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@ -4,8 +4,7 @@ import cn.hutool.http.HttpRequest; |
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import com.alibaba.fastjson.JSONObject; |
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import com.shkj.common.constant.RedisConstant; |
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import com.shkj.common.core.domain.Result; |
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import com.shkj.plc.sdk.device.PLCReadAndWrite; |
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import com.shkj.plc.sdk.device.PlcOperate; |
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import com.shkj.system.service.ISysParameterService; |
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import com.shkj.wcs.bo.AGVStatesBo; |
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import com.shkj.wcs.bo.AGVUploadStatusBo; |
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@ -19,6 +18,9 @@ import com.shkj.wcs.third.rcs.dto.RcsCancelTaskDto; |
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import com.shkj.wcs.third.rcs.dto.RcsCreateTaskDto; |
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import com.shkj.wcs.third.rcs.dto.RcsIdList; |
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import com.shkj.wcs.third.rcs.dto.RcsThirdResult; |
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import com.shkj.wcs.third.workbinWcs.dto.WcsIncomingCheckDto; |
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import com.shkj.wcs.third.workbinWcs.dto.WcsIncomingTrayCheckBody; |
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import com.shkj.wcs.vo.WcsResponseVo; |
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import com.shkj.wms.bo.AGVMoveBo; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.beans.factory.annotation.Autowired; |
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@ -42,270 +44,54 @@ import java.util.Map; |
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@Component |
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public class WCSUtil { |
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@Value("${third.wcsIncomingTrayCheckUrl:}") |
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@Value("${ZKWZ.wcsIncomingTrayCheckUrl:}") |
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private String wcsIncomingTrayCheckUrl; |
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@Value("${third.agvCancelTaskUrl:}") |
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private String agvCancelTaskUrl; |
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@Value("${third.agvStatesUrl:}") |
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private String agvStatesUrl; |
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@Value("${third.queryAckByTaskUrl:}") |
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private String queryAckByTaskUrl; |
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@Autowired |
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BusinDataTaskMapper businDataTaskMapper; |
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@Resource |
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RedisTemplate redisTemplate; |
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@Autowired |
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IWcsPlcPropertyService iWcsPlcPropertyService; |
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@Autowired |
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PLCReadAndWrite plcReadAndWrite; |
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@Autowired |
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ISysParameterService isysParameterService; |
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@Autowired |
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IWcsPlcConnectService iWcsPlcConnectService; |
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@Autowired |
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PlcInit plcInit; |
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/** |
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* 设置头部信息 |
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* WMS向WCS推送新的目的地 |
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* |
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* @return {@code Map<String, String>} |
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* @param dto |
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* @return |
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*/ |
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public Map<String, String> getHeaderMap() { |
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public WcsResponseVo wcsPushNewPoint(WcsIncomingCheckDto dto) { |
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Map<String, String> headerMap = new HashMap<>(1); |
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headerMap.put("authorization", "mrbase64 mrrest:YWRtaW4mYWRtaW4="); |
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return headerMap; |
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} |
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/** |
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* 创建任务 |
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* wcs系统通过此接口向rcs系统下发创建任务指令 |
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* |
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* @param dto dto |
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* @return {@code Result} |
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*/ |
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public Result rcsCreateTask(RcsCreateTaskDto dto) { |
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headerMap.put("businessType", "trayCheck"); |
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String json = JSONObject.toJSONString(dto); |
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log.info("KJ向WZ请求生产区入库托盘码校验参数"+json); |
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try { |
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Map<String, String> headerMap = getHeaderMap(); |
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String res = HttpRequest.post(agvCreateTaskUrl) |
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String res = HttpRequest.post(wcsIncomingTrayCheckUrl) |
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.addHeaders(headerMap) |
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.body(json) |
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.execute().body(); |
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Result result = parseThirdRcsResult(res); |
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return result; |
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log.info("KJ向WZ请求生产区入库托盘码校验返回：" + res); |
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WcsResponseVo wcsThirdResult = parseThirdRcsResult(res); |
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return wcsThirdResult; |
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} catch (Exception e) { |
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e.printStackTrace(); |
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log.error("createTask 方法出错了 = {}", e.getMessage()); |
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return Result.err().msg(e.getMessage()); |
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} |
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} |
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/** |
