296 lines
8.6 KiB
Go
296 lines
8.6 KiB
Go
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package handler
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import (
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"encoding/json"
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"net/http"
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"strings"
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"time"
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"bj_power_wms/ent"
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"bj_power_wms/ent/agvtask"
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"bj_power_wms/ent/dock"
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"bj_power_wms/internal/svc"
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"github.com/google/uuid"
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)
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// ---------- AGV 配送接口 ----------
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// submitAgvRequest 仓管下发 AGV：至少选一批待发料行，按 target_dock 聚合生成任务
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type submitAgvRequest struct {
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// rows: 待发料行（每行含 requestNo/物料/数量/targetDock），来自 MES 备料单
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Rows []agvSubmitRow `json:"rows"`
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// 也可以直接给一个 group：sourceDock + 多目标
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SourceDock string `json:"sourceDock"`
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}
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type agvSubmitRow struct {
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RequestNo string `json:"requestNo"`
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MaterialCode string `json:"materialCode"`
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MaterialName string `json:"materialName"`
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Unit string `json:"unit"`
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Qty float64 `json:"qty"`
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TargetDock string `json:"targetDock"`
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}
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func submitAgvHandler(ctx *svc.ServiceContext) http.HandlerFunc {
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return func(w http.ResponseWriter, r *http.Request) {
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var req submitAgvRequest
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if err := parseJSON(r, &req); err != nil {
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fail(w, http.StatusBadRequest, "参数错误: "+err.Error())
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return
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}
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if len(req.Rows) == 0 {
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fail(w, http.StatusBadRequest, "请至少选择一批待发料")
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return
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}
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source := req.SourceDock
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if source == "" {
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source = "DOCK21"
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}
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operator := r.Header.Get("X-Username")
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// 按 target_dock 聚合
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groups := map[string][]agvSubmitRow{}
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for _, row := range req.Rows {
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if row.TargetDock == "" {
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continue
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}
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groups[row.TargetDock] = append(groups[row.TargetDock], row)
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}
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if len(groups) == 0 {
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fail(w, http.StatusBadRequest, "所选料行缺少目标接驳台(targetDock)")
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return
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}
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created := 0
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failed := []string{}
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for target, rows := range groups {
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// 1. 生成我方任务号并落库（PENDING→下发）
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taskNo := "AGV" + strings.ToUpper(uuid.NewString()[:10])
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mats, _ := json.Marshal(rows)
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t, err := ctx.EntClient.AgvTask.Create().
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SetTaskNo(taskNo).
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SetSourceDock(source).
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SetTargetDock(target).
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SetMaterialsJSON(string(mats)).
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SetStatus("PENDING").
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SetOperator(operator).
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SetDispatchedAt(0).
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SetArrivedAt(0).
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Save(ctx0())
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if err != nil {
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failed = append(failed, target)
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continue
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}
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// 2. 调海康 RCS 下发
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robCode, aerr := ctx.Agv.SubmitTask(ctx0(), source, target, "")
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if aerr != nil {
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ctx.EntClient.AgvTask.UpdateOneID(t.ID).
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SetStatus("FAILED").SetRemark("RCS下发失败: "+aerr.Error()).
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Exec(ctx0())
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failed = append(failed, target)
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continue
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}
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ctx.EntClient.AgvTask.UpdateOneID(t.ID).
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SetHikTaskCode(robCode).
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SetStatus("DISPATCHED").
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SetDispatchedAt(time.Now().Unix()).
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Exec(ctx0())
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// 3. 回写 MES 备料单 → DELIVERING
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for _, row := range rows {
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_ = ctx.Mes.MarkStatus(ctx0(), row.RequestNo, "DELIVERING")
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}
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// 4. 记录事件日志
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ctx.EventLog.Write(ctx0(), "agv.dispatch", operator, "agv_task", taskNo,
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"下发AGV搬运 "+source+"→"+target, map[string]any{"rows": len(rows)})
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created++
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}
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ok(w, map[string]any{"created": created, "failed": failed})
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}
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}
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func listAgvTasksHandler(ctx *svc.ServiceContext) http.HandlerFunc {
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return func(w http.ResponseWriter, r *http.Request) {
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q := r.URL.Query()
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query := ctx.EntClient.AgvTask.Query()
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if st := q.Get("status"); st != "" {
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query = query.Where(agvtask.Status(st))
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}
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if dock2 := q.Get("targetDock"); dock2 != "" {
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query = query.Where(agvtask.TargetDock(dock2))
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}
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page := atoi(q.Get("page"), 1)
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size := atoi(q.Get("pageSize"), 20)
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if size < 1 || size > 200 {
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size = 20
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}
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total, err := query.Clone().Count(ctx0())
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if err != nil {
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fail(w, http.StatusInternalServerError, err.Error())
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return
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}
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list, err := query.
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Order(ent.Desc("created_at")).
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Offset((page - 1) * size).Limit(size).
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All(ctx0())
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if err != nil {
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fail(w, http.StatusInternalServerError, err.Error())
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return
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}
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ok(w, map[string]any{"list": list, "total": total, "page": page, "pageSize": size})
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}
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}
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// refreshAgvHandler 轮询海康 RCS 更新各任务状态
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func refreshAgvHandler(ctx *svc.ServiceContext) http.HandlerFunc {
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return func(w http.ResponseWriter, r *http.Request) {
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// 取所有未终态(DISPATCHED/DELIVERING)且已下发的任务
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list, err := ctx.EntClient.AgvTask.Query().
