384 lines
15 KiB
Java
384 lines
15 KiB
Java
package com.wcs.back.service.impl;
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import com.alibaba.fastjson2.JSON;
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import com.alibaba.fastjson2.JSONObject;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.wcs.back.domain.*;
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import com.wcs.back.service.IWcsService;
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import com.wcs.back.util.http.HttpUtils;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import javax.servlet.http.HttpServletRequest;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.concurrent.Executors;
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import java.util.concurrent.ScheduledExecutorService;
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import java.util.concurrent.TimeUnit;
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/**
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* wcs回调Service
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*
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* @author zf
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* @date 2023/11/27
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*/
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@Service
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public class WcsServiceImpl implements IWcsService {
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private static final Logger log = LoggerFactory.getLogger(WcsServiceImpl.class);
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@Value("${wms.httpUrl}")
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public String httpUrl;
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@Value("${wms.roboticArmUrl}")
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public String roboticArmUrl;
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@Value("${wms.ctuUrl}")
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public String ctuUrl;
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@Value("${wms.drumLineTaskHttpUrl}")
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public String drumLineTaskHttpUrl;
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/**
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* 普通搬运任务下发
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*
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* @param json
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* @return
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*/
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@Override
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public WcsResult SetUp_Task(String json, HttpServletRequest request) throws JsonProcessingException {
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// 获取客户端IP地址
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String clientIpAddress = getClientIpAddress(request);
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String url = "http://"+clientIpAddress+httpUrl;
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// 创建一个 ScheduledExecutorService 实例
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ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(2);
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ObjectMapper objectMapper = new ObjectMapper();
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List<AgvSetUpTask> agvSetUpTaskList = objectMapper.readValue(json, objectMapper.getTypeFactory().constructCollectionType(List.class, AgvSetUpTask.class));
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// 创建两个倒计时任务
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// 1.30秒后回调取料成功
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AgvSetUpTask agvSetUpTask = agvSetUpTaskList.get(0);
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// 2.60秒后回调已送达
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AgvSetUpTask agvSetUpTask2 = agvSetUpTaskList.get(1);
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// 定义第一个任务，30秒后执行
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Runnable task1 = () -> {
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// 回调1的具体逻辑
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TaskCallBack taskCallBack = new TaskCallBack();
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taskCallBack.setTaskNo(agvSetUpTask.getTaskNo());
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taskCallBack.setTaskIndex(agvSetUpTask.getTaskIndex());
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taskCallBack.setArmSite(agvSetUpTask.getArmSite());
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taskCallBack.setActionType(agvSetUpTask.getActionType());
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taskCallBack.setAgv(1);
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taskCallBack.setTaskState(2);
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taskCallBack.setExeAgv(1);
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sendHttpPost(taskCallBack, url);
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};
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// 定义第二个任务，60秒后执行
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Runnable task2 = () -> {
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// 任务2的具体逻辑
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TaskCallBack taskCallBack2 = new TaskCallBack();
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taskCallBack2.setTaskNo(agvSetUpTask2.getTaskNo());
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taskCallBack2.setTaskIndex(agvSetUpTask2.getTaskIndex());
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taskCallBack2.setArmSite(agvSetUpTask2.getArmSite());
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taskCallBack2.setActionType(agvSetUpTask2.getActionType());
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taskCallBack2.setAgv(1);
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taskCallBack2.setTaskState(3);
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taskCallBack2.setExeAgv(1);
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sendHttpPost(taskCallBack2, url);
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};
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// 安排任务1，30秒后执行
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scheduler.schedule(task1, 30, TimeUnit.SECONDS);
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// 安排任务2，60秒后执行
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scheduler.schedule(task2, 60, TimeUnit.SECONDS);
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WcsResult wcsResult = new WcsResult();
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wcsResult.setResultCode(1);
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wcsResult.setMessage("成功");
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return wcsResult;
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}
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/**
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* 机械臂拆托任务下发
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*
