From 3adff2c549121bc166f49aa8de681265cd87b2d9 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期四, 19 六月 2025 09:49:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/OpenController.java | 639 ++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 420 insertions(+), 219 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..52da4d3 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -8,13 +8,13 @@
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
+import com.fasterxml.jackson.databind.ObjectMapper;
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.utils.Utils;
import com.zy.common.web.BaseController;
+import com.zy.core.model.DevpSlave;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -23,10 +23,10 @@
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.lang.reflect.Field;
+import java.util.*;
+
+import static org.apache.ibatis.ognl.OgnlRuntime.setFieldValue;
@Slf4j
@RestController
@@ -45,9 +45,14 @@
private BasDevpService basDevpService;
@Autowired
private ApiLogService apiLogService;
-
+ @Autowired
+ private BasCrnpService basCrnpService;
@Autowired
private StaDescService staDescService;
+ @Autowired
+ private LocMastService locMastService;
+ @Autowired
+ private BasCrnErrorService basCrnErrorService;
@Value("${wms.url}")
private String wmsUrl;
@@ -57,47 +62,7 @@
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")
- public R getAgvTaskOver(@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.getWharfCode())){
- return R.error("鐮佸ご[wharfCode]涓嶈兘涓虹┖");
- }
- if (Cools.isEmpty(param.getStatus())){
- return R.error("瀹屾垚鏍囪[status]涓嶈兘涓虹┖");
- }
- openService.getAgvTaskOver(param);
- return R.ok();
- }
- //鍒涘缓浠诲姟
- @PostMapping("/taskCreate")
- public R taskCreate(@RequestHeader String appkey,
- @RequestBody taskCreateParam param,
- HttpServletRequest request) {
- auth(appkey, param, request);
- 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┖");
- }
- openService.taskCreate(param);
- return R.ok();
- }
//鏌ヨ浠诲姟璇︽儏
@GetMapping("/queryTask")
@@ -112,21 +77,6 @@
return R.ok().add(taskWrk);
}
- //鏌ヨ浠诲姟鎸囦护闆嗗悎
- @GetMapping("/queryTaskCommand")
- public R queryTaskCommand(@RequestHeader String appkey,
- @RequestParam String taskNo,
- HttpServletRequest request) {
- auth(appkey, taskNo, request);
- TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
- if (taskWrk == null) {
- return R.error("浠诲姟涓嶅瓨鍦�");
- }
-
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
- return R.ok().add(commandInfos);
- }
-
private void auth(String appkey, Object obj, HttpServletRequest request) {
log.info("{}鎺ュ彛琚闂紱appkey:{}锛涜姹傛暟鎹細{}", request.getServletPath(), appkey, JSON.toJSONString(obj));
request.setAttribute("cache", obj);
@@ -138,152 +88,76 @@
}
}
- //AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛
- @PostMapping("/targetWharfApply")
- @AppAuth(memo = "AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛")
- public R targetWharfApply(@RequestHeader String appkey,
- @RequestBody WMSAndAGVInterfaceParam param,
- HttpServletRequest request) throws IOException {
- auth(appkey,param,request);
-
- 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.getContainerCode())){
- return R.error("鎵樼洏缂栫爜涓虹┖锛�");
- } else if (Cools.isEmpty(param.getWharfSource())){
- return R.error("婧愮爜澶翠负绌猴紒");
- } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
- return R.error("绌洪棽鐨勫叆搴撶爜澶达紙AGV锛変负绌猴紒");
- }
- R r = openService.AgvToWCSToWms(param);
- apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛"
- ,request.getRemoteAddr()+request.getRequestURI()
- ,appkey
- ,request.getRemoteAddr()
- ,JSON.toJSONString(param)
- ,r.toString()
- ,true
- );
- return r;
- }
-
- //AGV璇锋眰鍔ㄤ綔鎺ュ彛
- @PostMapping("/agvTaskRequest")
- @AppAuth(memo = "AGV璇锋眰鍔ㄤ綔鎺ュ彛")
- public R agvTaskRequest(@RequestHeader String appkey,
- @RequestBody WMSAndAGVInterfaceParam param,
- HttpServletRequest request) {
- auth(appkey, param, request);
- if (Cools.isEmpty(param)){
- return R.error("鍙傛暟涓虹┖锛�");
- } else if (Cools.isEmpty(param.getRequestType())){
- return R.error("璇锋眰绫诲瀷涓虹┖锛�");
