package com.zy.asrs.service.impl;
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import com.alibaba.excel.util.StringUtils;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.entity.mes.TransArrivalStation;
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import com.zy.asrs.entity.mes.TransParent;
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import com.zy.asrs.entity.rcs.*;
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import com.zy.asrs.enums.RcsRetMethodEnum;
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import com.zy.asrs.mapper.BlockStationMapper;
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import com.zy.asrs.mapper.BlockTaskMapper;
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import com.zy.asrs.service.*;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import java.io.*;
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import java.net.ConnectException;
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import java.net.SocketTimeoutException;
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import java.net.URL;
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import java.net.URLConnection;
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import java.nio.charset.StandardCharsets;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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import java.util.Objects;
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import java.util.regex.Matcher;
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import java.util.regex.Pattern;
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@Slf4j
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@Service
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public class RcsServiceImpl implements RcsService {
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// 海康RCS地址
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@Value("${hik.url}")
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private String HIK_URL;
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// 华晓RCS地址
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@Value("${hx.url}")
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private String HX_URL;
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@Value("${mes.defaultUserId}")
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public long defaultUserId;
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@Resource
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private MesService mesService;
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@Resource
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private TaskService taskService;
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@Resource
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private BlockStationMapper blockStationMapper;
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@Resource
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private BlockTaskMapper blockTaskMapper;
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@Resource
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private TaskDetlServiceImpl taskDetlService;
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@Resource
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private WrkMastService wrkMastService;
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// region 封锁区逻辑，目前只有一个大封锁区，任务全部转到滑块库处理，或直接写到滑块库
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/**
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* 申请封锁区请求
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*
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* @param apply
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* @return
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*/
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private int applyBlock(RcsReporterEqpt apply) {
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BlockTask blockTask = new BlockTask();
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blockTask.setTaskCode(apply.getTaskCode());
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blockTask.setApplyTime(new Date());
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blockTask.setBlockNo(apply.getEqptCode());
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blockTask.setBlockName(apply.getEqptName());
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blockTask.setMethod(apply.getMethod());
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blockTask.setCompleted(0);
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return blockTaskMapper.insert(blockTask);
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}
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/**
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* 管理封锁区进入
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* TODO:增加锁防冲突，可能为分布式锁，定期5秒循环调用
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*
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*/
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public void managerBlock() {
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try {
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BlockTask firstTask = blockTaskMapper.findTop();
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if (firstTask == null) {
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return;
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}
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EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
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wrapper.eq("block_no", firstTask.getBlockNo());
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List<BlockStation> stations = blockStationMapper.selectList(wrapper);
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if (!stations.isEmpty()) {
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boolean locked = false;
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for (BlockStation station : stations) {
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// 只允许1个厂家设备进入封锁区，status状态：0 空闲；1 海康封锁中；2 华晓封锁中；-1 异常；
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if (station.getStatus() > 0 && !station.getStatus().equals(firstTask.getAgvFactory())) {
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locked = true;
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break;
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}
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}
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if (!locked) {
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// 封锁状态
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int success = blockStationMapper.addByBlockNo(firstTask.getBlockNo(), firstTask.getAgvFactory());
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if (success > 0) {
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// 通知RCS
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RcsEqptNotify notify = new RcsEqptNotify();
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notify.setEqptCode(firstTask.getBlockNo());
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notify.setTaskCode(firstTask.getTaskCode());
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notify.setActionStatus("1");
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notifyEqpt(notify, firstTask.getAgvFactory());
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}
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}
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}
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} catch (Exception e) {
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log.error("管理封锁区异常", e);
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}
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}
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/**
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* 离开释放封锁区请求
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* TODO:增加锁防冲突，可能为分布式锁
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*
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* @param apply
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* @return
