From aede5c5c19740a9903dfe2873caaacc10eebda66 Mon Sep 17 00:00:00 2001 From: lsh <lsh@163.com> Date: 星期一, 28 四月 2025 12:37:07 +0800 Subject: [PATCH] * --- src/main/java/com/zy/asrs/controller/OpenController.java | 397 ++++++++++++++++++++++++++++++++++++++++++-------------- 1 files changed, 297 insertions(+), 100 deletions(-) diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java index c5825f2..6548830 100644 --- a/src/main/java/com/zy/asrs/controller/OpenController.java +++ b/src/main/java/com/zy/asrs/controller/OpenController.java @@ -1,7 +1,6 @@ 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.BaseRes; @@ -9,12 +8,20 @@ import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.entity.*; -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.common.utils.HttpHandler; +import com.zy.asrs.service.impl.BasCrnErrorServiceImpl; +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; @@ -23,16 +30,15 @@ import javax.servlet.http.HttpServletRequest; import java.io.IOException; -import java.util.ArrayList; -import java.util.HashMap; -import java.util.List; -import java.util.Map; +import java.util.*; @Slf4j @RestController @RequestMapping("/open") public class OpenController extends BaseController { + @Autowired + private SlaveProperties slaveProperties; @Autowired private OpenService openService; @Autowired @@ -45,9 +51,16 @@ private BasDevpService basDevpService; @Autowired private ApiLogService apiLogService; - + @Autowired + private BasCrnpService basCrnpService; @Autowired private StaDescService staDescService; + @Autowired + private LocMastService locMastService; + @Autowired + private BasRgvErrService basRgvErrService; + @Autowired + private BasCrnErrorServiceImpl basCrnErrorService; @Value("${wms.url}") private String wmsUrl; @@ -57,6 +70,7 @@ public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{ add("ea1f0459efc02a79f046f982767939ae"); }}; + //agv浠诲姟瀹屾垚 @PostMapping("/toAgvTaskOver") @AppAuth(memo = "agv浠诲姟瀹屾垚鎺ュ彛") @@ -79,23 +93,65 @@ //鍒涘缓浠诲姟 @PostMapping("/taskCreate") + @Transactional public R taskCreate(@RequestHeader String appkey, - @RequestBody taskCreateParam param, + @RequestBody List<TaskCreateParam> param1, HttpServletRequest request) { - auth(appkey, param, request); - if (Cools.isEmpty(param)) { - return R.parse(BaseRes.PARAM); + auth(appkey, param1, request); + try{ + List<TaskCreateParam> paramList = new ArrayList<>(); + List<String> locNoList = new ArrayList<>(); + for (TaskCreateParam param : param1) { + if (Cools.isEmpty(param)) { + return R.parse(BaseRes.PARAM); + } + if (Cools.isEmpty(param.getTaskNo())) { + return R.error("浠诲姟鍙穂taskNo]涓嶈兘涓虹┖"); + } + if (Cools.isEmpty(param.getIoType())) { + return R.error("浠诲姟绫诲瀷[ioType]涓嶈兘涓虹┖"); + } + if (Cools.isEmpty(param.getBarcode())) { + return R.error("鏉$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(); } - 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┖"); - } - openService.taskCreate(param); return R.ok(); } @@ -111,6 +167,44 @@ } 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") @@ -185,21 +279,26 @@ } Map<String,Integer> map = new HashMap<>(); - map.put("J-1101",102);map.put("J-1102",101); - map.put("J-1103",106);map.put("J-1104",105); - map.put("J-1105",110);map.put("J-1106",109); - map.put("J-1107",114);map.put("J-1108",113); - map.put("J-1109",118);map.put("J-1110",117); - map.put("J-1111",122);map.put("J-1112",121); + map.put("J-1102",102);map.put("J-1101",101); + map.put("J-1103",105);map.put("J-1104",106); + map.put("J-1105",109);map.put("J-1106",110); + map.put("J-1107",113);map.put("J-1108",114); + map.put("J-1109",117);map.put("J-1110",118); + map.put("J-1111",121);map.put("J-1112",122); map.put("H-1102",300);map.put("H-1101",305); - StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_desc", param.getWharfCode())); - - if (Cools.isEmpty(staDesc)){ - return R.error("绋嬪簭鎶ラ敊锛屾湭鏌ヨ鍒扮珯鐐�"); + map.put("G-1102",400);map.put("G-1101",405); +// StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() +// .eq("stn_desc", param.getWharfCode())); +// +// if (Cools.isEmpty(staDesc)){ +// return R.error("绋嬪簭鎶ラ敊锛屾湭鏌ヨ鍒扮珯鐐�"); +// } + if (Cools.isEmpty(map.get(param.getWharfCode()))){ + return R.error("鏈煡璇㈠埌绔欑偣"); } - //BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode())); - BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo()); - if (basDevp.getAutoing().equals("Y")){ + BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode())); +// BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo()); + if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))){ apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛" ,request.getRemoteAddr()+request.getRequestURI() ,appkey @@ -208,7 +307,7 @@ ,R.ok().toString() ,true ); - return R.ok(); + return R.ok("鍙叆"); }else { apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛" ,request.getRemoteAddr()+request.getRequestURI() @@ -229,101 +328,127 @@ //浠诲姟涓嬪彂鎺ュ彛 @PostMapping("/outboundTaskSend") +// @PostMapping("/taskCreate") +// @AppAuth(memo = "浠诲姟涓嬪彂鎺ュ彛") @Transactional public R outboundTaskSend(@RequestHeader String appkey, - @RequestBody List<WMSAndAGVInterfaceParam> 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<>(); - for (WMSAndAGVInterfaceParam param:params){ +// 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� - if (Cools.isEmpty(param)){ - return R.error("鍙傛暟涓虹┖锛�"); - } else if (Cools.isEmpty(param.getTaskNo())){ - return R.error("浠诲姟鍙蜂负绌猴紒"); - } else if (Cools.isEmpty(param.getTaskType())){ - return R.error("浠诲姟绫诲瀷涓虹┖锛�"); - } else if (Cools.isEmpty(param.getWarehouseId())){ - return R.error("浠撳簱鏍囪瘑涓虹┖锛�"); - } - if (Cools.isEmpty(param.getTaskPriority())){ - param.setTaskPriority(1); - } - if (Cools.isEmpty(param.getContainerCode())){ - return R.error("瀹瑰櫒缂栫爜(鎵樼洏鐮�)涓虹┖锛�"); - } - if (Cools.isEmpty(param.getEmptyContainer())){ - return R.error("鏄惁绌烘墭鐩樹俊鍙蜂负绌猴紒"); - } - if (Cools.isEmpty(param.getTargetWharf())){ - return R.error("鐩爣鐮佸ご鍖哄煙涓虹┖锛�");//G寮�澶�=7杞﹂棿锛孒寮�澶�=8灞傦紝J寮�澶�=9杞﹂棿 - } - StaDesc staDesc = new StaDesc(); - if (param.getTaskType().equals("CK") && param.getTargetWharf().contains("J")){ - staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() - .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).lt("crn_stn", 200)); - }else { - staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() - .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).ge("crn_stn", 200)); - } - param.setTargetLocationCode(staDesc.getStnNo().toString()); + if (Cools.isEmpty(param)){ + return R.error("鍙傛暟涓虹┖锛�"); + } else if (Cools.isEmpty(param.getTaskNo())){ + return R.error("浠诲姟鍙蜂负绌猴紒"); + } else if (Cools.isEmpty(param.getIoType())){ + return R.error("浠诲姟绫诲瀷涓虹┖锛�"); + } + if (Cools.isEmpty(param.getStartPoint()) || Cools.isEmpty(param.getTargetPoint())){ + return R.error("鍒濆鐩爣鎴栬�呯洰鏍囦綅涓虹┖"); + } +// if (Cools.isEmpty(param.getContainerCode())){ +// return R.error("瀹瑰櫒缂栫爜(鎵樼洏鐮�)涓虹┖锛�"); +// } +// if (Cools.isEmpty(param.getEmptyContainer())){ +// return R.error("鏄惁绌烘墭鐩樹俊鍙蜂负绌猴紒"); +// } +// if (!param.getTaskType().equals("YK")){ +// if (Cools.isEmpty(param.getTargetWharf())){ +// return R.error("鐩爣鐮佸ご鍖哄煙涓虹┖锛�");//G寮�澶�=7杞﹂棿锛孒寮�澶�=8灞傦紝J寮�澶�=9杞﹂棿 +// } +// } + LocMast locMast = locMastService.selectByLocNo(param.getStartPoint()); + if(Cools.isEmpty(locMast)){ + return R.error("鍒濆搴撲綅鏃犳硶鎵惧埌"); + } - R r = openService.taskCreate(new taskCreateParam(param)); + R r = null; - apiLogService.save("Wms浠诲姟涓嬪彂鎺ュ彛" - ,request.getRemoteAddr()+request.getRequestURI() - ,appkey - ,request.getRemoteAddr() - ,JSON.toJSONString(param) - ,r.toString() - ,true - ); - return r; + 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())); + + }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) + .eq("crn_no",locMast.getCrnNo()) + .eq("stn_no",param.getTargetPoint())); + if(Cools.isEmpty(staDesc)){ + return R.error("鍑哄簱璺姴涓嶅瓨鍦�"); + } + r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo())); + }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())); + } + + apiLogService.save("Wms浠诲姟涓嬪彂鎺ュ彛" + ,request.getRemoteAddr()+request.getRequestURI() + ,appkey + ,request.getRemoteAddr() + ,JSON.toJSONString(param) + ,r.toString() + ,true + ); } - return null; + return R.ok(); } //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; @@ -346,6 +471,78 @@ } } + //璁惧鐘舵�佹煡璇㈡帴鍙� + @PostMapping("/deviceStatus") + @Transactional + public R deviceStatus(@RequestHeader String appkey, + HttpServletRequest request) { + 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<>(); + for (BasDevp basDevp:basDevps){ + 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); + } + 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()); + basCrnpWmsParamList.add(basCrnpWmsParam); + + try{ + BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr()); + basCrnpWmsParam.setCrnErrM(basCrnError.getErrName()); + } catch (Exception e){ + basCrnpWmsParam.setCrnErrM("鏈煡寮傚父"); + } + + list.add(basCrnpWmsParam); + } + 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()); + try{ + BasRgvErr basRgvErr = basRgvErrService.selectById(rgvStatus.getAlarm().longValue()); + + basRgvWmsParam.setSteErrM(basRgvErr.getErrName()); + } catch (Exception e){ + basRgvWmsParam.setSteErrM("鏈煡寮傚父"); + } + list.add(basRgvWmsParam); + } +// List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>()); +// for (BasCrnp basCrnp:basCrnps){ +// list.add(basCrnp); +// } + return R.ok(list); + } } -- Gitblit v1.9.1