refactor: 统一术语BOM为物料清单并补充工位扩展能力
主要变更： 1. 后端：重构工位管理逻辑，新增工位自定义扩展能力，将工位号上限调整为999并支持14+虚拟工位 2. 前后端：全量替换"BOM"术语为"物料清单"，包括提示语、注释和文档 3. WMS模块：新增AGV任务取消接口与前端页面，对接海康RCS取消任务逻辑 4. 权限与种子数据：新增工位新增权限并更新权限配置 5. 修复错误校验逻辑，优化AGV客户端签名与请求处理
This commit is contained in:
SunYF
@@ -1,6 +1,7 @@
|
||||
// Package agv 海康 AGV 调度系统(RCS-2000 V4.2) 对接客户端。
|
||||
// 能力：下发搬运任务(task/submit)、查询任务状态(task/query)。
|
||||
// 能力：下发搬运任务(task/submit)、查询任务状态(task/query)、任务取消(task/cancel)。
|
||||
// 签名协议详见《AGV海康.md》：HMAC-SHA256 加盐 + MD5 二次摘要，sign 放 URL query。
|
||||
// 完整请求路径 = 服务前缀 /rcs/rtas + 业务路径（文档 §2 开头）。
|
||||
// 未配置真实 RCS(appKey/appSecret/BaseURL) 或 EnableMock=true 时走 Mock 客户端。
|
||||
package agv
|
||||
|
||||
@@ -23,12 +24,19 @@ import (
|
||||
"bj_power_wms/internal/config"
|
||||
)
|
||||
|
||||
// ServicePrefix RCS-2000 统一服务前缀（文档 §2：「服务前缀统一：/rcs/rtas」）
|
||||
const ServicePrefix = "/rcs/rtas"
|
||||
|
||||
// Client AGV 调度客户端抽象
|
||||
type Client interface {
|
||||
// SubmitTask 下发搬运任务 fromDock -> toDock，返回海康任务号 robotTaskCode。
|
||||
SubmitTask(ctx context.Context, fromDock, toDock, carrierCode string) (string, error)
|
||||
// QueryTask 查询任务状态，返回海康 taskStatus 枚举。
|
||||
QueryTask(ctx context.Context, robotTaskCode string) (string, error)
|
||||
// CancelTask 取消任务（软取消 CANCEL / 硬取消 DROP）。
|
||||
CancelTask(ctx context.Context, robotTaskCode, cancelType, reason string) error
|
||||
// Disable 是否处于 Mock（未接真实 RCS）模式。
|
||||
Disable() bool
|
||||
}
|
||||
|
||||
// New 依据配置返回真实或 Mock 客户端
|
||||
@@ -42,9 +50,9 @@ func New(cfg config.AgvConfig) Client {
|
||||
// ---------- 签名与请求（真实海康） ----------
|
||||
|
||||
type realClient struct {
|
||||
cfg config.AgvConfig
|
||||
hc *http.Client
|
||||
carrier string
|
||||
cfg config.AgvConfig
|
||||
hc *http.Client
|
||||
carrier string
|
||||
}
|
||||
|
||||
func newRealClient(cfg config.AgvConfig) *realClient {
|
||||
@@ -55,13 +63,17 @@ func newRealClient(cfg config.AgvConfig) *realClient {
|
||||
}
|
||||
}
|
||||
|
||||
// buildPath 拼接服务前缀 + 业务路径，system
|
||||
// url 拼接 RCS 服务前缀 + 业务路径（文档 §2：完整请求路径 = 服务前缀 + 路径）。
|
||||
// 兼容用户把 BaseURL 直接填成已含 /rcs/rtas 的情况，避免重复前缀。
|
||||
func (c *realClient) url(path string) string {
|
||||
base := strings.TrimRight(c.cfg.BaseURL, "/")
|
||||
return base + path
|
||||
if strings.HasSuffix(base, ServicePrefix) {
|
||||
return base + path
|
||||
}
|
||||
return base + ServicePrefix + path
|
||||
}
|
||||
|
||||
// submit 任务下发实现的实际请求
|
||||
// post 任务下发实现的实际请求
|
||||
// 海康路径：/rcs/rtas/api/robot/controller/task/submit
|
||||
func (c *realClient) post(ctx context.Context, path string, payload map[string]any, out any) error {
|
||||
body, err := json.Marshal(payload)
|
||||
@@ -93,7 +105,7 @@ func (c *realClient) post(ctx context.Context, path string, payload map[string]a
|
||||
if err := json.Unmarshal(raw, &envelope); err != nil {
|
||||
return fmt.Errorf("agv parse envelope: %w", err)
|
||||
}
|
||||
if envelope.Code != "" && envelope.Code != "SUCCESS" {
|
||||
if envelope.Code != "" && envelope.Code != "SUCCESS" && envelope.Code != "0" {
|
||||
return fmt.Errorf("agv code=%s message=%s", envelope.Code, envelope.Message)
|
||||
}
|
||||
if out != nil && len(envelope.Data) > 0 {
|
||||
@@ -146,28 +158,33 @@ func (c *realClient) sign(req *http.Request, body []byte, path string) {
