package com.vincent.rsf.openApi.service.impl;
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import com.alibaba.fastjson.JSONArray;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.fasterxml.jackson.databind.cfg.CoercionAction;
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import com.fasterxml.jackson.databind.cfg.CoercionInputShape;
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import com.vincent.rsf.framework.common.R;
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import com.vincent.rsf.framework.exception.CoolException;
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import com.vincent.rsf.openApi.config.PlatformProperties;
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import com.vincent.rsf.openApi.entity.Loc;
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import com.vincent.rsf.openApi.entity.constant.WmsConstant;
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import com.vincent.rsf.openApi.entity.dto.CommonResponse;
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import com.vincent.rsf.openApi.entity.constant.RcsConstant;
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import com.vincent.rsf.openApi.entity.dto.SyncLocsDto;
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import com.vincent.rsf.openApi.entity.params.ExMsgCallbackParams;
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import com.vincent.rsf.openApi.entity.params.LocSiteParams;
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import com.vincent.rsf.openApi.entity.params.RcsPubTaskParams;
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import com.vincent.rsf.openApi.entity.params.SyncRcsLocsParam;
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import com.vincent.rsf.openApi.entity.params.TaskReportParams;
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import com.vincent.rsf.openApi.mapper.LocMapper;
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import com.vincent.rsf.openApi.service.WmsRcsService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.http.HttpEntity;
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import org.springframework.http.HttpHeaders;
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import org.springframework.http.HttpMethod;
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import org.springframework.http.ResponseEntity;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.web.client.RestTemplate;
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import java.util.List;
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import java.util.Map;
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import java.util.Objects;
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@Slf4j
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@Service("wmsRcsService")
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public class WmsRcsServiceImpl extends ServiceImpl<LocMapper, Loc> implements WmsRcsService {
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@Autowired
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private PlatformProperties rcsApi;
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@Autowired
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private PlatformProperties.WmsApi wmsApi;
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@Autowired
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private RestTemplate restTemplate;
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/**
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* @author Ryan
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* @date 2025/8/27
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* @description: 任务下发
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* @version 1.0
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*/
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@Override
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@Transactional(rollbackFor = Exception.class)
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public CommonResponse pubTasks(RcsPubTaskParams params) {
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/**RCS基础配置链接*/
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String rcsUrl = rcsApi.getHost() + ":" + rcsApi.getPort() + RcsConstant.pubTask;
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log.info("========== 开始下发任务到RCS ==========");
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log.info("RCS请求地址：{}", rcsUrl);
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if (params != null) {
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log.info("批次编号：{}", params.getBatchNo());
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if (params.getTasks() != null) {
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log.info("任务数量：{}", params.getTasks().size());
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}
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}
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log.info("请求参数：{}", JSONObject.toJSONString(params));
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HttpHeaders headers = new HttpHeaders();
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headers.add("Content-Type", "application/json");
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headers.add("api-version", "v2.0");
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HttpEntity httpEntity = new HttpEntity(params, headers);
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long startTime = System.currentTimeMillis();
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ResponseEntity<String> exchange = restTemplate.exchange(rcsUrl, HttpMethod.POST, httpEntity, String.class);
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long endTime = System.currentTimeMillis();
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log.info("RCS响应耗时：{}ms", (endTime - startTime));
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log.info("RCS响应状态码：{}", exchange.getStatusCode());
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log.info("RCS响应头：{}", exchange.getHeaders());
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log.info("RCS响应体：{}", exchange.getBody());
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if (Objects.isNull(exchange.getBody())) {
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log.error("========== RCS任务下发失败 ==========");
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log.error("RCS响应体为空，无法解析响应结果");
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log.error("请求地址：{}", rcsUrl);
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log.error("请求参数：{}", JSONObject.toJSONString(params));
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throw new CoolException("任务下发失败，RCS响应体为空！！");
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} else {
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ObjectMapper objectMapper = new ObjectMapper();
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objectMapper.coercionConfigDefaults()
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.setCoercion(CoercionInputShape.EmptyString, CoercionAction.AsEmpty);
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try {
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CommonResponse result = objectMapper.readValue(exchange.getBody(), CommonResponse.class);
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log.info("RCS响应解析结果 - code：{}，msg：{}，data：{}",
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result.getCode(), result.getMsg(), result.getData());
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if (result.getCode() == 200) {
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log.info("========== RCS任务下发成功 ==========");
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return result;
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} else {
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log.error("========== RCS任务下发失败 ==========");
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log.error("RCS返回错误 - code：{}，msg：{}，data：{}",
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result.getCode(), result.getMsg(), result.getData());
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return result;
