1.完善出库任务呼叫agv 2.完善agv任务下发 3.等等

zwl

6 天以前 b6681bc12173c1179d0185805ba461211472ac18

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

@@ -3,6 +3,7 @@
import com.alibaba.excel.util.StringUtils;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.TransArrivalStation;
import com.zy.asrs.entity.mes.TransParent;
@@ -16,7 +17,10 @@
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.io.*;
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.net.ConnectException;
import java.net.SocketTimeoutException;
import java.net.URL;
@@ -39,6 +43,12 @@
    // 华晓RCS地址
    @Value("${hx.url}")
    private String HX_URL;
    // 华晓RCS地址
    @Value("${hx.taskNo}")
    private String taskNo;
    // 华晓RCS地址
    @Value("${hx.inOk}")
    private String inOk;
    @Value("${mes.defaultUserId}")
    public long defaultUserId;

@@ -55,6 +65,9 @@
    private TaskDetlServiceImpl taskDetlService;
    @Resource
    private WrkMastService wrkMastService;

    @Resource
    private ApiLogService apiLogService;


    // 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
@@ -85,40 +98,40 @@
     */
    public void managerBlock() {

       try {
           BlockTask firstTask = blockTaskMapper.findTop();
           if (firstTask == null) {
               return;
           }
           EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
           wrapper.eq("block_no", firstTask.getBlockNo());
           List<BlockStation> stations = blockStationMapper.selectList(wrapper);
           if (!stations.isEmpty()) {
               boolean locked = false;
               for (BlockStation station : stations) {
                   // 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；
                   if (station.getStatus() > 0 && !station.getStatus().equals(firstTask.getAgvFactory())) {
                       locked = true;
                       break;
                   }
               }
        try {
            BlockTask firstTask = blockTaskMapper.findTop();
            if (firstTask == null) {
                return;
            }
            EntityWrapper<BlockStation> wrapper = new EntityWrapper<>();
            wrapper.eq("block_no", firstTask.getBlockNo());
            List<BlockStation> stations = blockStationMapper.selectList(wrapper);
            if (!stations.isEmpty()) {
                boolean locked = false;
                for (BlockStation station : stations) {
                    // 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；
                    if (station.getStatus() > 0 && !station.getStatus().equals(firstTask.getAgvFactory())) {
                        locked = true;
                        break;
                    }
                }

               if (!locked) {
                   // 封锁状态
                   int success = blockStationMapper.addByBlockNo(firstTask.getBlockNo(), firstTask.getAgvFactory());
                   if (success > 0) {
                       // 通知RCS
                       RcsEqptNotify notify = new RcsEqptNotify();
                       notify.setEqptCode(firstTask.getBlockNo());
                       notify.setTaskCode(firstTask.getTaskCode());
                       notify.setActionStatus("1");
                       notifyEqpt(notify, firstTask.getAgvFactory());
                   }
               }
           }
       } catch (Exception e) {
           log.error("管理封锁区异常", e);
       }
                if (!locked) {
                    // 封锁状态
                    int success = blockStationMapper.addByBlockNo(firstTask.getBlockNo(), firstTask.getAgvFactory());
                    if (success > 0) {
                        // 通知RCS
                        RcsEqptNotify notify = new RcsEqptNotify();
                        notify.setEqptCode(firstTask.getBlockNo());
                        notify.setTaskCode(firstTask.getTaskCode());
                        notify.setActionStatus("1");
                        notifyEqpt(notify, firstTask.getAgvFactory());
                    }
                }
            }
        } catch (Exception e) {
            log.error("管理封锁区异常", e);
        }
    }

    /**
@@ -168,11 +181,57 @@
     */
    public int submitTask(RcsTaskSubmit rcsTaskSubmit, int rcsFactory){