|
||||
|
||||
req.Header.Set("Authorization", authHeader)
|
||||
req.Header.Set("X-lr-appkey", c.cfg.AppKey)
|
||||
// X-lr-request-id 是文档标注的唯一「必需」首部字段（1.1 节 是否必需=是）
|
||||
req.Header.Set("X-lr-request-id", requestID)
|
||||
req.Header.Set("X-lr-version", "v1.0")
|
||||
req.Header.Set("X-lr-trace-id", traceID)
|
||||
req.Header.Set("X-lr-source", "bj_power_wms")
|
||||
req.Header.Set("Content-Type", "application/json;charset=UTF-8")
|
||||
}
|
||||
|
||||
// SubmitTask 实现 Client：下发搬运任务。
|
||||
// 海康路径 /rcs/rtas/api/robot/controller/task/submit
|
||||
func (c *realClient) SubmitTask(ctx context.Context, fromDock, toDock, carrierCode string) (string, error) {
|
||||
carrier := carrierCode
|
||||
if carrier == "" {
|
||||
carrier = c.carrier
|
||||
}
|
||||
payload := map[string]any{
|
||||
"taskType": "PF-LMR-COMMON",
|
||||
"targetRoute": []map[string]any{
|
||||
{"type": "SITE", "code": fromDock, "operation": "COLLECT"},
|
||||
{"type": "SITE", "code": toDock, "operation": "DELIVERY"},
|
||||
},
|
||||
"carrierInfo": []map[string]any{
|
||||
}
|
||||
// 载具：给了就带；未给（无托盘搬运）不带 carrierInfo，避免 RCS 按空载具校验失败
|
||||
carrier := carrierCode
|
||||
if carrier == "" {
|
||||
carrier = c.carrier
|
||||
}
|
||||
if carrier != "" {
|
||||
payload["carrierInfo"] = []map[string]any{
|
||||
{"carrierType": "1", "carrierCode": carrier},
|
||||
},
|
||||
}
|
||||
}
|
||||
var data struct {
|
||||
RobotTaskCode string `json:"robotTaskCode"`
|
||||
@@ -206,6 +223,28 @@ func (c *realClient) QueryTask(ctx context.Context, robotTaskCode string) (strin
|
||||
return st, nil
|
||||
}
|
||||
|
||||
// CancelTask 实现 Client：取消任务（文档 2.1.4 任务取消接口）。
|
||||
// cancelType：CANCEL 软取消（可下发回库）/ DROP 人工介入硬取消。
|
||||
func (c *realClient) CancelTask(ctx context.Context, robotTaskCode, cancelType, reason string) error {
|
||||
if robotTaskCode == "" {
|
||||
return fmt.Errorf("缺少任务号")
|
||||
}
|
||||
if cancelType == "" {
|
||||
cancelType = "CANCEL"
|
||||
}
|
||||
payload := map[string]any{
|
||||
"robotTaskCode": robotTaskCode,
|
||||
"cancelType": cancelType,
|
||||
}
|
||||
if reason != "" {
|
||||
payload["reason"] = reason
|
||||
}
|
||||
return c.post(ctx, "/api/robot/controller/task/cancel", payload, nil)
|
||||
}
|
||||
|
||||
// Disable 真实客户端非 Mock 模式
|
||||
func (c *realClient) Disable() bool { return false }
|
||||
|
||||
// ---------- Mock 客户端（未接真实 RCS 时用） ----------
|
||||
|
||||
type mockClient struct{}
|
||||
@@ -222,6 +261,12 @@ func (m *mockClient) QueryTask(ctx context.Context, robotTaskCode string) (strin
|
||||
return "FINISHED", nil
|
||||
}
|
||||
|
||||
func (m *mockClient) CancelTask(ctx context.Context, robotTaskCode, cancelType, reason string) error {
|
||||
return nil
|
||||
}
|
||||
|
||||
func (m *mockClient) Disable() bool { return true }
|
||||
|
||||
func randHex(n int) string {
|
||||
b := make([]byte, n)
|
||||
if _, err := rand.Read(b); err != nil {
|
||||
|
||||
@@ -200,6 +200,73 @@ func mapHikStatus(s string) string {
|
||||
}
|
||||
}
|
||||
|
||||
// cancelAgvHandler 取消 AGV 任务（软取消）。
|
||||
// 已下发(DISPATCHED/DELIVERING)的调海康 RCS task/cancel；本地任务置 CANCELLED，
|
||||
// 并把关联的 MES 备料单行从 DELIVERING 退回待发料状态。
|
||||
func cancelAgvHandler(ctx *svc.ServiceContext) http.HandlerFunc {
