package com.zy.asrs.controller; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.baomidou.mybatisplus.mapper.Wrapper; import com.core.annotations.ManagerAuth; import com.core.common.BaseRes; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.entity.param.CombParam; import com.zy.asrs.entity.param.MobileAdjustParam; import com.zy.asrs.entity.param.OffSaleParam; import com.zy.asrs.entity.result.MobileAdjustResult; import com.zy.asrs.mapper.ManLocDetlMapper; import com.zy.asrs.service.*; import com.zy.common.model.LocDto; import com.zy.common.model.TaskDto; import com.zy.common.model.WrkDto; import com.zy.common.utils.HttpHandler; import com.zy.common.web.BaseController; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.transaction.annotation.Transactional; import org.springframework.web.bind.annotation.*; import javax.annotation.Resource; import java.text.SimpleDateFormat; import java.util.*; /** * 移动端接口控制器 * Created by vincent on 2020/6/10 */ @Slf4j @RestController @RequestMapping("mobile") public class MobileController extends BaseController { @Autowired private MobileService mobileService; @Autowired private LocMastService locMastService; @Autowired private LocDetlService locDetlService; @Autowired private OrderService orderService; @Autowired private OrderDetlService orderDetlService; @Autowired private DocTypeService docTypeService; @Autowired private WrkMastService wrkMastService; @Autowired private WrkDetlService wrkDetlService; @Autowired private BasDevpService basDevpService; @Autowired private PackService packService; @Autowired private ManLocDetlMapper manLocDetlMapper; @Autowired private ApiLogService apiLogService; @Resource private StaDescService staDescService; @Value("${rcs.address.URL}") private String url; @Value("${rcs.address.reportTask}") private String attrcs; @Value("${rcs.address.siteBindAndUnbing}") private String siteBindAndUnbing; @Autowired private ConfigService configService; // 商品上架 @RequestMapping("/mat/onSale/auth") @ManagerAuth public R matOnSale(@RequestBody CombParam combParam){ mobileService.onSale(combParam); return R.ok("上架成功"); } // 商品下架 @RequestMapping("/mat/offSale/auth") //@ManagerAuth public R matOffSale(@RequestBody OffSaleParam offSaleParam){ mobileService.offSale(offSaleParam); return R.ok("下架成功"); } // 组托 ---------------------------------------------------------------------------------------------------- /** * 根据单号检索单据数据 * http://localhost:8081/jkwms/mobile/order/serach/orderNo/auth?orderNo=123123 */ @RequestMapping("/order/search/orderNo/auth") @ManagerAuth public R orderSearchByBarcode(@RequestParam String orderNo){ Order order = orderService.selectByNo(orderNo); if (order == null) { return R.ok(); } DocType docType = docTypeService.selectById(order.getDocType()); if (docType.getPakin() == null || docType.getPakin() != 1) { return R.ok(); } if (order.getSettle() > 2) { return R.ok(); } List orderDetls = orderService.selectWorkingDetls(order.getId()); if (Cools.isEmpty(orderDetls)) { return R.ok(); } return R.ok().add(orderDetls); } @RequestMapping("/comb/auth") @ManagerAuth(memo = "组托") public R comb(@RequestBody CombParam combParam){ mobileService.comb(combParam, getUserId()); return R.ok("组托成功"); } @RequestMapping("/pack/get/auth") @ManagerAuth