修改了AGV请求接口的逻辑，Mas获取返回信息的订单编号

zwl

8 天以前 cd761b085ddff0d4f55a0d5b892b3120cf8fa9d2

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

@@ -68,7 +68,7 @@
        String slotCategory = values.getString("slotCategory");
        String slotCode = values.getString("slotCode");
        EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", robotTaskCode);
        wrapper.eq("task_no", rcsReporterTask.getRobotTaskCode().substring(0, rcsReporterTask.getRobotTaskCode().length() - 2));
        AgvTask task = agvTaskService.selectOne(wrapper);
        if (!Cools.isEmpty(task)) {
            try {
@@ -135,6 +135,17 @@
                            transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            transParent.setStationId(task.getStaNo());
                            transParent.setAgvCode("2");//连接器库
                            //08-1是空托盘转序任务
                            //08-2是物料转序任务
                            if (task.getTaskType().equals("ZX-AGV-08-1")) {
                                transParent.setTransType("08-1");
                            } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
                                transParent.setTransType("08-2");
                            } else if (task.getTaskType().equals("PP-AGV")) {
                                transParent.setTransType("10");
                            } else if (task.getTaskType().equals("ZP-AGV")) {
                                transParent.setTransType("11");
                            }
                            int i = applyInStation(transParent);
                            if (i == 1) {
                                rcsReturn.setCode("SUCCESS");
@@ -172,7 +183,7 @@
                            if (task.getTaskType().equals("AGV补空料架") && staProtocol != null && !staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
                                boo = true;
                                wrkNo = 9998;
                            } else if (!task.getTaskType().equals("AGV补空料架") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
                            } else if (!task.getTaskType().equals("AGV补空料架") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType()) {
                                boo = true;
                            }
                            if (boo) {
@@ -208,16 +219,42 @@
                                rcsReturn.setData(data);
                            }
                        }else {
                            TransParent transParent = new TransParent();
                            transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
                            transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
                            transParent.setStationId(task.getStaNo());
                            transParent.setAgvCode("2");//连接器库
                            //08-1是空托盘转序任务
                            //08-2是物料转序任务
                            if (task.getTaskType().equals("ZX-AGV-08-1")) {
                                transParent.setTransType("08-1");
                            } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
                                transParent.setTransType("08-2");
                            } else if (task.getTaskType().equals("PP-AGV")) {
                                transParent.setTransType("10");
                            } else if (task.getTaskType().equals("ZP-AGV")) {
                                transParent.setTransType("11");
                            }
                            //放货离开站点
                            int i = AGVDepartureCompleted(transParent);
                            if (i == 1) {
                            // 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());
                            agvTaskService.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;
@@ -239,7 +276,7 @@
                                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())) {
                                    if ("SUCCESS".equals(rcsReturn1.getCode())) {
                                        // 返回RCS
                                        rcsReturn.setCode("SUCCESS");
                                        rcsReturn.setMessage("");
@@ -262,6 +299,17 @@
                            transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            transParent.setStationId(task.getStaNo());
                            transParent.setAgvCode("2");//连接器库
                            //08-1是空托盘转序任务
                            //08-2是物料转序任务
                            if (task.getTaskType().equals("ZX-AGV-08-1")) {
                                transParent.setTransType("08-1");
                            } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
                                transParent.setTransType("08-2");
                            } else if (task.getTaskType().equals("PP-AGV")) {
                                transParent.setTransType("10");
                            } else if (task.getTaskType().equals("ZP-AGV")) {
                                transParent.setTransType("11");
                            }
                            int i = applyInStation(transParent);
                            if (i == 1) {
                                rcsReturn.setCode("SUCCESS");
@@ -282,6 +330,7 @@
                    break;
                    //rcs取货完成，已退出输送线
                    case PICK_COMPLETE: {
                        if (task.getSourceStaNo().equals("401") || task.getSourceStaNo().equals("402") || task.getSourceStaNo().equals("307")) {
                        Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
@@ -308,6 +357,45 @@
                            }