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* 创建任务 |
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* wcs系统通过此接口向rcs系统下发创建任务指令 |
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* |
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* @param dto dto |
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* @return {@code Result} |
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*/ |
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public Result wcsIncomingTrayCheck(Wcs dto) { |
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String json = JSONObject.toJSONString(dto); |
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try { |
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Map<String, String> headerMap = getHeaderMap(); |
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String res = HttpRequest.post(agvCreateTaskUrl) |
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.addHeaders(headerMap) |
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.body(json) |
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.execute().body(); |
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Result result = parseThirdRcsResult(res); |
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return result; |
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} catch (Exception e) { |
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e.printStackTrace(); |
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log.error("createTask 方法出错了 = {}", e.getMessage()); |
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return Result.err().msg(e.getMessage()); |
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} |
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} |
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/** |
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* 放行任务 |
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* wcs系统通过此接口向rcs系统下发放行任务指令 |
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* |
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* @param dto dto |
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* @return {@code Result} |
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*/ |
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public Result queryAck(RcsCreateTaskDto dto) { |
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String json = JSONObject.toJSONString(dto); |
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try { |
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Map<String, String> headerMap = getHeaderMap(); |
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String res = HttpRequest.post(queryAckByTaskUrl) |
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.addHeaders(headerMap) |
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.body(json) |
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.execute().body(); |
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return parseThirdRcsResult(res); |
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} catch (Exception e) { |
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e.printStackTrace(); |
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log.error("放行 方法出错了 = {}", e.getMessage()); |
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return Result.err().msg(e.getMessage()); |
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log.error("KJ向WZ请求生产区入库托盘码校验 方法出错了 = {}", e.getMessage()); |
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return WcsResponseVo.error(500,e.getMessage()); |
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} |
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} |
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public Result parseThirdRcsResult(String res) { |
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public WcsResponseVo parseThirdRcsResult(String res) { |
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try { |
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res = res.trim(); |
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RcsThirdResult thirdResult = JSONObject.parseObject(res, RcsThirdResult.class); |
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WcsResponseVo thirdResult = JSONObject.parseObject(res, WcsResponseVo.class); |
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if (thirdResult == null) { |
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// 添加到异常中去
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return Result.err().msg(res); |
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return WcsResponseVo.error(500,res); |
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} |
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if (!RcsThirdResult.isOk(thirdResult)) { |
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return Result.err().msg(res); |
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if (!WcsResponseVo.isOk(thirdResult)) { |
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return WcsResponseVo.error(500,res); |
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} |
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return Result.ok(); |
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return thirdResult; |
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} catch (Exception e) { |
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log.error("parseThirdRcsResult res = {} e = {}", res, e); |
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return Result.err().msg(res); |
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return WcsResponseVo.error(500,res); |
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} |
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} |
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/** |
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* 任务取消 |
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* 上游系统调⽤此接⼝，将已下发待处理的任务取消 |
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* |
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* @param /rest/tasks/del |
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* @return {@code Result} |
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*/ |
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public Result rcsTaskCancel(RcsCancelTaskDto dto) { |
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String json = JSONObject.toJSONString(dto); |
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try { |
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Map<String, String> headerMap = getHeaderMap(); |
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String res = HttpRequest.post(agvCancelTaskUrl) |
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.addHeaders(headerMap) |
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.body(json) |
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.execute().body(); |
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return parseThirdRcsResult(res); |
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} catch (Exception e) { |
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e.printStackTrace(); |
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log.error("rcs taskCancel 方法出错了 = {}", e.getMessage()); |
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return Result.err().msg(e.getMessage()); |
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} |
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} |
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/** |
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* AGV搬运 |