public R packGet(@RequestParam String barcode){ Pack pack = packService.selectByBarcode(barcode); if (pack == null) { return R.ok(); } if (pack.getSettle() == 1L) { return R.ok().add(pack); } return R.ok("组托成功"); } @RequestMapping("/pack/comb/auth") @ManagerAuth(memo = "下线组托") public R packComb(@RequestBody CombParam combParam){ mobileService.packComb(combParam, getUserId()); return R.ok("组托成功"); } // 出库 --------------------------------------------------------------------------------------------------- @RequestMapping("/pakout/query/auth") @ManagerAuth @Deprecated public R pakoutQuery(@RequestParam(required = false) String barcode, @RequestParam(required = false) Integer staNo, @RequestParam(required = false) String matnr){ if (Cools.isEmpty(barcode) && Cools.isEmpty(matnr)) { return R.ok(); } if (!Cools.isEmpty(barcode)) { List wrkDetls = wrkDetlService.selectList(new EntityWrapper().eq("zpallet", barcode)); return R.ok().add(wrkDetls); } if (!Cools.isEmpty(matnr)) { if (!Cools.isEmpty(staNo)) { List wrkDetls = wrkDetlService.selectPakoutQuery(staNo, matnr); return R.ok().add(wrkDetls); } } return R.ok(); } /** * 出库确认 - 扫托盘码 * 1.全板 返回 101 * 2.拣料 返回 103 */ @RequestMapping("/pakout/confirm/barcode/auth") @ManagerAuth public R pakoutQueryByBarcode(@RequestParam(required = false) String barcode){ if (Cools.isEmpty(barcode)) { return R.ok(); } WrkMast wrkMast = wrkMastService.selectByBarcode(barcode); if (wrkMast != null) { List wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo()); // 去除已出库确认的明细 wrkDetls.removeIf(wrkDetl -> wrkDetl.getInspect() != null && wrkDetl.getInspect() != 0); return R.ok().add(Cools.add("wrkNo", wrkMast.getWrkNo()).add("ioType", wrkMast.getIoType()).add("list", wrkDetls)); } return R.ok(); } // 根据库位码和商品码搜索商品 @RequestMapping("/mat/find/auth") public R find(@RequestParam(required = false) String locNo , @RequestParam(required = false) String matnr){ //List manLocDetls = manLocDetlMapper.selectItem0(locNo, matnr); ManLocDetl manLocDetl = manLocDetlMapper.selectLocNo0(locNo, matnr); return R.ok(manLocDetl); //return R.ok(manLocDetlMapper.selectItem0(locNo, matnr)); } /** * 出库确认 - 拣料出库 - 选择具体条码商品 */ @RequestMapping("/pakout/confirm/pick/auth") @ManagerAuth public R pakoutQueryByBarcode(@RequestParam(required = false) Integer wrkNo , @RequestParam(required = false) String matnr){ if (Cools.isEmpty(wrkNo)) { return R.ok(); } if (Cools.isEmpty(matnr)) { return R.ok(); } WrkMast wrkMast = wrkMastService.selectById(wrkNo); if (wrkMast == null) { return R.ok(); } String orderNo = null; List wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo()); for (WrkDetl wrkDetl : wrkDetls) { if (Cools.isEmpty(orderNo)) { orderNo = wrkDetl.getOrderNo(); } if ((wrkDetl.getMatnr() + "-" + wrkDetl.getBatch()).equals(matnr)) { return R.ok().add(wrkDetl); } } // 替换 明细 List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", wrkMast.getSourceLocNo())); for (LocDetl locDetl : locDetls) { if ((locDetl.getMatnr() + "-" + locDetl.getBatch()).equals(matnr)) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.sync(locDetl); wrkDetl.setOrderNo(orderNo); wrkDetl.setIoTime(wrkMast.getIoTime()); wrkDetl.setWrkNo(wrkNo); return R.ok().add(wrkDetl); } } return