From a8bb23b90b99f1898c2a0d0335115c69a6db761d Mon Sep 17 00:00:00 2001
From: zyh <zyh@123>
Date: 星期六, 24 一月 2026 08:33:19 +0800
Subject: [PATCH] 添加了联结器库特殊站点时调用AGV特殊模板，添加人员入侵系统检测到有人时急停AGV的接口，修复AGV工作档没有任务号的漏洞
---
src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java | 53 ++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 50 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java b/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java
index 2dd58e0..f9eb275 100644
--- a/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AGVTaskReportHandler.java
@@ -7,7 +7,10 @@
import com.zy.asrs.service.RcsService;
import com.zy.asrs.task.AbstractHandler;
import com.zy.asrs.task.core.ReturnT;
+import com.zy.common.properties.StationProperties;
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 org.springframework.transaction.annotation.Transactional;
@@ -23,6 +26,8 @@
@Resource
private RcsService rcsService;
+ @Autowired
+ private StationProperties stationProperties;
public ReturnT<String> start(Task task) {
@@ -37,21 +42,63 @@
}else if(task.getIoType()==5){
SourceStaNoType = "ZONE";
}
+ String taskType = "PP";
+ Boolean flag1 = false;
+ Boolean flag2 = false;
+ Boolean cpFlag1 = false;
+ Boolean cpFlag2 = false;
+ if(stationProperties.getStation().contains(task.getStaNo())){
+ if (task.getStaNo().equals("Z-LVL18")){
+ taskType = "LJCPIN";
+ cpFlag1 = true;
+ }else {
+ taskType = "LJIN";
+ flag1 = true;
+ }
+ }
+ if (stationProperties.getStation().contains(task.getSourceStaNo())){
+ if (task.getSourceStaNo().equals("Z-LVL18")){
+ cpFlag2 = true;
+ taskType = "LJCPOUT";
+ }else{
+ taskType = "LJOUT";
+ flag2 = true;
+ }
+ }
+ if(flag1 && flag2){
+ taskType = "LJBOTH";
+ }
+ if (cpFlag1 && cpFlag2){
+ taskType = "LJCPBOTH";
+ }
+ //AGV鍖哄煙涓棤娉曠敤-
+ String StaNo = task.getStaNo();
+ String SourceStaNo = task.getSourceStaNo();
+ if (task.getStaNo().split("-")[0].equals("Q")) {
+ String[] split = task.getStaNo().split("-");
+ StaNo = split[0]+split[1];
+ }
+ if (task.getSourceStaNo().split("-")[0].equals("Q")) {
+ String[] split = task.getSourceStaNo().split("-");
+ SourceStaNo = split[0]+split[1];
+ }
+
// 涓嬪彂缁橰CS
RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
- rcsTaskSubmit.setRobotTaskCode(task.getTaskNo());
+ rcsTaskSubmit.setTaskType(taskType);
+ rcsTaskSubmit.setRobotTaskCode(task.getTaskNo()+"-"+task.getCtnType());
rcsTaskSubmit.setInitPriority(10); //榛樿10
List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
startRoute.setSeq(0);
startRoute.setType(SourceStaNoType);
- startRoute.setCode(task.getSourceStaNo());
+ startRoute.setCode(SourceStaNo);
startRoute.setOperation("COLLECT");
targetRouteList.add(startRoute);
RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
endRoute.setSeq(1);
endRoute.setType(TargetStaNoType);
- endRoute.setCode(task.getStaNo());
+ endRoute.setCode(StaNo);
endRoute.setOperation("DELIVERY");
targetRouteList.add(endRoute);
rcsTaskSubmit.setTargetRoute(targetRouteList);
--
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