        String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/robot/controller/task/submit";
        String response = sendPost(url, rcsTaskSubmit.toString());
//        String response = "";
//        boolean success = false;
//        Map<String,Object> headers = new HashMap<>();
//        headers.put("Content-Type","application/json");
//        headers.put("Content-Length","<calculated when request is sent>");
//        headers.put("Host","<calculated when request is sent>");
////        headers.put("Connection","keep-alive");
////        headers.put("Accept","*/*");
////        headers.put("Accept-Encoding","gzip, deflate, br");
//        headers.put("X-lr-request-id","123");
//        headers.put("X-lr-version","4.3");
//        try {
//            response = new HttpHandler.Builder()
//                    .setUri(HIK_URL)
//                    .setPath("api/robot/controller/task/submit")
//                    .setHeaders(headers)
//                    .setJson(JSON.toJSONString(rcsTaskSubmit))
//                    .build()
//                    .doPost();
//            JSONObject jsonObject = JSON.parseObject(response);
//            if (jsonObject.getBoolean("success")) {
//                success = true;
//            } else {
//                log.error("下发agv任务失败！url：{}；request：{}；response：{}", HIK_URL + "api/robot/controller/task/submit", JSON.toJSONString(rcsTaskSubmit), response);
//            }
//        } catch (Exception e) {
//            log.error("下发agv任务异常", e);
//        } finally {
//            try {
//                // 保存接口日志
//                apiLogService.save(
//                        "下发agv任务",
//                        HIK_URL + "api/robot/controller/task/submit",
//                        null,
//                        "127.0.0.1",
//                        JSON.toJSONString(rcsTaskSubmit),
//                        response,
//                        success
//                );
//            } catch (Exception e) {
//                log.error("下发agv任务保存接口日志异常", e);
//            }
//        }
//        return success ? 1 : 0;

        String url = rcsFactory == 2 ? HX_URL+taskNo :HIK_URL + "api/robot/controller/task/submit";
        String response = sendPost(url, JSONObject.toJSONString(rcsTaskSubmit));

        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())) {
            if("SUCCESS".equals(rcsReturn.getCode())||"200".equals(rcsReturn.getCode())) {
                JSONObject data = rcsReturn.getData();
                String robotTaskCode = data.getString("robotTaskCode");
                if (robotTaskCode.equals(rcsTaskSubmit.getRobotTaskCode())){
@@ -191,18 +250,14 @@
     * @param rcsFactory
     * @return
     */
    public int continueTask(RcsTaskContinue rcsTaskContinue, int rcsFactory){
    public int continueTask(Object rcsTaskContinue, int rcsFactory){

        String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/robot/controller/task/extend/continue";
        String response = sendPost(url, rcsTaskContinue.toString());
        String url = rcsFactory == 2 ? HX_URL+inOk :HIK_URL + "api/robot/controller/task/extend/continue";
        String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())) {
                JSONObject data = rcsReturn.getData();
                String robotTaskCode = data.getString("robotTaskCode");
                if (robotTaskCode.equals(rcsTaskContinue.getRobotTaskCode())) {
                    return 1;
                }
            if("SUCCESS".equals(rcsReturn.getCode())||"200".equals(rcsReturn.getCode())) {
                return 1;
            }
        }

@@ -218,7 +273,7 @@
     */
    public int cancelTask(RcsTaskCancel rcsTaskCancel, int rcsFactory){

        String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/robot/controller/task/cancel";
        String url = rcsFactory == 2 ? HX_URL :HIK_URL + "api/robot/controller/task/cancel";
        String response = sendPost(url, rcsTaskCancel.toString());
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
@@ -243,7 +298,7 @@
     */
    private int notifyEqpt(RcsEqptNotify rcsEqptNotify, int rcsFactory){

        String url = rcsFactory == 2 ? HIK_URL : HX_URL + "api/wcs/robot/eqpt/notify";
        String url = rcsFactory == 2 ? HX_URL :HIK_URL + "api/wcs/robot/eqpt/notify";
        String response = sendPost(url, rcsEqptNotify.toString());
        if (!StringUtils.isEmpty(response) && response.contains("code")){
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
@@ -272,65 +327,53 @@