R.error("系统错误，条码不存在"); } @RequestMapping("/pakout/confirm/auth") @ManagerAuth @Transactional public R pakoutConfirm(@RequestBody List list) { if (Cools.isEmpty(list)) { return R.ok(); } Set wrkNos = new HashSet<>(); List dtos = new ArrayList<>(); for (WrkDetl wrkDetl : list) { if (wrkNos.contains(wrkDetl.getWrkNo())) { for (WrkDto dto : dtos) { if (dto.getWrkNo().equals(wrkDetl.getWrkNo())) { dto.getWrkDetls().add(wrkDetl); break; } } } else { wrkNos.add(wrkDetl.getWrkNo()); dtos.add(new WrkDto(wrkDetl.getWrkNo(), wrkDetl)); } } for (WrkDto dto : dtos) { WrkMast wrkMast = wrkMastService.selectById(dto.getWrkNo()); if (wrkMast != null) { for (WrkDetl wrkDetl : dto.getWrkDetls()) { wrkDetlService.updateInspect(wrkDetl.getWrkNo(), wrkDetl.getMatnr(), wrkDetl.getBatch()); } if(wrkMast.getIoType() == 103 || wrkMast.getIoType() == 107) { wrkMast.setWrkSts(16L);//下架完成等待回库 }else { wrkMast.setWrkSts(15L); } wrkMastService.updateById(wrkMast); } } // for (Integer wrkNo : wrkNos) { // WrkMast wrkMast = wrkMastService.selectById(wrkNo); // if (wrkMast.getWrkSts() == 15 && (Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N"))) { // List wrkDetls = wrkDetlService.selectByWrkNo(wrkNo); // boolean complete = true; // for (WrkDetl wrkDetl : wrkDetls) { // if (wrkDetl.getInspect() == null || wrkDetl.getInspect() == 0) { // complete = false; // break; // } // } // if (complete) { // wrkMast.setInvWh("Y"); // wrkMast.setModiTime(new Date()); // if (!wrkMastService.updateById(wrkMast)) { // throw new CoolException("修改工作档" + wrkNo + "失败"); // } // } // } // } return R.ok("完成确认"); } // 盘点 ---------------------------------------------------------------------------------------------------- @RequestMapping("/checkDetl/auth") @ManagerAuth public synchronized R getCheckDetl(@RequestParam(required = false) Integer staNo) { if (null == staNo || staNo == 0) { return R.ok(); } BasDevp basDevp = basDevpService.selectById(staNo); if (null != basDevp && basDevp.getWrkNo() != null) { WrkMast wrkMast = wrkMastService.selectById(basDevp.getWrkNo()); if (wrkMast != null && wrkMast.getIoType() == 107) { List wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo()); if (!Cools.isEmpty(wrkDetls)) { MobileAdjustResult result = new MobileAdjustResult(); result.setStaNo(staNo); result.setWrkNo(wrkMast.getWrkNo()); result.setWrkDetls(wrkDetls); return R.ok().add(result); } } } return R.ok(); } @RequestMapping("/adjust/auth") @ManagerAuth(memo = "盘点") public R adjust(@RequestBody MobileAdjustParam combParam){ mobileService.adjust(combParam, getUserId()); return R.ok("盘点成功"); } @PostMapping("/order/out/pakout/auth") @ManagerAuth(memo = "订单出库") public synchronized R pakoutByOrder(@RequestBody JSONObject param) { if(!param.containsKey("staNo") || !param.containsKey("orderNo")){ return R.parse(BaseRes.PARAM); } mobileService.pakoutByOrder(param,getUserId()); return R.ok("出库成功"); } //------------------------------------------------------------------------------agv调度-------------------------------------------------- /** * 补空板 区域到点 * @param locNo 目标站点 * @param size 托盘大小 1：小托盘 2：大托盘 * @return */ @RequestMapping("/FillEmptyPallets") public synchronized R FillEmptyPallets(@RequestParam(required = false) String locNo ,@RequestParam(required = false) String