Agv任务上报、输送线扫描托盘

cpte-boot-base-core/src/main/java/org/jeecg/common/aspect/AutoLogAspect.java

@@ -104,7 +104,9 @@ public class AutoLogAspect {
         if(sysUser!=null){
             dto.setUserid(sysUser.getUsername());
             dto.setUsername(sysUser.getRealname());
-
+        }else {
+            dto.setUserid("赛意");
+            dto.setUsername("赛意");
         }
         //耗时
         dto.setCostTime(time);

cpte-boot-base-core/src/main/java/org/jeecg/common/aspect/DictAspect.java

@@ -52,10 +52,20 @@ public class DictAspect {
     /**
      * 定义切点Pointcut
      */
-    @Pointcut("(@within(org.springframework.web.bind.annotation.RestController) || " +
+/*    @Pointcut("(@within(org.springframework.web.bind.annotation.RestController) || " +
             "@within(org.springframework.stereotype.Controller) || @annotation(org.jeecg.common.aspect.annotation.AutoDict)) " +
             "&& execution(public org.jeecg.common.api.vo.Result org.jeecg..*.*(..)) || execution(public * org.cpte..*.*Controller.*(..))")
     public void excudeService() {
+    }*/
+
+    /**
+     * 定义切点Pointcut
+     */
+    @Pointcut("(@within(org.springframework.web.bind.annotation.RestController) || " +
+            "@within(org.springframework.stereotype.Controller) || @annotation(org.jeecg.common.aspect.annotation.AutoDict)) " +
+            "&& (execution(public org.jeecg.common.api.vo.Result org.jeecg..*.*(..)) || " +
+            "(execution(public * org.cpte..*.*Controller.*(..)) && !execution(public org.cpte.modules.hikAgv.response.* org.cpte.modules.hikAgv.controller.*.*(..))))")
+    public void excudeService() {
     }
 
     @Around("excudeService()")

cpte-boot-module/cpte-module-wms/pom.xml

@@ -14,5 +14,9 @@
             <groupId>org.jeecgframework.boot3</groupId>
             <artifactId>cpte-boot-base-core</artifactId>
         </dependency>
+        <dependency>
+            <groupId>org.jeecgframework.boot3</groupId>
+            <artifactId>cpte-system-biz</artifactId>
+        </dependency>
     </dependencies>
 </project>

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/entity/AgvTask.java

@@ -1,6 +1,7 @@
 package org.cpte.modules.agvTask.entity;
 
 import java.io.Serializable;
+import java.sql.Timestamp;
 
 import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.TableId;
@@ -13,6 +14,8 @@ import org.jeecgframework.poi.excel.annotation.Excel;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.experimental.Accessors;
 
+import javax.persistence.Column;
+
 /**
  * @Description: AGV任务表
  * @author: cpte
@@ -99,13 +102,27 @@ public class AgvTask implements Serializable {
     @Schema(description = "返回报文")
     private java.lang.String resMessage;
     /**
-     * 返回时间
+     *走出储位时间
      */
-    @Excel(name = "返回时间", width = 20, format = "yyyy-MM-dd HH:mm:ss")
     @JsonFormat(timezone = "GMT+8", pattern = "yyyy-MM-dd HH:mm:ss")
     @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
-    @Schema(description = "返回时间")
-    private java.util.Date resMessageTime;
+    @Schema(description = "走出储位时间")
+    private java.util.Date outBinTime;
+
+    /**
+     * 开始时间
+     */
+    @JsonFormat(timezone = "GMT+8", pattern = "yyyy-MM-dd HH:mm:ss")
+    @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @Schema(description = "开始时间")
+    private java.util.Date startTime;
+    /**
+     * 完成时间
+     */
+    @JsonFormat(timezone = "GMT+8", pattern = "yyyy-MM-dd HH:mm:ss")
+    @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @Schema(description = "完成时间")
+    private java.util.Date endTime;
     /**
      * 所属部门
      */

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/mapper/AgvTaskMapper.java

@@ -3,6 +3,7 @@ package org.cpte.modules.agvTask.mapper;
 import java.util.List;
 
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 import org.cpte.modules.agvTask.entity.AgvTask;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
 