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*/
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private int releaseBlock(RcsReporterEqpt apply) {
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BlockTask task = blockTaskMapper.findByTaskCode(apply.getTaskCode());
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EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
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wrapper.eq("block_no", task.getBlockNo());
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List<BlockStation> stations = blockStationMapper.selectList(wrapper);
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if (!stations.isEmpty()) {
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// 先完成任务
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task.setCompleted(1);
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task.setCompletedTime(new Date());
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int updateTask = blockTaskMapper.updateById(task);
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// 再更新封锁区数量
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for (BlockStation station : stations) {
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if (station.getAgvNum() - 1 == 0) {
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station.setStatus(0);
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}
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station.setAgvNum(station.getAgvNum() - 1);
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int updateBlock = blockStationMapper.updateById(station);
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}
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}
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return 1;
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}
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// endregion
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// region 海康RCS，AGV
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/**
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* 2.1.2任务下发接口
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* 厂家：海量、华晓
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*
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* @param rcsTaskSubmit
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* @param rcsFactory 1 海康；2 华晓；
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* @return
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*/
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public int submitTask(RcsTaskSubmit rcsTaskSubmit, int rcsFactory){
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String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/robot/controller/task/submit";
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String response = sendPost(url, rcsTaskSubmit.toString());
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if (!StringUtils.isEmpty(response) && response.contains("code")){
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RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
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if("SUCCESS".equals(rcsReturn.getCode())) {
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JSONObject data = rcsReturn.getData();
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String robotTaskCode = data.getString("robotTaskCode");
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if (robotTaskCode.equals(rcsTaskSubmit.getRobotTaskCode())){
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return 1;
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}
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}
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}
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return 0;
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}
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/**
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* 2.1.3任务继续执行接口
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*
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* @param rcsTaskContinue
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* @param rcsFactory
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* @return
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*/
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public int continueTask(RcsTaskContinue rcsTaskContinue, int rcsFactory){
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String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/robot/controller/task/extend/continue";
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String response = sendPost(url, rcsTaskContinue.toString());
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if (!StringUtils.isEmpty(response) && response.contains("code")){
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RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
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if("SUCCESS".equals(rcsReturn.getCode())) {
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JSONObject data = rcsReturn.getData();
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String robotTaskCode = data.getString("robotTaskCode");
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if (robotTaskCode.equals(rcsTaskContinue.getRobotTaskCode())) {
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return 1;
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}
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}
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}
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return 0;
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}
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/**
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* 2.1.4任务取消接口
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*
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* @param rcsTaskCancel
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* @param rcsFactory
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* @return
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*/
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public int cancelTask(RcsTaskCancel rcsTaskCancel, int rcsFactory){
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String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/robot/controller/task/cancel";
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String response = sendPost(url, rcsTaskCancel.toString());
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if (!StringUtils.isEmpty(response) && response.contains("code")){
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RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
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if("SUCCESS".equals(rcsReturn.getCode())) {
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JSONObject data = rcsReturn.getData();
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String robotTaskCode = data.getString("robotTaskCode");
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if (robotTaskCode.equals(rcsTaskCancel.getRobotTaskCode())) {
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return 1;
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}
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}
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}
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return 0;
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}
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/**
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* 2.1.15外设执行通知接口，通知进入封锁区
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*
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* @param rcsEqptNotify
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* @param rcsFactory
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* @return
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*/
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private int notifyEqpt(RcsEqptNotify rcsEqptNotify, int rcsFactory){
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String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/wcs/robot/eqpt/notify";
