From 08d8933d3fe66fb83f1e2e7e4038e62b3c5143e1 Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期四, 19 六月 2025 11:10:43 +0800
Subject: [PATCH] #改造
---
src/main/java/com/zy/asrs/controller/OpenController.java | 331 +++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 272 insertions(+), 59 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 57bde1d..9dfc007 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -8,12 +8,21 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
-import com.zy.asrs.entity.param.CarryParam;
-import com.zy.asrs.entity.param.TaskOverParam;
-import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
-import com.zy.asrs.entity.param.TaskCreateParam;
+import com.zy.asrs.entity.param.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.service.impl.BasCrnErrorServiceImpl;
+import com.zy.asrs.service.impl.TaskWrkLogServiceImpl;
+import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
+import com.zy.core.CrnThread;
+import com.zy.core.cache.RgvStatusCache;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.CrnSlave;
+import com.zy.core.model.RgvSlave;
+import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
+import com.zy.core.properties.SlaveProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -29,6 +38,8 @@
@RequestMapping("/open")
public class OpenController extends BaseController {
+ @Autowired
+ private SlaveProperties slaveProperties;
@Autowired
private OpenService openService;
@Autowired
@@ -47,6 +58,10 @@
private StaDescService staDescService;
@Autowired
private LocMastService locMastService;
+ @Autowired
+ private BasRgvErrService basRgvErrService;
+ @Autowired
+ private BasCrnErrorServiceImpl basCrnErrorService;
@Value("${wms.url}")
private String wmsUrl;
@@ -56,6 +71,9 @@
public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
add("ea1f0459efc02a79f046f982767939ae");
}};
+ @Autowired
+ private TaskWrkLogServiceImpl taskWrkLogService;
+
//agv浠诲姟瀹屾垚
@PostMapping("/toAgvTaskOver")
@AppAuth(memo = "agv浠诲姟瀹屾垚鎺ュ彛")
@@ -77,33 +95,70 @@
}
//鍒涘缓浠诲姟
- @PostMapping("/taskCreate")
- public R taskCreate(@RequestHeader String appkey,
+ @PostMapping("/taskCreate2")
+ @AppAuth(memo = "WMS浠诲姟涓嬪彂")
+ @Transactional
+ public synchronized R taskCreate(@RequestHeader String appkey,
@RequestBody List<TaskCreateParam> param1,
HttpServletRequest request) {
auth(appkey, param1, request);
- for (TaskCreateParam param : param1
- ) {
- if (Cools.isEmpty(param)) {
- return R.parse(BaseRes.PARAM);
- }
- if (Cools.isEmpty(param.getTaskNo())) {
- return R.error("浠诲姟鍙穂taskNo]涓嶈兘涓虹┖");
- }
- if (Cools.isEmpty(param.getIoType())) {
- return R.error("浠诲姟绫诲瀷[ioType]涓嶈兘涓虹┖");
- }
- if (Cools.isEmpty(param.getBarcode())) {
- return R.error("鏉＄爜[barcode]涓嶈兘涓虹┖");
- }
- LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
- .eq("loc_sts","F")
- .eq("loc_no",param.getTargetPoint())
- .eq("barcode",param.getBarcode()));
- if(Cools.isEmpty(locMast)){
- return R.error("璇ュ簱浣嶄笉婊′綇鍑哄簱鏉′欢"+param.getTargetPoint());
- }
- openService.taskCreate(param);
+ try{
+ List<TaskCreateParam> paramList = new ArrayList<>();
+ List<String> locNoList = new ArrayList<>();
+ for (TaskCreateParam param : param1) {
+ if (Cools.isEmpty(param)) {
+ return R.parse(BaseRes.PARAM);
+ }
+
+ if (Cools.isEmpty(param.getTaskNo())) {
+ return R.error("浠诲姟鍙穂taskNo]涓嶈兘涓虹┖");
+ }
+ if (Cools.isEmpty(param.getIoType())) {
+ return R.error("浠诲姟绫诲瀷[ioType]涓嶈兘涓虹┖");
+ }