                        }
                        } else {

                            TransParent transParent = new TransParent();
                            transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
                            transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
                            transParent.setStationId(task.getStaNo());
                            transParent.setAgvCode("2");//连接器库
                            //08-1是空托盘转序任务
                            //08-2是物料转序任务
                            if (task.getTaskType().equals("ZX-AGV-08-1")) {
                                transParent.setTransType("08-1");
                            } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
                                transParent.setTransType("08-2");
                            } else if (task.getTaskType().equals("PP-AGV")) {
                                transParent.setTransType("10");
                            } else if (task.getTaskType().equals("ZP-AGV")) {
                                transParent.setTransType("11");
                            }
                            //取货离开站点
                            int i = AGVDepartureCompleted(transParent);
                            if (i == 1) {
                                // 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());
                                agvTaskService.updateById(task);
                                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;
                    //AGV取货离站请求
@@ -323,7 +411,7 @@
                            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())) {
                                if ("SUCCESS".equals(rcsReturn1.getCode())) {
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
@@ -346,6 +434,17 @@
                            transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            transParent.setStationId(task.getStaNo());
                            transParent.setAgvCode("2");//连接器库
                            //08-1是空托盘转序任务
                            //08-2是物料转序任务
                            if (task.getTaskType().equals("ZX-AGV-08-1")) {
                                transParent.setTransType("08-1");
                            } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
                                transParent.setTransType("08-2");
                            } else if (task.getTaskType().equals("PP-AGV")) {
                                transParent.setTransType("10");
                            } else if (task.getTaskType().equals("ZP-AGV")) {
                                transParent.setTransType("11");
                            }
                            int i = applyOutStation(transParent);
                            if (i == 1) {
                                rcsReturn.setCode("SUCCESS");
@@ -377,7 +476,7 @@
                            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())) {
                                if ("SUCCESS".equals(rcsReturn1.getCode())) {
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
@@ -400,6 +499,17 @@
                            transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            transParent.setStationId(task.getStaNo());
                            transParent.setAgvCode("2");//连接器库
                            //08-1是空托盘转序任务
                            //08-2是物料转序任务
                            if (task.getTaskType().equals("ZX-AGV-08-1")) {
                                transParent.setTransType("08-1");
                            } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
                                transParent.setTransType("08-2");
                            } else if (task.getTaskType().equals("PP-AGV")) {
                                transParent.setTransType("10");
                            } else if (task.getTaskType().equals("ZP-AGV")) {
                                transParent.setTransType("11");
                            }
                            int i = applyOutStation(transParent);
                            if (i == 1) {
                                rcsReturn.setCode("SUCCESS");
@@ -417,6 +527,50 @@
                            }
                        }

                        break;
                    }
                    //到站完成
                    case ARRIVE_ON_STATION: {
                        if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
                            // 返回RCS
                            rcsReturn.setCode("SUCCESS");
                            rcsReturn.setMessage("");
                            JSONObject data = new JSONObject();
                            data.put("robotTaskCode", robotTaskCode);
                            rcsReturn.setData(data);
                        } else {
                            TransParent transParent = new TransParent();
                            transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
                            transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
                            transParent.setStationId(task.getStaNo());
                            transParent.setAgvCode("2");//连接器库
                            //08-1是空托盘转序任务
                            //08-2是物料转序任务
                            if (task.getTaskType().equals("ZX-AGV-08-1")) {
                                transParent.setTransType("08-1");
                            } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
                                transParent.setTransType("08-2");
                            } else if (task.getTaskType().equals("PP-AGV")) {
                                transParent.setTransType("10");
                            } else if (task.getTaskType().equals("ZP-AGV")) {
                                transParent.setTransType("11");
                            }
                            int i = AGVArrivalCompletedFit(transParent);
                            if (i == 1) {
                                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;
                    }

@@ -463,8 +617,8 @@
            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.setConnectTimeout(10000);
            conn.setReadTimeout(10000);
            conn.setDoOutput(true);
            conn.setDoInput(true);
            out = new PrintWriter(conn.getOutputStream());
@@ -538,4 +692,45 @@

        return 0;
    }

    /**
     * 离站完成：wms->mes
     * AGV离开接驳位后发送离开状态给MES
     *
     * @param apply
     * @return
     */
    public int AGVDepartureCompleted(TransParent apply) {

        String url = MES_URL + "AGVDepartureCompleted";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")) {
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if ("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 到站完成：AGV到达工位里面--》mes到位完成
     *
     * @param apply
     * @return
     */
    public int AGVArrivalCompletedFit(TransParent apply) {

        String url = MES_URL + "AGVArrivalCompletedFit";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")) {
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if ("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }
}