@@ -13,5 +14,6 @@ import com.baomidou.mybatisplus.core.mapper.BaseMapper;
  * @Version: V1.0
  */
 public interface AgvTaskMapper extends BaseMapper<AgvTask> {
-
+    @Select(value = "select count(agv.id) from data_agv_task where carrier_code = #{carrierCode} and start_code = #{startCode} and end_code= #{endCode}  and status in ('CREATED','ARRIVED','EXECUTING') ")
+    Long isAGVTaskDuplicate(String carrierCode, String startCode, String endCode);
 }

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/service/IAgvTaskService.java

@@ -3,6 +3,8 @@ package org.cpte.modules.agvTask.service;
 import org.cpte.modules.agvTask.entity.AgvTask;
 import com.baomidou.mybatisplus.extension.service.IService;
 
+import java.util.List;
+
 /**
  * @Description: AGV任务表
  * @author: cpte
@@ -22,4 +24,10 @@ public interface IAgvTaskService extends IService<AgvTask> {
      */
     AgvTask createAgvTask(String status, String carrierCode, String startCode, String endCode, String taskType,String type);
 
+    /**
+     * 查询agvTask任务列表
+     *
+     * @param status 状态
+     */
+    List<AgvTask> queryAgvTaskList(String status);
 }

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/service/impl/AgvTaskServiceImpl.java

@@ -1,5 +1,6 @@
 package org.cpte.modules.agvTask.service.impl;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.cpte.modules.agvTask.entity.AgvTask;
 import org.cpte.modules.agvTask.mapper.AgvTaskMapper;
 import org.cpte.modules.agvTask.service.IAgvTaskService;
@@ -9,6 +10,8 @@ import org.springframework.stereotype.Service;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * @Description: AGV任务表
  * @author: cpte
@@ -33,4 +36,11 @@ public class AgvTaskServiceImpl extends ServiceImpl<AgvTaskMapper, AgvTask> impl
                 .build();
         return this.save(agvTask) ? agvTask : null;
     }
+
+    @Override
+    public List<AgvTask> queryAgvTaskList(String status) {
+        LambdaQueryWrapper<AgvTask> queryWrapper = new LambdaQueryWrapper<>();
+        queryWrapper.eq(AgvTask::getStatus, status);
+        return this.list(queryWrapper);
+    }
 }

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/controller/ConveyorLineController.java

@@ -0,0 +1,42 @@
+package org.cpte.modules.conveyorLine.controller;
+
+import com.alibaba.fastjson.JSON;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.extern.slf4j.Slf4j;
+import org.cpte.modules.conveyorLine.request.ScanTrayRequest;
+import org.cpte.modules.conveyorLine.service.IConveyorLineService;
+import org.jeecg.common.api.vo.Result;
+import org.jeecg.common.aspect.annotation.AutoLog;
+import org.jeecg.config.shiro.IgnoreAuth;
+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;
+
+@Tag(name = "输送线")
+@RestController
+@RequestMapping("/api/conveyorLine")
+@Slf4j
+public class ConveyorLineController {
+
+    @Autowired
+    private IConveyorLineService iConveyorLineService;
+
+    /**
+     * 输送线扫描
+     *
+     * @param scanTrayRequest 请求参数
+     */
+    @AutoLog(value = "输送线扫描")
+    @Operation(summary = "输送线-扫描托盘")
+    @PostMapping(value = "/scanTray")
+    @IgnoreAuth
+    public Result<String> scanTray(@RequestBody @Valid ScanTrayRequest scanTrayRequest) {
+        iConveyorLineService.scanTray(scanTrayRequest);
+        return Result.OK("扫描成功");
+    }
+
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/request/ScanTrayRequest.java

@@ -0,0 +1,13 @@
+package org.cpte.modules.conveyorLine.request;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+
+@Data
+public class ScanTrayRequest {
+    //托盘码
+    @NotBlank(message = "托盘码不能为空")
+    @JsonProperty("stockCode")
+    private String stockCode;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/IConveyorLineService.java

@@ -0,0 +1,13 @@
+package org.cpte.modules.conveyorLine.service;
+
+import org.cpte.modules.conveyorLine.request.ScanTrayRequest;
+
+public interface IConveyorLineService {
+
+    /**
+     * 扫描托盘
+     *
+     * @param scanTrayRequest 扫描托盘请求参数
+     */
+    void scanTray(ScanTrayRequest scanTrayRequest);
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/impl/IConveyorLineServiceImpl.java