        String robotTaskCode = rcsReporterTask.getRobotTaskCode();
        String singleRobotCode = rcsReporterTask.getSingleRobotCode();
        JSONObject values = rcsReporterTask.getExtra().getJSONObject("values");
        // start : 任务开始；outbin : 走出储位；end : 任务完成
        String method = values.getString("method");
        String carrierType = values.getString("carrierType");
        String slotCategory = values.getString("slotCategory");
        String slotCode = values.getString("slotCode");

        try {
            if ("Q3".equals(carrierType) || "Q8".equals(carrierType)) {    //AGV
        String[] split = robotTaskCode.split("-");
        robotTaskCode = split[0];
        //华晓AGV状态反馈，及申请
        if(Cools.isEmpty(rcsReporterTask.getExtra())){
            if(Cools.isEmpty(rcsReporterTask.getMethod())){
                log.error("华晓AGV上报状态Method为空！");
                rcsReturn.setCode("Err_Internal");
                rcsReturn.setMessage("华晓AGV上报状态Method为空");
                JSONObject data = new JSONObject();
                data.put("robotTaskCode", robotTaskCode);
                rcsReturn.setData(data);
            }else {
                EntityWrapper<Task> wrapper = new EntityWrapper<>();
                wrapper.eq("task_no", robotTaskCode);
                Task task = taskService.selectOne(wrapper);
                if (task == null || !task.getTaskNo().equals(robotTaskCode)) {
                    rcsReturn.setCode("Err_RobotCodeNotMatch");
                    rcsReturn.setMessage("");
                    JSONObject data = new JSONObject();
                    data.put("robotTaskCode", robotTaskCode);
                    rcsReturn.setData(data);
                    return rcsReturn;
                }
                JSONObject memo = JSONObject.parseObject(task.getMemo());

                switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
                    case TASK_START: {
                String method = rcsReporterTask.getMethod();
                JSONObject memo = Cools.isEmpty(task) ? null : JSONObject.parseObject(task.getMemo());
                switch (method) {
                    case "TASK_START": {
                        task.setWrkSts(302L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
                        task.setModiTime(new Date());
                        task.setModiUser(defaultUserId);
                        taskService.updateById(task);
                    } break;
                    case TASK_OUT_BIN: {
                    case "TASK_OUT_BIN": {
                        // 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）
                        JSONObject taskMemo = JSONObject.parseObject(task.getMemo());
                        mesService.outFeedbackByTuo(taskMemo.getString("OrderNo"), task);
//                        JSONObject taskMemo = JSONObject.parseObject(task.getMemo());
//                        mesService.outFeedbackByTuo(taskMemo.getString("OrderNo"), task);
                    } break;
                    case TASK_END: {
                    case "TASK_END": {
                        if(Cools.isEmpty(task)){
                            rcsReturn.setCode("Err_RobotCodeNotMatch");
                            rcsReturn.setMessage("");
                            JSONObject data = new JSONObject();
                            data.put("robotTaskCode", robotTaskCode);
                            rcsReturn.setData(data);
                            return rcsReturn;
                        }
                        // 更新任务状态等内部逻辑
                        task.setWrkSts(304L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
                        task.setModiTime(new Date());
                        task.setModiUser(defaultUserId);
                        taskService.updateById(task);
                        // 任务完成
//                        mesService.reporterTask(rcsReporterTask);

//                    EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
//                    wapper2.eq("wrk_no", task.getWrkNo())
//                            .eq("matnr", memo.getString("ItemNo"))
//                            .eq("order_no", memo.getString("OrderNo"));
//                    TaskDetl taskDetl = taskDetlService.selectOne(wapper2);
//                    taskDetl.setAnfme()
//                    taskDetlService.updateById();

//                    // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
//                    taskService.completeWrkMast();
//                    taskDetlService.

                    } break;
                    case APPLY_IN_STATION:
                    case APPLY_OFF_STATION:
                    case ARRIVE_OFF_STATION: {
                    case "APPLY_IN_STATION":
                    case "APPLY_OFF_STATION":
                    case "ARRIVE_OFF_STATION": {
                        TransParent apply = new TransParent();
                        apply.setTaskno(robotTaskCode);
                        apply.setTaskname(memo.getString("taskName"));
@@ -338,21 +381,19 @@
                        String transType = memo.getString("TransType");
                        apply.setTransType(transType);
                        apply.setProductLineId(memo.getString("ProductLineId"));
                        if(transType.equals("02") || transType.equals("04") || transType.equals("06")) {
                            apply.setStationId(task.getSourceStaNo());
                        } else {
                            apply.setStationId(task.getStaNo());
                        }

