package com.zy.service.impl;
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import com.alibaba.excel.util.StringUtils;
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import com.alibaba.fastjson.JSON;
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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.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.SiemensDevpThread;
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import com.zy.entity.*;
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import com.zy.enums.RcsRetMethodEnum;
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import com.zy.service.ApiLogService;
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import com.zy.service.RcsService;
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import com.zy.service.WrkDetlService;
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import com.zy.service.WrkMastService;
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import com.zy.utils.HttpHandler;
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import com.zy.utils.News;
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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.BufferedReader;
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import java.io.IOException;
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import java.io.InputStreamReader;
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import java.io.PrintWriter;
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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.text.SimpleDateFormat;
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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 static com.zy.enums.RcsRetMethodEnum.APPLY_FROM_AGV;
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@Slf4j
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@Service
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public class RcsServiceImpl implements RcsService {
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@Value("${dj.url}")
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public String DJ_URL;
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@Value("${hik.url}")
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private String HIK_URL;
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@Resource
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private WrkMastService wrkMastService;
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@Resource
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private WrkDetlService wrkDetlService;
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@Resource
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private SlaveProperties slaveProperties;
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@Resource
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private ApiLogService apiLogService;
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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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String method = values.getString("method");
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Date now = new Date();
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try {
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if (singleRobotCode.equals("14") || singleRobotCode.equals("15")) { // 两台CTU库机器人编号
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("task_no", robotTaskCode));
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if (wrkMast != null) {
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if (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method)) == RcsRetMethodEnum.TASK_START) {
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// 开始
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wrkMast.setModiTime(now);
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wrkMastService.updateById(wrkMast);
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} else if (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method)) == RcsRetMethodEnum.PICK_COMPLETE) {
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// 取货完成，清除输送线任务号
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(106).clone();
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// 取货完成清除输送线任务号
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if (Objects.equals(staProtocol.getWorkNo(), wrkMast.getWrkNo())) {
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staProtocol.setWorkNo(0);
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staProtocol.setStaNo((short) 0);
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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News.info("CTU取货完成，给站点写0工作号,下发任务:{},站点:{},agv任务号:{}", result, 106, robotTaskCode);
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if (!result) {
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("清除输送线任务号命令下发失败");
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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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} else {
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News.warn("CTU取货完成任务号{},清除输送线任务号：{}，任务号不同", wrkMast.getWrkNo(), staProtocol.getWorkNo());
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}
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} else if (method.equals(APPLY_FROM_AGV.getCode())) {
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// 放货申请
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(101).clone();
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if (staProtocol == null) {
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("101站点线程为空");
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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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if (staProtocol.isOutEnable() && staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0) { // 可出
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RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
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rcsTaskContinue.setRobotTaskCode(robotTaskCode);
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rcsTaskContinue.setTriggerType("TASK");
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rcsTaskContinue.setTriggerCode(robotTaskCode);
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String url = HIK_URL + "api/robot/controller/task/extend/continue";
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String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
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if (!StringUtils.isEmpty(response) && response.contains("code")) {
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RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
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if (!"SUCCESS".equals(rcsReturn1.getCode())) {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("返回继续执行失败");
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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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}
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} else {
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News.warn("站点{}不满足放货条件，自动：{}，无物：{}，可出：{}，任务号：{}",
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101, staProtocol.isAutoing(), staProtocol.isLoading(), staProtocol.isOutEnable(), staProtocol.getWorkNo());
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("站点不满足放货条件");
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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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} else if (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method)) == RcsRetMethodEnum.TASK_END) {
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// 任务完成
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Integer ioType = wrkMast.getIoType();
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if (ioType == 1 || ioType == 10 || ioType == 53 || ioType == 57) {
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wrkMast.setWrkSts(4L);
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wrkMast.setCrnEndTime(now);
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wrkMast.setModiTime(now);
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wrkMastService.updateById(wrkMast);
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} else if ((ioType == 101 || ioType == 110 || ioType == 103 || ioType == 107) && wrkMast.getWrkSts() == 12) {
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// 给输送线下发命令
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for (DevpSlave devp : slaveProperties.getDevp()) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo()).clone();
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staProtocol.setWorkNo(wrkMast.getWrkNo());
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staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (result) {
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News.info("RCS给WCS反馈end,输送线命令下发成功：{}", wrkMast.getWrkNo());
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} else {
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("RCS给WCS反馈end,输送线命令下发失败");
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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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}
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wrkMast.setWrkSts(14L);
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wrkMast.setCrnEndTime(now);
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wrkMast.setModiTime(now);
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wrkMastService.updateById(wrkMast);
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// 给TMS反馈出库货物信息
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List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
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if (!wrkDetls.isEmpty()) {
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WrkDetl wrkDetl = wrkDetls.get(0);
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String orderNo = wrkDetl.getOrderNo();
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if (!Cools.isEmpty(orderNo)) {
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// 构造请求参数
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JSONObject jsonObject = new JSONObject();
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jsonObject.put("billType", wrkDetl.getThreeCode());
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jsonObject.put("orderNo", wrkDetl.getOrderNo());
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jsonObject.put("createTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(now));
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JSONArray jsonArray = new JSONArray();
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for (WrkDetl detl : wrkDetls) {
