pda相关功能开发完善

pang.jiabao

4 天以前 4aebedd582c7b1beb23df39829c341b40343e2ce

 src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java

@@ -13,6 +13,7 @@
import com.zy.asrs.mapper.BlockStationMapper;
import com.zy.asrs.mapper.BlockTaskMapper;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -43,6 +44,10 @@
    private String HX_URL;
    @Value("${mes.defaultUserId}")
    public long defaultUserId;

    // wcs地址
    @Value("${wcs.url}")
    private String WCS_URL;


    @Resource
@@ -222,17 +227,17 @@
        String url = rcsFactory == 2 ? HX_URL : HIK_URL + "api/robot/controller/task/submit";
        String response = "";
        try {
            // 模拟返回
//            rcsReturn.setCode("SUCCESS");
//            success = true;
//            log.info("呼叫agv搬运成功！url：{}；request：{}；response：{}", url, JSON.toJSONString(rcsTaskSubmit), response);


            response = sendPost(url, JSONObject.toJSONString(rcsTaskSubmit));
            if (!StringUtils.isEmpty(response) && response.contains("code")) {
                rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
                if ("SUCCESS".equals(rcsReturn.getCode())) {
            // 模拟返回
//            rcsReturn.setCode("SUCCESS");
//            JSONObject jsonObject = new JSONObject();
//            jsonObject.put("robotTaskCode",4);
//            rcsReturn.setData(jsonObject);
                    success = true;

                    log.info("呼叫agv搬运成功！url：{}；request：{}；response：{}", url, JSON.toJSONString(rcsTaskSubmit), response);
                } else {
                    log.error("呼叫agv搬运失败！url：{}；request：{}；response：{}", url, JSON.toJSONString(rcsTaskSubmit), response);
@@ -294,7 +299,7 @@
    public int cancelTask(RcsTaskCancel rcsTaskCancel, int rcsFactory){

        String url = rcsFactory == 2 ? HX_URL :HIK_URL + "api/robot/controller/task/cancel";
        String response = sendPost(url, rcsTaskCancel.toString());
        String response = sendPost(url, JSONObject.toJSONString(rcsTaskCancel));
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())) {
@@ -319,7 +324,7 @@
    private int notifyEqpt(RcsEqptNotify rcsEqptNotify, int rcsFactory){

        String url = rcsFactory == 2 ? HX_URL :HIK_URL + "api/wcs/robot/eqpt/notify";
        String response = sendPost(url, rcsEqptNotify.toString());
        String response = sendPost(url, JSONObject.toJSONString(rcsEqptNotify));
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())) {
@@ -389,7 +394,34 @@
                        task.setModiUser(defaultUserId);
                        taskService.updateById(task);
                        // 任务完成
//                        mesService.reporterTask(rcsReporterTask);
                        mesService.reporterTask(rcsReporterTask);

                        // 入立库时，区分是空托还是满托，给输送线下发命令9990 空，9995满
                        String transType = memo.getString("TransType");
                        if("02".equals(transType) || "04".equals(transType)) {
                            int wrkNo = 9995;
                            if("02".equals(transType)) {
                                TaskDetl taskDetl = taskDetlService.selectOne(new EntityWrapper<TaskDetl>().eq("wrk_no", task.getWrkNo()));
                                if (taskDetl != null) {
                                    if("tuopan".equals(taskDetl.getMatnr())){
                                        wrkNo = 9990;
                                    }
                                }
                            }
                            int staNo = Integer.parseInt(task.getStaNo());
                            Map<String,Object> params = new HashMap<>();
                            params.put("siteId",staNo);
                            params.put("workNo",wrkNo);
                            params.put("staNo", staNo == 205 ? 205 : (staNo-1) );
                            params.put("String","Y");
                            String response = new HttpHandler.Builder()
                                    .setUri(WCS_URL)
                                    .setPath("/site/detl/update")
                                    .setParams(params)
                                    .build()
                                    .doPost();
                            log.info("agv反馈end给wcs发命令:{},返回：{}",JSONObject.toJSONString(params),response);
                        }

//                    EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
//                    wapper2.eq("wrk_no", task.getWrkNo())
@@ -436,11 +468,6 @@
                        }
                    } break;
                    case ARRIVE_ON_STATION: {
                        // 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
//                        if (rcsReporterTask.getCurrentSeq() == 0 && task.getSourceStaNo().startsWith("LG") || task.getSourceStaNo().startsWith("LL")) {
//                            break;
//                        }

                        EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
                        wapper2.eq("wrk_no", task.getWrkNo())
                                .eq("matnr", memo.getString("Itemno"))