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String response = sendPost(url, rcsEqptNotify.toString());
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if (!StringUtils.isEmpty(response) && response.contains("code")){
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RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
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if("SUCCESS".equals(rcsReturn.getCode())) {
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JSONObject data = rcsReturn.getData();
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String applyCode = data.getString("taskCode"); //申请请求编号，非任务编号
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if (applyCode.equals(rcsEqptNotify.getTaskCode())) {
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return 1;
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}
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}
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}
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return 0;
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}
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/**
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* 2.2.1任务执行回馈
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* 厂家：海量、华晓
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*
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* @param rcsReporterTask
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* @return
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*/
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public RcsReturn reporterTask(RcsReporterTask rcsReporterTask) {
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RcsReturn rcsReturn = new RcsReturn();
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String robotTaskCode = rcsReporterTask.getRobotTaskCode();
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String singleRobotCode = rcsReporterTask.getSingleRobotCode();
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JSONObject values = rcsReporterTask.getExtra().getJSONObject("values");
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// start : 任务开始；outbin : 走出储位；end : 任务完成
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String method = values.getString("method");
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String carrierType = values.getString("carrierType");
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String slotCategory = values.getString("slotCategory");
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String slotCode = values.getString("slotCode");
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try {
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if ("Q3".equals(carrierType) || "Q8".equals(carrierType)) { //AGV
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EntityWrapper<Task> wrapper = new EntityWrapper<>();
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wrapper.eq("task_no", robotTaskCode);
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Task task = taskService.selectOne(wrapper);
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if (task == null || !task.getTaskNo().equals(robotTaskCode)) {
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rcsReturn.setCode("Err_RobotCodeNotMatch");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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return rcsReturn;
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}
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JSONObject memo = JSONObject.parseObject(task.getMemo());
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switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
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case TASK_START: {
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task.setWrkSts(302L); // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
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task.setModiTime(new Date());
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task.setModiUser(defaultUserId);
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taskService.updateById(task);
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} break;
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case TASK_OUT_BIN: {
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// TODO：立库出库一托，AGV开始运输后，给MES发送出库完成（一托发一次）
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JSONObject taskMemo = JSONObject.parseObject(task.getMemo());
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mesService.outFeedbackByTuo(taskMemo.getString("OrderNo"), task);
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} break;
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case TASK_END: {
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// 更新任务状态等内部逻辑
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task.setWrkSts(304L); // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
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task.setModiTime(new Date());
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task.setModiUser(defaultUserId);
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taskService.updateById(task);
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// 任务完成
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// mesService.reporterTask(rcsReporterTask);
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// EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
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// wapper2.eq("wrk_no", task.getWrkNo())
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// .eq("matnr", memo.getString("ItemNo"))
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// .eq("order_no", memo.getString("OrderNo"));
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// TaskDetl taskDetl = taskDetlService.selectOne(wapper2);
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// taskDetl.setAnfme()
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// taskDetlService.updateById();
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// // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
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// taskService.completeWrkMast();
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// taskDetlService.
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} break;
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case APPLY_IN_STATION:
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case APPLY_OFF_STATION:
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case ARRIVE_OFF_STATION: {
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TransParent apply = new TransParent();
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apply.setTaskno(robotTaskCode);
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apply.setTaskname(memo.getString("taskName"));
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apply.setAgvCode(singleRobotCode);
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String transType = memo.getString("TransType");
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apply.setTransType(transType);
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apply.setProductLineId(memo.getString("ProductLineId"));
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if(transType.equals("02") || transType.equals("04") || transType.equals("06")) {
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apply.setStationId(task.getSourceStaNo());
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} else {
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apply.setStationId(task.getStaNo());
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}
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if (RcsRetMethodEnum.APPLY_IN_STATION.getCode().equals(method)) {
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mesService.applyInStation(apply);
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} else if (RcsRetMethodEnum.APPLY_OFF_STATION.getCode().equals(method)) {
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mesService.applyOutStation(apply);
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} else if (RcsRetMethodEnum.ARRIVE_OFF_STATION.getCode().equals(method)) {