+ param.updateIoTyoe(param.getIoType());//涓埅涓嬪彂 1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴� ====杞崲涓�====> 1锛氬叆搴擄紝2锛氬嚭搴擄紝3锛氱Щ搴�
+
+ if (Cools.isEmpty(param.getBarcode())) {
+ return R.error("鏉＄爜[barcode]涓嶈兘涓虹┖");
+ }
+
+ String locNo=null;
+ if(param.getIoType()==1){
+ locNo=param.getTargetPoint();
+ }else{
+ locNo=param.getStartPoint();
+ }
+ try{
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("loc_no", locNo).ne("loc_sts","X"));
+ if (Cools.isEmpty(locMast)){
+ log.error("搴撲綅鍙蜂笉瀛樺湪"+locNo);
+ return R.error("搴撲綅鍙蜂笉瀛樺湪"+locNo).add("搴撲綅鍙蜂笉瀛樺湪"+locNo);
+ }
+ }catch (Exception e){
+ log.error("搴撲綅鍙锋娴嬬▼搴忓紓甯�==銆嬪紓甯镐俊鎭�"+e);
+ return R.error("搴撲綅鍙锋娴嬬▼搴忓紓甯�").add("搴撲綅鍙锋娴嬬▼搴忓紓甯�==銆嬪紓甯镐俊鎭�"+e);
+ }
+ LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("loc_sts","F")
+ .eq("loc_no",locNo)
+ .eq("barcode",param.getBarcode()));
+ if(Cools.isEmpty(locMast)){
+ return R.error("璇ュ簱浣嶄笉婊¤冻鍑哄簱鏉′欢"+param.getTargetPoint());
+ }
+ if (!locNoList.contains(locMast.getLocNo())){
+ locNoList.add(locMast.getLocNo());
+ paramList.add(param);
+ }else {
+ return R.error("璇ュ簱浣嶄笉鑳藉悓鏃朵笅鍙戜袱绗斾换鍔�"+locMast.getLocNo());
+ }
+ }
+ for (TaskCreateParam param : paramList){
+ openService.taskCreate(param);
+ }
+ }catch (Exception e){
+ log.error("浠诲姟涓嬪彂寮傚父"+e);
+ return R.error();
}
return R.ok();
}
@@ -120,6 +175,44 @@
}
return R.ok().add(taskWrk);
}
+
+// //鍙栨斁璐х敵璇�
+// @PostMapping("/pick/and/place/v1")
+// @AppAuth(memo = "agv鍙栨斁璐х敵璇�")
+// public R getAgvPickAndPlaceV1(@RequestHeader String appkey,
+// @RequestBody TaskOverParam param,
+// HttpServletRequest request){
+// auth(appkey, param, request);
+// if (Cools.isEmpty(param)) {
+// return R.parse(BaseRes.PARAM);
+// }
+// if (Cools.isEmpty(param.getStaNo())){
+// return R.error("鐮佸ご[staNo]涓嶈兘涓虹┖");
+// }
+// if (Cools.isEmpty(param.getType())){
+// return R.error("绫诲瀷[type]涓嶈兘涓虹┖");
+// }
+// return openService.getAgvPickAndPlaceV1(param);
+// }
+
+// //鍙栨斁璐у畬鎴愬弽棣�
+// @PostMapping("/pick/and/place/v2")
+// @AppAuth(memo = "agv鍙栨斁璐у畬鎴愬弽棣�")
+// public R getAgvPickAndPlaceV2(@RequestHeader String appkey,
+// @RequestBody TaskOverParam param,
+// HttpServletRequest request){
+// auth(appkey, param, request);
+// if (Cools.isEmpty(param)) {
+// return R.parse(BaseRes.PARAM);
+// }
+// if (Cools.isEmpty(param.getStaNo())){
+// return R.error("鐮佸ご[staNo]涓嶈兘涓虹┖");
+// }
+// if (Cools.isEmpty(param.getType())){
+// return R.error("绫诲瀷[type]涓嶈兘涓虹┖");
+// }
+// return openService.getAgvPickAndPlaceV2(param);
+// }
//鏌ヨ浠诲姟鎸囦护闆嗗悎
@GetMapping("/queryTaskCommand")
@@ -242,15 +335,18 @@
}
//浠诲姟涓嬪彂鎺ュ彛
- @PostMapping("/outboundTaskSend")
+// @PostMapping("/outboundTaskSend")
+ @PostMapping("/taskCreate")
+ @AppAuth(memo = "浠诲姟涓嬪彂鎺ュ彛")
@Transactional
public R outboundTaskSend(@RequestHeader String appkey,
- @RequestBody List<CarryParam> params,
+ @RequestBody List<CarryParam> params,//涓埅涓嬪彂 1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴�
HttpServletRequest request) {
- //auth(appkey, params, request);
- List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
+ auth(appkey, params, request);
+// List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
for (CarryParam param:params){
-
+ param.updateIoTyoe(param.getIoType());//涓埅涓嬪彂 1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴� ====杞崲涓�====> 1锛氬叆搴擄紝2锛氬嚭搴擄紝3锛氱Щ搴�
+ param.updateLocNo();
if (Cools.isEmpty(param)){
return R.error("鍙傛暟涓虹┖锛�");
} else if (Cools.isEmpty(param.getTaskNo())){
