From 0fdc564dfcc46dcf50f1c3cc916b5cf17bae92e6 Mon Sep 17 00:00:00 2001
From: zwl <1051256694@qq.com>
Date: 星期四, 25 十二月 2025 18:34:36 +0800
Subject: [PATCH] 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.wcs反馈rcs继续执行 6.rcs取货完成，已退出输送线,重置站点工作号和目标站
---
src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java | 317 ++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 317 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
new file mode 100644
index 0000000..ec9d0e7
--- /dev/null
+++ b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
@@ -0,0 +1,317 @@
+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.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 {
+ // 娴峰悍RCS鍦板潃
+ @Value("${hik.url}")
+ private String HIK_URL;
+
+ @Autowired
+ private TaskService taskService;
+
+
+ /**
+ * 2.2.1浠诲姟鎵ц鍥為
+ * 鍘傚锛氭捣閲忋�佸崕鏅�
+ *
+ * @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 : 浠诲姟寮�濮嬶紱outbin : 璧板嚭鍌ㄤ綅锛沞nd : 浠诲姟瀹屾垚
+ String method = values.getString("method");
+ String carrierType = values.getString("carrierType");
+ String slotCategory = values.getString("slotCategory");
+ String slotCode = values.getString("slotCode");
+ EntityWrapper<Task> wrapper = new EntityWrapper<>();
+ wrapper.eq("task_no", robotTaskCode);
+ Task task = taskService.selectOne(wrapper);
+ if(!Cools.isEmpty(task)){
+ try {
+ // q3,q8=1
+ if ("1".equals(carrierType)) { //AGV
+
+ switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
+ //鏀捐揣鐢宠
+ 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鍙嶉rcs缁х画鎵ц
+ 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())) {
+ //鍑哄彂PLC绔欑偣鐨勬壂鐮佸櫒鎵爜
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
+ log.info("AGV鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9991宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}",result,task.getStaNo(),task.getTaskNo());
+ if (result) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ }
+ }
+ }
+ break;
+
+ //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑
+ case TASK_END: {
+ Integer sourceStaNo = Integer.valueOf(task.getStaNo());
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑 --銆嬬粰PLC绔欑偣鍐�9991宸ヤ綔鍙�
+ 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鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9991宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}",result,task.getStaNo(),task.getTaskNo());
+ if(result){
+ // 鏇存柊浠诲姟鐘舵�佺瓑鍐呴儴閫昏緫
+ task.setWrkSts(304L); // 301 浠诲姟涓嬪彂銆�302 浠诲姟鎵ц銆�303 浠诲姟涓柇銆�304 浠诲姟缁撴潫
+ task.setModiTime(new Date());
+ taskService.updateById(task);
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ }
+ break;
+ //rcs璇锋眰wms鍙栬揣鐢宠
+ case APPLY_PICK: {
+ Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ //鍒ゆ柇绔欑偣鏄惁鏈夋枡鏋跺拰鎵樼洏
+ 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())) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ }
+ }
+ break;
+ //rcs鍙栬揣瀹屾垚锛屽凡閫�鍑鸿緭閫佺嚎
+ case PICK_COMPLETE: {
+ Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑 --銆嬬粰PLC绔欑偣鍐�9991宸ヤ綔鍙�
+ 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鍙栬揣瀹屾垚锛岀粰绔欑偣鍐�0宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}",result,task.getStaNo(),task.getTaskNo());
+ if(result){
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖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鍙嶉浠诲姟杩涘害澶勭悊寮傚父 - {}", rcsReporterTask, e);
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("鍐呴儴澶勭悊寮傚父");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ return rcsReturn;
+ }
+
+ /**
+ * 鍚戞寚瀹� URL 鍙戦�丳OST鏂规硶鐨勮姹�
+ *
+ * @param url 鍙戦�佽姹傜殑 URL
+ * @param param 璇锋眰鍙傛暟锛岃姹傚弬鏁板簲璇ユ槸 name1=value1&name2=value2 鐨勫舰寮忋��
+ * @return 鎵�浠ｈ〃杩滅▼璧勬簮鐨勫搷搴旂粨鏋�
+ */
+ 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("璋冪敤HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
+ }
+ catch (SocketTimeoutException e)
+ {
+ log.error("璋冪敤HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
+ }
+ catch (IOException e)
+ {
+ log.error("璋冪敤HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
+ }
+ catch (Exception e)
+ {
+ log.error("璋冪敤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("璋冪敤in.close Exception, url=" + url + ",param=" + param, ex);
+ }
+ }
+ return result.toString();
+ }
+}
--
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