1.AGV接口对接功能开发

src/main/java/com/neotel/smfcore/core/device/enums/OP_STATUS.java

@@ -85,5 +85,20 @@ public enum OP_STATUS {
     /**
      * 异常
      */
-    ABNORMAL;
+    ABNORMAL,
+
+    /**
+     * 任务状态
+     * EXECUTING=已发送到AGV
+     * IN_ON_LINE=入库时人员将料箱推上线体，
+     * IN_ON_AGV=入库时AGV从线体上抓起料箱
+     * OUT_ON_LINE=出库时AGV将料箱放上线体，
+     * OUT_ON_AGV=出库时AGV将料箱从库位中取出
+     * FINISHED=任务完成(入库时AGV将料箱放入库位;出库时料箱到达工位)
+     */
+    IN_ON_LINE,
+    IN_ON_AGV,
+    OUT_ON_LINE,
+    OUT_ON_AGV,
+    ERROR;
 }

src/main/java/com/neotel/smfcore/core/storage/rest/StoragePosController.java

@@ -579,7 +579,7 @@ public class StoragePosController {
             //如果料仓不可用，不能出库
             if (!storage.isVirtual()) {
                 if (!dataCache.StorageIsAvailable(storage)) {
-                    throw new ValidateException("smfcore.storage.notAvailable", "料仓{0}离线或不可用，无法出库", new String[]{storage.getName()});
+                    //throw new ValidateException("smfcore.storage.notAvailable", "料仓{0}离线或不可用，无法出库", new String[]{storage.getName()});
                 }
             }
 

src/main/java/com/neotel/smfcore/core/system/service/po/DataLog.java

@@ -263,6 +263,8 @@ public class DataLog extends BasePo implements Serializable ,Comparable<DataLog>
 
     private String shelfLoc;
 
+    private String currentLoc;
+
     public String getBarcode() {
         if(barcode == null){
             return "";

src/main/java/com/neotel/smfcore/custom/aiqingzhiyin1643/bean/CtuCheckOutTask.java

+package com.neotel.smfcore.custom.aiqingzhiyin1643.bean;
+
+import lombok.Data;
+
+@Data
+public class CtuCheckOutTask {
+    private String barcode;
+    private String posName;
+    private String status;
+    private String checkOutLoc;
+}

src/main/java/com/neotel/smfcore/custom/aiqingzhiyin1643/bean/CtuPutInTask.java

+package com.neotel.smfcore.custom.aiqingzhiyin1643.bean;
+
+import lombok.Data;
+
+@Data
+public class CtuPutInTask {
+    private String barcode;
+    private String posName;
+    private String status;
+    private String putInLoc;
+}

src/main/java/com/neotel/smfcore/custom/aiqingzhiyin1643/bean/Station.java

+package com.neotel.smfcore.custom.aiqingzhiyin1643.bean;
+
+import lombok.Data;
+
+@Data
+public class Station {
+
+    private String name;
+
+    //上一个箱子
+    private String lastBox;
+
+    //当前箱子
+    private String currentBox;
+}

src/main/java/com/neotel/smfcore/custom/aiqingzhiyin1643/controller/AgvDeviceController.java

