From 466cc943089116f996db0c2f249878a74fb1cc10 Mon Sep 17 00:00:00 2001
From: zyh <zyh@123>
Date: 星期六, 28 三月 2026 16:02:15 +0800
Subject: [PATCH] 最后可运行版本
---
src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java | 427 ++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 342 insertions(+), 85 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
index 8b333b8..c3c0439 100644
--- a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
@@ -1,6 +1,7 @@
package com.zy.asrs.service.impl;
import com.alibaba.excel.util.StringUtils;
+import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
@@ -11,6 +12,7 @@
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;
@@ -68,24 +70,29 @@
String slotCategory = values.getString("slotCategory");
String slotCode = values.getString("slotCode");
EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
- wrapper.eq("task_no", robotTaskCode);
+ // 淇敼鍚庣殑閫昏緫锛氭湁"-"鍒欏幓鎺夋渶鍚庝竴涓�"-"鍙婂悗闈㈠唴瀹癸紝娌℃湁鍒欎繚鎸佸師鏍�
+ String taskNo = rcsReporterTask.getRobotTaskCode();
+ if (taskNo.contains("-")) {
+ taskNo = taskNo.substring(0, taskNo.lastIndexOf("-"));
+ }
+ wrapper.eq("task_no", taskNo);
AgvTask task = agvTaskService.selectOne(wrapper);
if (!Cools.isEmpty(task)) {
try {
switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
//鏀捐揣鐢宠
case APPLY_PUT: {
- if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
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()) {
- if(task.getTaskType().equals("AGV琛ョ┖鏂欐灦")){
+ if (task.getTaskType().equals("AGV琛ョ┖鏂欐灦")) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
- rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
- rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
String url = HIK_URL + "api/robot/controller/task/extend/continue";
String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
@@ -98,9 +105,9 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
//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));
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol));
if (result) {
log.info("鍏ュ簱绔欑偣={}瑙﹀彂鎵爜鎴愬姛", staProtocol.getSiteId());
// 杩斿洖RCS
@@ -110,9 +117,9 @@
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
- rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
- rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
String url = HIK_URL + "api/robot/controller/task/extend/continue";
String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
@@ -129,12 +136,23 @@
}
}
}
- }else {
+ } else {
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
transParent.setStationId(task.getStaNo());
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ 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");
@@ -142,7 +160,7 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -157,13 +175,32 @@
//鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑
case TASK_END: {
- if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ try {
+ Thread.sleep(5000);
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ if (task.getStaNo().equals("Q-E1")){
+ // 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());
+ agvTaskService.updateById(task);
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+
+ else if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
Integer sourceStaNo = Integer.valueOf(task.getStaNo());
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
Boolean boo = false;
Short wrkNo = 9991;
- if(task.getStaNo().equals("307")){
+ if (task.getStaNo().equals("307")) {
wrkNo = 9997;
}
@@ -172,14 +209,14 @@
if (task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && !staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
boo = true;
wrkNo = 9998;
- } else if (!task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
+ } else if (!task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType()) {
boo = true;
}
if (boo) {
staProtocol.setWorkNo(wrkNo);//绌烘枡鏋跺埌浣嶄俊鍙风偣
staProtocol.setStaNo(Short.valueOf("0"));
- 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());
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ log.info("AGV鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9997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
@@ -188,6 +225,7 @@
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
+
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
@@ -207,23 +245,49 @@
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
}
- }else {
- // 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());
- agvTaskService.updateById(task);
- // 杩斿洖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");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ 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");
+ }
+ //鏀捐揣绂诲紑绔欑偣
+ int i = AGVDepartureCompleted(transParent);
+ if (i == 1) {
+ // 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());
+ agvTaskService.updateById(task);
+ 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: {
- if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
+ 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();
@@ -239,7 +303,7 @@
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())) {
