1.新增agv状态反馈

zwl

4 天以前 7f1ee24bca80d28851a95ee2019ea6faeb70d81c

1.新增agv状态反馈

 src/main/java/com/zy/asrs/controller/OpenController.java

@@ -2,6 +2,9 @@

import com.core.common.R;
import com.zy.asrs.domain.param.ToOutStaParam;
import com.zy.asrs.entity.RcsReporterTask;
import com.zy.asrs.entity.RcsReturn;
import com.zy.asrs.service.RcsService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
@@ -9,6 +12,8 @@
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
@@ -16,6 +21,8 @@
@Slf4j
@RestController
public class OpenController {
    @Autowired
    private RcsService rcsService;

    @RequestMapping("/open/toOutSta")
    public R toOutSta(@RequestBody ToOutStaParam param) {
@@ -47,4 +54,11 @@
        return R.ok().add(result);
    }

    // 反馈任务执行结果
    @PostMapping("/api/robot/reporter/task")
    public RcsReturn reporterTask(@RequestBody RcsReporterTask param){

        return rcsService.reporterTask(param);
    }

}

 src/main/java/com/zy/asrs/entity/AgvTask.java

New file
@@ -0,0 +1,486 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.system.entity.User;
import com.zy.system.service.UserService;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.experimental.Accessors;

import java.io.Serializable;
import java.text.SimpleDateFormat;
import java.util.Date;

@Data
@TableName("agv_task")
@Accessors(chain = true)
public class AgvTask implements Serializable {

    private static final long serialVersionUID = 1L;

    @ApiModelProperty(value= "")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 任务类型： agv  , crn
     */
    @ApiModelProperty(value= "任务类型： agv  , crn")
    @TableField("task_type")
    private String taskType;

    /**
     * 工作号
     */
    @ApiModelProperty(value= "工作号")
    @TableField("wrk_no")
    private Integer wrkNo;

    @ApiModelProperty(value= "下发AGV任务计数")
    @TableField("ctn_type")
    private Integer ctnType=0;

    @ApiModelProperty(value= "")
    @TableField("inv_wh")
    private String invWh;

    @ApiModelProperty(value= "")
    private Date ymd;

    @ApiModelProperty(value= "")
    private String mk;

    @ApiModelProperty(value= "")
    @TableField("whs_type")
    private Integer whsType;

    /**
     * 工作状态
     */
    @ApiModelProperty(value= "工作状态")
    @TableField("wrk_sts")
    private Long wrkSts;

    /**
     * 入出库类型
     * 3.站到站
     * 4.站到区域
     * 5.区域到站
     */
    @ApiModelProperty(value= "入出库类型")
    @TableField("io_type")
    private Integer ioType;

    /**
     * 堆垛机
     */
    @ApiModelProperty(value= "堆垛机")
    @TableField("crn_no")
    private Integer crnNo;

    @ApiModelProperty(value= "")
    @TableField("sheet_no")
    private String sheetNo;

    /**
     * 优先级
     */
    @ApiModelProperty(value= "优先级")
    @TableField("io_pri")
    private Double ioPri;

    @ApiModelProperty(value= "")
    @TableField("wrk_date")
    private Date wrkDate;

    /**
     * 目标库位
     */
    @ApiModelProperty(value= "目标库位")
    @TableField("loc_no")
    private String locNo;

    /**
     * 目标站
     */
    @ApiModelProperty(value= "目标站")
    @TableField("sta_no")
    private String staNo;

    /**
     * 源站
     */
    @ApiModelProperty(value= "源站")
    @TableField("source_sta_no")
    private String sourceStaNo;

    /**
     * 源库位
     */
    @ApiModelProperty(value= "源库位")
    @TableField("source_loc_no")
    private String sourceLocNo;

    @ApiModelProperty(value= "")
    @TableField("loc_sts")
    private String locSts;