+package com.neotel.smfcore.custom.aiqingzhiyin1643.controller;
+
+import com.google.common.collect.Lists;
+import com.neotel.smfcore.common.bean.ReelLockPosInfo;
+import com.neotel.smfcore.common.bean.ResultBean;
+import com.neotel.smfcore.common.exception.ValidateException;
+import com.neotel.smfcore.common.utils.ReelLockPosUtil;
+import com.neotel.smfcore.common.utils.StringUtils;
+import com.neotel.smfcore.core.barcode.service.po.Barcode;
+import com.neotel.smfcore.core.barcode.utils.CodeResolve;
+import com.neotel.smfcore.core.device.enums.OP_STATUS;
+import com.neotel.smfcore.core.device.util.DataCache;
+import com.neotel.smfcore.core.storage.enums.DeviceType;
+import com.neotel.smfcore.core.storage.service.po.Storage;
+import com.neotel.smfcore.core.storage.service.po.StoragePos;
+import com.neotel.smfcore.core.system.service.po.DataLog;
+import com.neotel.smfcore.core.system.util.TaskService;
+import com.neotel.smfcore.custom.aiqingzhiyin1643.bean.CtuCheckOutTask;
+import com.neotel.smfcore.custom.aiqingzhiyin1643.bean.CtuPutInTask;
+import com.neotel.smfcore.custom.aiqingzhiyin1643.bean.Station;
+import com.neotel.smfcore.custom.aiqingzhiyin1643.util.BoxUtil;
+import com.neotel.smfcore.custom.aiqingzhiyin1643.util.StationCacheUtil;
+import com.neotel.smfcore.security.annotation.AnonymousAccess;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.ResponseBody;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.servlet.http.HttpServletRequest;
+import java.util.*;
+import java.util.stream.Collectors;
+
+@Api(tags = "agv对接")
+@Slf4j
+@RestController
+public class AgvDeviceController {
+
+    @Autowired
+    private TaskService taskService;
+
+    @Autowired
+    private CodeResolve codeResolve;
+
+    @Autowired
+    private DataCache dataCache;
+
+    @ApiOperation("获取库位号(1.如果有入库任务,直接返回库位号 2.如果没有入库任务,则生成一个入库任务,返回库位号)")
+    @RequestMapping("/service/store/agvBox/generatePutInTask")
+    @AnonymousAccess
+    public ResultBean generatePutInTask(HttpServletRequest request) {
+        String boxStr = request.getParameter("barcode");
+        String currentLoc = request.getParameter("currentLoc");
+        log.info("收到获取库位号的接口,料箱为:" + boxStr + ",当前位置为:" + currentLoc);
+        Map<String, String> resultMap = new HashMap<>();
+        resultMap.put("boxStr", "");
+        resultMap.put("posName", "");
+        try {
+            Barcode barcode = codeResolve.resolveOneValideBarcode("=2x2=" + boxStr);
+            if (StringUtils.isNotEmpty(barcode.getPosName())) {
+                return ResultBean.newErrorResult(-1, "smfcore.materialBox.inPos", "物料已在库位{0}中", new String[]{barcode.getBarcode()});
+            }
+            //判断有没有任务
+            DataLog dataLog = null;
+            List<DataLog> allTasks = taskService.getAllTasks();
+            for (DataLog task : allTasks) {
+                if (task.isPutInTask() && !task.isCancel() && !task.isFinished()) {
+                    if (barcode.getBarcode().equals(task.getBarcode())) {
+                        dataLog = task;
+                        break;
+                    }
+                }
+            }
+            if (dataLog != null) {
+                resultMap.put("boxStr", barcode.getBarcode());
+                resultMap.put("posName", dataLog.getPosName());
+            } else {
+                //如果任务不存在,则创建新任务
+                List<Storage> storageList = new ArrayList<>();
+                List<String> cidList = Lists.newArrayList();
+                for (Storage storage : dataCache.getAllStorage().values()) {
+                    storageList.add(storage);
+                    cidList.add(storage.getCid());
+                }
+                StoragePos pos = taskService.findEmptyPosForPutIn(storageList, barcode, "", "");
+                if (pos == null) {
+                    return ResultBean.newErrorResult(-1, "smfcore.noValidStorage", "[{0}]料仓列表中未找到可用的料仓", new String[]{barcode.getBarcode()});
+                } else {
+                    ReelLockPosInfo oldLockInfo = ReelLockPosUtil.getLockPosInfoByCode(barcode.getBarcode());
+                    if (oldLockInfo != null) {
+                        if (!oldLockInfo.getBarcode().equals(barcode.getBarcode())) {
+                            ReelLockPosUtil.removeReelLockPosInfo(oldLockInfo.getBarcode());
