1.完善AGV任务创建和下发 2.完善数据孪生 3.新增拍照获取照片 4.新增PDA配盘出库单立即出库 5.新增PDA配盘入库单下拉框获取订单号

zwl

2025-12-27 f14bb52ddab40bf589304b6b43331ddaccea69f6

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

@@ -37,21 +37,48 @@
        }else if(task.getIoType()==5){
            SourceStaNoType = "ZONE";
        }
        String taskType = "CS3";
        Boolean flag1 = false;
        Boolean flag2 = false;
        if(task.getStaNo().equals("Z-401")|| task.getStaNo().equals("Z-402")|| task.getStaNo().equals("Z-307")){
            taskType = "YLIN";
            flag1 = true;
        }
        if (task.getSourceStaNo().equals("Z-401")|| task.getSourceStaNo().equals("Z-402")|| task.getSourceStaNo().equals("Z-307")){
            taskType = "YLOUT";
            flag2 = true;
        }
        if(flag1&&flag2){
            taskType = "YLBOTH";
        }
        //AGV区域中无法用-
        String StaNo = task.getStaNo();
        String SourceStaNo = task.getSourceStaNo();
        if (task.getStaNo().split("-")[0].equals("Q")) {
            String[] split = task.getStaNo().split("-");
            StaNo = split[0]+split[1];
        }
        if (task.getSourceStaNo().split("-")[0].equals("Q")) {
            String[] split = task.getStaNo().split("-");
            SourceStaNo = split[0]+split[1];
        }

        // 下发给RCS
        RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
        rcsTaskSubmit.setRobotTaskCode(task.getTaskNo());
        rcsTaskSubmit.setTaskType(taskType);
        rcsTaskSubmit.setRobotTaskCode(task.getTaskNo()+"-"+task.getCtnType());
        rcsTaskSubmit.setInitPriority(10);  //默认10
        List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
        RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
        startRoute.setSeq(0);
        startRoute.setType(SourceStaNoType);
        startRoute.setCode(task.getSourceStaNo());
        startRoute.setCode(SourceStaNo);
        startRoute.setOperation("COLLECT");
        targetRouteList.add(startRoute);
        RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
        endRoute.setSeq(1);
        endRoute.setType(TargetStaNoType);
        endRoute.setCode(task.getStaNo());
        endRoute.setCode(StaNo);
        endRoute.setOperation("DELIVERY");
        targetRouteList.add(endRoute);
        rcsTaskSubmit.setTargetRoute(targetRouteList);