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* @param json
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* @param request
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* @return
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*/
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@Override
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public WcsResult Dismantling_Task(String json, HttpServletRequest request) throws JsonProcessingException {
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// 获取客户端IP地址
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String clientIpAddress = getClientIpAddress(request);
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String url = "http://"+clientIpAddress+roboticArmUrl;
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// 滚筒url,已送达是滚筒返回
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String gtUrl = "http://"+clientIpAddress+drumLineTaskHttpUrl;
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ObjectMapper objectMapper = new ObjectMapper();
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RoboticArmTaskVo roboticArmTaskVo = objectMapper.readValue(json, RoboticArmTaskVo.class);
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List<RoboticArmTaskVo.DismantlingInfo> armSiteList = roboticArmTaskVo.getArmSiteList();
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int size = armSiteList.size();
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// 创建一个 ScheduledExecutorService 实例
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ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(2+(2*size));
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// 创建倒计时任务
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// 1.30秒后回调取料成功
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// 2.60秒后,每隔10秒回调拆箱成功,如果全部拆箱完成,则过10秒回调拆托完成
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// 3.等2的任务全部做完后,等待10秒,每隔10秒回调已送达(目的区域是20-分拣区)
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// 取料成功
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Runnable task1 = () -> {
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// 回调1的具体逻辑
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RoboticArmTaskBackVo roboticArmTaskBackVo = new RoboticArmTaskBackVo();
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roboticArmTaskBackVo.setTaskNo(roboticArmTaskVo.getTaskNo());
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roboticArmTaskBackVo.setTaskState("10");
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roboticArmTaskBackVo.setRemark("取料成功!");
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sendHttpPost(roboticArmTaskBackVo, url);
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};
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// 30秒之后执行,取料成功
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scheduler.schedule(task1, 30, TimeUnit.SECONDS);
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// 拆箱成功
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Integer time = 60;
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for (RoboticArmTaskVo.DismantlingInfo dismantlingInfo : armSiteList){
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Runnable taskSite = () -> {
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// 回调1的具体逻辑
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RoboticArmTaskBackVo roboticArmTaskBackVo = new RoboticArmTaskBackVo();
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roboticArmTaskBackVo.setTaskNo(roboticArmTaskVo.getTaskNo());
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roboticArmTaskBackVo.setDisassemblyTaskNo(dismantlingInfo.getDisassemblyTaskNo());
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// 料箱号只能模拟从wms调用空料箱
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String materialBinId = HttpUtils.HttpPostWithJson("http://"+clientIpAddress+":50902/wcs/getEmptyPallet", "");
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dismantlingInfo.setMaterialBinId(materialBinId);
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roboticArmTaskBackVo.setMaterialBinId(materialBinId);
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roboticArmTaskBackVo.setTaskState("20");
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roboticArmTaskBackVo.setRemark("拆箱成功!");
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sendHttpPost(roboticArmTaskBackVo, url);
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};
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// 循环执行拆箱回调
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scheduler.schedule(taskSite, time, TimeUnit.SECONDS);
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time += 10;
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}
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// 拆托成功,在全部拆箱完成之后执行
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Runnable ctTask = () -> {
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// 回调1的具体逻辑
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RoboticArmTaskBackVo roboticArmTaskBackVo = new RoboticArmTaskBackVo();
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roboticArmTaskBackVo.setTaskNo(roboticArmTaskVo.getTaskNo());
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roboticArmTaskBackVo.setTaskState("30");
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roboticArmTaskBackVo.setRemark("拆托成功!");
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sendHttpPost(roboticArmTaskBackVo, url);
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};
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scheduler.schedule(ctTask, time, TimeUnit.SECONDS);
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// 送至分拣需要回调已送达
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time += 10;
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for (RoboticArmTaskVo.DismantlingInfo dismantlingInfo : armSiteList){
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if (dismantlingInfo.getDestinationArea().equals("20")){
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Runnable taskSite = () -> {
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RoboticArmTaskBackVo roboticArmTaskBackVo = new RoboticArmTaskBackVo();
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roboticArmTaskBackVo.setTaskNo(roboticArmTaskVo.getTaskNo());
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roboticArmTaskBackVo.setDisassemblyTaskNo(dismantlingInfo.getDisassemblyTaskNo());
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roboticArmTaskBackVo.setMaterialBinId(dismantlingInfo.getMaterialBinId());
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roboticArmTaskBackVo.setTaskState("40");
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roboticArmTaskBackVo.setRemark("已送达!");
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sendHttpPost(roboticArmTaskBackVo, gtUrl);
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};
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// 循环执行拆箱回调
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scheduler.schedule(taskSite, time, TimeUnit.SECONDS);
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time += 10;