@@ -273,14 +369,32 @@
// }
// }
- LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
+
+ String locNo=null;
+ if(param.getIoType()==1){
+ locNo=param.getTargetPoint();
+ }else{
+ locNo=param.getStartPoint();
+ }
+ LocMast locMast = locMastService.selectByLocNo(locNo);
if(Cools.isEmpty(locMast)){
return R.error("鍒濆搴撲綅鏃犳硶鎵惧埌");
}
R r = null;
- if(param.getIoType() == 2){
+ if(param.getIoType() == 1){
+ //鍏ュ簱浠诲姟鍒涘缓
+ StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+ .eq("type_no",1)
+ .eq("crn_no",locMast.getCrnNo())
+ .eq("stn_no",param.getStartPoint()));
+ if(Cools.isEmpty(staDesc)){
+ return R.error("鍏ュ簱璺姴涓嶅瓨鍦�");
+ }
+ r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));
+
+ }else if(param.getIoType() == 2){
//鍑哄簱浠诲姟鍒涘缓
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("type_no",2)
@@ -289,8 +403,15 @@
if(Cools.isEmpty(staDesc)){
return R.error("鍑哄簱璺姴涓嶅瓨鍦�");
}
- r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
+ r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getStnNo()));
}else if (param.getIoType() == 3){
+ LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
+ if(Cools.isEmpty(locMast2)){
+ return R.error("鐩爣搴撲綅鏃犳硶鎵惧埌");
+ }
+ if (!locMast2.getCrnNo().equals(locMast.getCrnNo())){
+ return R.error("璧峰搴撲綅涓庣洰鏍囧簱浣嶄笉鍐嶅悓涓�宸烽亾");
+ }
//绉诲簱浠诲姟鍒涘缓
r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
}
@@ -312,42 +433,37 @@
//浠诲姟鍙栨秷鎺ュ彛
@PostMapping("/taskCancel")
public R taskCancel(@RequestHeader String appkey,
- @RequestBody WMSAndAGVInterfaceParam param,
+ @RequestBody WMSAndAGVInterfaceParam param,//涓埅涓嬪彂 1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴� 1锛氬彇娑� 2 瀹屾垚
HttpServletRequest request) {
auth(appkey, param, request);
+// param.updateTaskStatus(param.getTaskStatus());
if (Cools.isEmpty(param)){
return R.error("鍙傛暟涓虹┖锛�");
} else if (Cools.isEmpty(param.getTaskNo())){
return R.error("宸ヤ綔鍙蜂负绌猴紒");
- } else if (Cools.isEmpty(param.getTaskStatus())){
+ } else if (Cools.isEmpty(param.getIoType())){
return R.error("鎿嶄綔绫诲瀷涓虹┖锛�");
+ } else if (Cools.isEmpty(param.getBarcode())){
+ return R.error("鎵樼洏鐮佷笉鑳戒负绌猴紒");
}
-// else if (Cools.isEmpty(param.getWarehouseId())){
-// return R.error("浠撳簱鏍囪瘑涓虹┖锛�");
-// }
- TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("task_no", param.getTaskNo()));
+ TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>()
+ .eq("task_no", param.getTaskNo())
+ .eq("io_type",param.getIoType())
+ .eq("barcode",param.getBarcode()));
if (Cools.isEmpty(taskWrk)){
- return R.error("鏈煡鍒板綋鍓嶄换鍔�");
+ return R.error("鏈煡鍒板綋鍓嶄换鍔�---"+param);
}
boolean sign =false;
switch (param.getTaskStatus()){
case 1://姝ｅ父鍙栨秷
- if (taskWrk.getWrkSts()>1){
+ if (taskWrk.getStatus()>1){
return R.error("浠诲姟宸插紑濮嬫墽琛�");
- }
- case 2://寮哄埗鍙栨秷
- if (taskWrk.getWrkSts()>3){
- return R.error("浠诲姟宸叉墽琛屽畬鎴�");
}
break;
- case 3://姝ｅ父瀹屾垚
- if (taskWrk.getWrkSts()>11){
+ case 2://姝ｅ父瀹屾垚
+ if (taskWrk.getStatus()>1){
return R.error("浠诲姟宸插紑濮嬫墽琛�");
- }
- case 4://寮哄埗瀹屾垚
- if (taskWrk.getWrkSts()>14){
- return R.error("浠诲姟宸叉墽琛屽畬鎴�");
}
sign=true;
break;
@@ -378,14 +494,111 @@
auth(appkey, "璁惧鐘舵�佹煡璇㈡帴鍙�", request);
List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
List<Object> list = new ArrayList<>();
+ WcsStatusResponseModel wcsStatusResponseModel = new WcsStatusResponseModel();
for (BasDevp basDevp:basDevps){
- list.add(basDevp);
+ BasDevpWmsParam basDevpWmsParam = new BasDevpWmsParam();