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Where(
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agvtask.StatusIn("DISPATCHED", "DELIVERING"),
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agvtask.HikTaskCodeNEQ(""),
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).All(ctx0())
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if err != nil {
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fail(w, http.StatusInternalServerError, err.Error())
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return
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}
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changed := 0
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for _, t := range list {
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st, qerr := ctx.Agv.QueryTask(ctx0(), t.HikTaskCode)
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if qerr != nil {
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continue
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}
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// 海康状态映射到我们的状态
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our := mapHikStatus(st)
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if our == "DONE" {
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ctx.EntClient.AgvTask.UpdateOneID(t.ID).
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SetStatus("DONE").SetArrivedAt(time.Now().Unix()).
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Exec(ctx0())
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// 到位后回写 MES 备料单 → DONE
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mats := []agvSubmitRow{}
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_ = json.Unmarshal([]byte(t.MaterialsJSON), &mats)
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for _, row := range mats {
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_ = ctx.Mes.MarkStatus(ctx0(), row.RequestNo, "DONE")
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}
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ctx.EventLog.Write(ctx0(), "agv.arrive", r.Header.Get("X-Username"), "agv_task", t.TaskNo,
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"AGV已到位 "+t.TargetDock, nil)
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changed++
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} else if our != "" && t.Status != our && our == "DELIVERING" {
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ctx.EntClient.AgvTask.UpdateOneID(t.ID).SetStatus("DELIVERING").Exec(ctx0())
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changed++
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}
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}
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ok(w, map[string]any{"changed": changed})
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}
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}
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// mapHikStatus 海康 taskStatus → 我方状态
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// 海康: QUEUE/WAIT/EXECUTING/MANUALED/FINISHED/CANCELLED
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func mapHikStatus(s string) string {
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switch s {
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case "EXECUTING", "DELIVERING":
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return "DELIVERING"
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case "FINISHED", "MANUALED":
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return "DONE"
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case "CANCELLED":
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return "CANCELLED"
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default: // QUEUE / WAIT / 未知
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return "DISPATCHED"
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}
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}
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func listDocksHandler(ctx *svc.ServiceContext) http.HandlerFunc {
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return func(w http.ResponseWriter, r *http.Request) {
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q := r.URL.Query()
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query := ctx.EntClient.Dock.Query()
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if typ := q.Get("dockType"); typ != "" {
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query = query.Where(dock.DockType(typ))
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}
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list, err := query.Order(ent.Asc("id")).All(ctx0())
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if err != nil {
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fail(w, http.StatusInternalServerError, err.Error())
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return
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}
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// 显式构造，避免 ent omitempty 吞掉 hasPallet=false 导致前端看不到空闲状态
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type dockView struct {
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ID int64 `json:"id"`
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DockCode string `json:"dockCode"`
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Name string `json:"name"`
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DockType string `json:"dockType"`
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StationNo int `json:"stationNo"`
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Status string `json:"status"`
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HasPallet bool `json:"hasPallet"`
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PalletRef string `json:"palletRef"`
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}
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views := make([]dockView, 0, len(list))
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for _, d := range list {
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views = append(views, dockView{
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ID: int64(d.ID),
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DockCode: d.DockCode,
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Name: d.Name,
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DockType: d.DockType,
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StationNo: d.StationNo,
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Status: d.Status,
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HasPallet: d.HasPallet,
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PalletRef: d.PalletRef,
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})
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}
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ok(w, map[string]any{"list": views})
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}
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}
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// listAgvMaterialsHandler 仓管下发 AGV 时拉取 MES 备料单（含 target_dock），本地分页。
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// MES 内部接口全量返回备料单行；备料单行数可控，内存分页足够。
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func listAgvMaterialsHandler(ctx *svc.ServiceContext) http.HandlerFunc {
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return func(w http.ResponseWriter, r *http.Request) {
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q := r.URL.Query()
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status := q.Get("status")
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all, err := ctx.Mes.ListMaterialRequests(ctx0(), status)
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if err != nil {
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fail(w, http.StatusInternalServerError, "拉取备料单失败: "+err.Error())
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return
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}
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page := atoi(q.Get("page"), 1)
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size := atoi(q.Get("pageSize"), 20)
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if size < 1 || size > 200 {
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size = 20
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}
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total := len(all)
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start := (page - 1) * size
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if start > total {
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start = total
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}
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end := start + size
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if end > total {
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end = total
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}
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ok(w, map[string]any{"list": all[start:end], "total": total, "page": page, "pageSize": size})
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}
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}
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// syncDockPalletHandler 内部接口：MES 同步某接驳台是否有托盘（PLC 托盘传感器）。
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func syncDockPalletHandler(ctx *svc.ServiceContext) http.HandlerFunc {
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return wrapInternal(ctx)(func(w http.ResponseWriter, r *http.Request) {
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var req struct {
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DockCode string `json:"dockCode"`
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HasPallet bool `json:"hasPallet"`
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PalletRef string `json:"palletRef"`
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}
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if err := parseJSON(r, &req); err != nil {
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fail(w, http.StatusBadRequest, "参数错误")
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return
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}
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upd := ctx.EntClient.Dock.Update().
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Where(dock.DockCode(req.DockCode)).
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SetHasPallet(req.HasPallet)
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if req.PalletRef != "" {
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upd = upd.SetPalletRef(req.PalletRef)
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}
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if err := upd.Exec(ctx0()); err != nil {
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fail(w, http.StatusInternalServerError, err.Error())
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return
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}
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ok(w, nil)
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})
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}
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