瀛樺偍灏侀攣淇℃伅
+ redisUtil.set(IS_BLOCK_AREA, "T");
+ //鐩存帴杩斿洖锛屼笉闇�瑕佷俊鎭�
+ return 1;
+ }
// endregion
}
diff --git a/src/main/resources/application-dev.yml b/src/main/resources/application-dev.yml
index ef583c1..d9c6b4b 100644
--- a/src/main/resources/application-dev.yml
+++ b/src/main/resources/application-dev.yml
@@ -116,6 +116,7 @@
#鍒嗗簱閰嶇疆
wms:
+ address: 172.26.11.88:8089/jgwms
#褰撳墠鏄鍑犲簱
currentId: 2
#褰撳墠搴撳悕绉�
--
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