231 lines
6.8 KiB
Go
231 lines
6.8 KiB
Go
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// Package agv 海康 AGV 调度系统(RCS-2000 V4.2) 对接客户端。
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// 能力：下发搬运任务(task/submit)、查询任务状态(task/query)。
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// 签名协议详见《AGV海康.md》：HMAC-SHA256 加盐 + MD5 二次摘要，sign 放 URL query。
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// 未配置真实 RCS(appKey/appSecret/BaseURL) 或 EnableMock=true 时走 Mock 客户端。
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package agv
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import (
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"bytes"
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"context"
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"crypto/hmac"
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"crypto/md5"
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"crypto/rand"
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"crypto/sha256"
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"encoding/hex"
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"encoding/json"
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"fmt"
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"io"
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"net/http"
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"sort"
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"strings"
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"time"
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"bj_power_wms/internal/config"
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)
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// Client AGV 调度客户端抽象
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type Client interface {
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// SubmitTask 下发搬运任务 fromDock -> toDock，返回海康任务号 robotTaskCode。
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SubmitTask(ctx context.Context, fromDock, toDock, carrierCode string) (string, error)
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// QueryTask 查询任务状态，返回海康 taskStatus 枚举。
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QueryTask(ctx context.Context, robotTaskCode string) (string, error)
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}
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// New 依据配置返回真实或 Mock 客户端
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func New(cfg config.AgvConfig) Client {
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if cfg.EnableMock || cfg.BaseURL == "" {
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return newMockClient()
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}
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return newRealClient(cfg)
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}
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// ---------- 签名与请求（真实海康） ----------
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type realClient struct {
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cfg config.AgvConfig
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hc *http.Client
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carrier string
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}
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func newRealClient(cfg config.AgvConfig) *realClient {
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return &realClient{
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cfg: cfg,
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hc: &http.Client{Timeout: 15 * time.Second},
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carrier: cfg.CarrierCode,
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}
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}
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// buildPath 拼接服务前缀 + 业务路径，system
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func (c *realClient) url(path string) string {
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base := strings.TrimRight(c.cfg.BaseURL, "/")
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return base + path
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}
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// submit 任务下发实现的实际请求
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// 海康路径：/rcs/rtas/api/robot/controller/task/submit
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func (c *realClient) post(ctx context.Context, path string, payload map[string]any, out any) error {
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body, err := json.Marshal(payload)
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if err != nil {
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return err
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}
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req, err := http.NewRequestWithContext(ctx, http.MethodPost, c.url(path), bytes.NewReader(body))
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if err != nil {
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return err
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}
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c.sign(req, body, path)
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resp, err := c.hc.Do(req)
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if err != nil {
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return err
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}
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defer resp.Body.Close()
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raw, err := io.ReadAll(resp.Body)
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if err != nil {
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return err
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}
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if resp.StatusCode >= 400 {
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return fmt.Errorf("agv http %d: %s", resp.StatusCode, string(raw))
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}
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var envelope struct {
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Code string `json:"code"`
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Message string `json:"message"`
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Data json.RawMessage `json:"data"`
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}
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if err := json.Unmarshal(raw, &envelope); err != nil {
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return fmt.Errorf("agv parse envelope: %w", err)
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}
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if envelope.Code != "" && envelope.Code != "SUCCESS" {
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return fmt.Errorf("agv code=%s message=%s", envelope.Code, envelope.Message)
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}
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if out != nil && len(envelope.Data) > 0 {
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return json.Unmarshal(envelope.Data, out)
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}
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return nil
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}
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// sign 按协议 1.3 节生成鉴权头与 sign 签名。
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// 参与签名字段（排序）：AUTHORIZATION、HOST、X-LR-APPKEY、X-LR-REQUEST-ID、X-LR-SOURCE、X-LR-TRACE-ID、X-LR-VERSION
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// 签名 = MD5( HMAC-SHA256(appSecret, 拼接原串) )，sign 作为 URL query 参数。
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func (c *realClient) sign(req *http.Request, body []byte, path string) {
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nonce := randHex(8)
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timestamp := time.Now().Format(time.RFC3339)
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requestID := randHex(16)
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traceID := randHex(16)
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authHeader := fmt.Sprintf("nonce=%q,method=\"HMAC-SHA256\",timestamp=%q", nonce, timestamp)
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signKV := map[string]string{
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"AUTHORIZATION": authHeader,
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"HOST": req.URL.Host,