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}
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}
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WcsResult wcsResult = new WcsResult();
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wcsResult.setResultCode(1);
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wcsResult.setMessage("成功");
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return wcsResult;
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}
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/**
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* CTU任务下发
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*
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* @param json
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* @param request
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* @return
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*/
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@Override
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public WcsResult SetUp_CTUTask(String json, HttpServletRequest request) throws JsonProcessingException {
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// 获取客户端IP地址
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String clientIpAddress = getClientIpAddress(request);
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String url = "http://"+clientIpAddress+ctuUrl;
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ObjectMapper objectMapper = new ObjectMapper();
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CTUTaskVo ctuTaskVo = objectMapper.readValue(json, CTUTaskVo.class);
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List<CTUTaskVo.Site> siteList = ctuTaskVo.getSiteList();
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int size = siteList.size();
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// 创建一个 ScheduledExecutorService 实例
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ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(2*size);
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// 创建倒计时任务
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// 循环取料成功
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Integer time = 10;
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for (CTUTaskVo.Site site : siteList){
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Runnable taskSite = () -> {
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CTUTaskBackVo ctuTaskBackVo = new CTUTaskBackVo();
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ctuTaskBackVo.setTaskNo(ctuTaskVo.getTaskNo());
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ctuTaskBackVo.setMaterialBinId(site.getMaterialBinId());
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ctuTaskBackVo.setBizNo(site.getBizNo());
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ctuTaskBackVo.setTaskState("10");
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ctuTaskBackVo.setRemark("取料成功!");
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sendHttpPost(ctuTaskBackVo, url);
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};
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// 循环执行取料成功回调
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scheduler.schedule(taskSite, time, TimeUnit.SECONDS);
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time += 10;
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}
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// 循环已送达
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time += 20;
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for (CTUTaskVo.Site site : siteList){
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Runnable taskSite = () -> {
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CTUTaskBackVo ctuTaskBackVo = new CTUTaskBackVo();
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ctuTaskBackVo.setTaskNo(ctuTaskVo.getTaskNo());
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ctuTaskBackVo.setMaterialBinId(site.getMaterialBinId());
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ctuTaskBackVo.setBizNo(site.getBizNo());
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ctuTaskBackVo.setTaskState("40");
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ctuTaskBackVo.setRemark("已送达!");
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sendHttpPost(ctuTaskBackVo, url);
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};
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// 循环执行送达回调
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scheduler.schedule(taskSite, time, TimeUnit.SECONDS);
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time += 10;
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}
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WcsResult wcsResult = new WcsResult();
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wcsResult.setResultCode(1);
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wcsResult.setMessage("成功");
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return wcsResult;
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}
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/**
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* 滚筒线任务下发
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*
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* @param json
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* @param request
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* @return
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*/
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@Override
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public WcsResult DrumLine_Task(String json, HttpServletRequest request) throws JsonProcessingException {
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// 获取客户端IP地址
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String clientIpAddress = getClientIpAddress(request);
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String url = "http://"+clientIpAddress+drumLineTaskHttpUrl;
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ObjectMapper objectMapper = new ObjectMapper();
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DrumLineTaskVo drumLineTaskVo = objectMapper.readValue(json, DrumLineTaskVo.class);
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// 创建一个 ScheduledExecutorService 实例
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ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
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// 创建倒计时任务
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Runnable task = () -> {
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DrumLineTaskBackVo drumLineTaskBackVo = new DrumLineTaskBackVo();
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drumLineTaskBackVo.setTaskNo(drumLineTaskVo.getTaskNo());
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drumLineTaskBackVo.setTaskState("40");
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drumLineTaskBackVo.setMaterialBinId(drumLineTaskVo.getBusinessNo());
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drumLineTaskBackVo.setRemark("已送达!");