size){ if (Cools.isEmpty(locNo) || Cools.isEmpty(size)) { return R.error("站点或者大小不能为空"); } //空托盘缓冲区 小：E8 大：E9 String rStaNo ="E8"; if(size.equals("2")){ rStaNo = "E9"; } LinkedHashMap rcsParam=new LinkedHashMap<>(); rcsParam.put("taskType", "PF-FMR-COMMON"); List> targetRoutes=new ArrayList<>(); LinkedHashMap t1=new LinkedHashMap<>(); LinkedHashMap t2=new LinkedHashMap<>(); t1.put("seq", 0); t1.put("type","ZONE"); t1.put("code", rStaNo); t1.put("autoStart",0); t1.put("operation","COLLECT"); t2.put("seq", 0); t2.put("type","SITE"); t2.put("code", locNo); t2.put("autoStart",0); t2.put("operation","DELIVERY"); targetRoutes.add(t1); targetRoutes.add(t2); rcsParam.put("targetRoute", targetRoutes); rcsParam.put("initPriority", 100); String response =""; Boolean bool =false; String msg = ""; HashMap map = new HashMap<>(); Date date = new Date(); String time = date.getTime()+""; map.put("X-LR-REQUEST-ID", time); try { log.info("wms派发搬运任务给AGV搬运={}", rcsParam); response = new HttpHandler.Builder() .setHeaders(map) .setUri(url) .setHttps(true) .setPath(attrcs) .setJson(JSON.toJSONString(rcsParam)) .build() .doPostCloseSSL(); JSONObject jsonObject = JSON.parseObject(response); if(jsonObject.getString("code").equals("SUCCESS")){ bool = true; }else{ msg=jsonObject.getString("message"); } } catch (Exception e) { e.printStackTrace(); log.error("wms派发搬运任务给AGV搬运失败返回值={}", response); } finally { apiLogService.save("wms派发搬运任务给AGV搬运" , url + attrcs , null , "127.0.0.1" , JSON.toJSONString(rcsParam) , response , bool ); } if(bool){ return R.ok(); }else { return R.error(msg); } } /** * 空托盘回库 * @param sourceStaNo 原站点 * @param barcode 托盘大小 1：小托盘 2：大托盘 目标区或者巷道 * @return */ @RequestMapping("/FillEmptyPalletsStack") public synchronized R FillEmptyPalletsStack(@RequestParam(required = false) String sourceStaNo ,@RequestParam(required = false) String barcode){ if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(barcode)) { return R.error("站点或者大小不能为空"); } //空托盘缓冲区 小：E8 大：E9 String rStaNo ="E8"; if(barcode.substring(0,1).equals("9")){ rStaNo = "E9"; } String type ="ZONE"; //区域 Config config = configService.selectOne(new EntityWrapper().eq("code", "autoE").eq("status", "1")); if (config != null) { type ="STACK"; //巷道 if (Cools.isEmpty(config.getValue())) { rStaNo = rStaNo + "01"; config.setValue("2"); }else if (config.getValue().equals("1")) { rStaNo = rStaNo + "01"; config.setValue("2"); }else if (config.getValue().equals("2")) { rStaNo = rStaNo + "02"; config.setValue("3"); }else if (config.getValue().equals("3")) { rStaNo = rStaNo + "03"; config.setValue("1"); } configService.updateById(config); } LinkedHashMap rcsParam=new LinkedHashMap<>(); rcsParam.put("taskType", "PF-FMR-COMMON"); List> targetRoutes=new ArrayList<>(); LinkedHashMap t1=new LinkedHashMap<>(); LinkedHashMap t2=new LinkedHashMap<>(); t1.put("seq", 0); t1.put("type","SITE"); t1.put("code", sourceStaNo); t1.put("autoStart",0); t1.put("operation","COLLECT"); t2.put("seq", 0); t2.put("type",type); t2.put("code", rStaNo); t2.put("autoStart",0); t2.put("operation","DELIVERY"); targetRoutes.add(t1); targetRoutes.add(t2); rcsParam.put("targetRoute", targetRoutes); rcsParam.put("initPriority", 100); String response =""; Boolean bool =false; String