    @ApiModelProperty(value= "1.海康AGV  2.华晓AGV   默认是1.海康")
    @TableField("plt_type")
    private Integer pltType=1;

    @ApiModelProperty(value= "料架号")
    private String packed;

    /**
     * 拣料
     */
    @ApiModelProperty(value= "拣料")
    private String picking;

    @ApiModelProperty(value= "")
    @TableField("link_mis")
    private String linkMis;

    @ApiModelProperty(value= "")
    @TableField("online_yn")
    private String onlineYn;

    @ApiModelProperty(value= "是否任务报错")
    @TableField("upd_mk")
    private String updMk;

    /**
     * 退出
     */
    @ApiModelProperty(value= "退出")
    @TableField("exit_mk")
    private String exitMk;

    /**
     * 空板
     */
    @ApiModelProperty(value= "空板")
    @TableField("empty_mk")
    private String emptyMk;

    /**
     * 工作时间
     */
    @ApiModelProperty(value= "工作时间")
    @TableField("io_time")
    private Date ioTime;

    @ApiModelProperty(value= "")
    @TableField("ove_mk")
    private String oveMk;

    @ApiModelProperty(value= "")
    @TableField("mtn_type")
    private Double mtnType;

    @ApiModelProperty(value= "")
    @TableField("user_no")
    private String userNo;

    /**
     * 堆垛机启动时间
     */
    @ApiModelProperty(value= "堆垛机启动时间")
    @TableField("crn_str_time")
    private Date crnStrTime;

    /**
     * 堆垛机停止时间
     */
    @ApiModelProperty(value= "堆垛机停止时间")
    @TableField("crn_end_time")
    private Date crnEndTime;

    @ApiModelProperty(value= "")
    @TableField("plc_str_time")
    private Date plcStrTime;

    @ApiModelProperty(value= "")
    @TableField("crn_pos_time")
    private Date crnPosTime;

    @ApiModelProperty(value= "")
    @TableField("load_time")
    private Double loadTime;

    @ApiModelProperty(value= "")
    @TableField("exp_time")
    private Double expTime;

    @ApiModelProperty(value= "")
    @TableField("ref_wrkno")
    private Double refWrkno;

    /**
     * 拣料时间
     */
    @ApiModelProperty(value= "拣料时间")
    @TableField("ref_iotime")
    private Date refIotime;

    /**
     * 修改人员
     */
    @ApiModelProperty(value= "修改人员")
    @TableField("modi_user")
    private Long modiUser;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @TableField("modi_time")
    private Date modiTime;

    /**
     * 创建者
     */
    @ApiModelProperty(value= "创建者")
    @TableField("appe_user")
    private Long appeUser;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @TableField("appe_time")
    private Date appeTime;

    @ApiModelProperty(value= "")
    @TableField("pause_mk")
    private String pauseMk;

    @ApiModelProperty(value= "")
    @TableField("error_time")
    private Date errorTime;

    @ApiModelProperty(value= "")
    @TableField("error_memo")
    private String errorMemo;

    @ApiModelProperty(value= "")
    @TableField("ctn_kind")
    private Integer ctnKind;

    @ApiModelProperty(value= "")
    @TableField("manu_type")
    private String manuType;

    /**
     * 备注
     */
    @ApiModelProperty(value= "备注")
    private String memo;

    @ApiModelProperty(value= "")
    @TableField("sc_weight")
    private Double scWeight;

    @ApiModelProperty(value= "")
    @TableField("log_mk")
    private String logMk;

    @ApiModelProperty(value= "")
    @TableField("log_err_time")
    private Date logErrTime;

    @ApiModelProperty(value= "")
    @TableField("log_err_memo")
    private String logErrMemo;

    /**
     * 条码
     */
    @ApiModelProperty(value= "条码")
    private String barcode;

    // Y:销售订单出库任务
    @ApiModelProperty(value= "")
    @TableField("Pdc_type")
    private String PdcType;