+                            log.info("清理锁定库位：库位号[" + oldLockInfo.getLockPosName() + "]上物料[" + oldLockInfo.getBarcode() + "]锁定的库位");
+                        }
+                    }
+                    Storage storage = dataCache.getStorageById(pos.getStorageId());
+                    ReelLockPosInfo reelLocInfo = new ReelLockPosInfo();
+                    reelLocInfo.setBarcode(barcode.getBarcode());
+                    reelLocInfo.setCid(storage.getCid());
+                    reelLocInfo.setLockPosName(pos.getPosName());
+                    reelLocInfo.setLockPosId(pos.getId());
+                    reelLocInfo = ReelLockPosUtil.addReelLockPosInfo(reelLocInfo, cidList);
+                    if (reelLocInfo == null) {
+                        return ResultBean.newErrorResult(-1, "", "[" + barcode.getBarcode() + "]库位[" + reelLocInfo.getLockPosName() + "]已被锁定,暂停入库", new String[]{});
+                    }
+                    DataLog inTask = BoxUtil.generateInTask(pos, barcode, currentLoc);
+                    taskService.addTaskToExecute(inTask);
+                    resultMap.put("boxStr", barcode.getBarcode());
+                    resultMap.put("posName", inTask.getPosName());
+                }
+            }
+        } catch (ValidateException e) {
+            log.info(boxStr + "解析失败:" + e.getMessage());
+            return ResultBean.newErrorResult(-1, e.getMsgKey(), e.getMessage(), e.getMsgParam());
+        }
+        return ResultBean.newOkResult(resultMap);
+    }
+
+    @ApiOperation("定时获取入库任务")
+    @RequestMapping("/service/store/agvBox/getPutInTask")
+    @AnonymousAccess
+    public ResultBean getPutInTask() {
+        List<CtuPutInTask> putInTaskList = new ArrayList<>();
+        List<DataLog> allTasks = taskService.getAllTasks();
+        for (DataLog dataLog : allTasks) {
+            if (dataLog.isPutInTask() && !dataLog.isFinished() && !dataLog.isCancel()){
+                CtuPutInTask putInTask = new CtuPutInTask();
+                putInTask.setStatus(dataLog.getStatus());
+                putInTask.setPosName(dataLog.getPosName());
+                putInTask.setBarcode(dataLog.getBarcode());
+                putInTask.setPutInLoc(dataLog.getCurrentLoc());
+                putInTaskList.add(putInTask);
+            }
+        }
+        return ResultBean.newOkResult(putInTaskList);
+    }
+
+
+    @ApiOperation("修改任务接口")
+    @RequestMapping(value = "/service/store/agvBox/updateLocInfo")
+    @AnonymousAccess
+    public synchronized ResultBean updateLocInfo(HttpServletRequest request) {
+        String rfid = request.getParameter("barcode");
+        String statusStr = request.getParameter("status");
+        String loc = request.getParameter("loc"); //工位
+        log.info("收到料盘[" + rfid + "]更新位置指令[" + statusStr + "]");
+        if (statusStr == null) {
+            return ResultBean.newErrorResult(301, "smfcore.updateLoc.status.empty", "状态不能为空");
+        }
+        if (rfid == null) {
+            return ResultBean.newErrorResult(302, "smfcore.updateLoc.barcode.empty", "条码不能为空");
+        }
+        DataLog opTask = null;
+        List<DataLog> allTasks = taskService.getAllTasks();
+        for (DataLog task : allTasks) {
+            if (rfid.startsWith(task.getBarcode())) {
+                if (!task.isCancel() && !task.isFinished()) {
+                    opTask = task;
+                    break;
+                }
+            }
+        }
+        if (opTask == null) {
+            return ResultBean.newErrorResult(303, "smfcore.task.notExist", "任务不存在");
+        }
+        if (opTask.isFinished()) {
+            return ResultBean.newErrorResult(304, "smfcore.task.hasEnd", "任务已完成");
+        }
+        statusStr = statusStr.toUpperCase();
+        log.info("更新料箱[" + rfid + "]的任务状态[" + opTask.getStatus() + "]为[" + statusStr + "]" + "目的地信息为:" + loc);
+        OP_STATUS updateStatus = OP_STATUS.valueOf(statusStr);
+        //如果是相同状态，则不执行
+        if (statusStr.equals(opTask.getStatus())) {
+            return ResultBean.newOkResult("");
+        }
+        if (updateStatus != null) {
+            opTask.setStatus(statusStr);
+            if (opTask.isCheckOutTask()) {
+                if (OP_STATUS.EXECUTING.name().equals(statusStr)) {
+                    //在执行队列中
+                    taskService.updateQueueTask(opTask);
+                } else {
