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583 lines
21 KiB
583 lines
21 KiB
package com.gaotao.common.utils;
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import com.alibaba.fastjson2.JSONObject;
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import com.fasterxml.jackson.databind.JsonNode;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.gaotao.modules.api.service.InterfaceCallLogService;
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import com.gaotao.modules.automatedWarehouse.mapper.WcsIntegrationMapper;
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import com.gaotao.modules.warehouse.entity.PalletData;
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import lombok.Getter;
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import lombok.Setter;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Component;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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/**
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* AGV接口调用工具类
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* 基于Lothar V4.13接口文档实现
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*/
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@Setter
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@Getter
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@Component
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public class AgvClientUtil {
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//中山agv的交互site
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private static final String thisSite="55";
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/**
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* -- GETTER --
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* 获取AGV基础URL
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* -- SETTER --
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* 设置AGV基础URL
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*/
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@Value("${custom.agv-url}")
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private String agvUrl;
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@Autowired
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private InterfaceCallLogService interfaceCallLogService;
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@Autowired
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private WcsIntegrationMapper wcsIntegrationMapper;
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/**
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*1. 发送任务 - 创建APR搬运任务
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* @param taskId 任务唯一标识
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* @param targets 任务目标点名称集合
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* @param configId 任务配置名称（可选）
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* @param priority 任务优先级1-9（可选）
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* @return 响应结果
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*/
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public void createTask(String taskId, List<String> targets, String configId, Integer priority) {
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String url = agvUrl + "/rpc/createTask";
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Map<String, Object> request = new HashMap<>();
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request.put("taskId", taskId);
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request.put("targets", targets);
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if(targets.size()<2){
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throw new RuntimeException("站点数据不足,必须是2个站点以上。");
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}
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PalletData checkPallet= wcsIntegrationMapper.getPalletDataByStation(thisSite,targets.get(0));
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if(checkPallet==null){
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throw new RuntimeException("栈板数据不存在,请检查栈板数据。");
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}
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//2点任务和3点任务是不一样的模板
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switch (checkPallet.getPalletFamily()) {
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case "A01":
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configId="Steel_Pallet"+"_"+targets.size();
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break;
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case "A02":
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configId="Boxed_Pallet"+"_"+targets.size();
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break;
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case "A03":
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configId="Flat_Pallet"+"_"+targets.size();
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break;
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}
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if (configId != null) {
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request.put("configId", configId);
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}else {
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request.put("configId", "Steel_Pallet");
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}
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if (priority != null) {
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request.put("priority", priority);
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}
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Long logId = null;
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try {
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// 记录接口调用日志
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"createTask",
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requestJson,
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"55",
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taskId,
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"AGV创建任务接口"
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);
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ObjectMapper objectMapper = new ObjectMapper();
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String jsonBody = objectMapper.writeValueAsString(request);
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String ifsResponse = HttpUtils.doPost(url,jsonBody,null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code!=200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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// 调用AGV接口
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// ResponseData response = HttpClientUtil.doPostByRaw(url, request);
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//
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// // 更新接口日志结果
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// if (logId != null) {
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// String responseJson = response != null ? JSONObject.toJSONString(response) : "null";
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// interfaceCallLogService.updateCallResult(logId, responseJson, "SUCCESS", null, null);
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// }
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//
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// return response;
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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public void modifyPutPoint(String taskId, String target) {
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String url = agvUrl + "/rpc/modifyPutPoint";
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Map<String, Object> request = new HashMap<>();
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request.put("taskId", taskId);
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request.put("target", target);
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Long logId = null;
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try {
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// 记录接口调用日志
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"modifyPutPoint",
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requestJson,
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"55",
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taskId,
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"修改目标点"
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);
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ObjectMapper objectMapper = new ObjectMapper();
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String jsonBody = objectMapper.writeValueAsString(request);
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String ifsResponse = HttpUtils.doPost(url,jsonBody,null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code!=200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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// 调用AGV接口
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// ResponseData response = HttpClientUtil.doPostByRaw(url, request);
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//
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// // 更新接口日志结果
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// if (logId != null) {
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// String responseJson = response != null ? JSONObject.toJSONString(response) : "null";
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// interfaceCallLogService.updateCallResult(logId, responseJson, "SUCCESS", null, null);
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// }
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//
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// return response;
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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/**
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* 2 继续任务 - 继续执行等待中的任务
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* @param taskId 任务唯一编号
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*/
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public void continueTask(String taskId) {
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String url = agvUrl + "/rpc/continueTask";
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Map<String, Object> request = new HashMap<>();
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request.put("taskId", taskId);
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Long logId = null;
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try {
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// 记录接口调用日志
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"continueTask",
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requestJson,
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"55",
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taskId,
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"AGV继续任务接口"
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);
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ObjectMapper objectMapper = new ObjectMapper();
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String jsonBody = objectMapper.writeValueAsString(request);
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String ifsResponse = HttpUtils.doPost(url, jsonBody, null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code != 200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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/**
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*3. 取消任务 - 取消APR搬运任务
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* @param taskId 任务唯一标识
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*/
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public void cancelTask(String taskId) {
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String url = agvUrl + "/rpc/cancelTask";
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Map<String, Object> request = new HashMap<>();
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request.put("taskId", taskId);
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Long logId = null;
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try {
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// 记录接口调用日志
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"cancelTask",
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requestJson,
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"55",