    @ApiModelProperty(value= "")
    @TableField("ctn_no")
    private String ctnNo;

    /**
     * 满板
     */
    @ApiModelProperty(value= "满板")
    @TableField("full_plt")
    private String fullPlt;

    /**
     * 先入品 / 双重入库
     */
    @ApiModelProperty(value= "先入品")
    @TableField("pre_have")
    private String preHave;

    /**
     * 空操作 / 取货无箱
     */
    @ApiModelProperty(value= "空操作")
    @TableField("take_none")
    private String takeNone;

    /**
     * 外部任务编号
     */
    @ApiModelProperty(value= "外部任务编号")
    @TableField("task_no")
    private String taskNo;

    public String getYmd$(){
        if (Cools.isEmpty(this.ymd)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.ymd);
    }

    public String getCrnNo$(){
        BasCrnpService service = SpringUtils.getBean(BasCrnpService.class);
        BasCrnp basCrnp = service.selectById(this.crnNo);
        if (!Cools.isEmpty(basCrnp)){
            return String.valueOf(basCrnp.getCrnNo());
        }
        return null;
    }

    public String getWrkDate$(){
        if (Cools.isEmpty(this.wrkDate)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.wrkDate);
    }

    public String getLocNo$(){
        LocMastService service = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = service.selectById(this.locNo);
        if (!Cools.isEmpty(locMast)){
            return String.valueOf(locMast.getLocNo());
        }
        return null;
    }

    public String getTaskType$(){
        if (Cools.isEmpty(this.taskType)){return  null;}
        if (taskType.equals("AGV")) {
            return "AGV任务";
        } else {
            return "堆垛机任务";
        }
    }

    public String getSourceLocNo$(){
        LocMastService service = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = service.selectById(this.sourceLocNo);
        if (!Cools.isEmpty(locMast)){
            return String.valueOf(locMast.getLocNo());
        }
        return null;
    }

    public String getIoTime$(){
        if (Cools.isEmpty(this.ioTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.ioTime);
    }

    public String getCrnStrTime$(){
        if (Cools.isEmpty(this.crnStrTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.crnStrTime);
    }

    public String getCrnEndTime$(){
        if (Cools.isEmpty(this.crnEndTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.crnEndTime);
    }

    public String getPlcStrTime$(){
        if (Cools.isEmpty(this.plcStrTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.plcStrTime);
    }

    public String getCrnPosTime$(){
        if (Cools.isEmpty(this.crnPosTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.crnPosTime);
    }

    public String getRefIotime$(){
        if (Cools.isEmpty(this.refIotime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.refIotime);
    }

    public String getModiUser$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.modiUser);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getUsername());
        }
        return null;
    }

    public String getModiTime$(){
        if (Cools.isEmpty(this.modiTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.modiTime);
    }

    public String getAppeUser$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.appeUser);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getUsername());
        }
        return null;
    }

    public String getAppeTime$(){
        if (Cools.isEmpty(this.appeTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.appeTime);
    }

    public String getErrorTime$(){
        if (Cools.isEmpty(this.errorTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.errorTime);
    }


    public String getLogErrTime$(){
        if (Cools.isEmpty(this.logErrTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.logErrTime);
    }
}

 src/main/java/com/zy/asrs/entity/RcsReporterTask.java

New file
@@ -0,0 +1,21 @@
package com.zy.asrs.entity;

import com.alibaba.fastjson.JSONObject;
import lombok.Data;

// 任务执行反馈
@Data
public class RcsReporterTask {

    // 任务号
    private String robotTaskCode;
    // 当前执行任务的机器人唯一标识。
    private String singleRobotCode;
    // 目标路径序列，0 起点序号，1 终点序号。
    private Integer currentSeq;
    // 详细信息
    private JSONObject extra;

    //华晓AGV任务状态及请求
    private String method;
}

 src/main/java/com/zy/asrs/entity/RcsReturn.java

New file
@@ -0,0 +1,20 @@
package com.zy.asrs.entity;

import com.alibaba.fastjson.JSONObject;
import lombok.Data;