@@ -0,0 +1,27 @@
+package org.cpte.modules.conveyorLine.service.impl;
+
+import lombok.extern.slf4j.Slf4j;
+import org.cpte.modules.conveyorLine.request.ScanTrayRequest;
+import org.cpte.modules.conveyorLine.service.IConveyorLineService;
+import org.cpte.modules.receive.entity.AsnDetail;
+import org.cpte.modules.receive.mapper.AsnDetailMapper;
+import org.cpte.modules.receive.service.IAsnService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Service
+@Slf4j
+public class IConveyorLineServiceImpl implements IConveyorLineService {
+    @Autowired
+    private AsnDetailMapper asnDetailMapper;
+
+    @Override
+    public void scanTray(ScanTrayRequest scanTrayRequest) {
+        AsnDetail asnDetail=asnDetailMapper.queryByStockCode(scanTrayRequest.getStockCode());
+        if(asnDetail==null){
+            throw new RuntimeException("【"+scanTrayRequest.getStockCode()+"】托盘,无入库信息");
+        }
+    }
+}
+
+

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/controller/HikAgvController.java

@@ -0,0 +1,60 @@
+package org.cpte.modules.hikAgv.controller;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.extern.slf4j.Slf4j;
+import org.cpte.modules.hikAgv.request.submit.SubmitRequest;
+import org.cpte.modules.hikAgv.request.taskReporter.TaskReporterRequest;
+import org.cpte.modules.hikAgv.response.ResponesData;
+import org.cpte.modules.hikAgv.service.IHikAgvService;
+import org.jeecg.common.api.vo.Result;
+import org.cpte.modules.hikAgv.response.HikResult;
+import org.jeecg.common.aspect.annotation.AutoLog;
+import org.jeecg.config.shiro.IgnoreAuth;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.ResponseEntity;
+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;
+
+@Tag(name = "海康AGV")
+@RestController
+@RequestMapping("/api/robot")
+@Slf4j
+public class HikAgvController {
+
+    @Autowired
+    private IHikAgvService hikAgvService;
+
+    /**
+     * 任务下发
+     *
+     * @param submitRequest 请求参数
+     */
+    @AutoLog(value = "任务下发")
+    @Operation(summary = "海康AGV-任务下发")
+    @PostMapping(value = "/controller/task/submit")
+    @IgnoreAuth
+    public Result<String> submit(@RequestBody SubmitRequest submitRequest) {
+        hikAgvService.sendAgvTask("http://localhost:8000/cpte-wms/rcs/rtas/api/robot/controller/task/submit", JSON.toJSONString(submitRequest), null);
+        return Result.OK("下发成功!");
+    }
+
+    @AutoLog(value = "任务上报")
+    @Operation(summary = "海康AGV-任务上报")
+    @PostMapping(value = "/reporter/task")
+    @IgnoreAuth
+    public HikResult taskReporter(@RequestBody TaskReporterRequest taskReporterRequest) {
+        try {
+            hikAgvService.taskReporter(taskReporterRequest);
+            ResponesData data = new ResponesData();
+            data.setRobotTaskCode(taskReporterRequest.getRobotTaskCode());
+            return HikResult.success(data);
+        } catch (Exception e) {
+            return HikResult.error("上报失败: " + e.getMessage());
+        }
+    }
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/submit/AngleInfo.java

@@ -0,0 +1,28 @@
+package org.cpte.modules.hikAgv.request.submit;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 角度信息类
+ *
+ * 用于描述AGV在工作站的角度信息配置，包括角度类型和具体角度值。
+ */
+@Data
+public class AngleInfo {
+    /**
+     * 角度类型
+     * 可扩展枚举值，预制枚举值：
+     * ABSOLUTE: 绝对角度（与工作站的方向有关）
+     */
+    @JsonProperty("type")
+    private String type;
+
+    /**
+     * 角度值
+     * 与 type 对应的具体角度值
+     * 支持的角度值：[0, 90, 180, -90, 360]
+     */
+    @JsonProperty("code")
+    private String code;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/submit/CarrierInfo.java

@@ -0,0 +1,34 @@
+package org.cpte.modules.hikAgv.request.submit;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 载具信息类
+ *
+ * 用于描述AGV运输过程中承载货物的载具信息，包括载具类型、编码和层号等属性。
+ */
+@Data
+public class CarrierInfo {
+
+    /**
+     * 载具类型
+     * 描述载具的类型信息
+     */
+    @JsonProperty("carrierType")
+    private String carrierType;
+
+    /**
+     * 载具编码
+     * 载具的唯一标识编码
+     */
+    @JsonProperty("carrierCode")
+    private String carrierCode;
+
+    /**
+     * 层号
+     * 货物所在的层数，从0开始计数，从下往上编号
+     */
+    @JsonProperty("layer")
+    private String layer;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/submit/Extra.java

