From e93f24d1daf7a2c485033020bd4115bceb70f1c0 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期一, 01 十二月 2025 17:05:54 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/controller/OpenController.java | 94 ++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 89 insertions(+), 5 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 68f380c..fabb4a2 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -11,6 +11,7 @@
import com.zy.common.web.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Async;
import org.springframework.web.bind.annotation.*;
import javax.servlet.http.HttpServletRequest;
@@ -331,6 +332,33 @@
/**
+ * 鎵樼洏灏辩华鐘舵�佹煡璇�
+ */
+ @PostMapping("/arm/task/loc_status")
+ @AppAuth(memo = "鎵樼洏灏辩华鐘舵�佹煡璇�")
+ public synchronized R TaskArmLocStatus(@RequestHeader(required = false) String appkey,
+ @RequestBody ArmOKParam param,
+ HttpServletRequest request) {
+ auth(appkey, param, request);
+ if (Cools.isEmpty(param)) {
+ return R.parse(BaseRes.PARAM);
+ }
+ if (Cools.isEmpty(param.getArmNo())) {
+ return R.error("鏈烘鑷傜紪鍙穂armNo]涓嶈兘涓虹┖");
+ }
+ if (Cools.isEmpty(param.getStaNo())) {
+ return R.error("绔欑偣缂栧彿[staNo]涓嶈兘涓虹┖");
+ }
+
+ boolean taskArmLocStatus = openService.TaskArmLocStatus(param);
+ if (taskArmLocStatus){
+ return new R(200,"OK").add(true);
+ }
+ return R.error("涓嶇鍚�").add(false);
+ }
+
+
+ /**
* 寮傚父涓婃姤
*/
@PostMapping("/armAbnormalOperation")
@@ -373,6 +401,9 @@
} catch (Exception e){
return R.error("鍗曟嵁缂栧彿[order_id]浠� "+sign_arm_sku+" 涓� "+sign_arm_order+" 浣滀负鎷嗗垎鏍囪鎷嗗垎澶辫触锛侊紒锛�");
}
+ if (param.getArm_no()>4){
+ return R.ok();
+ }
openService.taskArmWorkOrderStatus(param);
return R.ok();
@@ -402,6 +433,9 @@
param.OrderIdTwo(sign_arm_order,sign_arm_sku);
} catch (Exception e){
return R.error("鍗曟嵁缂栧彿[order_id]浠� "+sign_arm_sku+" 涓� "+sign_arm_order+" 浣滀负鎷嗗垎鏍囪鎷嗗垎澶辫触锛侊紒锛�");
+ }
+ if (param.getArm_no()>4){
+ return R.ok().add(true);
}
boolean taskArmWorkOrderSign = openService.TaskArmWorkOrderSign(param);
@@ -444,13 +478,10 @@
}
param.setTaskNo(Integer.parseInt(taskCode.substring(0, taskCode.indexOf("-"))));
-
-// if (Cools.isEmpty(param.getTimestamp())) {
-// return R.error("RGV浠诲姟鍙穂timestamp]涓嶈兘涓虹┖");
-// }
boolean taskAgvReport = openService.TaskAgvReport(param);
if (taskAgvReport){
- return R.ok();
+ agvBindAndBin(String.valueOf(param.getTaskNo()));
+ return new R(0,"鎴愬姛");
}
return R.error("浠诲姟鍙蜂笉瀛樺湪");
}
@@ -511,4 +542,57 @@
return R.error("搴撲綅涓嶅瓨鍦ㄦ垨鏃犳槑缁�");
}
+ /**
+ * AGV鐢宠杩囧厜鏍�
+ */
+ @PostMapping("/agv/arm/grating/v1/agvCallback")
+ @AppAuth(memo = "AGV鐢宠杩囧厜鏍�")
+ public synchronized R agvGrating(@RequestHeader(required = false) String appkey,
+ @RequestBody AgvGoTheArnParam param,
+ HttpServletRequest request) {
+// auth(appkey, param, request);
+ if (Cools.isEmpty(param)) {
+ return R.parse(BaseRes.PARAM);
+ }
+ if (Cools.isEmpty(param.getCurrentPositionCode())) {
+ return R.error("浣嶇疆[currentPositionCode]涓嶈兘涓虹┖");
+ }
+ boolean bindCtnrAndBin = true;
+ List<ArmAgvGratingParam> armList = param.getArmNo();
+ if (armList.isEmpty()){
+ return R.error("搴撲綅涓嶅瓨鍦ㄦ垨鏃犳槑缁�");
+ }
+ for (ArmAgvGratingParam arm : armList){
+ if (bindCtnrAndBin){
+ bindCtnrAndBin = openService.agvApplicationPassedTheGrating(arm);
+// System.out.println("璇锋眰閫氳繃鍏夋爡"+armNo);
+ }
+ }
+ if (bindCtnrAndBin) {
+ asyncProcessAfterValidation(param);
+ return new R(0,"鎴愬姛");
+ }
+ return R.error("搴撲綅涓嶅瓨鍦ㄦ垨鏃犳槑缁�");
+ }
+
+ @Async
+ public void agvBindAndBin(String taskNo) {
+ try {
+ Thread.sleep(500);
+ openService.agvBindAndBin(taskNo);
+ } catch (Exception e) {
+ log.error("寮傛澶勭悊AGV鎼繍鍚庣画閫昏緫澶辫触", e);
+ }
+ }
+
+ @Async
+ public void asyncProcessAfterValidation(AgvGoTheArnParam param) {
+ try {
+ Thread.sleep(500);
+ openService.agvApplicationPassedTheGrating(param);
+ } catch (Exception e) {
+ log.error("寮傛澶勭悊AGV鍏夋爡鍚庣画閫昏緫澶辫触", e);
+ }
+ }
+
}
--
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