// 海康返回
@Data
public class RcsReturn {

    // SUCCESS 成功
//    Err_TaskTypeNotSupport 任务类型不支持
//    Err_RobotGroupsNotMatch 机器人资源组编号与任务不匹配，无法调度
//    Err_RobotCodeNotMatch 机器人编号与任务不匹配，无法调度
//    Err_TargetRouteError 任务路径参数有误
    private String code;

    private String message;

    private JSONObject data;
}

 src/main/java/com/zy/asrs/entity/RcsTaskContinue.java

New file
@@ -0,0 +1,20 @@
package com.zy.asrs.entity;

import lombok.Data;

// 继续执行任务
@Data
public class RcsTaskContinue {

    // 任务链编号
    private String robotTaskCode;
    // 触发类型：
    //SITE 站点编号触发
    //CARRIER 载具编号触发
    //ROBOT 车号触发
    //TASK 任务链编号触发
    private String triggerType;
    // 与 triggerType 对应的触发编号
    private String triggerCode;

}

 src/main/java/com/zy/asrs/entity/TransInOutStationAllow.java

New file
@@ -0,0 +1,29 @@
package com.zy.asrs.entity;

import lombok.Data;
import lombok.EqualsAndHashCode;

// 入站允许、离站允许
@EqualsAndHashCode(callSuper = true)
@Data
public class TransInOutStationAllow extends TransParent {
    //任务编号
    private String taskno;
    //任务名称
    private String taskname;
    //AGV编号
    private String AgvCode;
    //运输类型
    private String TransType;
    //生产线编号
    private String ProductLineId;
    //工位编号
    private String StationId;

    //任务类型

    private String taskType;

    // 是否允许，Y 允许；N，不允许
    private String status;
}

 src/main/java/com/zy/asrs/entity/TransParent.java

New file
@@ -0,0 +1,39 @@
package com.zy.asrs.entity;

import com.alibaba.fastjson.annotation.JSONField;
import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.Data;

// 出入站请求继承父类：入站请求、入站允许、离站请求、离站允许、离站完成
@Data
public class TransParent {

    // 任务编号，wcs_task_header表中的task_no
    private String taskno;
    // 任务名称，wcs_task_header表中的task_name
    private String taskname;
    // AGV编码
    @JsonProperty("AgvCode")
    @JSONField(name = "AgvCode")
    private String AgvCode;
    // 运输类型
    @JsonProperty("TransType")
    @JSONField(name = "TransType")
    private String TransType;
    // 生产线编码
    @JsonProperty("ProductLineId")
    @JSONField(name = "ProductLineId")
    private String ProductLineId;
    // 工位编码
    @JsonProperty("StationId")
    @JSONField(name = "StationId")
    private String StationId;
    // 任务类型
    @JsonProperty("TaskType")
    @JSONField(name = "TaskType")
    private String TaskType;

    //请求类型
    private String method;

}

 src/main/java/com/zy/asrs/entity/WrkMast.java

@@ -25,6 +25,10 @@

    private static final long serialVersionUID = 1L;

    @ApiModelProperty(value= "")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 工作号
     */

 src/main/java/com/zy/asrs/enums/RcsRetMethodEnum.java

New file
@@ -0,0 +1,45 @@
package com.zy.asrs.enums;

public enum RcsRetMethodEnum {

    TASK_START("start", "任务开始"),
    TASK_OUT_BIN("outbin", "走出储位"),

    APPLY_IN_STATION("applyInStation", "入站请求"),
    APPLY_OFF_STATION("applyOutStation", "离站请求"),
    ARRIVE_ON_STATION("arriveOnStation", "到站完成"),
    ARRIVE_OFF_STATION("arriveOffStation", "离站完成"),