@@ -0,0 +1,30 @@
+package org.cpte.modules.hikAgv.request.submit;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 扩展信息类
+ *
+ * 用于承载AGV任务的扩展配置信息，包括角度信息和载具信息等可选配置。
+ */
+@Data
+public class Extra {
+
+    /**
+     * 角度信息
+     * 包含角度类型与角度值，用于指定AGV在工作站的角度配置
+     */
+    @JsonProperty("angleInfo")
+    private AngleInfo angleInfo;
+
+    /**
+     * 载具信息集合
+     * 包含载具编号、层号等信息，用于描述运输过程中的载具配置
+     * 支持多个载具信息的配置
+     */
+    @JsonProperty("carrierInfo")
+    private List<CarrierInfo> carrierInfo;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/submit/SubmitRequest.java

@@ -0,0 +1,104 @@
+package org.cpte.modules.hikAgv.request.submit;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.annotation.JsonPropertyOrder;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * AGV任务提交请求类
+ * <p>
+ * 用于向AGV系统提交任务请求的DTO对象，包含任务执行所需的所有参数配置。
+ * 支持配置任务类型、执行路径、优先级、截止时间、机器人资源等核心属性。
+ */
+
+@JsonPropertyOrder({
+        "taskType",
+        "targetRoute",
+        "initPriority",
+        "deadline",
+        "robotType",
+        "robotCode",
+        "interrupt",
+        "robotTaskCode",
+        "groupCode",
+        "extra"
+})
+@Data
+public class SubmitRequest {
+    /**
+     * 任务类型
+     * 指定AGV需要执行的任务类型
+     */
+    @JsonProperty("taskType")
+    private String taskType;
+
+    /**
+     * 执行步骤集合
+     * 任务执行的路径规划和步骤集合
+     */
+    @JsonProperty("targetRoute")
+    private List<TargetRoute> targetRoute;
+
+    /**
+     * 优先级
+     * 任务的初始优先级设置
+     */
+    @JsonProperty("initPriority")
+    private Integer initPriority;
+
+    /**
+     * 截止时间
+     * 任务的截止时间，采用ISO 8601格式（如：2021-04-04T12:23:55Z）
+     */
+    @JsonProperty("deadline")
+    private String deadline;
+
+    /**
+     * 机器人类型
+     * 指定机器人的资源类型，固定枚举值
+     * GROUPS: 机器人资源组编号
+     * ROBOTS: 机器人编号
+     */
+    @JsonProperty("robotType")
+    private String robotType;
+
+    /**
+     * 机器人编码
+     * 与 robotType 匹配的资源类型唯一标识，支持单个和多个编号
+     */
+    @JsonProperty("robotCode")
+    private List<String> robotCode;
+
+    /**
+     * 能否打断
+     * 任务执行过程中是否允许被打断
+     * 1: 可打断 - 该货架中途有其他任务时，打断当前任务
+     * 0: 不可打断 - 该货架中途有其他任务时，不能打断当前任务，默认不可打断
+     */
+    @JsonProperty("interrupt")
+    private Integer interrupt;
+
+    /**
+     * 机器人任务编码
+     * 外部任务唯一编号，如果为空则由系统生成并返回
+     */
+    @JsonProperty("robotTaskCode")
+    private String robotTaskCode;
+
+    /**
+     * 任务组编码
+     * 任务组编号，全局唯一标识
+     */
+    @JsonProperty("groupCode")
+    private String groupCode;
+
+    /**
+     * 扩展字段
+     * 自定义扩展字段，支持不同业务场景的扩展内容，
+     * 可用于业务流程执行或透传上报
+     */
+    @JsonProperty("extra")
+    private Extra extra;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/submit/TargetRoute.java