                        if (RcsRetMethodEnum.APPLY_IN_STATION.getCode().equals(method)) {
                        apply.setStationId(task.getSourceStaNo());
                        //agv入站申请
                        if ("APPLY_IN_STATION".equals(method)) {
                            mesService.applyInStation(apply);
                        } else if (RcsRetMethodEnum.APPLY_OFF_STATION.getCode().equals(method)) {
                            //agv离站请求
                        } else if ("APPLY_OFF_STATION".equals(method)) {
                            mesService.applyOutStation(apply);
                        } else if (RcsRetMethodEnum.ARRIVE_OFF_STATION.getCode().equals(method)) {
                            //agv离站完成
                        } else {
                            mesService.outStation(apply);
                        }
                    } break;
                    case ARRIVE_ON_STATION: {
                    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")) {
                            break;
@@ -389,10 +430,27 @@
                    } break;
                    default: {} break;
                }
            } else if ("CTU".equals(carrierType)) { //CTU
                EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
            }
            // 返回RCS
            rcsReturn.setCode("SUCCESS");
            rcsReturn.setMessage("");
            JSONObject data = new JSONObject();
            data.put("robotTaskCode", robotTaskCode);
            rcsReturn.setData(data);
            //海康AGV状态反馈，及申请
        }else {
            JSONObject values = rcsReporterTask.getExtra().getJSONObject("values");
            // start : 任务开始；outbin : 走出储位；end : 任务完成
            String method = values.getString("method");
            String carrierType = values.getString("carrierType");
            String slotCategory = values.getString("slotCategory");
            String slotCode = values.getString("slotCode");
            try {
                // q3,q8=1

                EntityWrapper<Task> wrapper = new EntityWrapper<>();
                wrapper.eq("task_no", robotTaskCode);
                WrkMast task = wrkMastService.selectOne(wrapper);
                Task task = taskService.selectOne(wrapper);
                if (task == null || !task.getTaskNo().equals(robotTaskCode)) {
                    rcsReturn.setCode("Err_RobotCodeNotMatch");
                    rcsReturn.setMessage("");
@@ -401,55 +459,126 @@
                    rcsReturn.setData(data);
                    return rcsReturn;
                }
//                JSONObject memo = JSONObject.parseObject(task.getMemo());
                JSONObject memo = JSONObject.parseObject(task.getMemo());

                switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
                    case TASK_START: {
//                        task.setWrkSts(302L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
//                        task.setModiTime(new Date());
//                        task.setModiUser(defaultUserId);
//                        taskService.updateById(task);
                    } break;
//                    case TASK_OUT_BIN: {} break;
                    case TASK_END: {
                        // 更新任务状态等内部逻辑
                        long wrkSts = task.getWrkSts(); // 1.入库；101.出库；
                        if (task.getIoType() == 1) {
                            wrkSts = 4L;
                        } else if (task.getIoType() == 101) {
                            wrkSts = 14L;
                        }

                        task.setWrkSts(wrkSts); // 4.入库完成；14.已出库未确认；
                        task.setWrkSts(302L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
                        task.setModiTime(new Date());
                        task.setModiUser(defaultUserId);
                        wrkMastService.updateById(task);
                        taskService.updateById(task);
                    }
                    break;
                    case TASK_OUT_BIN: {
                        // 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）
//                        JSONObject taskMemo = JSONObject.parseObject(task.getMemo());
//                        mesService.outFeedbackByTuo(taskMemo.getString("OrderNo"), task);
                    }
                    break;
                    case TASK_END: {
                        // 更新任务状态等内部逻辑
                        task.setWrkSts(304L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
                        task.setModiTime(new Date());
                        task.setModiUser(defaultUserId);
                        taskService.updateById(task);
                        // 任务完成
//                        mesService.reporterTask(rcsReporterTask);

                        // TODO：任务完成触发出入库变更操作
//                    EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
//                    wapper2.eq("wrk_no", task.getWrkNo())
//                            .eq("matnr", memo.getString("ItemNo"))
//                            .eq("order_no", memo.getString("OrderNo"));
//                    TaskDetl taskDetl = taskDetlService.selectOne(wapper2);
//                    taskDetl.setAnfme()
//                    taskDetlService.updateById();

//                    // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
//                    taskService.completeWrkMast();
//                    taskDetlService.

