From 6923315545b3f97c86719148f85dac1220a14a63 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期三, 14 一月 2026 19:23:54 +0800
Subject: [PATCH] agv空托入库接口以及机器人组站点配置
---
src/main/java/com/zy/common/web/WcsController.java | 117 +++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 110 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/common/web/WcsController.java b/src/main/java/com/zy/common/web/WcsController.java
index 9e11712..fb72cd5 100644
--- a/src/main/java/com/zy/common/web/WcsController.java
+++ b/src/main/java/com/zy/common/web/WcsController.java
@@ -8,20 +8,29 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.EmptyPlateOutParam;
import com.zy.asrs.entity.result.FindLocNoAttributeVo;
+import com.zy.asrs.enums.LocAreaType;
+import com.zy.asrs.enums.LocStsType;
+import com.zy.asrs.enums.TaskIOType;
import com.zy.asrs.service.*;
import com.zy.common.CodeRes;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.StartupDto;
+import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
+import com.zy.common.web.param.GenerateAgvTaskParam;
import com.zy.common.web.param.SearchLocParam;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
+import java.util.Arrays;
import java.util.Date;
import java.util.List;
+
+import static com.zy.asrs.enums.TaskIOType.EMPTY_IN;
/**
* Created by vincent on 2020/10/30
@@ -49,6 +58,102 @@
private RowLastnoService rowLastnoService;
@Autowired
private WorkService workService;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private TaskDetlService taskDetlService;
+ @Autowired
+ private BasAreasService basAreasService;
+ @Autowired
+ private LocCacheService locCacheService;
+
+ @PostMapping("/generate/AgvTask/v1")
+ @ResponseBody
+ @Transactional(rollbackFor = Exception.class)
+ public synchronized R generateAgvTask(@RequestBody GenerateAgvTaskParam param) {
+ if (Cools.isEmpty(param.getStaNo(),param.getWrkNo())){
+ return R.error("绔欑偣缂栧彿鍜屽伐浣滃彿涓嶈兘涓虹┖");
+ }
+ Task searchTask = taskService.selectOne(new EntityWrapper<Task>()
+ .eq("source_sta_no", param.getStaNo())
+ );
+ if (!Cools.isEmpty(searchTask)){
+ return R.error("浠诲姟宸插瓨鍦�");
+ }
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
+ .eq("wrk_no", param.getWrkNo())
+ .eq("sta_no", param.getStaNo())
+ );
+ List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>()
+ .eq("wrk_no", param.getWrkNo())
+ );
+ if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkDetls)){
+ return R.error("宸ヤ綔鍏宠仈浠诲姟鎴栨槑缁嗕笉瀛樺湪");
+ }
+
+ BasAreas basAreas = basAreasService
+ .selectOne(new EntityWrapper<BasAreas>().eq("whs_type_id", LocAreaType.LOC_AREA_TYPE_CK.type));
+ LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>()
+ .eq("area_id", basAreas.getId())
+ .eq("frozen", 0)
+ .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
+ // .eq("loc_no", params.getTarSite())
+ .orderAsc(Arrays.asList("loc_no"))
+ .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
+
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 淇濆瓨宸ヤ綔妗�
+ Task task = new Task();
+ Date now = new Date();
+ task.setWrkNo(workNo)
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+ .setIoType(1) // 鍏ュ嚭搴撶姸鎬侊細 1.鍏ュ簱
+ .setTaskType("agv")
+ .setIoPri(10D)
+ .setLocNo(locCache.getLocNo()) // 鐩爣搴撲綅
+ .setFullPlt(wrkMast.getIoType().equals(TaskIOType.EMPTY_IN.type) ? "N" : "Y")// 婊℃澘锛歒
+ .setPicking("N") // 鎷ｆ枡
+ .setExitMk("N")// 閫�鍑�
+ .setSourceStaNo(param.getStaNo().toString())
+ .setEmptyMk(wrkMast.getIoType().equals(TaskIOType.EMPTY_IN.type) ? "Y" : "N")// 绌烘澘
+ .setBarcode(wrkMast.getBarcode())// 鎵樼洏鐮�
+ .setLinkMis("N")
+ .setAppeTime(now)
+ .setModiTime(now);
+ if (!taskService.insert(task)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+ wrkDetls.forEach(wrkDetl -> {
+ TaskDetl taskDetl = new TaskDetl();
+ BeanUtils.copyProperties(wrkDetl, taskDetl);
+ taskDetl.setTaskId(task.getId());
+ taskDetl.setWrkNo(task.getWrkNo());
+ taskDetl.setAppeTime(now);
+ taskDetl.setModiTime(now);
+
+ if (!taskDetlService.insert(taskDetl)) {
+ throw new CoolException("淇濆瓨AGV宸ヤ綔妗ｆ槑缁嗗け璐�");
+ }
+ });
+
+
+ // 淇敼鐩爣搴撲綅鐘舵��
+ if (locCache.getLocSts().equals(LocStsType.LOC_STS_TYPE_O.type)) {
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_S.type); // S.鍏ュ簱棰勭害
+ locCache.setModiTime(new Date());
+
+ if (!locCacheService.updateById(locCache)) {
+ throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ }
+ } else {
+ throw new CoolException("绉昏浆澶辫触锛岀洰鏍囧簱浣嶇姸鎬侊細" + locCache.getLocSts$());
+ }
+
+
+ return R.ok();
+ }
@PostMapping("/pakin/loc/v1")
@ResponseBody
@@ -164,11 +269,8 @@
// 婧愮珯鐐圭姸鎬佹娴�
BasDevp sourceStaNo = basDevpService.checkSiteStatus(devpNo, true);
// 妫�绱㈠簱浣�
-// List<String> matnrs = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
-// List<String> batchs = waitPakins.stream().map(WaitPakin::getBatch).distinct().collect(Collectors.toList());
-// FindLocNoAttributeVo findLocNoAttributeVo = new FindLocNoAttributeVo(matnrs.get(0), batchs.get(0));
- FindLocNoAttributeVo findLocNoAttributeVo = new FindLocNoAttributeVo(waitPakins.get(0));
- StartupDto dto = commonService.getLocNo(1, devpNo, findLocNoAttributeVo, locTypeDto);
+// FindLocNoAttributeVo findLocNoAttributeVo = new FindLocNoAttributeVo(waitPakins.get(0));
+ StartupDto dto = commonService.getLocNoBySdyhfz(devpNo,1);
int workNo = dto.getWorkNo();
Date now = new Date();
// 鐢熸垚宸ヤ綔妗�
@@ -243,9 +345,10 @@
// 婧愮珯鐐圭姸鎬佹娴�
BasDevp sourceStaNo = basDevpService.checkSiteStatus(devpNo, true);
// 妫�绱㈠簱浣�
- FindLocNoAttributeVo findLocNoAttributeVo = new FindLocNoAttributeVo();
+// FindLocNoAttributeVo findLocNoAttributeVo = new FindLocNoAttributeVo();
- StartupDto dto = commonService.getLocNo(10, devpNo, findLocNoAttributeVo, locTypeDto);
+// StartupDto dto = commonService.getLocNo(10, devpNo, findLocNoAttributeVo, locTypeDto);
+ StartupDto dto = commonService.getLocNoBySdyhfz(devpNo,10);
int workNo = dto.getWorkNo();
// 鐢熸垚宸ヤ綔妗�
WrkMast wrkMast = new WrkMast();
--
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