@@ -0,0 +1,70 @@
+package org.cpte.modules.hikAgv.request.submit;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 目标路径类
+ *
+ * 用于描述AGV任务执行过程中的目标路径信息，包含目标位置、操作类型、资源配置等详细信息。
+ */
+@Data
+public class TargetRoute {
+
+    /**
+     * 目标路径序列
+     * 路径执行顺序编号，从0开始计数
+     */
+    @JsonProperty("seq")
+    private Integer seq;
+
+    /**
+     * 目标类型
+     * 指定目标位置的类型
+     */
+    @JsonProperty("type")
+    private String type;
+
+    /**
+     * 目标编号
+     * 目标位置的唯一标识编码
+     */
+    @JsonProperty("code")
+    private String code;
+
+    /**
+     * 到达目标位置后的操作
+     * 国标要求，非必要字段，对AMR动作无影响，支持可扩展枚举值
+     * 预制枚举值：
+     * COLLECT: 取货
+     * DELIVERY: 送货
+     * ROTATE: 旋转
+     */
+    @JsonProperty("operation")
+    private String operation;
+
+    /**
+     * 机器人类型
+     * 指定机器人的资源类型，固定枚举值：
+     * GROUPS: 机器人资源组编号
+     * ROBOTS: 机器人编号
+     */
+    @JsonProperty("robotType")
+    private String robotType;
+
+    /**
+     * 机器人编码
+     * 与 [robotType] 匹配的资源类型唯一标识
+     */
+    @JsonProperty("robotCode")
+    private List<String> robotCode;
+
+    /**
+     * 扩展字段
+     * 自定义扩展字段，可随业务的差异而传入不同的扩展内容，在业务流程的执行中使用
+     */
+    @JsonProperty("extra")
+    private Extra extra;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/taskReporter/Extra.java

@@ -0,0 +1,15 @@
+package org.cpte.modules.hikAgv.request.taskReporter;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+@Data
+public class Extra {
+
+    @JsonProperty("async")
+    private String async;
+
+    //节点信息
+    @JsonProperty("values")
+    private Values values;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/taskReporter/TaskReporterRequest.java

@@ -0,0 +1,36 @@
+package org.cpte.modules.hikAgv.request.taskReporter;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * AGV任务状态上报请求类
+ * <p>
+ * 用于AGV任务执行过程中向系统上报任务状态信息的DTO对象，
+ * 包含任务执行的关键节点信息和当前位置信息。
+ */
+@Data
+public class TaskReporterRequest {
+
+    /**
+     * 机器人任务编码
+     * 外部任务唯一编号，用于关联具体任务实例
+     */
+    @JsonProperty("robotTaskCode")
+    private String robotTaskCode;
+
+    /**
+     * 当前执行任务的机器人唯一标识
+     * 用于标识执行当前任务的具体AGV设备
+     */
+    @JsonProperty("singleRobotCode")
+    private String singleRobotCode;
+
+    /**
+     * 自定义扩展字段
+     * 包含任务执行过程中的详细状态信息和其他扩展数据
+     */
+    @JsonProperty("extra")
+    private Extra extra;
+
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/request/taskReporter/Values.java

@@ -0,0 +1,124 @@
+package org.cpte.modules.hikAgv.request.taskReporter;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * AGV任务状态上报值对象
+ * <p>
+ * 包含AGV任务执行过程中的详细状态信息，如位置坐标、载具信息、机器人信息等
+ */
+@Data
+public class Values {
+
+    /**
+     * 地图编号
+     * 标识当前AGV所在地图的唯一编码
+     */
+    @JsonProperty("mapCode")
+    private String mapCode;
+
+    /**
+     * 存储类型
+     * 枚举值：
+     * BIN - 仓位
+     * SITE - 站点
+     */
+    @JsonProperty("slotCategory")
+    private String slotCategory;
+
+    /**
+     * 当前站点编号
+     * AGV当前所在的站点位置编码
+     */
+    @JsonProperty("slotCode")
+    private String slotCode;
+
+    /**
+     * 站点别名
+     * 1.走出储位：起点
+     * 2.任务完成：目标点
+     */
+    @JsonProperty("slotName")
+    private String slotName;
+
+    /**
+     * 机器人当前位置 x 坐标
+     * AGV在地图中的X轴坐标值
+     */
+    @JsonProperty("x")
+    private Integer x;
+
+    /**
+     * 机器人当前位置 y 坐标
+     * AGV在地图中的Y轴坐标值
+     */
+    @JsonProperty("y")
+    private Integer y;
+
+    /**
+     * 任务执行过程中消息上报的方法名
+     * 默认使用方式:
+     * start : 任务开始
+     * outbin : 走出储位
+     * end : 任务完成
+     */
+    @JsonProperty("method")
+    private String method;
+
+    /**
+     * 载具种类
+     * 标识载具的分类信息
+     */
+    @JsonProperty("carrierCategory")
+    private String carrierCategory;
+
+    /**
+     * 载具类型
+     * 标识载具的具体型号或类型
+     */
+    @JsonProperty("carrierType")
+    private String carrierType;
+
+    /**
+     * 载具编号
+     * 当前任务关联的载具唯一标识
+     */
+    @JsonProperty("carrierCode")
+    private String carrierCode;
+
+    /**
+     * 机器人种类
+     * 标识机器人的分类信息
+     */
+    @JsonProperty("amrCategory")
+    private String amrCategory;
+
+    /**
+     * 机器人类型
+     * 标识机器人的具体型号或类型
+     */
+    @JsonProperty("amrType")
+    private String amrType;
+
+    /**
+     * 机器人编号
+     * 机器人的唯一标识编码
+     */
+    @JsonProperty("amrCode")
+    private String amrCode;
+
+    /**
+     * 载具名称
+     * 载具的显示名称或描述信息
+     */
+    @JsonProperty("carrierName")
+    private String carrierName;
+
+    /**
+     * 载具角度
+     * 载具当前的方向角度值
+     */
+    @JsonProperty("carrierDir")
+    private String carrierDir;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/response/HikResult.java