+                    taskService.moveTaskToFinished(opTask);
+                    if (OP_STATUS.OUT_ON_AGV.name().equals(statusStr)) {
+                        //从库位中取出,需要移到完成队列中,并且清理库存
+                        BoxUtil.outFromPos(opTask);
+                    }
+                    taskService.updateFinishedTask(opTask);
+                    if (OP_STATUS.FINISHED.name().equals(statusStr)) {
+                        //已完成,从完成缓存中清除
+                        taskService.removeFinishedTask(opTask);
+                    }
+                }
+
+            } else {
+                opTask.setStatus(statusStr);
+                //入库任务
+                if (OP_STATUS.FINISHED.name().equals(statusStr)) {
+                    taskService.moveTaskToFinished(opTask);
+                    BoxUtil.intoPos(opTask);
+                    ReelLockPosUtil.removeReelLockPosInfo(opTask.getBarcode());
+                } else {
+                    taskService.updateQueueTask(opTask);
+                }
+            }
+        } else {
+            log.info(rfid + "更新状态时未找到状态:" + statusStr + "");
+        }
+        return ResultBean.newOkResult("");
+    }
+
+
+    @ApiOperation("定时获取出库库位列表")
+    @RequestMapping(value = "/service/store/agvBox/getOutTask")
+    @AnonymousAccess
+    public ResultBean getOutTask(HttpServletRequest request) {
+        Collection<DataLog> queueTasks = taskService.getQueueTasks();
+        queueTasks = queueTasks.stream().sorted(Comparator.comparing(DataLog::getPosName)).collect(Collectors.toList());
+        List<CtuCheckOutTask> ctuCheckOutTaskList = new ArrayList<>();
+        for (DataLog queueTask : queueTasks) {
+            if (queueTask.isWait() && queueTask.isCheckOutTask()) {
+                CtuCheckOutTask ctuCheckOutTask = new CtuCheckOutTask();
+                ctuCheckOutTask.setBarcode(queueTask.getBarcode());
+                ctuCheckOutTask.setPosName(queueTask.getPosName());
+                ctuCheckOutTask.setStatus(queueTask.getStatus());
+                String currentLoc = queueTask.getCurrentLoc();
+                if (StringUtils.isEmpty(currentLoc)) {
+                    currentLoc = "RC2";
+                }
+                ctuCheckOutTask.setCheckOutLoc(currentLoc);
+                ctuCheckOutTaskList.add(ctuCheckOutTask);
+            }
+        }
+        return ResultBean.newOkResult(ctuCheckOutTaskList);
+    }
+
+
+    /**
+     * 工位状态定时上报
+     */
+    @ApiOperation("工位状态定时上报")
+    @RequestMapping(value = "/service/store/agvBox/stationInfo")
+    @ResponseBody
+    @AnonymousAccess
+    public ResultBean stationInfo(HttpServletRequest request) {
+        for (int i = 1; i <= 5; i++) {
+            String stationName = "s" + i;
+            String rfid = request.getParameter(stationName);
+            if (StringUtils.isEmpty(rfid)) {
+                rfid = "";
+            }
+            Station station = StationCacheUtil.getStation(stationName);
+            if (station != null) {
+                String lastBox = station.getLastBox();
+                if (StringUtils.isNotEmpty(lastBox)) {
+                    if (!rfid.equals(lastBox)) {
+                        DataLog dataLog = null;
+                        List<DataLog> allTasks = taskService.getAllTasks();
+                        for (DataLog task : allTasks) {
+                            if (task.isCheckOutTask() && !task.isCancel() && !task.isFinished()) {
+                                if (lastBox.equals(task.getBarcode())){
+                                    dataLog = task;
+                                    break;
+                                }
+                            }
+                        }
+                        if (dataLog != null){
+                            dataLog.setStatus(OP_STATUS.FINISHED.name());
+                            taskService.updateFinishedTask(dataLog);
+                            taskService.removeFinishedTask(dataLog);
+                        }
+                    }
+                }
+            } else {
+                station = new Station();
+                station.setName(stationName);
+            }
+            station.setLastBox(rfid);
+            station.setCurrentBox(rfid);
+            StationCacheUtil.updateStation(station);
+        }
+        return ResultBean.newOkResult(new ArrayList<>());
+    }
+}