msg = ""; HashMap map = new HashMap<>(); Date date = new Date(); String time = date.getTime()+""; map.put("X-LR-REQUEST-ID", time); try { log.info("wms派发搬运任务给AGV搬运={}", rcsParam); response = new HttpHandler.Builder() .setHeaders(map) .setUri(url) .setHttps(true) .setPath(attrcs) .setJson(JSON.toJSONString(rcsParam)) .build() .doPostCloseSSL(); JSONObject jsonObject = JSON.parseObject(response); if(jsonObject.getString("code").equals("SUCCESS")){ bool = true; }else{ msg=jsonObject.getString("message"); } } catch (Exception e) { e.printStackTrace(); log.error("wms派发搬运任务给AGV搬运失败返回值={}", response); } finally { apiLogService.save("wms派发搬运任务给AGV搬运" , url + attrcs , null , "127.0.0.1" , JSON.toJSONString(rcsParam) , response , bool ); } if(bool){ return R.ok(); }else { return R.error(msg); } } /** * 执行移库任务--点到点 * @param sourceStaNo * @param staNo * @return */ @RequestMapping("/SITESITEAGVMove") public synchronized R SITESITEAGVMove(@RequestParam(required = false) String sourceStaNo ,@RequestParam(required = false) String staNo ,@RequestParam(required = false) String taskNo){ if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) { return R.error("源站点和目标站点不能为空"); } LinkedHashMap rcsParam=new LinkedHashMap<>(); rcsParam.put("taskType", "PF-FMR-COMMON"); if(!Cools.isEmpty(taskNo)){ rcsParam.put("robotTaskCode", taskNo); } List> targetRoutes=new ArrayList<>(); LinkedHashMap t1=new LinkedHashMap<>(); LinkedHashMap t2=new LinkedHashMap<>(); t1.put("seq", 0); t1.put("type","SITE"); t1.put("code", sourceStaNo); t1.put("autoStart",0); t1.put("operation","COLLECT"); t2.put("seq", 0); t2.put("type","SITE"); t2.put("code", staNo); t2.put("autoStart",0); t2.put("operation","DELIVERY"); targetRoutes.add(t1); targetRoutes.add(t2); rcsParam.put("targetRoute", targetRoutes); rcsParam.put("initPriority", 100); String response =""; Boolean bool =false; String msg = ""; HashMap map = new HashMap<>(); Date date = new Date(); String time = date.getTime()+""; map.put("X-LR-REQUEST-ID", time); try { log.info("wms派发点到点搬运任务给AGV搬运={}", rcsParam); response = new HttpHandler.Builder() .setHeaders(map) .setUri(url) .setHttps(true) .setPath(attrcs) .setJson(JSON.toJSONString(rcsParam)) .build() .doPostCloseSSL(); JSONObject jsonObject = JSON.parseObject(response); if(jsonObject.getString("code").equals("SUCCESS")){ bool = true; }else{ msg=jsonObject.getString("message"); } } catch (Exception e) { e.printStackTrace(); log.error("wms派发点到点搬运任务给AGV搬运失败返回值={}", response); } finally { apiLogService.save("wms派发点到点搬运任务给AGV搬运" , url + attrcs , null , "127.0.0.1" , JSON.toJSONString(rcsParam) , response , bool ); } if(bool){ return R.ok(); }else { return R.error(msg); } } /** * 执行移库任务--点到区域 * @param sourceStaNo * @param staNo * @return */ @RequestMapping("/SITEZONEAGVMove") public synchronized R SITEZONEAGVMove(@RequestParam(required = false) String sourceStaNo ,@RequestParam(required = false) String staNo ,@RequestParam(required = false) String taskNo){ if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) { return R.error("源站点和目标站点不能为空"); } LinkedHashMap rcsParam=new LinkedHashMap<>(); rcsParam.put("taskType", "PF-FMR-COMMON"); if(!Cools.isEmpty(taskNo)){ rcsParam.put("robotTaskCode", taskNo); } List> targetRoutes=new ArrayList<>(); LinkedHashMap t1=new LinkedHashMap<>(); LinkedHashMap t2=new LinkedHashMap<>(); t1.put("seq", 0); t1.put("type","SITE"); t1.put("code", sourceStaNo); t1.put("autoStart",0); t1.put("operation","COLLECT"); t2.put("seq", 0); t2.put("type","ZONE"); t2.put("code", staNo); t2.put("autoStart",0); t2.put("operation","DELIVERY"); targetRoutes.add(t1); targetRoutes.add(t2); rcsParam.put("targetRoute", targetRoutes); rcsParam.put("initPriority", 100); String response =""; Boolean bool =false; String msg = ""; HashMap map = new HashMap<>(); Date date = new Date(); String time = date.getTime()+""; map.put("X-LR-REQUEST-ID", time); try { log.info("wms派发点到区域搬运任务给AGV搬运={}", rcsParam); response = new HttpHandler.Builder() .setHeaders(map) .setUri(url) .setHttps(true) .setPath(attrcs) .setJson(JSON.toJSONString(rcsParam)) .build() .doPostCloseSSL(); JSONObject jsonObject = JSON.parseObject(response); if(jsonObject.getString("code").equals("SUCCESS")){ bool = true; }else{ msg=jsonObject.getString("message"); } } catch (Exception e) { e.printStackTrace(); log.error("wms派发点到区域搬运任务给AGV搬运失败返回值={}", response); } finally { apiLogService.save("wms派发点到区域搬运任务给AGV搬运" , url + attrcs , null , "127.0.0.1" , JSON.toJSONString(rcsParam) , response , bool ); } if(bool){ return R.ok(); }else { return R.error(msg); } } /** * 执行移库任务--区域到点 * @param sourceStaNo * @param staNo * @return */ @RequestMapping("/ZONESITEAGVMove") public synchronized R ZONESITEAGVMove(@RequestParam(required = false) String sourceStaNo ,@RequestParam(required = false) String staNo ,@RequestParam(required = false) String taskNo){ if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) { return R.error("源站点和目标站点不能为空"); } LinkedHashMap rcsParam=new LinkedHashMap<>(); rcsParam.put("taskType", "PF-FMR-COMMON"); if(!Cools.isEmpty(taskNo)){ rcsParam.put("robotTaskCode", taskNo); } List> targetRoutes=new ArrayList<>(); LinkedHashMap t1=new LinkedHashMap<>(); LinkedHashMap t2=new LinkedHashMap<>(); t1.put("seq", 0); t1.put("type","ZONE"); t1.put("code", sourceStaNo); t1.put("autoStart",0); t1.put("operation","COLLECT"); t2.put("seq", 0); t2.put("type","SITE"); t2.put("code", staNo); t2.put("autoStart",0); t2.put("operation","DELIVERY"); targetRoutes.add(t1); targetRoutes.add(t2); rcsParam.put("targetRoute", targetRoutes); rcsParam.put("initPriority", 100); String response =""; Boolean bool =false; String msg = ""; HashMap map = new HashMap<>(); Date date = new Date(); String time = date.getTime()+""; map.put("X-LR-REQUEST-ID", time); try { log.info("wms派发点到区域搬运任务给AGV搬运={}", rcsParam); response = new HttpHandler.Builder() .setHeaders(map) .setUri(url) .setHttps(true) .setPath(attrcs) .setJson(JSON.toJSONString(rcsParam)) .build() .doPostCloseSSL(); JSONObject jsonObject = JSON.parseObject(response); if(jsonObject.getString("code").equals("SUCCESS")){ bool = true; }else{ msg=jsonObject.getString("message"); } } catch (Exception e) { e.printStackTrace(); log.error("wms派发点到区域搬运任务给AGV搬运失败返回值={}", response); } finally { apiLogService.save("wms派发点到区域搬运任务给AGV搬运" , url + attrcs , null , "127.0.0.1" , JSON.toJSONString(rcsParam) , response , bool ); } if(bool){ return R.ok(); }else { return R.error(msg); } } /** * AGV站点绑定和解绑 * @param sourceStaNo //站点 * @param barcodeType //托盘码 * @param invoke //BIND为绑定 UNBIND为解绑 * @return */ @RequestMapping("/siteBindAndUnbind") public synchronized R siteBindAndUnbind(@RequestParam(required = false) String sourceStaNo ,@RequestParam(required = false) String barcodeType ,@RequestParam(required = false) String invoke){ if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(barcodeType)) { return R.error("站点和托盘类型不能为空"); } if(barcodeType.substring(0,1).equals("8")){ barcodeType="11"; }else if(barcodeType.substring(0,1).equals("9")){ barcodeType="21"; } LinkedHashMap rcsParam=new LinkedHashMap<>(); rcsParam.put("slotCategory", "SITE"); rcsParam.put("slotCode", sourceStaNo); rcsParam.put("carrierCategory", "PALLET"); rcsParam.put("carrierType", barcodeType);//11为小托盘 21为大托盘 if(sourceStaNo.equals("101")){ rcsParam.put("carrierDir","0"); }else if(sourceStaNo.equals("R01")||sourceStaNo.equals("R03")){ rcsParam.put("carrierDir","-90"); }else if(sourceStaNo.equals("R02")){ rcsParam.put("carrierDir","90"); }else { rcsParam.put("carrierDir","180"); } rcsParam.put("temporary", ""); rcsParam.put("invoke", invoke); String response =""; Boolean bool =false; String msg = ""; HashMap map = new HashMap<>(); Date date = new Date(); String time = date.getTime()+""; map.put("X-LR-REQUEST-ID", time); try { log.info("WMS完成"+invoke+"agv站点={},上报参数为={}",sourceStaNo,rcsParam); response = new HttpHandler.Builder() .setHeaders(map) .setUri(url) .setHttps(true) .setPath(siteBindAndUnbing) .setJson(JSON.toJSONString(rcsParam)) .build() .doPostCloseSSL(); JSONObject jsonObject = JSON.parseObject(response); if(jsonObject.getString("code").equals("SUCCESS")){ bool = true; }else{ msg=jsonObject.getString("message"); } } catch (Exception e) { e.printStackTrace(); log.error("WMS完成"+invoke+"agv站点失败={}", response); } finally { apiLogService.save("WMS完成"+invoke+"agv站点"+sourceStaNo , url + siteBindAndUnbing , null , "127.0.0.1" , JSON.toJSONString(rcsParam) , response , bool ); } if(bool){ return R.ok(); }else { return R.error(msg); } } /** * 空板回库或者拣料回库 * @param sourceStaNo * @param staNo * @return */ @RequestMapping("/AGVStartReturn") public synchronized R AGVStartReturn(@RequestParam(required = false) String sourceStaNo ,@RequestParam(required = false) String staNo ,@RequestParam(required = false) String taskNo){ if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) { return R.error("源站点和托盘码不能为空"); } R r=R.ok(); WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("barcode", staNo).in("io_type",103,105,107)); if (wrkMast == null) { r=FillEmptyPalletsStack(sourceStaNo,staNo); }else { if (wrkMast.getWrkSts()>30){ return R.error("该托盘={},没有下架，请下架后再回库！！！"); } SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd"); String format = sdf.format(new Date()); String s = format+"-" + wrkMast.getWrkNo() + "-" + wrkMast.getBarcode(); r=SITESITEAGVMove(sourceStaNo,wrkMast.getStaNo$(),s); if (r.get("code").equals(200)) { wrkMast.setPdcType(s); /** * inv_wh * 拣料回库输送线出发 * 0等待agv放货完成 * 1等待输送线入库 * 2输送线入库任务下发成功 */ wrkMast.setInvWh("0"); wrkMastService.updateById(wrkMast); } } return r; } /** * 获取仓库 * @return */ @RequestMapping("/ck") @PostMapping public R AGVStartReturn(){ List list=new ArrayList<>(); list.add("半成品仓库"); list.add("成品仓库"); return R.ok(list); } }