输送线和CTU安全交互

pang.jiabao

2025-12-28 138e8078bb92f28fd135c9ce0301f4b71164dd9a

 src/main/java/com/zy/asrs/task/handler/JlerHandler.java

@@ -9,6 +9,7 @@
import com.zy.asrs.entity.rcs.RcsReturn;
import com.zy.asrs.entity.rcs.RcsTaskSubmit;
import com.zy.asrs.entity.rcs.RcsTaskTargetRoute;
import com.zy.asrs.entity.rcs.SiteBind;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.LocDto;
@@ -65,6 +66,14 @@
    @Transactional
    public void callAgvToWarehouse(WrkMast wrkMast) {

        // 先绑定载具
        SiteBind siteBind = new SiteBind("BIN","RS00002A01011","BOX",wrkMast.getBarcode(),"BIND");
        RcsReturn carrierBindReturn = rcsService.siteBind(siteBind);
        if(!carrierBindReturn.getCode().equals("SUCCESS")) {
            log.error("入库绑定载具失败：{}",JSONObject.toJSONString(carrierBindReturn));
            return;
        }

        // 下发给RCS
        RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
        // 模板名
@@ -95,9 +104,9 @@
            wrkMast.setCrnStrTime(now);
            wrkMast.setTaskNo(rcsTaskSubmit.getRobotTaskCode());
            wrkMastService.updateById(wrkMast);
            log.info("出库给料箱机器人发送命令成功，工作号：{}，任务号：{}",wrkMast.getWrkNo(),rcsTaskSubmit.getRobotTaskCode());
            log.info("入库给料箱机器人发送命令成功，工作号：{}，任务号：{}",wrkMast.getWrkNo(),rcsTaskSubmit.getRobotTaskCode());
        } else {
            log.error("出库给料箱机器人发送命令失败，工作号：{}，任务号：{}",wrkMast.getWrkNo(),rcsTaskSubmit.getRobotTaskCode());
            log.error("入库给料箱机器人发送命令失败，工作号：{}，任务号：{}",wrkMast.getWrkNo(),rcsTaskSubmit.getRobotTaskCode());
        }
    }

@@ -271,7 +280,7 @@
        // 下发给RCS
        RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
        // 模板名
        rcsTaskSubmit.setTaskType("F11");
        rcsTaskSubmit.setTaskType("CTU4");
        rcsTaskSubmit.setRobotTaskCode(String.valueOf(new Date().getTime()));
        rcsTaskSubmit.setInitPriority(10);  //默认10
        List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();