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sendHttpPost(drumLineTaskBackVo, url);
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};
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// 30秒后执行已送达回调
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scheduler.schedule(task, 30, TimeUnit.SECONDS);
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WcsResult wcsResult = new WcsResult();
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wcsResult.setResultCode(1);
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wcsResult.setMessage("成功");
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return wcsResult;
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}
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/**
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* 指令下发
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*
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* @param json
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* @param request
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* @return
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*/
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@Override
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public WcsResult Directives(String json, HttpServletRequest request) throws JsonProcessingException {
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// 获取客户端IP地址
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String clientIpAddress = getClientIpAddress(request);
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// 创建一个 ScheduledExecutorService 实例
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ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
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ObjectMapper objectMapper = new ObjectMapper();
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DirectivesVo directivesVo = objectMapper.readValue(json, DirectivesVo.class);
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WcsResult wcsResult = new WcsResult();
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wcsResult.setResultCode(1);
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wcsResult.setMessage("成功");
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return wcsResult;
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}
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/**
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* 获取重量
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*
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* @param rollerID
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* @return
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*/
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@Override
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public WcsResult2 GetWeight(String rollerID) {
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WcsResult2 wcsResult2 = new WcsResult2();
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wcsResult2.setCode(1);
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wcsResult2.setState(true);
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wcsResult2.setMessage("");
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wcsResult2.setDataInfo(100);
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return wcsResult2;
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}
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/**
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* 获取滚筒线信息
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*
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* @return
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*/
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@Override
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public WcsResult2 GetRollerInfo() {
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WcsResult2 wcsResult2 = new WcsResult2();
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wcsResult2.setCode(1);
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wcsResult2.setState(true);
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wcsResult2.setMessage("");
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List<RollerInfoVo> rollerInfoVos = new ArrayList<>();
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RollerInfoVo rollerInfoVo = new RollerInfoVo();
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rollerInfoVo.setRollerID("1");
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rollerInfoVo.setConnectState(true);
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rollerInfoVo.setMode(1);
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rollerInfoVo.setInOutStatus(2);
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rollerInfoVo.setNumber(0);
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rollerInfoVo.setEStopStatus(1);
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rollerInfoVo.setFaultStatus(1);
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rollerInfoVos.add(rollerInfoVo);
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wcsResult2.setDataInfo(rollerInfoVos);
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return wcsResult2;
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}
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// 发送 HTTP POST 请求
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private <T> WcsResult sendHttpPost(T taskCallBack, String url) {
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String jsonString = JSON.toJSONString(taskCallBack);
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String sendPost = HttpUtils.HttpPostWithJson(url, jsonString);
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WcsResult agvResult = JSONObject.parseObject(sendPost, WcsResult.class);
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// 处理回调结果，根据具体逻辑设置
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log.info("请求json:"+jsonString);
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log.info("响应json:"+agvResult.toString());
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return agvResult;
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}
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// 获取请求端ip地址
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private String getClientIpAddress(HttpServletRequest request) {
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String xForwardedForHeader = request.getHeader("X-Forwarded-For");
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if (xForwardedForHeader == null) {
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return request.getRemoteAddr();
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}
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// 如果使用了代理服务器，X-Forwarded-For头部可以包含多个IP地址，从左到右是从原始客户端到最近的代理服务器
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// 这里简单地取第一个IP地址作为客户端IP地址
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return xForwardedForHeader.split(",")[0].trim();
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}
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}
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