1.rcs请求wcs放货申请 2.wcs反馈rcs继续执行 3.rcs放货完成，已退出输送线，反馈end到wcs 4.rcs请求wcs取货申请 5.w...

zwl

2025-12-27 930dc44a8c0e7fb61cc18184fa810868328da0ee

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

@@ -4,11 +4,10 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.*;
import com.zy.asrs.enums.RcsRetMethodEnum;
import com.zy.asrs.service.AgvTaskService;
import com.zy.asrs.service.RcsService;
import com.zy.asrs.service.TaskService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
@@ -28,12 +27,8 @@
import java.net.URL;
import java.net.URLConnection;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

@Slf4j
@Service
@@ -43,7 +38,7 @@
    private String HIK_URL;

    @Autowired
    private TaskService taskService;
    private AgvTaskService taskService;


    /**
@@ -55,6 +50,7 @@
     */
    @Override
    public RcsReturn reporterTask(RcsReporterTask rcsReporterTask) {
        log.info("海康AGV站点任务请求={}", JSONObject.toJSONString(rcsReporterTask));

        RcsReturn rcsReturn = new RcsReturn();

@@ -68,115 +64,40 @@
        String carrierType = values.getString("carrierType");
        String slotCategory = values.getString("slotCategory");
        String slotCode = values.getString("slotCode");
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", robotTaskCode);
        Task task = taskService.selectOne(wrapper);
        if(!Cools.isEmpty(task)){
        AgvTask task = taskService.selectOne(wrapper);
        if (!Cools.isEmpty(task)) {
            try {
                // q3,q8=1
                if ("1".equals(carrierType)) {    //AGV
                switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
                    //放货申请
                    case APPLY_PUT: {
                        Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        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));

                    switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
                        //放货申请
                        case APPLY_PUT: {
                            Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            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());
                                rcsTaskContinue.setTriggerType("TASK");
                                rcsTaskContinue.setTriggerCode(task.getTaskNo());

                                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("200".equals(rcsReturn1.getCode())) {
                                        //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) {
                                            // 返回RCS
                                            rcsReturn.setCode("SUCCESS");
                                            rcsReturn.setMessage("");
                                            JSONObject data = new JSONObject();
                                            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;

                        //放货完成 --》agv已经离开
                        case TASK_END: {
                            Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                            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.setWorkNo((short) 9991);
                                staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
                                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){
                                    // 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());
                                    taskService.updateById(task);
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    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;
                        //rcs请求wms取货申请
                        case APPLY_PICK: {
                            Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                            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) {
                                RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                                rcsTaskContinue.setRobotTaskCode(task.getTaskNo());
                                rcsTaskContinue.setTriggerType("TASK");
                                rcsTaskContinue.setTriggerCode(task.getTaskNo());

                                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("200".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")) {
                                RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                if ("SUCCESS".equals(rcsReturn1.getCode())) {
                                    //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) {
                                        // 返回RCS
                                        rcsReturn.setCode("SUCCESS");
                                        rcsReturn.setMessage("");
                                        JSONObject data = new JSONObject();
                                        data.put("robotTaskCode", robotTaskCode);
                                        rcsReturn.setData(data);
                                    }else {
                                    } else {
                                        // 返回RCS
                                        rcsReturn.setCode("Err_Internal");
                                        rcsReturn.setMessage("");
@@ -187,26 +108,68 @@
                                }
                            }
                        }
                        break;
                        //rcs取货完成，已退出输送线
                        case PICK_COMPLETE: {
                            Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                            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) {
                                staProtocol.setWorkNo((short) 0);
                                staProtocol.setStaNo((short) 0);
                                boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                                log.info("AGV取货完成，给站点写0工作号,下发任务:{},站点:{},agv任务号:{}",result,task.getStaNo(),task.getTaskNo());
                                if(result){
                    }
                    break;

                    //放货完成 --》agv已经离开
                    case TASK_END: {
                        Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                        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.setWorkNo((short) 9991);
                            staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
                            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) {
                                // 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());
                                taskService.updateById(task);
                                // 返回RCS
                                rcsReturn.setCode("SUCCESS");
                                rcsReturn.setMessage("");
                                JSONObject data = new JSONObject();
                                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;
                    //rcs请求wms取货申请
                    case APPLY_PICK: {
                        Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                        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) {
                            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 ("200".equals(rcsReturn1.getCode())) {
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }else {
                                } else {
                                    // 返回RCS
                                    rcsReturn.setCode("Err_Internal");
                                    rcsReturn.setMessage("");
@@ -214,16 +177,46 @@
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }

                            }
                        }
                        break;

                        default: {
                        }
                        break;
                    }
                    break;
                    //rcs取货完成，已退出输送线
                    case PICK_COMPLETE: {
                        Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                        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) {
                            staProtocol.setWorkNo((short) 0);
                            staProtocol.setStaNo((short) 0);
                            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                            log.info("AGV取货完成，给站点写0工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
                            if (result) {
                                // 返回RCS
                                rcsReturn.setCode("SUCCESS");
                                rcsReturn.setMessage("");
                                JSONObject data = new JSONObject();
                                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;

                    default: {
                    }
                    break;
                }


            } catch (Exception e) {
                log.error("RCS反馈任务进度处理异常 - {}", rcsReporterTask, e);
@@ -240,7 +233,7 @@
    /**
     * 向指定 URL 发送POST方法的请求
     *
     * @param url 发送请求的 URL
     * @param url   发送请求的 URL
     * @param param 请求参数，请求参数应该是 name1=value1&name2=value2 的形式。
     * @return 所代表远程资源的响应结果
     */
@@ -248,8 +241,7 @@
        PrintWriter out = null;
        BufferedReader in = null;
        StringBuilder result = new StringBuilder();
        try
        {
        try {
            log.info("sendPost - {} - {}", url, param);
            URL realUrl = new URL(url);
            URLConnection conn = realUrl.openConnection();
@@ -272,43 +264,27 @@
            out.flush();
            in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
            String line;
            while ((line = in.readLine()) != null)
            {
            while ((line = in.readLine()) != null) {
                result.append(line);
            }
            log.info("recv - {}", result);
        }
        catch (ConnectException e)
        {
        } catch (ConnectException e) {
            log.error("调用HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
        }
        catch (SocketTimeoutException e)
        {
        } catch (SocketTimeoutException e) {
            log.error("调用HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
        }
        catch (IOException e)
        {
        } catch (IOException e) {
            log.error("调用HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
        }
        catch (Exception e)
        {
        } catch (Exception e) {
            log.error("调用HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
        }
        finally
        {
            try
            {
                if (out != null)
                {
        } finally {
            try {
                if (out != null) {
                    out.close();
                }
                if (in != null)
                {
                if (in != null) {
                    in.close();
                }
            }
            catch (IOException ex)
            {
            } catch (IOException ex) {
                log.error("调用in.close Exception, url=" + url + ",param=" + param, ex);
            }
        }