    APPLY_PUT("applyPut", "放货申请"),
    TASK_END("end", "任务完成"),
    APPLY_PICK("applyPick", "取货申请"),
    PICK_COMPLETE("pickComplete", "rcs取货完成，已退出输送线");



    private String code;
    private String message;

    RcsRetMethodEnum(String code, String message) {
        this.code = code;
        this.message = message;
    }

    public static RcsRetMethodEnum getEnum(String code) {
        for (RcsRetMethodEnum method : RcsRetMethodEnum.values()) {
            if (method.getCode().equals(code)) {
                return method;
            }
        }
        return null;
    }

    public String getCode() {
        return code;
    }

    public String getMessage() {
        return message;
    }
}

 src/main/java/com/zy/asrs/mapper/TaskMapper.java

New file
@@ -0,0 +1,10 @@
package com.zy.asrs.mapper;

import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.asrs.entity.AgvTask;
import org.apache.ibatis.annotations.Mapper;

@Mapper
public interface TaskMapper extends BaseMapper<AgvTask> {

}

 src/main/java/com/zy/asrs/service/RcsService.java

New file
@@ -0,0 +1,15 @@
package com.zy.asrs.service;

import com.zy.asrs.entity.RcsReporterTask;
import com.zy.asrs.entity.RcsReturn;

public interface RcsService {

    /**
     * 2.2.1任务执行回馈
     *
     * @param rcsReporterTask
     * @return
     */
    RcsReturn reporterTask(RcsReporterTask rcsReporterTask);
}

 src/main/java/com/zy/asrs/service/TaskService.java

New file
@@ -0,0 +1,9 @@
package com.zy.asrs.service;

import com.baomidou.mybatisplus.service.IService;
import com.zy.asrs.entity.AgvTask;
import org.springframework.stereotype.Service;

@Service
public interface TaskService extends IService<AgvTask> {
}

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

@@ -2436,6 +2436,7 @@
            int workNo = commonService.getWorkNo(0);
            // 保存工作档
            WrkMast wrkMast = new WrkMast();
            wrkMast.setId();
            wrkMast.setWrkNo(workNo);
            wrkMast.setIoTime(new Date());
            wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID

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

New file
@@ -0,0 +1,318 @@
package com.zy.asrs.service.impl;

import com.alibaba.excel.util.StringUtils;
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.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;
import com.zy.core.model.Task;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.net.ConnectException;
import java.net.SocketTimeoutException;
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
public class RcsServiceImpl implements RcsService {
    // 海康RCS地址
    @Value("${hik.url}")
    private String HIK_URL;

    @Autowired
    private TaskService taskService;


    /**
     * 2.2.1任务执行回馈
     * 厂家：海量、华晓
     *
     * @param rcsReporterTask
     * @return
     */
    @Override
    public RcsReturn reporterTask(RcsReporterTask rcsReporterTask) {

        RcsReturn rcsReturn = new RcsReturn();

        String robotTaskCode = rcsReporterTask.getRobotTaskCode();
        String singleRobotCode = rcsReporterTask.getSingleRobotCode();
        String[] split = robotTaskCode.split("-");
        robotTaskCode = split[0];
        JSONObject values = rcsReporterTask.getExtra().getJSONObject("values");
        // start : 任务开始；outbin : 走出储位；end : 任务完成
        String method = values.getString("method");
        String carrierType = values.getString("carrierType");
        String slotCategory = values.getString("slotCategory");
        String slotCode = values.getString("slotCode");
        EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", robotTaskCode);
        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());
                                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())) {
                                        // 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);
                rcsReturn.setCode("Err_Internal");
                rcsReturn.setMessage("内部处理异常");
                JSONObject data = new JSONObject();
                data.put("robotTaskCode", robotTaskCode);
                rcsReturn.setData(data);
            }
        }
        return rcsReturn;
    }

