Merge remote-tracking branch 'origin/master'

王佳豪

2021-06-09 faecccbe46a1f85b5d9b18fce12e02764faba78e

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

@@ -327,30 +327,35 @@
        BasDevp staNo = basDevpService.checkSiteStatus(devpNo);
        if (!Cools.isEmpty(staNo.getFronting()) && staNo.getFronting().equals("Y")) {
            // 小车入库搬运命令 ----------------------------------------------------
            BasAgv idleAgv = basAgvService.selectIdleAgv();
            AgvCommand command = new AgvCommand();
            command.setAgvId(idleAgv.getAgvId());
            command.setInterCode(basAgvService.getEmptyAgvWorkNo());
            command.setBeginLoc(String.valueOf(devpNo));
            command.setEndLoc("1088");
            log.info(JSON.toJSONString(command));
            String result;
            try {
                result = new HttpHandler.Builder()
                        .setUri(agvUrl + "/api/interfaceTask/SendTaskByThirdParty")
                        .setJson(JSON.toJSONString(command))
                        .build()
                        .doPost();
            } catch (IOException e) {
                e.printStackTrace();
                throw new CoolException("访问AGV接口失败");
            // 判断是否有空闲小车
            if (basAgvService.haveIdleAgv()) {
                AgvCommand command = new AgvCommand();
                command.setAgvId(0);
                command.setInterCode(basAgvService.getEmptyAgvWorkNo());
                command.setBeginLoc(String.valueOf(devpNo));
                command.setEndLoc("1088");
                log.info(JSON.toJSONString(command));
                String result;
                try {
                    result = new HttpHandler.Builder()
                            .setUri(agvUrl + "/api/interfaceTask/SendTaskByThirdParty")
                            .setJson(JSON.toJSONString(command))
                            .build()
                            .doPost();
                } catch (IOException e) {
                    e.printStackTrace();
                    throw new CoolException("访问AGV接口失败");
                }
                AgvResult agvResult = JSON.parseObject(result, AgvResult.class);
                log.info(JSON.toJSONString(agvResult));
                if (!agvResult.getResult()) {
                    log.error("agv命令发送失败[agvId={}]，错误信息={}", command.getAgvId(), agvResult.getExplain());
                    throw new CoolException("agv命令发送失败[agvId=" + command.getAgvId() + "]，错误信息=" + agvResult.getExplain());
                }
            } else {
                throw new CoolException("没有空闲小车");
            }
            AgvResult agvResult = JSON.parseObject(result, AgvResult.class);
            log.info(JSON.toJSONString(agvResult));
            if (!agvResult.getResult()) {
                log.error("agv命令发送失败[agvId={}]，错误信息={}", command.getAgvId(), agvResult.getExplain());
                throw new CoolException("agv命令发送失败[agvId=" + command.getAgvId() + "]，错误信息=" + agvResult.getExplain());
            }

            return "待定";
        } else {
            // 源站点状态检测