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"X-LR-APPKEY": c.cfg.AppKey,
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"X-LR-REQUEST-ID": requestID,
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"X-LR-SOURCE": "bj_power_wms",
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"X-LR-TRACE-ID": traceID,
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"X-LR-VERSION": "v1.0",
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}
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keys := make([]string, 0, len(signKV))
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for k := range signKV {
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keys = append(keys, k)
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}
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sort.Strings(keys)
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var sb strings.Builder
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for _, k := range keys {
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sb.WriteString(k)
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sb.WriteString(":")
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sb.WriteString(signKV[k])
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sb.WriteString("\n")
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}
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// 请求报文拼接后的原串 = 头拼接串 + 空行 + 消息体
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raw := sb.String() + "\n" + string(body)
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mac := hmac.New(sha256.New, []byte(c.cfg.AppSecret))
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mac.Write([]byte(raw))
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h := md5.Sum(mac.Sum(nil))
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sign := strings.ToUpper(hex.EncodeToString(h[:]))
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q := req.URL.Query()
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q.Set("sign", sign)
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req.URL.RawQuery = q.Encode()
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req.Header.Set("Authorization", authHeader)
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req.Header.Set("X-lr-appkey", c.cfg.AppKey)
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req.Header.Set("X-lr-request-id", requestID)
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req.Header.Set("X-lr-version", "v1.0")
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req.Header.Set("X-lr-trace-id", traceID)
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req.Header.Set("X-lr-source", "bj_power_wms")
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}
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// SubmitTask 实现 Client：下发搬运任务。
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// 海康路径 /rcs/rtas/api/robot/controller/task/submit
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func (c *realClient) SubmitTask(ctx context.Context, fromDock, toDock, carrierCode string) (string, error) {
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carrier := carrierCode
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if carrier == "" {
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carrier = c.carrier
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}
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payload := map[string]any{
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"taskType": "PF-LMR-COMMON",
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"targetRoute": []map[string]any{
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{"type": "SITE", "code": fromDock, "operation": "COLLECT"},
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{"type": "SITE", "code": toDock, "operation": "DELIVERY"},
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},
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"carrierInfo": []map[string]any{
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{"carrierType": "1", "carrierCode": carrier},
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},
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}
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var data struct {
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RobotTaskCode string `json:"robotTaskCode"`
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Code string `json:"code"`
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}
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if err := c.post(ctx, "/api/robot/controller/task/submit", payload, &data); err != nil {
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return "", err
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}
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if data.RobotTaskCode == "" {
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// 部分版本把任务号放 data.code
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if data.Code == "" {
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return "", fmt.Errorf("agv submit 未返回任务号")
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}
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return data.Code, nil
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}
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return data.RobotTaskCode, nil
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}
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// QueryTask 实现 Client：查询任务状态。
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// 海康路径 /rcs/rtas/api/robot/controller/task/query
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func (c *realClient) QueryTask(ctx context.Context, robotTaskCode string) (string, error) {
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payload := map[string]any{"robotTaskCode": robotTaskCode}
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var data map[string]any
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if err := c.post(ctx, "/api/robot/controller/task/query", payload, &data); err != nil {
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return "", err
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}
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st, _ := data["taskStatus"].(string)
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if st == "" {
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if v, ok := data["status"].(string); ok {
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st = v
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}
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}
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if st == "" {
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return "QUEUE", nil
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}
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return st, nil
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}
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// ---------- Mock 客户端（未接真实 RCS 时用） ----------
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type mockClient struct{}
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func newMockClient() *mockClient { return &mockClient{} }
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func (m *mockClient) SubmitTask(ctx context.Context, fromDock, toDock, carrierCode string) (string, error) {
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// 模拟立即成功下发，返回一个可追溯的假任务号（前缀 MOCK-）
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return "MOCK-" + randHex(8), nil
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}
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func (m *mockClient) QueryTask(ctx context.Context, robotTaskCode string) (string, error) {
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// 模拟：MOCK 任务一律视为已完成，便于离线联调观察"待搬运→已到位"。
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return "FINISHED", nil
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}
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func randHex(n int) string {
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b := make([]byte, n)
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if _, err := rand.Read(b); err != nil {
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return fmt.Sprintf("%02d", time.Now().UnixNano()%100)
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}
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return hex.EncodeToString(b)
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}
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