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mesService.outStation(apply);
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}
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} break;
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case ARRIVE_ON_STATION: {
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// TODO: 如果产线是运输起点，则不发送到站完成，暂时调试使用lG，未实现判断
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if (rcsReporterTask.getCurrentSeq() == 0 && task.getSourceStaNo().startsWith("LG")) {
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break;
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}
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EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
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wapper2.eq("wrk_no", task.getWrkNo())
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.eq("matnr", memo.getString("Itemno"))
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.eq("order_no", memo.getString("OrderNo"));
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TaskDetl taskDetl = taskDetlService.selectOne(wapper2);
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TransArrivalStation arrivalStation = new TransArrivalStation();
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arrivalStation.setTaskno(robotTaskCode);
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arrivalStation.setTaskname(memo.getString("taskName"));
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arrivalStation.setTuoPanId(taskDetl.getZpallet()); // memo.getString("TuoPanId")
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arrivalStation.setProductLineId(memo.getString("ProductLineId"));
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String transType = memo.getString("TransType");
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arrivalStation.setDaotype(transType);
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if(transType.equals("02") || transType.equals("04") || transType.equals("06")) {
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arrivalStation.setStationID(task.getSourceStaNo());
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} else {
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arrivalStation.setStationID(task.getStaNo());
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}
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arrivalStation.setOrderNo(memo.getString("OrderNo"));
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arrivalStation.setAgvCode(singleRobotCode);
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arrivalStation.setItemno(memo.getString("Itemno"));
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String memo2 = taskDetl.getMemo();
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List<String> itemBarCode = new ArrayList<>();
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Matcher matcher = Pattern.compile("\"([^\"]*)\"").matcher(memo2);
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while (matcher.find()) {
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itemBarCode.add(matcher.group(1));
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}
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arrivalStation.setItemBarcode(itemBarCode);
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mesService.arriveOnStation(arrivalStation);
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} break;
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default: {} break;
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}
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} else if ("CTU".equals(carrierType)) { //CTU
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EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
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wrapper.eq("task_no", robotTaskCode);
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WrkMast task = wrkMastService.selectOne(wrapper);
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if (task == null || !task.getTaskNo().equals(robotTaskCode)) {
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rcsReturn.setCode("Err_RobotCodeNotMatch");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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return rcsReturn;
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}
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// JSONObject memo = JSONObject.parseObject(task.getMemo());
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switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
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case TASK_START: {
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// task.setWrkSts(302L); // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
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// task.setModiTime(new Date());
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// task.setModiUser(defaultUserId);
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// taskService.updateById(task);
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} break;
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// case TASK_OUT_BIN: {} break;
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case TASK_END: {
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// 更新任务状态等内部逻辑
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long wrkSts = task.getWrkSts(); // 1.入库；101.出库；
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if (task.getIoType() == 1) {
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wrkSts = 4L;
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} else if (task.getIoType() == 101) {
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wrkSts = 14L;
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}
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task.setWrkSts(wrkSts); // 4.入库完成；14.已出库未确认；
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task.setModiTime(new Date());
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task.setModiUser(defaultUserId);
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wrkMastService.updateById(task);
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// TODO：任务完成触发出入库变更操作
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// // 入库完成
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// mesService.inFeedback(memo.getString("OrderNo"));
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// // 出库完成
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// mesService.outFeedback(memo.getString("OrderNo"));
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} break;
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default: {} break;
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}
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}
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// 返回RCS
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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} catch (Exception e) {
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log.error("RCS反馈任务进度处理异常 - {}", rcsReporterTask, e);
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("内部处理异常");
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JSONObject data = new JSONObject();
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data.put("robotTaskCode", robotTaskCode);
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rcsReturn.setData(data);
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}
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return rcsReturn;
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}
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/**
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* 2.2.4请求外设接口（请求封锁区）
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* 厂家：海量、华晓
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*
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* @param rcsReporterEqpt
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* @return
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*/
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public RcsReturn reporterEqpt(RcsReporterEqpt rcsReporterEqpt){
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int success = 0;