+ basDevpWmsParam.setDevNo(basDevp.getDevNo());
+ basDevpWmsParam.setWrkNo(basDevp.getWrkNo().longValue());
+ basDevpWmsParam.setAutoing(basDevp.getAutoing());
+ basDevpWmsParam.setLoading(basDevp.getLoading());
+ basDevpWmsParam.setInEnable(basDevp.getInEnable());
+ basDevpWmsParam.setOutEnable(basDevp.getOutEnable());
+ basDevpWmsParam.setDevErr(basDevp.getStaErr().longValue());
+ basDevpWmsParam.setDevErrM(basDevpWmsParam.getDevErr$());
+// list.add(basDevpWmsParam);
+ wcsStatusResponseModel.getChainList().add(basDevpWmsParam);
}
- List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
- for (BasCrnp basCrnp:basCrnps){
- list.add(basCrnp);
+ List<BasCrnpWmsParam> basCrnpWmsParamList = new ArrayList<>();
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) { continue; }
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ continue;
+ }
+ BasCrnpWmsParam basCrnpWmsParam = new BasCrnpWmsParam();
+ basCrnpWmsParam.sync(basCrnp);
+
+ basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());
+ basCrnpWmsParam.setCrnSts(crnProtocol.getStatus().intValue());
+
+ try{
+ BasCrnError basCrnError = basCrnErrorService.selectById(crnProtocol.getAlarm());
+ basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
+ } catch (Exception e){
+ basCrnpWmsParam.setCrnErrM("鏈煡寮傚父");
+ }
+ if (crnProtocol.getMode()!=3){
+ basCrnpWmsParam.setCrnErr(999L);
+ basCrnpWmsParam.setCrnErrM("闈炶嚜鍔紒锛侊紒");
+ }
+ basCrnpWmsParamList.add(basCrnpWmsParam);
+
+// list.add(basCrnpWmsParam);
}
- return R.ok(list);
+ wcsStatusResponseModel.setPilingCarList(basCrnpWmsParamList);
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ if (Cools.isEmpty(rgvStatus)){
+ continue;
+ }
+ BasRgvWmsParam basRgvWmsParam = new BasRgvWmsParam();
+ basRgvWmsParam.setWrkNo(rgvStatus.getTaskNo());
+ basRgvWmsParam.setCrnSts(rgvStatus.getStatus().intValue());
+ basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
+ basRgvWmsParam.setSteNo(rgvSlave.getId());
+ basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
+ basRgvWmsParam.setSteErrM(rgvStatus.getAlarmM());
+// try{
+// BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());
+//
+// basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
+// } catch (Exception e){
+// basRgvWmsParam.setSteErrM("鏈煡寮傚父");
+// }
+ if (rgvStatus.getMode()!=1){
+ basRgvWmsParam.setSteErr(999L);
+ basRgvWmsParam.setSteErrM("闈炶嚜鍔紒锛侊紒");
+ }
+// list.add(basRgvWmsParam);
+ wcsStatusResponseModel.getRgvList().add(basRgvWmsParam);
+
+ }
+// List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
+// for (BasCrnp basCrnp:basCrnps){
+// list.add(basCrnp);
+// }
+ return R.ok(wcsStatusResponseModel);
+ }
+
+ //璁惧鐘舵�佹煡璇㈡帴鍙�
+ @PostMapping("/taskWrkLogs")
+ @Transactional
+ public R taskWrkLogs(@RequestHeader String appkey,
+ HttpServletRequest request) {
+ List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
+ return R.ok(taskWrkLogs);
+ }
+
+ //璁惧鐘舵�佹煡璇㈡帴鍙�
+ @PostMapping("/error")
+ @Transactional
+ public R errorRgv(@RequestHeader String appkey,
+ HttpServletRequest request) {
+ List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
+ return R.ok(taskWrkLogs);
+ }
+
+ //璁惧鐘舵�佹煡璇㈡帴鍙�
+ @PostMapping("/wrkNo/wmsTaskNo")
+ @Transactional
+ public R wrkNoWmsTaskNo(@RequestHeader String appkey,
+ HttpServletRequest request) {
+ List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
+ return R.ok(taskWrkLogs);
}
--
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