zy-wcs.git - Gitblit

			@@ -77,26 +77,44 @@
			StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
			//wcs反馈rcs继续执行
			if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
			RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
			rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
			rcsTaskContinue.setTriggerType("TASK");
			rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
			if(task.getTaskType().equals("AGV补空料架")){
			RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
			rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
			rcsTaskContinue.setTriggerType("TASK");
			rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));

			String url = HIK_URL + "api/robot/controller/task/extend/continue";
			String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
			if (!StringUtils.isEmpty(response) && response.contains("code")) {
			RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
			if ("SUCCESS".equals(rcsReturn1.getCode())) {
			String url = HIK_URL + "api/robot/controller/task/extend/continue";
			String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
			if (!StringUtils.isEmpty(response) && response.contains("code")) {
			log.info("允许AGV放货成功");
			}
			// 返回RCS
			rcsReturn.setCode("SUCCESS");
			rcsReturn.setMessage("");
			JSONObject data = new JSONObject();
			data.put("robotTaskCode", robotTaskCode);
			rcsReturn.setData(data);
			}else {
			//出发PLC站点的扫码器扫码
			boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
			log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
			if (result) {
			log.info("入库站点={}触发扫码成功", staProtocol.getSiteId());
			// 返回RCS
			rcsReturn.setCode("SUCCESS");
			rcsReturn.setMessage("");
			JSONObject data = new JSONObject();
			data.put("robotTaskCode", robotTaskCode);
			rcsReturn.setData(data);
			RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
			rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
			rcsTaskContinue.setTriggerType("TASK");
			rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));

			String url = HIK_URL + "api/robot/controller/task/extend/continue";
			String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
			if (!StringUtils.isEmpty(response) && response.contains("code")) {
			log.info("允许AGV放货成功");
			}
			} else {
			// 返回RCS
			rcsReturn.setCode("Err_Internal");
			@@ -106,7 +124,6 @@
			rcsReturn.setData(data);
			}
			}
			}
			}
			}
			break;
			@@ -116,10 +133,19 @@
			Integer sourceStaNo = Integer.valueOf(task.getStaNo());
			SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
			Boolean boo=false;
			Short wrkNo = 9991;
			//放货完成 --》agv已经离开 --》给PLC站点写9991工作号
			if (staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
			staProtocol.setWorkNo((short) 9991);
			staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
			//补空料架 --》agv已经立库 --》给PLC站点写9995工作号
			if(task.getTaskType().equals("AGV补空料架") && staProtocol != null && !staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0){
			boo=true;
			wrkNo = 9995;
			}else if(!task.getTaskType().equals("AGV补空料架") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0){
			boo=true;
			}
			if (boo) {
			staProtocol.setWorkNo(wrkNo);//空料架到位信号点
			staProtocol.setStaNo(Short.valueOf("0"));
			boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
			log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
			if (result) {
			@@ -141,6 +167,13 @@
			data.put("robotTaskCode", robotTaskCode);
			rcsReturn.setData(data);
			}
			}else {
			// 返回RCS
			rcsReturn.setCode("Err_Internal");
			rcsReturn.setMessage("");
			JSONObject data = new JSONObject();
			data.put("robotTaskCode", robotTaskCode);
			rcsReturn.setData(data);
			}
			}
			break;
			@@ -150,9 +183,8 @@
			SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
			//判断站点是否有料架和托盘
			if (staProtocol != null && staProtocol.isLoading()
			&& staProtocol.isEmptyOutType()
			&& staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
			if (staProtocol != null && (staProtocol.isLoading()\|\|task.getTaskType().equals("AGV空料架回缓存区"))
			&& staProtocol.isEmptyOutType()) {
			RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
			rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
			rcsTaskContinue.setTriggerType("TASK");
			@@ -187,7 +219,7 @@
			SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
			//放货完成 --》agv已经离开 --》给PLC站点写9991工作号
			if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType() && staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
			if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
			staProtocol.setWorkNo((short) 0);
			staProtocol.setStaNo((short) 0);
			boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));