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
@@ -256,43 +320,25 @@
}
}
}
- }else {
+ } else {
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setStationId(task.getStaNo());
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setStationId(task.getSourceStaNo());
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ 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");
- 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.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();
@@ -306,14 +352,80 @@
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: {
+ 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();
+ //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.setWorkNo((short) 0);
+ staProtocol.setStaNo((short) 0);
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new 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) {
+ task.setWrkSts(303L);
+ agvTaskService.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);
+ }
+ }
+ } else {
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setStationId(task.getSourceStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ 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");
+ }
+ //鍙栬揣绂诲紑绔欑偣
+ int i = AGVDepartureCompleted(transParent);
+ if (i == 1) {
+ 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;
//AGV鍙栬揣绂荤珯璇锋眰
- case APPLY_IN_OFF_STATION:{
+ case APPLY_IN_OFF_STATION: {
+
//濡傛灉鏄珛搴撶珯鐐圭洿鎺ュ厑璁哥绔�
- if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
+ if (task.getSourceStaNo().equals("401") || task.getSourceStaNo().equals("402") || task.getSourceStaNo().equals("307")) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
@@ -323,7 +435,7 @@
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())) {
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
@@ -339,13 +451,33 @@
rcsReturn.setData(data);
}
}
- }else{
+ } else {
+
+ // 寤惰繜澶勭悊锛岀‘淇濆埌绔欏畬鎴愪俊鍙蜂紭鍏堝鐞�
+ try {
+ Thread.sleep(5000); // 鐫＄湢5绉�
+ } catch (InterruptedException e)
+ {
+ Thread.currentThread().interrupt();
+ }
+
//濡傛灉鏄伐浣嶉渶瑕佸儚mes璇锋眰绂荤珯
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setStationId(task.getStaNo());
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setStationId(values.getString("slotName"));
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ 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");
@@ -353,7 +485,7 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -362,12 +494,12 @@
rcsReturn.setData(data);
}
}
- break;
+ break;
}
//AGV鏀捐揣绂荤珯璇锋眰
- case APPLY_OFF_STATION:{
+ case APPLY_OFF_STATION: {
//濡傛灉鏄珛搴撶珯鐐圭洿鎺ュ厑璁哥绔�
- if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307") || task.getTaskType().equals("AGV琛ョ┖鏂欐灦")) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
@@ -377,8 +509,8 @@
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
+ if ("SUCCESS".equals(rcsReturn1.getCode())) {
+// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
JSONObject data = new JSONObject();
@@ -393,13 +525,32 @@
rcsReturn.setData(data);
}
}
- }else{
+ } else {
+ // 寤惰繜澶勭悊锛岀‘淇濆埌绔欏畬鎴愪俊鍙蜂紭鍏堝鐞�
+ try {
+ Thread.sleep(5000); // 鐫＄湢5绉�
+ } catch (InterruptedException e)
+ {
+ Thread.currentThread().interrupt();
+ }
+
//濡傛灉鏄伐浣嶉渶瑕佸儚mes璇锋眰绂荤珯
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setStationId(task.getStaNo());
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setStationId(values.getString("slotName"));
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ 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");
@@ -407,7 +558,7 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -417,6 +568,50 @@
}
}
+ break;
+ }
+ //鍒扮珯瀹屾垚
+ case ARRIVE_ON_STATION: {
+ if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || values.getString("slotName").equals("307")) {
+ // 杩斿洖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(values.getString("slotName"));
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ 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 {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
break;
}
@@ -463,8 +658,8 @@
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 +733,66 @@
return 0;
}
+
+ /**
+ * 绂荤珯瀹屾垚锛歸ms->mes
+ * AGV绂诲紑鎺ラ┏浣嶅悗鍙戦�佺寮�鐘舵�佺粰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;
+ }
+
+ /**
+ * 鍒扮珯瀹屾垚锛欰GV鍒拌揪宸ヤ綅閲岄潰--銆媘es鍒颁綅瀹屾垚
+ *
+ * @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;
+ }
+
+ public void agvPause(StaProtocol staProtocol){
+ if (staProtocol.isHighError()) {
+ String url = HIK_URL + "/api/robot/controller/zone/pause";
+ try {
+
+ System.out.println("瓒呴珮鎶ヨ");
+ JSONObject params = null;
+ params.put("zoneCode", "GK307");
+ params.put("mapCode", "BB");
+ params.put("invoke", "FREEZE");
+ String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(params));
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (!StringUtils.isEmpty(response) && (jsonObject.getString("code").equals("SUCCESS") || jsonObject.getInteger("code") == 200)) {
+ System.out.println("鏆傚仠鎴愬姛");
+ }
+ } catch (Exception e) {
+ throw new RuntimeException(e);
+ }
+ }
+ }
}
--
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