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}
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} catch (JsonProcessingException e) {
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log.error("========== RCS任务下发异常 ==========");
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log.error("解析RCS响应失败，响应体：{}", exchange.getBody(), e);
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throw new CoolException("解析RCS响应失败：" + e.getMessage());
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} catch (Exception e) {
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log.error("========== RCS任务下发异常 ==========");
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log.error("任务下发过程中发生异常", e);
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throw e;
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}
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}
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}
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/**
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* @author Ryan
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* @date 2025/8/27
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* @description: 取消任务
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* @version 1.0
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*/
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@Override
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@Transactional(rollbackFor = Exception.class)
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public CommonResponse cancelTasks(Map<String, Object> params) {
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/**RCS基础配置链接*/
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String rcsUrl = rcsApi.getHost() + ":" + rcsApi.getPort() + RcsConstant.cancelTask;
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log.info("========== 开始取消RCS任务（open-rcs接口） ==========");
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log.info("RCS取消任务请求地址：{}", rcsUrl);
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log.info("RCS取消任务请求参数：{}", JSONObject.toJSONString(params));
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// 打印详细的请求参数信息
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if (params != null) {
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Object batchNo = params.get("batchNo");
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Object tasks = params.get("tasks");
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if (batchNo != null) {
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log.info("批次编号：{}", batchNo);
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}
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if (tasks != null) {
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if (tasks instanceof List) {
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log.info("任务数量：{}", ((List<?>) tasks).size());
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log.info("任务编号列表：{}", tasks);
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} else {
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log.info("任务参数：{}", tasks);
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}
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}
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}
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HttpHeaders headers = new HttpHeaders();
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headers.add("Content-Type", "application/json");
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headers.add("api-version", "v2.0");
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HttpEntity httpEntity = new HttpEntity(params, headers);
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long startTime = System.currentTimeMillis();
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ResponseEntity<String> exchange = restTemplate.exchange(rcsUrl, HttpMethod.POST, httpEntity, String.class);
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long endTime = System.currentTimeMillis();
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log.info("RCS取消任务响应耗时：{}ms", (endTime - startTime));
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log.info("RCS取消任务响应状态码：{}", exchange.getStatusCode());
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log.info("RCS取消任务响应头：{}", exchange.getHeaders());
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log.info("RCS取消任务响应体：{}", exchange.getBody());
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if (Objects.isNull(exchange.getBody())) {
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throw new CoolException("取消任务失败！！");
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} else {
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ObjectMapper objectMapper = new ObjectMapper();
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objectMapper.coercionConfigDefaults()
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.setCoercion(CoercionInputShape.EmptyString, CoercionAction.AsEmpty);
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try {
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CommonResponse result = objectMapper.readValue(exchange.getBody(), CommonResponse.class);
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if (result.getCode() == 200) {
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log.info("========== RCS任务取消成功（open-rcs接口） ==========");
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log.info("成功取消的任务编号：{}", params.get("tasks"));
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return result;
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} else {
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log.error("========== RCS任务取消失败（open-rcs接口） ==========");
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log.error("RCS返回错误码：{}，错误信息：{}", result.getCode(), result.getMsg());
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throw new CoolException("取消任务失败！！" + (result.getMsg() != null ? "：" + result.getMsg() : ""));
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}
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} catch (JsonProcessingException e) {
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log.error("RCS取消任务响应解析失败：{}", e.getMessage(), e);
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throw new CoolException("RCS取消任务响应解析失败：" + e.getMessage());
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}
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}
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}
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/**
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* @author Ryan
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* @date 2025/8/27
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* @description: RCS状态回写
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* @version 1.0
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*/
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@Override
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public CommonResponse callBackEvent(ExMsgCallbackParams params) {
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// 参数校验
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if (Objects.isNull(params)) {
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log.error("RCS回调事件参数为空！");
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throw new CoolException("参数不能为空！！");
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}
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// 详细记录接收到的参数
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log.info("RCS回调事件接收参数 - seqNum: {}, eventType: {}, robotCode: {}, zpallet: {}",
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params.getSeqNum(), params.getEventType(), params.getRobotCode(), params.getZpallet());
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// 检查关键字段是否为空
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if (Objects.isNull(params.getSeqNum()) || params.getSeqNum().isEmpty()) {
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log.warn("RCS回调事件参数seqNum为空！完整参数：{}", JSONObject.toJSONString(params));