- } else if (Cools.isEmpty(param.getWharfCode())){
- return R.error("鐮佸ご缂栧彿涓虹┖锛�");
- }
-
- 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("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�");
- }
- //BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
- BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
- if (basDevp.getAutoing().equals("Y")){
- apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛"
- ,request.getRemoteAddr()+request.getRequestURI()
- ,appkey
- ,request.getRemoteAddr()
- ,JSON.toJSONString(param)
- ,R.ok().toString()
- ,true
- );
- return R.ok();
- }else {
- apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛"
- ,request.getRemoteAddr()+request.getRequestURI()
- ,appkey
- ,request.getRemoteAddr()
- ,JSON.toJSONString(param)
- ,R.error("绔欑偣鐘舵�佷笉鍙叆").toString()
- ,true
- );
- return R.error("绔欑偣鐘舵�佷笉鍙叆");
- }
-
-
-
-
-
- }
//浠诲姟涓嬪彂鎺ュ彛
@PostMapping("/outboundTaskSend")
@Transactional
- public R outboundTaskSend(@RequestHeader String appkey,
- @RequestBody List<WMSAndAGVInterfaceParam> params,
- HttpServletRequest request) {
- auth(appkey, params, request);
+ public HashMap<String, Object> outboundTaskSend(@RequestBody HashMap<String,Object> hashMap) {
+ String jsonString = JSON.toJSONString(hashMap.get("TaskList"));
+ List<CarryParam> params= JSONObject.parseArray(jsonString,CarryParam.class);
+ HashMap<String, Object> map = new HashMap<>();
List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
- for (WMSAndAGVInterfaceParam param:params){
+ for (CarryParam param:params){
+ if (Cools.isEmpty(param)){
+ map.put("ReturnStatus",1);
+ map.put("ErrorMessage","鍙傛暟涓虹┖锛�");
+ return map;
+ } else if (Cools.isEmpty(param.getTaskNo())){
+ map.put("ReturnStatus",1);
+ map.put("ErrorMessage","浠诲姟鍙蜂负绌猴紒");
+ return map;
+ } else if (Cools.isEmpty(param.getStereoscopicTaskType())){
+ map.put("ReturnStatus",1);
+ map.put("ErrorMessage","浠诲姟绫诲瀷涓虹┖锛�");
+ return map;
+ }
+ String fusion = Utils.Fusion(param.getOriginalRowNo(), param.getOriginalFloorNo(), param.getOriginalColumnNo());
+ param.setStartPoint(fusion);
+ LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
+ if(Cools.isEmpty(locMast)){
+ map.put("ReturnStatus",1);
+ map.put("ErrorMessage","鍒濆搴撲綅鏃犳硶鎵惧埌锛�");
+ return map;
+ }
- 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());
+ HashMap<String,Object> r = new HashMap<>();
-
- R r = openService.taskCreate(new taskCreateParam(param));
-
- 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.getStereoscopicTaskType() == 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.getTerminalNo()));
+ if(Cools.isEmpty(staDesc)){
+ map.put("ReturnStatus",1);
+ map.put("ErrorMessage","鍑哄簱璺姴涓嶅瓨鍦紒");
+ return map;
+ }
+ r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
+ if(r.get("ReturnStatus").equals(1)){
+ return r;
+ }
+ }else if (param.getStereoscopicTaskType() == 3){
+ String fusion1 = Utils.Fusion(param.getGoalRowNo(), param.getGoalFloorNo(), param.getGoalColumnNo());
+ param.setTerminalNo(fusion1);
+ //绉诲簱浠诲姟鍒涘缓
+ r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
+ if(r.get("ReturnStatus").equals(1)){
+ return r;
+ }
+ }
+ apiLogService.save("Wms浠诲姟涓嬪彂鎺ュ彛"
+ ,request.getRemoteAddr()+request.getRequestURI()
+ ,""
+ ,request.getRemoteAddr()
+ ,JSON.toJSONString(param)
+ ,r.toString()
+ ,true
+ );
}
-
- return null;
+ map.put("ReturnStatus",0);
+ map.put("ErrorMessage","ok");
+ return map;
}
//浠诲姟鍙栨秷鎺ュ彛
@@ -291,39 +165,34 @@
public R taskCancel(@RequestHeader String appkey,
@RequestBody WMSAndAGVInterfaceParam param,
HttpServletRequest request) {
+ auth(appkey, param, request);
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 +215,338 @@
}
}
+ //璁惧鐘舵�佹煡璇㈡帴鍙�
+ @GetMapping("/deviceStatus")
+ @Transactional
+ public HashMap<String, Object> deviceStatus() {
+ HashMap<String,Object> map=new HashMap<>();
+ List<CrnStatusParam> crnStatusParams=new ArrayList<>();
+ List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
+ List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+ for (BasCrnp basCrnp:basCrnps){