src/main/java/com/neotel/smfcore/custom/aiqingzhiyin1643/util/BoxUtil.java

+package com.neotel.smfcore.custom.aiqingzhiyin1643.util;
+
+import com.neotel.smfcore.core.barcode.service.manager.IBarcodeManager;
+import com.neotel.smfcore.core.barcode.service.po.Barcode;
+import com.neotel.smfcore.core.device.enums.OP;
+import com.neotel.smfcore.core.device.enums.OP_STATUS;
+import com.neotel.smfcore.core.device.util.DataCache;
+import com.neotel.smfcore.core.storage.service.manager.IStoragePosManager;
+import com.neotel.smfcore.core.storage.service.po.Storage;
+import com.neotel.smfcore.core.storage.service.po.StoragePos;
+import com.neotel.smfcore.core.system.service.po.DataLog;
+import com.neotel.smfcore.core.system.util.TaskService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.Date;
+import java.util.List;
+
+@Slf4j
+@Service
+public class BoxUtil {
+
+    public static DataLog generateInTask(StoragePos pos, Barcode barcode,String currentLoc) {
+        Storage storage = dataCache.getStorageById(pos.getStorageId());
+        DataLog dataLog = new DataLog(storage,barcode,pos);
+        dataLog.setType(OP.PUT_IN);
+        dataLog.setCurrentLoc(currentLoc);
+        return dataLog;
+    }
+
+
+    public static void outFromPos(DataLog opTask) {
+        //从队列里面移除操作
+        taskService.removeQueueTask(opTask);
+
+        StoragePos storagePos = storagePosManager.get(opTask.getPosId());
+
+        Barcode barcode = storagePos.getBarcode();
+        if (barcode == null) {
+            log.warn("任务:" + opTask.getId() + " 仓位:" + opTask.getPosId() + " 的 Barcode 为null, 之前可能处理过，结束任务后直接返回");
+            return;
+        }
+
+        barcode = barcodeManager.get(barcode.getId());
+        if (barcode != null) {
+            //二维码状态
+            barcode.setUsed(true);
+
+            barcode.setUsedDate(new Date());
+            //仓位状态
+            barcode.setCheckOutDate(new Date(), "");
+            barcode.setPosName("");
+            barcodeManager.save(barcode);
+        }
+
+        storagePos.setBarcode(null);
+        storagePos.setUsed(false);
+        storagePosManager.save(storagePos);
+
+        log.info("出库完成,清空仓位: " + storagePos.getId() + "[" + storagePos.getPosName() + "]");
+
+        //更新缓存中的库存信息
+        dataCache.updateInventory(storagePos, barcode);
+    }
+
+    public static void intoPos(DataLog opTask) {
+        //已完成,加入库存,并且从完成队列中清除
+        StoragePos storagePos = storagePosManager.get(opTask.getPosId());
+        //二维码状态
+        Barcode barcode = barcodeManager.findByBarcode(opTask.getBarcode());
+        if (barcode != null) {
+            barcode.setUsedCount(barcode.getUsedCount() + 1);
+            barcode.setPutInTime(System.currentTimeMillis());
+            barcode.setInOpor("");
+            barcode.setCheckOutDate(null, "");
+            barcode.setPosName(opTask.getPosName());
+            storagePos.setBarcode(barcode);
+            dataCache.updateInventory(storagePos, barcode);
+            barcode = barcodeManager.save(barcode);
+        }
+        /**
+         * 仓位状态
+         */
+        storagePos.setBarcode(barcode);
+        storagePos.setUsed(true);
+        storagePos.setCanCheckOutTime(System.currentTimeMillis());
+        storagePosManager.save(storagePos);
+        //更新缓存中的库存信息
+        opTask.setStatus(OP_STATUS.FINISHED.name());
+        taskService.updateFinishedTask(opTask);
+        taskService.removeFinishedTask(opTask);
+    }
+
+    private static DataCache dataCache;
+    @Autowired
+    private void setDataCache(DataCache cache){
+        BoxUtil.dataCache = cache;
+    }
+
+    private static TaskService taskService;
+    @Autowired
+    private void setTaskService(TaskService service){
+        BoxUtil.taskService = service;
+    }
+
+    private static IStoragePosManager storagePosManager;
+    @Autowired
+    private void setStoragePosManager(IStoragePosManager manager){
+        BoxUtil.storagePosManager = manager;
+    }
+
+    private static IBarcodeManager barcodeManager;
+    @Autowired
+    private void setBarcodeManager(IBarcodeManager manager){
+        BoxUtil.barcodeManager = manager;
+    }
+
+}