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* |
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* @param bo |
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* @return {@link Result}<{@link Boolean}> |
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*/ |
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public Result<Boolean> moveByAGV(AGVMoveBo bo) { |
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RcsCreateTaskDto dto = new RcsCreateTaskDto(); |
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dto.setMapId(1); |
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dto.setTaskType(bo.getTaskType()); |
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dto.setTaskId(bo.getTaskId().toString()); |
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//库位编号
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List<RcsIdList> idList = new ArrayList<>(); |
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List<String> points = bo.getPoints(); |
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for (String point : points) { |
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RcsIdList rcsIdList = new RcsIdList(); |
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rcsIdList.setId(point); |
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log.error(point); |
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idList.add(rcsIdList); |
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} |
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dto.setTargets(idList); |
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return rcsCreateTask(dto); |
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// return Result.ok();
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} |
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/** |
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* 获取AGV实时状态信息 |
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* |
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* @param mapId bo |
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* @return {@code Result} |
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*/ |
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public Result rcsRobotsStates(String mapId) { |
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String json = JSONObject.toJSONString(mapId); |
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try { |
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Map<String, String> headerMap = getHeaderMap(); |
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String res = HttpRequest.post(agvStatesUrl) |
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.addHeaders(headerMap) |
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.body(json) |
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.execute().body(); |
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//获取AGV状态信息 推送前端及存储数据库及存储redis TODO
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return parseThirdRcsResult(res); |
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} catch (Exception e) { |
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e.printStackTrace(); |
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log.error("createTask 方法出错了 = {}", e.getMessage()); |
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return Result.err().msg(e.getMessage()); |
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} |
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} |
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/** |
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* AGV上报任务每一步状态 |
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* |
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* @param bo bo |
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* @return {@code Result} |
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*/ |
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public Result<AGVStatesBo> uploadAgvTaskStatus(AGVUploadStatusBo bo) { |
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Long plcId = (Long) redisTemplate.opsForValue().get(RedisConstant.redistaskPlc + bo.getTaskId().toString()); |
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//根据plcId获取plc信息
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WcsPlcConnect wcsplc = (WcsPlcConnect) redisTemplate.opsForValue().get(RedisConstant.redisPlcConnect + plcId); |
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List<WcsPlcProperty> propertyList = iWcsPlcPropertyService.getWcsPlcPropertyByPlcId(plcId); |
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String writeTaskId = ""; |
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String valueType = ""; |
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for (WcsPlcProperty wcsPlcProperty : propertyList) { |
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//AGV取走完成
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if (wcsPlcProperty.getPointType().equals("7")) { |
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writeTaskId = wcsPlcProperty.getAddress(); |
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valueType = wcsPlcProperty.getValueType(); |
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} |
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} |
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Map<String, String> writeMap = new HashMap<>(1); |
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writeMap.put(valueType, "true"); |
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Map<String, Object> allMap = new HashMap<>(1); |
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allMap.put(writeTaskId, writeMap); |
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Map<String, String> readMap = new HashMap<>(1); |
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readMap.put(writeTaskId, valueType); |
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PlcOperate plcOperate = plcInit.getPlcOperateByIp(wcsplc.getPlcIp()); |
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//回填plc状态
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PLCReadAndWrite plcReadAndWrite = new PLCReadAndWrite(); |
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//首先读取任务编号，同目前返回的任务编号是否一致，如果一致则回填状态；
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Map<String, Object> stringObjectMap = plcReadAndWrite.readPlcData(plcOperate, JSONObject.toJSONString(readMap)); |
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//if(stringObjectMap.get(writeTaskId).equals(bo.getTaskId())){
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plcReadAndWrite.execWrite(plcOperate, JSONObject.toJSONString(allMap)); |
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//}
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return Result.ok(); |
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} |
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/** |
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* AGV上报任务每一步状态 |
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* |
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* @param |
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* @return {@code Result} |
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*/ |
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public Result uploadAgvTaskStatusTmp(AGVUploadStatusBo bo) { |
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return Result.ok(); |
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} |
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} |
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