SunYF
bf3a408839
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
276 lines
8.6 KiB
Go
276 lines
8.6 KiB
Go
// 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)、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
|
||
|
||
import (
|
||
"bytes"
|
||
"context"
|
||
"crypto/hmac"
|
||
"crypto/md5"
|
||
"crypto/rand"
|
||
"crypto/sha256"
|
||
"encoding/hex"
|
||
"encoding/json"
|
||
"fmt"
|
||
"io"
|
||
"net/http"
|
||
"sort"
|
||
"strings"
|
||
"time"
|
||
|
||
"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
|
||
func New(cfg config.AgvConfig) Client {
|
||
if cfg.EnableMock || cfg.BaseURL == "" {
|
||
return newMockClient()
|
||
}
|
||
return newRealClient(cfg)
|
||
}
|
||
|
||
// ---------- 签名与请求（真实海康） ----------
|
||
|
||
type realClient struct {
|
||
cfg config.AgvConfig
|
||
hc *http.Client
|
||
carrier string
|
||
}
|
||
|
||
func newRealClient(cfg config.AgvConfig) *realClient {
|
||
return &realClient{
|
||
cfg: cfg,
|
||
hc: &http.Client{Timeout: 15 * time.Second},
|
||
carrier: cfg.CarrierCode,
|
||
}
|
||
}
|
||
|
||
// 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, "/")
|
||
if strings.HasSuffix(base, ServicePrefix) {
|
||
return base + path
|
||
}
|
||
return base + ServicePrefix + path
|
||
}
|
||
|
||
// 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)
|
||
if err != nil {
|
||
return err
|
||
}
|
||
req, err := http.NewRequestWithContext(ctx, http.MethodPost, c.url(path), bytes.NewReader(body))
|
||
if err != nil {
|
||
return err
|
||
}
|
||
c.sign(req, body, path)
|
||
resp, err := c.hc.Do(req)
|
||
if err != nil {
|
||
return err
|
||
}
|
||
defer resp.Body.Close()
|
||
raw, err := io.ReadAll(resp.Body)
|
||
if err != nil {
|
||
return err
|
||
}
|
||
if resp.StatusCode >= 400 {
|
||
return fmt.Errorf("agv http %d: %s", resp.StatusCode, string(raw))
|
||
}
|
||
var envelope struct {
|
||
Code string `json:"code"`
|
||
Message string `json:"message"`
|
||
Data json.RawMessage `json:"data"`
|
||
}
|
||
if err := json.Unmarshal(raw, &envelope); err != nil {
|
||
return fmt.Errorf("agv parse envelope: %w", err)
|
||
}
|
||
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 {
|
||
return json.Unmarshal(envelope.Data, out)
|
||
}
|
||
return nil
|
||
}
|
||
|
||
// sign 按协议 1.3 节生成鉴权头与 sign 签名。
|
||
// 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
|
||
// 签名 = MD5( HMAC-SHA256(appSecret, 拼接原串) )，sign 作为 URL query 参数。
|
||
func (c *realClient) sign(req *http.Request, body []byte, path string) {
|
||
nonce := randHex(8)
|
||
timestamp := time.Now().Format(time.RFC3339)
|
||
requestID := randHex(16)
|
||
traceID := randHex(16)
|
||
|
||
authHeader := fmt.Sprintf("nonce=%q,method=\"HMAC-SHA256\",timestamp=%q", nonce, timestamp)
|
||
signKV := map[string]string{
|
||
"AUTHORIZATION": authHeader,
|
||
"HOST": req.URL.Host,
|
||
"X-LR-APPKEY": c.cfg.AppKey,
|
||
"X-LR-REQUEST-ID": requestID,
|
||
"X-LR-SOURCE": "bj_power_wms",
|
||
"X-LR-TRACE-ID": traceID,
|
||
"X-LR-VERSION": "v1.0",
|
||
}
|
||
keys := make([]string, 0, len(signKV))
|
||
for k := range signKV {
|
||
keys = append(keys, k)
|
||
}
|
||
sort.Strings(keys)
|
||
var sb strings.Builder
|
||
for _, k := range keys {
|
||
sb.WriteString(k)
|
||
sb.WriteString(":")
|
||
sb.WriteString(signKV[k])
|
||
sb.WriteString("\n")
|
||
}
|
||
// 请求报文拼接后的原串 = 头拼接串 + 空行 + 消息体
|
||
raw := sb.String() + "\n" + string(body)
|
||
mac := hmac.New(sha256.New, []byte(c.cfg.AppSecret))
|
||
mac.Write([]byte(raw))
|
||
h := md5.Sum(mac.Sum(nil))
|
||
sign := strings.ToUpper(hex.EncodeToString(h[:]))
|
||
|
||
q := req.URL.Query()
|
||
q.Set("sign", sign)
|
||
req.URL.RawQuery = q.Encode()
|
||
|
||
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) {
|
||
payload := map[string]any{
|
||
"taskType": "PF-LMR-COMMON",
|
||
"targetRoute": []map[string]any{
|
||
{"type": "SITE", "code": fromDock, "operation": "COLLECT"},
|
||
{"type": "SITE", "code": toDock, "operation": "DELIVERY"},
|
||
},
|
||
}
|
||
// 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"`
|
||
Code string `json:"code"`
|
||
}
|
||
if err := c.post(ctx, "/api/robot/controller/task/submit", payload, &data); err != nil {
|
||
return "", err
|
||
}
|
||
if data.RobotTaskCode == "" {
|
||
// 部分版本把任务号放 data.code
|
||
if data.Code == "" {
|
||
return "", fmt.Errorf("agv submit 未返回任务号")
|
||
}
|
||
return data.Code, nil
|
||
}
|
||
return data.RobotTaskCode, nil
|
||
}
|
||
|
||
// QueryTask 实现 Client：查询任务状态。
|
||
// 海康路径 /rcs/rtas/api/robot/controller/task/query
|
||
func (c *realClient) QueryTask(ctx context.Context, robotTaskCode string) (string, error) {
|
||
payload := map[string]any{"robotTaskCode": robotTaskCode}
|
||
var data map[string]any
|
||
if err := c.post(ctx, "/api/robot/controller/task/query", payload, &data); err != nil {
|
||
return "", err
|
||
}
|
||
st, _ := data["taskStatus"].(string)
|
||
if st == "" {
|
||
if v, ok := data["status"].(string); ok {
|
||
st = v
|
||
}
|
||
}
|
||
if st == "" {
|
||
return "QUEUE", nil
|
||
}
|
||
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{}
|
||
|
||
func newMockClient() *mockClient { return &mockClient{} }
|
||
|
||
func (m *mockClient) SubmitTask(ctx context.Context, fromDock, toDock, carrierCode string) (string, error) {
|
||
// 模拟立即成功下发，返回一个可追溯的假任务号（前缀 MOCK-）
|
||
return "MOCK-" + randHex(8), nil
|
||
}
|
||
|
||
func (m *mockClient) QueryTask(ctx context.Context, robotTaskCode string) (string, error) {
|
||
// 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"。
|
||
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 {
|
||
return fmt.Sprintf("%02d", time.Now().UnixNano()%100)
|
||
}
|
||
return hex.EncodeToString(b)
|
||
} |