//                        // 入库完成
//                        mesService.inFeedback(memo.getString("OrderNo"));
//                        // 出库完成
//                        mesService.outFeedback(memo.getString("OrderNo"));
                    } break;
                    default: {} break;
                    }
                    break;
                    case APPLY_IN_STATION:
                    case APPLY_OFF_STATION:
                    case ARRIVE_OFF_STATION: {
                        TransParent apply = new TransParent();
                        apply.setTaskno(robotTaskCode);
                        apply.setTaskname(memo.getString("taskName"));
                        apply.setAgvCode(singleRobotCode);
                        String transType = memo.getString("TransType");
                        apply.setTransType(transType);
                        apply.setProductLineId(memo.getString("ProductLineId"));
                        if (transType.equals("02") || transType.equals("04") || transType.equals("06")) {
                            apply.setStationId(task.getSourceStaNo());
                        } else {
                            apply.setStationId(task.getStaNo());
                        }

                        if (RcsRetMethodEnum.APPLY_IN_STATION.getCode().equals(method)) {
                            mesService.applyInStation(apply);
                        } else if (RcsRetMethodEnum.APPLY_OFF_STATION.getCode().equals(method)) {
                            mesService.applyOutStation(apply);
                        } else if (RcsRetMethodEnum.ARRIVE_OFF_STATION.getCode().equals(method)) {
                            mesService.outStation(apply);
                        }
                    }
                    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")) {
                            break;
                        }

                        EntityWrapper<TaskDetl> wapper2 = new EntityWrapper<>();
                        wapper2.eq("wrk_no", task.getWrkNo())
                                .eq("matnr", memo.getString("Itemno"))
                                .eq("order_no", memo.getString("OrderNo"));
                        TaskDetl taskDetl = taskDetlService.selectOne(wapper2);
                        TransArrivalStation arrivalStation = new TransArrivalStation();
                        arrivalStation.setTaskno(robotTaskCode);
                        arrivalStation.setTaskname(memo.getString("taskName"));
                        arrivalStation.setTuoPanId(taskDetl.getZpallet());  // memo.getString("TuoPanId")
                        arrivalStation.setProductLineId(memo.getString("ProductLineId"));
                        String transType = memo.getString("TransType");
                        arrivalStation.setDaotype(transType);
                        if (transType.equals("02") || transType.equals("04") || transType.equals("06")) {
                            arrivalStation.setStationID(task.getSourceStaNo());
                        } else {
                            arrivalStation.setStationID(task.getStaNo());
                        }
                        arrivalStation.setOrderNo(memo.getString("OrderNo"));
                        arrivalStation.setAgvCode(singleRobotCode);
                        arrivalStation.setItemno(memo.getString("Itemno"));
                        String memo2 = taskDetl.getMemo();
                        List<String> itemBarCode = new ArrayList<>();
                        Matcher matcher = Pattern.compile("\"([^\"]*)\"").matcher(memo2);
                        while (matcher.find()) {
                            itemBarCode.add(matcher.group(1));
                        }
                        arrivalStation.setItemBarcode(itemBarCode);
                        mesService.arriveOnStation(arrivalStation);
                    }
                    break;
                    default: {
                    }
                    break;
                }

                // 返回RCS
                rcsReturn.setCode("SUCCESS");
                rcsReturn.setMessage("");
                JSONObject data = new JSONObject();
                data.put("robotTaskCode", robotTaskCode);
                rcsReturn.setData(data);
            } catch (Exception e) {
                log.error("RCS反馈任务进度处理异常 - {}", rcsReporterTask, e);
                rcsReturn.setCode("Err_Internal");
                rcsReturn.setMessage("内部处理异常");
                JSONObject data = new JSONObject();
                data.put("robotTaskCode", robotTaskCode);
                rcsReturn.setData(data);
            }