+ CrnStatusParam crnStatusParam=new CrnStatusParam();
+ crnStatusParam.setCrnNo(basCrnp.getCrnNo());
+ crnStatusParam.setCrnSts(basCrnp.getCrnSts());
+ crnStatusParam.setErrorCode(basCrnp.getCrnErr());
+ BasCrnError error=basCrnErrorService.selectOne(new EntityWrapper<BasCrnError>().eq("error_code",basCrnp.getCrnErr()));
+ if(Cools.isEmpty(error)){
+ crnStatusParam.setErrorMsg("");
+ }else {
+ crnStatusParam.setErrorMsg(error.getErrName());
+ }
+ crnStatusParams.add(crnStatusParam);
+ }
+ for (BasDevp basDevp : basDevps) {
+ CrnStatusParam crnStatusParam=new CrnStatusParam();
+ crnStatusParam.setDevpNo(basDevp.getDevNo());
+ crnStatusParam.setOutEnable(basDevp.getOutEnable());
+ crnStatusParam.setInEnable(basDevp.getInEnable());
+ crnStatusParam.setLoading(basDevp.getLoading());
+ if(!Cools.isEmpty(basDevp.getAutoing())&&basDevp.getAutoing().equals("Y")){
+ crnStatusParam.setCrnSts(3);
+ }else{
+ crnStatusParam.setCrnSts(2);
+ }
+ crnStatusParams.add(crnStatusParam);
+ }
+ map.put("ReturnStatus",0);
+ map.put("ErrorMessage","");
+ map.put("data",crnStatusParams);
+ return map;
+ }
+
+ public static <T> List<T> convertListMapToListObject(List<HashMap<String, Object>> listMap, Class<T> clazz) throws Exception {
+ List<T> list = new ArrayList<>();
+
+ for (Map<String, Object> map : listMap) {
+ T obj = clazz.getDeclaredConstructor().newInstance();
+
+ for (Map.Entry<String, Object> entry : map.entrySet()) {
+ String key = entry.getKey();
+ Object value = entry.getValue();
+
+ try {
+ Field field = clazz.getDeclaredField(key);
+ field.setAccessible(true);
+ setFieldValue(obj, field, value);
+ } catch (NoSuchFieldException e) {
+ System.out.println("No such field: " + key + " in class " + clazz.getName());
+ }
+ }
+
+ list.add(obj);
+ }
+
+ return list;
+ }
+ private static void setFieldValue(Object obj, Field field, Object value) throws IllegalAccessException {
+ Class<?> fieldType = field.getType();
+
+ if (fieldType.isAssignableFrom(value.getClass())) {
+ field.set(obj, value);
+ } else if (fieldType == int.class || fieldType == Integer.class) {
+ field.set(obj, ((Number) value).intValue());
+ } else if (fieldType == long.class || fieldType == Long.class) {
+ field.set(obj, ((Number) value).longValue());
+ } else if (fieldType == double.class || fieldType == Double.class) {
+ field.set(obj, ((Number) value).doubleValue());
+ } else if (fieldType == float.class || fieldType == Float.class) {
+ field.set(obj, ((Number) value).floatValue());
+ } else if (fieldType == boolean.class || fieldType == Boolean.class) {
+ field.set(obj, (Boolean) value);
+ } else if (fieldType == String.class) {
+ field.set(obj, String.valueOf(value));
+ } else {
+ System.out.println("Unsupported field type: " + fieldType.getName());
+ }
+ }
+
+ //AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛
+// @PostMapping("/targetWharfApply")
+// @AppAuth(memo = "AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛")
+// public R targetWharfApply(@RequestHeader String appkey,
+// @RequestBody WMSAndAGVInterfaceParam param,
+// HttpServletRequest request) throws IOException {
+// auth(appkey,param,request);
+//
+// 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.getContainerCode())){
+// return R.error("鎵樼洏缂栫爜涓虹┖锛�");
+// } else if (Cools.isEmpty(param.getWharfSource())){
+// return R.error("婧愮爜澶翠负绌猴紒");
+// } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
+// return R.error("绌洪棽鐨勫叆搴撶爜澶达紙AGV锛変负绌猴紒");
+// }
+// R r = openService.AgvToWCSToWms(param);
+// apiLogService.save("AGV璇锋眰鍏ュ簱鐮佸ご鎺ュ彛"
+// ,request.getRemoteAddr()+request.getRequestURI()
+// ,appkey
+// ,request.getRemoteAddr()
+// ,JSON.toJSONString(param)
+// ,r.toString()
+// ,true
+// );
+// return r;
+// }
+//
+// //AGV璇锋眰鍔ㄤ綔鎺ュ彛
+// @PostMapping("/agvTaskRequest")
+// @AppAuth(memo = "AGV璇锋眰鍔ㄤ綔鎺ュ彛")
+// public R agvTaskRequest(@RequestHeader String appkey,
+// @RequestBody WMSAndAGVInterfaceParam param,
+// HttpServletRequest request) {
+// auth(appkey, param, request);
+// if (Cools.isEmpty(param)){
+// return R.error("鍙傛暟涓虹┖锛�");