    /**
     * 向指定 URL 发送POST方法的请求
     *
     * @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
     */
    public static String sendPost(String url, String param) {
        PrintWriter out = null;
        BufferedReader in = null;
        StringBuilder result = new StringBuilder();
        try
        {
            log.info("sendPost - {} - {}", url, param);
            URL realUrl = new URL(url);
            URLConnection conn = realUrl.openConnection();
            conn.setRequestProperty("Content-Type", "application/json");
            conn.setRequestProperty("Content-Length", "<calculated when request is sent>");
            conn.setRequestProperty("Host", "<calculated when request is sent>");
            conn.setRequestProperty("Accept", "*/*");
            conn.setRequestProperty("Accept-Encoding", "gzip, deflate, br");
            conn.setRequestProperty("Connection", "keep-alive");

            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.setDoOutput(true);
            conn.setDoInput(true);
            out = new PrintWriter(conn.getOutputStream());
            out.print(param);
            out.flush();
            in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
            String line;
            while ((line = in.readLine()) != null)
            {
                result.append(line);
            }
            log.info("recv - {}", result);
        }
        catch (ConnectException e)
        {
            log.error("调用HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
        }
        catch (SocketTimeoutException e)
        {
            log.error("调用HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
        }
        catch (IOException e)
        {
            log.error("调用HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
        }
        catch (Exception e)
        {
            log.error("调用HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
        }
        finally
        {
            try
            {
                if (out != null)
                {
                    out.close();
                }
                if (in != null)
                {
                    in.close();
                }
            }
            catch (IOException ex)
            {
                log.error("调用in.close Exception, url=" + url + ",param=" + param, ex);
            }
        }
        return result.toString();
    }
}

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

New file
@@ -0,0 +1,23 @@
package com.zy.asrs.service.impl;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.AgvTask;
import com.zy.asrs.entity.WaitPakin;
import com.zy.asrs.mapper.TaskMapper;
import com.zy.asrs.service.TaskService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.Date;
import java.util.List;
import java.util.concurrent.TimeUnit;

@Service
public class TaskServiceImpl extends ServiceImpl<TaskMapper, AgvTask> implements TaskService {

}

 src/main/java/com/zy/core/thread/SiemensDevpThread.java

@@ -131,6 +131,9 @@
                    case 2:
                        write((StaProtocol)task.getData());
                        break;
                    case 3:
                        write1((StaProtocol)task.getData());
                        break;
                    default:
                        break;
                }
@@ -340,6 +343,29 @@
        }
    }

    /**
     * 扫码器触发
     */
    private void write1(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        if(staProtocol.getSiteId() == 307){
            index = 0;
        }
        OperateResult writeResult1 = siemensS7Net.Write("DB100.500" + index,  1);    // 扫码器触发
        if (!writeResult1.IsSuccess) {

            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
        }
    }

    // 更新入出库模式
    private void updateIoMode() throws InterruptedException {
        if (this.ioModeOf2F != IoModeType.NONE) {

 src/main/resources/application.yml

@@ -36,6 +36,11 @@
wms:
  url: 127.0.0.1:8083/ljqwms

#海康对接
hik:
  switch: false
  url: http://172.26.11.98:80/rcs/rtas/

zyHikUrl: 10.10.10.200:9091/hik

# 下位机配置
@@ -43,13 +48,13 @@
  # 双深
  doubleDeep: true
  # 双深库位排号
  doubleLocs: 3
  doubleLocs: 1
  # 左深库位排号
#  doubleLocsLeft: 4,7,11,15,19,23
  # 右深库位排号
  doubleLocsRight: 1
  # 左浅库位排号
  shallowLocsLeft: 1
  shallowLocsLeft: 2
  # 右浅库位排号
  shallowLocsRight: 2
  # 一个堆垛机负责的货架排数

 src/main/resources/mapper/TaskMapper.xml

New file
@@ -0,0 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.mapper.TaskMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.AgvTask">
        <id column="id" property="id" />
        <result column="task_type" property="taskType" />

    </resultMap>
</mapper>