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}
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if (Objects.isNull(params.getEventType()) || params.getEventType().isEmpty()) {
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log.warn("RCS回调事件参数eventType为空！完整参数：{}", JSONObject.toJSONString(params));
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}
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String callUrl = wmsApi.getHost() + ":" + wmsApi.getPort() + WmsConstant.callBack;
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/**WMS基础配置链接*/
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log.info("任务执行状态上报，请求地址： {}， 请求参数： {}", callUrl , JSONObject.toJSONString(params));
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HttpHeaders headers = new HttpHeaders();
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headers.add("Content-Type", "application/json");
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headers.add("api-version", "v2.0");
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HttpEntity httpEntity = new HttpEntity(params, headers);
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ResponseEntity<String> exchange = restTemplate.exchange(callUrl, HttpMethod.POST, httpEntity, String.class);
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log.info("任务执行状态上报，响应结果： {}", exchange);
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if (Objects.isNull(exchange.getBody())) {
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return new CommonResponse();
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} else {
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ObjectMapper objectMapper = new ObjectMapper();
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objectMapper.coercionConfigDefaults()
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.setCoercion(CoercionInputShape.EmptyString, CoercionAction.AsEmpty);
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try {
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CommonResponse result = objectMapper.readValue(exchange.getBody(), CommonResponse.class);
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if (result.getCode() == 200) {
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return result;
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} else {
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return result;
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// throw new CoolException("任务执行状态上报失败！！");
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}
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} catch (JsonProcessingException e) {
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throw new CoolException(e.getMessage());
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}
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}
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}
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/**
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* @author Ryan
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* @date 2025/8/27
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* @description: 库位信息同步
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* @version 1.0
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*/
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@Override
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public List<SyncLocsDto> syncLocs(SyncRcsLocsParam params) {
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return syncRcsLocs(params);
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}
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/**
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* @author Ryan
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* @date 2025/11/10
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* @description: 修改库位或站点状态
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* @version 1.0
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*/
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@Override
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public R modifyLocOrSite(LocSiteParams params) {
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/**RCS基础配置链接*/
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String rcsUrl = rcsApi.getHost() + ":" + rcsApi.getPort() + RcsConstant.modifystatus;
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log.info("库位或站点状态修改，请求地址： {}， 请求参数： {}", rcsUrl , JSONObject.toJSONString(params));
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HttpHeaders headers = new HttpHeaders();
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headers.add("Content-Type", "application/json");
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headers.add("api-version", "v2.0");
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HttpEntity httpEntity = new HttpEntity(params, headers);
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ResponseEntity<String> exchange = restTemplate.exchange(rcsUrl, HttpMethod.POST, httpEntity, String.class);
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log.info("库位或站点状态修改，响应结果： {}", exchange);
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if (Objects.isNull(exchange.getBody())) {
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throw new CoolException("状态修改失败！！");
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} else {
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ObjectMapper objectMapper = new ObjectMapper();
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objectMapper.coercionConfigDefaults()
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.setCoercion(CoercionInputShape.EmptyString, CoercionAction.AsEmpty);
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try {
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CommonResponse result = objectMapper.readValue(exchange.getBody(), CommonResponse.class);
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if (result.getCode() == 200) {
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return R.ok();
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} else {
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throw new CoolException("状态修改失败！！");
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}
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} catch (JsonProcessingException e) {
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throw new CoolException(e.getMessage());
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}
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}
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}
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/**
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* @author Ryan
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* @date 2025/8/28
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* @description: 拉取RCS库位，同步至本地
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* @version 1.0
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*/
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@Transactional(rollbackFor = Exception.class)
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public List<SyncLocsDto> syncRcsLocs(SyncRcsLocsParam params) {
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/**RCS基础配置链接*/
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String rcsUrl = rcsApi.getHost() + ":" + rcsApi.getPort() + RcsConstant.syncLocs;
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log.info("任务下发，请求地址2： {}， 请求参数： {}", rcsUrl , JSONObject.toJSONString(params));
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HttpHeaders headers = new HttpHeaders();
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headers.add("Content-Type", "application/json");
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headers.add("api-version", "v2.0");
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HttpEntity httpEntity = new HttpEntity(params, headers);
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ResponseEntity<String> exchange = restTemplate.exchange(rcsUrl, HttpMethod.POST, httpEntity, String.class);
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log.info("任务下发后，响应结果： {}", exchange);