            // 返回RCS
            rcsReturn.setCode("SUCCESS");
            rcsReturn.setMessage("");
            JSONObject data = new JSONObject();
            data.put("robotTaskCode", robotTaskCode);
            rcsReturn.setData(data);
        } catch (Exception e) {
            log.error("RCS反馈任务进度处理异常 - {}", rcsReporterTask, e);
            rcsReturn.setCode("Err_Internal");
            rcsReturn.setMessage("内部处理异常");
            JSONObject data = new JSONObject();
            data.put("robotTaskCode", robotTaskCode);
            rcsReturn.setData(data);
        }

        return rcsReturn;
@@ -530,17 +659,53 @@
     * @param apply
     * @return
     */
    public JSONObject hxApplyInLine(TransParent apply) {
    public RcsReturn hxApplyInLine(TransParent apply) {

        String status = mesService.applyInLine(apply);
        JSONObject result = new JSONObject();
        result.put("Success", 1);
        result.put("Message", status);
        RcsReturn rcsReturn = new RcsReturn();

        String robotTaskCode = apply.getTaskno();
        String singleRobotCode = apply.getAgvCode();
        //华晓AGV申请
        if(Cools.isEmpty(apply.getMethod())){
            log.error("华晓AGV上报状态Method为空！");
            rcsReturn.setCode("Err_Internal");
            rcsReturn.setMessage("华晓AGV上报状态Method为空");
            JSONObject data = new JSONObject();
            data.put("robotTaskCode", robotTaskCode);
            rcsReturn.setData(data);
        }else {
            EntityWrapper<Task> wrapper = new EntityWrapper<>();
            wrapper.eq("task_no", robotTaskCode);
            Task task = taskService.selectOne(wrapper);
            String method = apply.getMethod();
            JSONObject memo = Cools.isEmpty(task) ? null : JSONObject.parseObject(task.getMemo());
            switch (method) {
                case "APPLY_IN_STATION":
                case "APPLY_OFF_STATION":
                case "ARRIVE_OFF_STATION": {
                    //agv入站申请
                    if ("APPLY_IN_STATION".equals(method)) {
                        mesService.applyInStation(apply);
                        //agv离站请求
                    } else if ("APPLY_OFF_STATION".equals(method)) {
                        mesService.applyOutStation(apply);
                        //agv离站完成
                    } else {
                        mesService.outStation(apply);
                    }
                } break;
                default: {} break;
            }
        }
        // 返回RCS
        rcsReturn.setCode("SUCCESS");
        rcsReturn.setMessage("");
        JSONObject data = new JSONObject();
        data.put("status", status);
        result.put("Data", data);
        data.put("robotTaskCode", robotTaskCode);
        rcsReturn.setData(data);
        //海康AGV状态反馈，及申请

        return result;
        return rcsReturn;
    }

    // endregion
@@ -563,11 +728,16 @@
            log.info("sendPost - {} - {}", url, param);
            URL realUrl = new URL(url);
            URLConnection conn = realUrl.openConnection();
            conn.setRequestProperty("accept", "*/*");
            conn.setRequestProperty("connection", "Keep-Alive");
            conn.setRequestProperty("user-agent", "Mozilla/4.0 (compatible; MSIE 6.0; Windows NT 5.1;SV1)");
            conn.setRequestProperty("Accept-Charset", "utf-8");
            conn.setRequestProperty("Content-Type", "application/json;charset=utf-8");
            conn.setRequestProperty("Content-Type", "application/json");
            conn.setRequestProperty("Content-Length", "<calculated when request is sent>");
            conn.setRequestProperty("Host", "<calculated when request is sent>");
            conn.setRequestProperty("Accept", "*/*");
            conn.setRequestProperty("Accept-Encoding", "gzip, deflate, br");
            conn.setRequestProperty("Connection", "keep-alive");

            conn.setRequestProperty("X-lr-request-id", String.valueOf(new Date().getTime()));
            conn.setRequestProperty("X-lr-version", "4.3");

            conn.setConnectTimeout(5000);
            conn.setReadTimeout(5000);
            conn.setDoOutput(true);
@@ -581,7 +751,7 @@
            {
                result.append(line);
            }
            log.info("recv - {}", result);
            log.info("rec - {}", result);
        }
        catch (ConnectException e)
        {