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ctu agv callback接口返回处理逻辑

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liuhanqing
2025-07-08 11:22:10 +08:00
parent e6b5bd67ba
commit b8e80af9b7
16 changed files with 482 additions and 129 deletions
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70
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
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@@ -22,9 +22,14 @@ import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.common.core.text.Convert;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import com.ruoyi.schedule.plcRead.ssj.domain.SendData;
import com.ruoyi.schedule.plcRead.util.Tools;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import java.util.HashMap;
import java.util.List;
@@ -70,6 +75,7 @@ public class ApiServiceImpl implements IApiService {
}
@Override
@Transactional(rollbackFor = Exception.class)
public AgvCallbackResponse agvCallback(AgvCallbackRequest request) {
RequestLog requestLog = requestLogService.getRequestLog(JSONUtil.toJsonStr(request), "AGV任务执行通知");
requestLog.setRequestUrl("http://10.214.18.61:8089/external/log/outStockJob");
@@ -112,20 +118,25 @@ public class ApiServiceImpl implements IApiService {
switch (request.getMethod()) {
case "start":
//任务开始
agvQueue.setStatus("2");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV任务开始】任务号：{}", taskCode);
break;
case "outbin":
//走出储位
if ("2".equals(agvQueue.getStatus())) {
agvQueue.setStatus("3");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV走出储位】任务号：{}", taskCode);
}
agvQueue.setStatus("3");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV走出储位】任务号：{}", taskCode);
break;
case "end":
//任务结束
agvQueue.setStatus("4");
agvQueueService.updateAgvQueue(agvQueue);
//通知wms agv搬运阶段完成
Map<String, Object> param = new HashMap<>();
param.put("task_no", agvQueue.getWmsTaskNo());
param.put("tray_code", agvQueue.getWmsTraycode());
param.put("wms_type", agvQueue.getWmsTaskType());
if ("1".equals(agvQueue.getWmsTaskType()) || "2".equals(agvQueue.getWmsTaskType())){
//通知wms 任务结束
MydoJob mydoJobParam = new MydoJob();
@@ -134,22 +145,53 @@ public class ApiServiceImpl implements IApiService {
List<MydoJob> mydoJobList = getMydoJobList(mydoJobParam);
if (CollUtil.isNotEmpty(mydoJobList)) {
MydoJob mydoJob = mydoJobList.get(0);
//通知wms agv搬运阶段完成
Map<String, Object> param = new HashMap<>();
param.put("task_no", agvQueue.getWmsTaskNo());
param.put("tray_code", agvQueue.getWmsTraycode());
requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
log.info("【AGV任务结束】任务号：{}", taskCode);
if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
//入库任务 暂无特殊逻辑
RequestLog requestLog = requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())){
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
log.info("【AGV任务结束】任务号：{}", taskCode);
}
} else {
//todo 写入对应的plc 任务号
//写入对应的plc 任务号
DeviceSsj deviceSsj = PlcRead.deviceMap.get(mydoJob.getExitId());
if (ObjUtil.isNotNull(deviceSsj)){
SendData rwh = new SendData(Tools.DINT, mydoJob.getTaskNo());
byte[] bytes = Tools.sendData(rwh);
//写入信息 取货完成
int i = PlcRead.WriteToSSJ(deviceSsj.getPlcDbWriteAddress(), bytes);
if (i==1){
RequestLog requestLog = requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())){
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
log.info("【AGV任务结束】任务号：{}", taskCode);
}
}
}
}
} else {
log.info("【AGV任务结束】任务号：{}，wms不存在对应的作业", taskCode);
}
}else if (agvQueue.getWmsTaskType().equals("3")){
//todo 绑定点位和料架
}else if ("3".equals(agvQueue.getWmsTaskType())){
//绑定点位和料架
RequestLog requestLog = requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())){
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
log.info("【AGV任务结束】任务号：{}", taskCode);
}
}
break;
case "cancel":