+// } else if (Cools.isEmpty(param.getRequestType())){
+// return R.error("璇锋眰绫诲瀷涓虹┖锛�");
+// } else if (Cools.isEmpty(param.getWharfCode())){
+// return R.error("鐮佸ご缂栧彿涓虹┖锛�");
+// }
+//
+// Map<String,Integer> map = new HashMap<>();
+// 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);
+// 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.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
+// ,request.getRemoteAddr()
+// ,JSON.toJSONString(param)
+// ,R.ok().toString()
+// ,true
+// );
+// 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()
+// ,appkey
+// ,request.getRemoteAddr()
+// ,JSON.toJSONString(param)
+// ,R.error("绔欑偣鐘舵�佷笉鍙叆").toString()
+// ,true
+// );
+// return R.error("绔欑偣鐘舵�佷笉鍙叆");
+// }
+// }
+
+ //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);
+// }
+ //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);
+// }
+
+ //鏌ヨ浠诲姟鎸囦护闆嗗悎
+// @GetMapping("/queryTaskCommand")
+// public R queryTaskCommand(@RequestHeader String appkey,
+// @RequestParam String taskNo,
+// HttpServletRequest request) {
+// auth(appkey, taskNo, request);
+// TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
+// if (taskWrk == null) {
+// return R.error("浠诲姟涓嶅瓨鍦�");
+// }
+//
+// List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
+// return R.ok().add(commandInfos);
+// }
+
+ //鍒涘缓浠诲姟
+// @PostMapping("/taskCreate")
+// @Transactional
+// public HashMap<String, Object> taskCreate(@RequestHeader String appkey,
+// @RequestBody List<TaskCreateParam> param1,
+// HttpServletRequest request) {
+// auth(appkey, param1, request);
+// HashMap<String, Object> map = new HashMap<>();
+//
+// try{
+// List<TaskCreateParam> paramList = new ArrayList<>();
+// List<String> locNoList = new ArrayList<>();
+// for (TaskCreateParam param : param1) {
+// if (Cools.isEmpty(param)) {
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage",BaseRes.PARAM);
+// return map;
+// }
+// if (Cools.isEmpty(param.getTaskNo())) {
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","浠诲姟鍙穂taskNo]涓嶈兘涓虹┖");
+// return map;
+// }
+// if (Cools.isEmpty(param.getIoType())) {
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","浠诲姟绫诲瀷[ioType]涓嶈兘涓虹┖");
+// return map;
+// }
+// if (Cools.isEmpty(param.getBarcode())) {
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","鏉＄爜[barcode]涓嶈兘涓虹┖");
+// return map;
+// }
+// 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);
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","搴撲綅鍙蜂笉瀛樺湪"+locNo);
+// return map;
+// }
+// }catch (Exception e){
+// log.error("搴撲綅鍙锋娴嬬▼搴忓紓甯�==銆嬪紓甯镐俊鎭�"+e);
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","搴撲綅鍙锋娴嬬▼搴忓紓甯�==銆嬪紓甯镐俊鎭�"+e);
+// return map;
+// }
+// LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
+// .eq("loc_sts","F")
+// .eq("loc_no",locNo)
+// .eq("barcode",param.getBarcode()));
+// if(Cools.isEmpty(locMast)){
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","璇ュ簱浣嶄笉婊¤冻鍑哄簱鏉′欢"+param.getTargetPoint());
+// return map;
+// }
+// if (!locNoList.contains(locMast.getLocNo())){
+// locNoList.add(locMast.getLocNo());
+// paramList.add(param);
+// }else {
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","璇ュ簱浣嶄笉鑳藉悓鏃朵笅鍙戜袱绗斾换鍔�"+locMast.getLocNo());
+// return map;
+// }
+// }
+// for (TaskCreateParam param : paramList){
+// openService.taskCreate(param);
+// }
+// }catch (Exception e){
+// log.error("浠诲姟涓嬪彂寮傚父"+e);
+// map.put("ReturnStatus",1);
+// map.put("ErrorMessage","鏈嶅姟鍣ㄩ敊璇�");
+// return map;
+// }
+// map.put("ReturnStatus",0);
+// map.put("ErrorMessage","OK");
+// return R.ok();
+// }
+
+ //agv浠诲姟瀹屾垚
+// @PostMapping("/toAgvTaskOver")
+// @AppAuth(memo = "agv浠诲姟瀹屾垚鎺ュ彛")
+// public R getAgvTaskOver(@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.getWharfCode())){
+// return R.error("鐮佸ご[wharfCode]涓嶈兘涓虹┖");
+// }
+// if (Cools.isEmpty(param.getStatus())){
+// return R.error("瀹屾垚鏍囪[status]涓嶈兘涓虹┖");
+// }
+// openService.getAgvTaskOver(param);
+// return R.ok();
+// }
}
--
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