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taskId,
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"AGV取消任务接口"
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);
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ObjectMapper objectMapper = new ObjectMapper();
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String jsonBody = objectMapper.writeValueAsString(request);
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String ifsResponse = HttpUtils.doPost(url, jsonBody, null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code != 200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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/**
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*4. 任务回调 - 任务执行到关键节点上报
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* @param taskId 任务唯一标识
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* @param deviceId APR编号
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* @param targetPoint APR到达的目标点
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*/
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public void feedbackTask(String taskId, String deviceId, String targetPoint) {
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String url = agvUrl + "/feedbackTask";
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Map<String, Object> request = new HashMap<>();
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request.put("taskId", taskId);
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request.put("deviceId", deviceId);
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request.put("targetPoint", targetPoint);
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Long logId = null;
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try {
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// 记录接口调用日志
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"feedbackTask",
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requestJson,
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"55",
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taskId,
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"AGV任务回调接口"
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);
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ObjectMapper objectMapper = new ObjectMapper();
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String jsonBody = objectMapper.writeValueAsString(request);
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String ifsResponse = HttpUtils.doPost(url, jsonBody, null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code != 200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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/**
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*5. APR查询 - 获取在线小车状态
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* @return 在线小车数据
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*/
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public Object getOnlineRobot() {
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String url = agvUrl + "/rpc/getOnlineRobot";
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try {
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String ifsResponse = HttpUtils.doGet(url, null, null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code != 200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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// 返回数据部分
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return jsonNode.get("data");
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} catch (Exception e) {
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throw new RuntimeException(e.getMessage());
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}
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}
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/**
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* 6地图信息
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* @param mapName 地图名称（可选）
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* @return 地图信息数据
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*/
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public Object getMapInfo(String mapName) {
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String url = agvUrl + "/rpc/getMapInfo";
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Map<String, Object> request = new HashMap<>();
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if (mapName != null) {
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request.put("mapName", mapName);
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}
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Long logId = null;
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try {
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// 记录接口调用日志
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"getMapInfo",
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requestJson,
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"55",
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mapName,
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"AGV获取地图信息接口"
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);
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ObjectMapper objectMapper = new ObjectMapper();
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String jsonBody = objectMapper.writeValueAsString(request);
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String ifsResponse = HttpUtils.doPost(url, jsonBody, null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code != 200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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// 返回数据部分
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JsonNode dataNode = jsonNode.get("data");
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return dataNode != null ? dataNode : null;
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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/**
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*7. APR故障信息查询
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* @return 故障信息数据
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*/
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public Object getAlarms() {
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String url = agvUrl + "/rpc/getAlarms";
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Map<String, Object> request = new HashMap<>();
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Long logId = null;
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try {
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// 记录接口调用日志
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"getAlarms",
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requestJson,
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"55",
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null,
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"AGV获取故障信息接口"
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);
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String ifsResponse = HttpUtils.doGet(url, null, null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code != 200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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// 返回数据部分
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return jsonNode.get("data");
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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/**
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* 8 APR申请进出交管区
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* @param areaName 交管区编号
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* @param type 1进入申请，2-离开告知
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* @param agvNo APR编号
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*/
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public void applyTrafficCtlArea(String areaName, Integer type, String agvNo) {
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String url = agvUrl + "/applyTrafficCtlArea";
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Map<String, Object> request = new HashMap<>();
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request.put("areaName", areaName);
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request.put("type", type);
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if (agvNo != null) {
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request.put("agvNo", agvNo);
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}
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Long logId = null;
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try {
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// 记录接口调用日志
|
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String requestJson = JSONObject.toJSONString(request);
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logId = interfaceCallLogService.logInterfaceCall(
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"AgvClientUtil",
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"applyTrafficCtlArea",
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requestJson,
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"55",
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areaName,
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"AGV申请进出交管区接口"
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);
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ObjectMapper objectMapper = new ObjectMapper();
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String jsonBody = objectMapper.writeValueAsString(request);
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String ifsResponse = HttpUtils.doPost(url, jsonBody, null);
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ObjectMapper mapper = new ObjectMapper();
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JsonNode jsonNode = mapper.readTree(ifsResponse);
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int code = jsonNode.get("code").asInt();
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String msg = jsonNode.get("msg").asText();
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if(code != 200){
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throw new RuntimeException("调用AGV接口失败，错误码："+code+"，错误信息："+msg);
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}
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} catch (Exception e) {
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// 更新接口日志错误信息
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if (logId != null) {
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interfaceCallLogService.updateCallResult(logId, null, "FAILED", e.getMessage(), null);
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}
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throw new RuntimeException(e.getMessage());
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}
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}
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|
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/**
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* 9. APR申请进出设备区域
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* @param deviceName 设备编号
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* @param type 1进入申请，2-离开告知
|
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* @param taskId APR正在执行的任务编号（可选）
|
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* @param action APR将要在此设备区域执行的动作，get-取货，put-放货（可选）
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* @param agvNo APR编号（可选）
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*/
|
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public void applyDeviceArea(String deviceName, Integer type, String taskId, String action, String agvNo) {
|
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String url = agvUrl + "/applyDeviceArea";
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Map<String, Object> request = new HashMap<>();
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request.put("deviceName", deviceName);
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request.put("type", type);
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if (taskId != null) {
|
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request.put("taskId", taskId);
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}
|
|
if (action != null) {
|
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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());
|
|
}
|
|
}
|
|
|
|
}
|