|
||||
return func(w http.ResponseWriter, r *http.Request) {
|
||||
var req struct {
|
||||
TaskNo string `json:"taskNo"`
|
||||
Reason string `json:"reason"`
|
||||
}
|
||||
if err := parseJSON(r, &req); err != nil {
|
||||
fail(w, http.StatusBadRequest, "参数错误: "+err.Error())
|
||||
return
|
||||
}
|
||||
if req.TaskNo == "" {
|
||||
fail(w, http.StatusBadRequest, "缺少任务号")
|
||||
return
|
||||
}
|
||||
t, err := ctx.EntClient.AgvTask.Query().Where(agvtask.TaskNo(req.TaskNo)).First(ctx0())
|
||||
if err != nil {
|
||||
fail(w, http.StatusNotFound, "AGV 任务不存在")
|
||||
return
|
||||
}
|
||||
if t.Status == "DONE" || t.Status == "CANCELLED" {
|
||||
fail(w, http.StatusBadRequest, "任务已结束，无法取消")
|
||||
return
|
||||
}
|
||||
operator := r.Header.Get("X-Username")
|
||||
// 已下发的先通知 RCS 取消
|
||||
if t.HikTaskCode != "" && (t.Status == "DISPATCHED" || t.Status == "DELIVERING") {
|
||||
if cerr := ctx.Agv.CancelTask(ctx0(), t.HikTaskCode, "CANCEL", req.Reason); cerr != nil {
|
||||
fail(w, http.StatusBadGateway, "RCS 取消失败: "+cerr.Error())
|
||||
return
|
||||
}
|
||||
}
|
||||
if err := ctx.EntClient.AgvTask.UpdateOneID(t.ID).
|
||||
SetStatus("CANCELLED").SetRemark(req.Reason).Exec(ctx0()); err != nil {
|
||||
fail(w, http.StatusInternalServerError, err.Error())
|
||||
return
|
||||
}
|
||||
// 关联备料单行退回待发料
|
||||
mats := []agvSubmitRow{}
|
||||
_ = json.Unmarshal([]byte(t.MaterialsJSON), &mats)
|
||||
for _, row := range mats {
|
||||
_ = ctx.Mes.MarkStatus(ctx0(), row.RequestNo, "WAIT_SEND")
|
||||
}
|
||||
ctx.EventLog.Write(ctx0(), "agv.cancel", operator, "agv_task", t.TaskNo,
|
||||
"取消AGV搬运 "+t.SourceDock+"→"+t.TargetDock, map[string]any{"reason": req.Reason})
|
||||
ok(w, nil)
|
||||
}
|
||||
}
|
||||
|
||||
// agvModeHandler 返回 AGV 对接模式（mock / 真实 RCS），供前端提示当前是否在模拟。
|
||||
func agvModeHandler(ctx *svc.ServiceContext) http.HandlerFunc {
|
||||
return func(w http.ResponseWriter, r *http.Request) {
|
||||
mock := ctx.Agv.Disable()
|
||||
ok(w, map[string]any{
|
||||
"mock": mock,
|
||||
"tip": func() string {
|
||||
if mock {
|
||||
return "当前为模拟模式（未接真实海康 RCS）：任务会立即标记为已到位。现场对接请在配置中关闭 EnableMock 并填写 RCS 地址/appKey/appSecret。"
|
||||
}
|
||||
return "已对接真实海康 RCS。"
|
||||
}(),
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
func listDocksHandler(ctx *svc.ServiceContext) http.HandlerFunc {
|
||||
return func(w http.ResponseWriter, r *http.Request) {
|
||||
q := r.URL.Query()
|
||||
|
||||
@@ -94,6 +94,8 @@ func RegisterHandlers(server *rest.Server, ctx *svc.ServiceContext) {
|
||||
{Method: http.MethodPost, Path: "/api/agv/refresh", Handler: requirePerm(ctx, "agv:manage", refreshAgvHandler(ctx))},
|
||||
{Method: http.MethodGet, Path: "/api/agv/docks", Handler: requirePerm(ctx, "agv:manage", listDocksHandler(ctx))},
|
||||
{Method: http.MethodGet, Path: "/api/agv/materials", Handler: requirePerm(ctx, "agv:manage", listAgvMaterialsHandler(ctx))},
|
||||
{Method: http.MethodPost, Path: "/api/agv/cancel", Handler: requirePerm(ctx, "agv:manage", cancelAgvHandler(ctx))},
|
||||
{Method: http.MethodGet, Path: "/api/agv/mode", Handler: requirePerm(ctx, "agv:manage", agvModeHandler(ctx))},
|
||||
},
|
||||
)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user