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JSONObject object = new JSONObject();
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object.put("itemNo", detl.getMatnr());
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object.put("anfme", detl.getAnfme());
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jsonArray.add(object);
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}
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jsonObject.put("details", jsonArray);
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String url = DJ_URL + "api/OutboundOrder/WmsOutFinish";
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String request = jsonObject.toJSONString();
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String response = "";
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boolean success = false;
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try {
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response = new HttpHandler.Builder()
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.setUri(DJ_URL)
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.setPath("api/OutboundOrder/WmsOutFinish")
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.setJson(request)
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.build()
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.doPost();
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JSONObject responseJson = JSON.parseObject(response);
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if (responseJson.getString("Success").equals("1")) {
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success = true;
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log.info("CTU出库反馈end,上报TMS成功,工作号：{}，明细：{}", wrkMast.getWrkNo(), request);
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} else {
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log.error("CTU出库反馈end,上报TMS失败！,工作号：{}，明细：{}", wrkMast.getWrkNo(), request);
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log.error("出库完成上报TMS失败！url：{}；request：{}；response：{}", url, request, response);
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}
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} catch (Exception e) {
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log.error("出库完成上报TMS异常,request:{}", request);
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e.printStackTrace();
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} finally {
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try {
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// 保存接口日志
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apiLogService.save(
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"出库完成上报TMS",
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url,
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null,
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"127.0.0.1",
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request,
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response,
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success
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);
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} catch (Exception e) {
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log.error("入库保存接口日志异常", e);
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}
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}
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}
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}
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} else {
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log.error("{}ioType{}不在end反馈处理中", wrkMast.getWrkNo(), ioType);
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}
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}
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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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@Override
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public RcsReturn reporterEqpt(ReporterEqpt param) {
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String robotTaskCode = param.getTaskCode();
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String method = param.getMethod();
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RcsReturn rcsReturn = new RcsReturn();
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if (method.equals(APPLY_FROM_AGV.getCode())) {
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(101).clone();
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if (staProtocol == null) {
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("101站点线程为空");
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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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if (staProtocol.isOutEnable() && staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0) { // 可出
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EqptNotify eqptNotify = new EqptNotify(param.getEqptCode(), robotTaskCode, "6", "101");
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String url = HIK_URL + "spi/wcs/robot/eqpt/notify";
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String response = sendPost(url, JSONObject.toJSONString(eqptNotify));
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if (!StringUtils.isEmpty(response) && response.contains("code")) {
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RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
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if (!"0".equals(rcsReturn1.getCode())) {
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// 返回RCS
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("通知RCS继续放货失败");
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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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} else {
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("请求url" + url + "失败");
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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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} else {
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News.warn("站点{}不满足放货条件，自动：{}，无物：{}，可出：{}，任务号：{}",
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101, staProtocol.isAutoing(), staProtocol.isLoading(), staProtocol.isOutEnable(), staProtocol.getWorkNo());
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rcsReturn.setCode("Err_Internal");
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rcsReturn.setMessage("站点不满足放货条件");
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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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}
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rcsReturn.setCode("SUCCESS");
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rcsReturn.setMessage("成功!");
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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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log.info("agv放货请求返回：{}", JSONObject.toJSONString(rcsReturn));
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return rcsReturn;
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}
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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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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("Content-Type", "application/json");
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conn.setRequestProperty("Content-Length", "<calculated when request is sent>");
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conn.setRequestProperty("Host", "<calculated when request is sent>");
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conn.setRequestProperty("Accept", "*/*");
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conn.setRequestProperty("Accept-Encoding", "gzip, deflate, br");
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conn.setRequestProperty("Connection", "keep-alive");
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conn.setRequestProperty("X-lr-request-id", String.valueOf(new Date().getTime()));
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conn.setRequestProperty("X-lr-version", "4.3");
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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();
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in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
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String line;
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while ((line = in.readLine()) != null) {
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result.append(line);
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}
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log.info("recv - {}", result);
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} catch (ConnectException e) {
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log.error("调用HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
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} catch (SocketTimeoutException e) {
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log.error("调用HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
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} catch (IOException e) {
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log.error("调用HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
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} catch (Exception e) {
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log.error("调用HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
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} finally {
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try {
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if (out != null) {
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out.close();
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}
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if (in != null) {
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in.close();
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}
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} catch (IOException ex) {
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log.error("调用in.close Exception, url=" + url + ",param=" + param, ex);
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}
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}
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return result.toString();
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}
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}
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