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if ("APPLY_LOCK".equals(rcsReporterEqpt.getMethod())) { //申请
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success = applyBlock(rcsReporterEqpt);
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} else if ("RELEASE_EQPT".equals(rcsReporterEqpt.getMethod())) { //释放
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success = releaseBlock(rcsReporterEqpt);
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}
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// 返回RCS
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RcsReturn rcsReturn = new RcsReturn();
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rcsReturn.setCode(success > 0 ? "SUCCESS" : "Err_Internal");
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rcsReturn.setMessage(success > 0 ? "" : "内部错误");
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JSONObject data = new JSONObject();
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data.put("extra", null);
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rcsReturn.setData(data);
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return rcsReturn;
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}
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// endregion
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// region 海康CTU 刀具库
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// TODO: CTU上层组参引用，
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// 2.1.2任务下发接口
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// 2.1.3任务继续执行接口
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// 2.1.4任务取消接口
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// 2.2.1任务执行回馈
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//// @Transactional(rollbackFor = Exception.class)
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// public void receiveTaskStatus(RcsReporterTask callbackParam, String method, String stockType, Long hostId) {
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//
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// JSONObject values = callbackParam.getExtra().getJSONObject("values");
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// EntityWrapper<Task> wapper = new EntityWrapper<>();
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// wapper.eq("task_no", callbackParam.getRobotTaskCode());
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// Task task = taskService.selectOne(wapper);
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// if (task == null && !StringUtils.isEmpty(task.getWrkNo())) {
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// if (1 == task.getIoType()) { // 入库
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// // 更新库存
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//
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// // 更新任务状态
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// } else if (101 == task.getIoType()) { // 出库
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// // 更新库存
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//
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// // 更新任务状态
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//
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// // 货物和托盘解绑
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// }
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// }
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// }
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// endregion
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// region 华晓RCS
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/**
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* 9.7申请进入生产线
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*
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* @param apply
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* @return
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*/
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public JSONObject hxApplyInLine(TransParent apply) {
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String status = mesService.applyInLine(apply);
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JSONObject result = new JSONObject();
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result.put("Success", 1);
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result.put("Message", status);
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JSONObject data = new JSONObject();
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data.put("status", status);
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result.put("Data", data);
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return result;
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}
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// endregion
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// region httpUtil
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/**
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* 向指定 URL 发送POST方法的请求
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*
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* @param url 发送请求的 URL
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* @param param 请求参数，请求参数应该是 name1=value1&name2=value2 的形式。
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* @return 所代表远程资源的响应结果
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*/
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public static String sendPost(String url, String param) {
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PrintWriter out = null;
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BufferedReader in = null;
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StringBuilder result = new StringBuilder();
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try
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{
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log.info("sendPost - {} - {}", url, param);
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URL realUrl = new URL(url);
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URLConnection conn = realUrl.openConnection();
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conn.setRequestProperty("accept", "*/*");
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conn.setRequestProperty("connection", "Keep-Alive");
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conn.setRequestProperty("user-agent", "Mozilla/4.0 (compatible; MSIE 6.0; Windows NT 5.1;SV1)");
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conn.setRequestProperty("Accept-Charset", "utf-8");
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conn.setRequestProperty("Content-Type", "application/json;charset=utf-8");
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conn.setConnectTimeout(5000);
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conn.setReadTimeout(5000);
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conn.setDoOutput(true);
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conn.setDoInput(true);
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out = new PrintWriter(conn.getOutputStream());
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out.print(param);
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out.flush();
|
in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
|
String line;
|
while ((line = in.readLine()) != null)
|
{
|
result.append(line);
|
}
|
log.info("recv - {}", result);
|
}
|
catch (ConnectException e)
|
{
|
log.error("调用HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
|
}
|
catch (SocketTimeoutException e)
|
{
|
log.error("调用HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
|
}
|
catch (IOException e)
|
{
|
log.error("调用HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
|
}
|
catch (Exception e)
|
{
|
log.error("调用HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
|
}
|
finally
|
{
|
try
|
{
|
if (out != null)
|
{
|
out.close();
|
}
|
if (in != null)
|
{
|
in.close();
|
}
|
}
|
catch (IOException ex)
|
{
|
log.error("调用in.close Exception, url=" + url + ",param=" + param, ex);
|
}
|
}
|
return result.toString();
|
}
|
|
// endregion
|
}
|