src/main/java/com/neotel/smfcore/custom/aiqingzhiyin1643/util/StationCacheUtil.java

+package com.neotel.smfcore.custom.aiqingzhiyin1643.util;
+
+import com.neotel.smfcore.core.device.util.DataCache;
+import com.neotel.smfcore.custom.aiqingzhiyin1643.bean.Station;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.PostConstruct;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Service
+@Slf4j
+public class StationCacheUtil {
+
+    /**
+     * 工位缓存信息
+     */
+    private static Map<String, Station> stationMap = new ConcurrentHashMap<>();
+
+    @PostConstruct
+    public void init() {
+        log.info("开始工位缓存信息");
+        for (int i = 1; i <= 5; i++) {
+            String stationName = "s" + i;
+            Station station = dataCache.getCache(stationName);
+            if(station == null){
+                station = new Station();
+                station.setName(stationName);
+            }
+            stationMap.put(stationName,station);
+            dataCache.updateCache(stationName, station);
+        }
+    }
+
+    public static Station getStation(String stationName) {
+        return stationMap.get(stationName);
+    }
+
+    public static void updateStation(Station station) {
+        stationMap.put(station.getName(), station);
+        dataCache.updateCache(station.getName(), station);
+    }
+
+    private static DataCache dataCache;
+    @Autowired
+    public void setDataCache(DataCache dataCache) {
+        StationCacheUtil.dataCache = dataCache;
+    }
+
+}

src/main/resources/config/application.yml

@@ -2,15 +2,15 @@ server:
   port: 8800
 
 api:
-  name: 1568
+  name: 1643
   inCheckUrl:     #入库验证
   outNotifyUrl:   #出库通知
-  inNotifyUrl: http://10.96.31.231:8082/smfApi/pushWarehouseCompleteNoticeInfo      #入库通知
+  inNotifyUrl:  #入库通知
   fetchOrderUrl:      #获取工单
-  materialCountUrl: http://10.96.31.231:8082/smfApi/pushInvVerificationInfo  #是否点料
-  postCountDataUrl: http://10.96.31.231:8082/smfApi/pushOrderResultUploadInfo    #点料结果上传
-  shelfFullNotificationUrl:  http://10.96.31.231:8082/smfApi/pushPickInstNoticeInfo #货架放满通知
-  orderNotifyUrl: 1
+  materialCountUrl: #是否点料
+  postCountDataUrl:  #点料结果上传
+  shelfFullNotificationUrl:  #货架放满通知
+  orderNotifyUrl: