wms-java/src/main/java/com/gaotao/common/utils/AgvClientUtil.java

package com.gaotao.common.utils;

import com.alibaba.fastjson2.JSONObject;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.gaotao.modules.api.service.InterfaceCallLogService;
import com.gaotao.modules.automatedWarehouse.mapper.WcsIntegrationMapper;
import com.gaotao.modules.warehouse.entity.PalletData;
import lombok.Getter;
import lombok.Setter;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * AGV接口调用工具类
 * 基于Lothar V4.13接口文档实现
 */
@Setter
@Getter
@Component
public class AgvClientUtil {
    //中山agv的交互site
    private static final String thisSite="55";
    /**
     * -- GETTER --
     *  获取AGV基础URL
     * -- SETTER --
     *  设置AGV基础URL
     */
    @Value("${custom.agv-url}")
    private String agvUrl;

    @Autowired
    private InterfaceCallLogService interfaceCallLogService;
    @Autowired
    private WcsIntegrationMapper wcsIntegrationMapper;

    /**
     *1. 发送任务 - 创建APR搬运任务
     * @param taskId 任务唯一标识
     * @param targets 任务目标点名称集合
     * @param configId 任务配置名称（可选）
     * @param priority 任务优先级1-9（可选）
     * @return 响应结果
     */
    public void createTask(String taskId, List<String> targets, String configId, Integer priority) {
        String url = agvUrl + "/rpc/createTask";
        Map<String, Object> request = new HashMap<>();
        request.put("taskId", taskId);
        request.put("targets", targets);
        if(targets.size()<2){
            throw new RuntimeException("站点数据不足,必须是2个站点以上。");
        }
        PalletData checkPallet= wcsIntegrationMapper.getPalletDataByStation(thisSite,targets.get(0));
        if(checkPallet==null){
            throw new RuntimeException("栈板数据不存在,请检查栈板数据。");
        }
        //2点任务和3点任务是不一样的模板
        switch (checkPallet.getPalletFamily()) {
            case "A01":
                configId="Steel_Pallet"+"_"+targets.size();
                break;
            case "A02":
                configId="Boxed_Pallet"+"_"+targets.size();
                break;
            case "A03":
                configId="Flat_Pallet"+"_"+targets.size();
                break;
        }
        if (configId != null) {
            request.put("configId", configId);
        }else {
            request.put("configId", "Steel_Pallet");
        }
        if (priority != null) {
            request.put("priority", priority);
        }

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "createTask",
                requestJson,
                "55",
                taskId,
                "AGV创建任务接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url,jsonBody,null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code!=200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }
            // 调用AGV接口
            // ResponseData response = HttpClientUtil.doPostByRaw(url, request);
            //
            // // 更新接口日志结果
            // if (logId != null) {
            //     String responseJson = response != null ? JSONObject.toJSONString(response) : "null";
            //     interfaceCallLogService.updateCallResult(logId, responseJson, "SUCCESS", null, null);
            // }
            //
            // return response;

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }
    public void modifyPutPoint(String taskId, String target) {
        String url = agvUrl + "/rpc/modifyPutPoint";
        Map<String, Object> request = new HashMap<>();
        request.put("taskId", taskId);
        request.put("target", target);


        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                    "AgvClientUtil",
                    "modifyPutPoint",
                    requestJson,
                    "55",
                    taskId,
                    "修改目标点"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url,jsonBody,null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code!=200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }
            // 调用AGV接口
            // ResponseData response = HttpClientUtil.doPostByRaw(url, request);
            //
            // // 更新接口日志结果
            // if (logId != null) {
            //     String responseJson = response != null ? JSONObject.toJSONString(response) : "null";
            //     interfaceCallLogService.updateCallResult(logId, responseJson, "SUCCESS", null, null);
            // }
            //
            // return response;

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }
    /**
     * 2 继续任务 - 继续执行等待中的任务
     * @param taskId 任务唯一编号
     */
    public void continueTask(String taskId) {
        String url = agvUrl + "/rpc/continueTask";
        Map<String, Object> request = new HashMap<>();
        request.put("taskId", taskId);

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "continueTask",
                requestJson,
                "55",
                taskId,
                "AGV继续任务接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url, jsonBody, null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     *3. 取消任务 - 取消APR搬运任务
     * @param taskId 任务唯一标识
     */
    public void cancelTask(String taskId) {
        String url = agvUrl + "/rpc/cancelTask";
        Map<String, Object> request = new HashMap<>();
        request.put("taskId", taskId);

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "cancelTask",
                requestJson,
                "55",
                taskId,
                "AGV取消任务接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url, jsonBody, null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     *4. 任务回调 - 任务执行到关键节点上报
     * @param taskId 任务唯一标识
     * @param deviceId APR编号
     * @param targetPoint APR到达的目标点
     */
    public void feedbackTask(String taskId, String deviceId, String targetPoint) {
        String url = agvUrl + "/feedbackTask";
        Map<String, Object> request = new HashMap<>();
        request.put("taskId", taskId);
        request.put("deviceId", deviceId);
        request.put("targetPoint", targetPoint);

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "feedbackTask",
                requestJson,
                "55",
                taskId,
                "AGV任务回调接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url, jsonBody, null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     *5. APR查询 - 获取在线小车状态
     * @return 在线小车数据
     */
    public Object getOnlineRobot() {
        String url = agvUrl + "/rpc/getOnlineRobot";
        try {
            String ifsResponse = HttpUtils.doGet(url, null, null);
            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);
            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }
            // 返回数据部分
            return jsonNode.get("data");
        } catch (Exception e) {
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     * 6地图信息
     * @param mapName 地图名称（可选）
     * @return 地图信息数据
     */
    public Object getMapInfo(String mapName) {
        String url = agvUrl + "/rpc/getMapInfo";
        Map<String, Object> request = new HashMap<>();
        if (mapName != null) {
            request.put("mapName", mapName);
        }

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "getMapInfo",
                requestJson,
                "55",
                mapName,
                "AGV获取地图信息接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url, jsonBody, null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

            // 返回数据部分
            JsonNode dataNode = jsonNode.get("data");
            return dataNode != null ? dataNode : null;

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     *7. APR故障信息查询
     * @return 故障信息数据
     */
    public Object getAlarms() {
        String url = agvUrl + "/rpc/getAlarms";
        Map<String, Object> request = new HashMap<>();

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "getAlarms",
                requestJson,
                "55",
                null,
                "AGV获取故障信息接口"
            );
            String ifsResponse = HttpUtils.doGet(url, null, null);
            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

            // 返回数据部分
            return jsonNode.get("data");

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     * 8 APR申请进出交管区
     * @param areaName 交管区编号
     * @param type 1进入申请，2-离开告知
     * @param agvNo APR编号
     */
    public void applyTrafficCtlArea(String areaName, Integer type, String agvNo) {
        String url = agvUrl + "/applyTrafficCtlArea";
        Map<String, Object> request = new HashMap<>();
        request.put("areaName", areaName);
        request.put("type", type);
        if (agvNo != null) {
            request.put("agvNo", agvNo);
        }

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "applyTrafficCtlArea",
                requestJson,
                "55",
                areaName,
                "AGV申请进出交管区接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url, jsonBody, null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     * 9. APR申请进出设备区域
     * @param deviceName 设备编号
     * @param type 1进入申请，2-离开告知
     * @param taskId APR正在执行的任务编号（可选）
     * @param action APR将要在此设备区域执行的动作，get-取货，put-放货（可选）
     * @param agvNo APR编号（可选）
     */
    public void applyDeviceArea(String deviceName, Integer type, String taskId, String action, String agvNo) {
        String url = agvUrl + "/applyDeviceArea";
        Map<String, Object> request = new HashMap<>();
        request.put("deviceName", deviceName);
        request.put("type", type);
        if (taskId != null) {
            request.put("taskId", taskId);
        }
        if (action != null) {
            request.put("action", action);
        }
        if (agvNo != null) {
            request.put("agvNo", agvNo);
        }

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "applyDeviceArea",
                requestJson,
                "55",
                deviceName,
                "AGV申请进出设备区域接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url, jsonBody, null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

    /**
     *10储位信息
     * @param storageNames 目标储位名称列表（可选）
     * @param areaNames 目标区域名称列表（可选）
     * @param mapNames 目标地图名称列表（可选）
     */
    public void getMapStorage(List<String> storageNames, List<String> areaNames, List<String> mapNames) {
        String url = agvUrl + "/getMapStorage";
        Map<String, Object> request = new HashMap<>();
        if (storageNames != null) {
            request.put("storageNames", storageNames);
        }
        if (areaNames != null) {
            request.put("areaNames", areaNames);
        }
        if (mapNames != null) {
            request.put("mapNames", mapNames);
        }

        Long logId = null;
        try {
            // 记录接口调用日志
            String requestJson = JSONObject.toJSONString(request);
            logId = interfaceCallLogService.logInterfaceCall(
                "AgvClientUtil",
                "getMapStorage",
                requestJson,
                "55",
                null,
                "AGV获取储位信息接口"
            );
            ObjectMapper objectMapper = new ObjectMapper();
            String jsonBody = objectMapper.writeValueAsString(request);
            String ifsResponse = HttpUtils.doPost(url, jsonBody, null);

            ObjectMapper mapper = new ObjectMapper();
            JsonNode jsonNode = mapper.readTree(ifsResponse);

            int code = jsonNode.get("code").asInt();
            String msg = jsonNode.get("msg").asText();
            if(code != 200){
                throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
            }

        } catch (Exception e) {
            // 更新接口日志错误信息
            if (logId != null) {
                interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
            }
            throw new RuntimeException(e.getMessage());
        }
    }

}