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if (Objects.isNull(exchange.getBody())) {
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throw new CoolException("任务下发失败！！");
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} else {
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ObjectMapper objectMapper = new ObjectMapper();
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objectMapper.coercionConfigDefaults()
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.setCoercion(CoercionInputShape.EmptyString, CoercionAction.AsEmpty);
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try {
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CommonResponse result = objectMapper.readValue(exchange.getBody(), CommonResponse.class);
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if (result.getCode() == 200) {
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JSONObject jsonObject = JSONObject.parseObject(exchange.getBody()).getJSONObject("data");
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List<SyncLocsDto> array = JSONArray.parseArray(jsonObject.getJSONArray("records").toJSONString(), SyncLocsDto.class);
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log.info("records结果： {}", array);
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return array;
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} else {
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throw new CoolException("任务下发失败！！");
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}
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} catch (JsonProcessingException e) {
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throw new CoolException(e.getMessage());
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}
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}
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}
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/**
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* @author Ryan
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* @date 2026/2/3
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* @description: 任务执行通知上报（RCS回调接口）
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* @version 1.0
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*/
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@Override
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public CommonResponse reportTask(TaskReportParams params) {
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log.info("RCS回调，请求参数： {}", JSONObject.toJSONString(params));
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// 参数校验
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if (Objects.isNull(params)) {
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throw new CoolException("参数不能为空！！");
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}
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if (Objects.isNull(params.getBatchNo()) || params.getBatchNo().isEmpty()) {
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throw new CoolException("任务批次不能为空！！");
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}
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if (Objects.isNull(params.getTaskNo()) || params.getTaskNo().isEmpty()) {
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throw new CoolException("任务编号不能为空！！");
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}
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if (Objects.isNull(params.getTimestamp()) || params.getTimestamp().isEmpty()) {
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throw new CoolException("时间戳不能为空！！");
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}
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// 将TaskReportParams转换为ExMsgParams格式（taskNo -> seqNum）
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// 根据RCS新接口规范，taskNo对应旧接口的seqNum
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JSONObject exMsgParams = new JSONObject();
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exMsgParams.put("seqNum", params.getTaskNo()); // taskNo映射到seqNum
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// eventType设置为END，表示任务完成（根据业务需求可能需要调整）
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exMsgParams.put("eventType", "END");
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exMsgParams.put("robotCode", null);
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exMsgParams.put("zpallet", null);
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// 将任务上报回调转发到WMS系统
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String callUrl = wmsApi.getHost() + ":" + wmsApi.getPort() + WmsConstant.callBack;
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log.info("RCS回调，请求地址： {}， 转换后参数： {}", callUrl, exMsgParams.toJSONString());
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HttpHeaders headers = new HttpHeaders();
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headers.add("Content-Type", "application/json");
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headers.add("api-version", "v2.0");
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HttpEntity httpEntity = new HttpEntity(exMsgParams, headers);
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ResponseEntity<String> exchange = restTemplate.exchange(callUrl, HttpMethod.POST, httpEntity, String.class);
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log.info("RCS回调，响应结果： {}", exchange);
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if (Objects.isNull(exchange.getBody())) {
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// 如果回调失败，返回成功响应（避免RCS重复回调）
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CommonResponse response = new CommonResponse();
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response.setCode(200);
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response.setMsg("接收成功");
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log.warn("RCS回调失败，但返回成功响应，任务编号：{}，批次：{}", params.getTaskNo(), params.getBatchNo());
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return response;
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} else {
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ObjectMapper objectMapper = new ObjectMapper();
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objectMapper.coercionConfigDefaults()
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.setCoercion(CoercionInputShape.EmptyString, CoercionAction.AsEmpty);
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try {
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CommonResponse result = objectMapper.readValue(exchange.getBody(), CommonResponse.class);
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if (result.getCode() == 200) {
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log.info("RCS回调上报成功，任务编号：{}，批次：{}", params.getTaskNo(), params.getBatchNo());
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return result;
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} else {
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log.warn("RCS回调上报回调返回非200状态，任务编号：{}，批次：{}，响应：{}", params.getTaskNo(), params.getBatchNo(), exchange.getBody());
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return result;
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}
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} catch (JsonProcessingException e) {
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log.error("RCS回调上报回调响应解析失败，任务编号：{}，批次：{}，错误：{}", params.getTaskNo(), params.getBatchNo(), e.getMessage());
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// 解析失败时返回成功响应，避免RCS重复回调
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CommonResponse response = new CommonResponse();
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response.setCode(200);
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response.setMsg("接收成功");
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return response;
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}
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}
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}
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}
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