@@ -0,0 +1,46 @@
+package org.cpte.modules.hikAgv.response;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import java.io.Serializable;
+
+/**
+ * 接口返回数据格式
+ *
+ * @author scott
+ * @email cpteos@163.com
+ * @date 2019年1月19日
+ */
+@Data
+public class HikResult implements Serializable {
+
+    /**
+     * 返回代码
+     */
+    private String code = "";
+
+    /**
+     * 返回处理消息
+     */
+    private String message = "";
+
+    /**
+     * 返回数据对象 data
+     */
+    private ResponesData data;
+
+    public static HikResult success(ResponesData data) {
+        HikResult response = new HikResult();
+        response.code = "SUCCESS";
+        response.message = "成功";
+        response.data = data;
+        return response;
+    }
+
+    public static HikResult error(String message) {
+        HikResult response = new HikResult();
+        response.code = "FAIL";
+        response.message = message;
+        return response;
+    }
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/response/ResponesData.java

@@ -0,0 +1,10 @@
+package org.cpte.modules.hikAgv.response;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+@Data
+public class ResponesData {
+    @JsonProperty("robotTaskCode")
+    private String robotTaskCode;
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/service/IHikAgvService.java

@@ -0,0 +1,30 @@
+package org.cpte.modules.hikAgv.service;
+
+import org.cpte.modules.agvTask.entity.AgvTask;
+import org.cpte.modules.hikAgv.request.submit.SubmitRequest;
+import org.cpte.modules.hikAgv.request.taskReporter.TaskReporterRequest;
+
+public interface IHikAgvService {
+    /**
+     * 生成任务下发JSON
+     *
+     * @param agvTask 任务
+     */
+    SubmitRequest generateAgvTaskJson(AgvTask agvTask);
+
+    /**
+     * 下发任务
+     *
+     * @param url     接口地址
+     * @param json    接口json
+     * @param agvTask 任务
+     */
+    void sendAgvTask(String url, String json, AgvTask agvTask);
+
+    /**
+     * 任务上报
+     *
+     * @param taskReporterRequest 任务上报参数
+     */
+    void taskReporter(TaskReporterRequest taskReporterRequest);
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/hikAgv/service/impl/IHikAgvServiceImpl.java

@@ -0,0 +1,251 @@
+package org.cpte.modules.hikAgv.service.impl;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.cpte.modules.agvTask.entity.AgvTask;
+import org.cpte.modules.agvTask.mapper.AgvTaskMapper;
+import org.cpte.modules.agvTask.service.IAgvTaskService;
+import org.cpte.modules.constant.enums.*;
+import org.cpte.modules.hikAgv.request.submit.*;
+import org.cpte.modules.hikAgv.request.taskReporter.TaskReporterRequest;
+import org.cpte.modules.hikAgv.service.IHikAgvService;
+import org.jeecg.modules.system.mapper.SysDictMapper;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.time.LocalDateTime;
+import java.time.ZoneOffset;
+import java.time.format.DateTimeFormatter;
+import java.util.*;
+
+@Service
+@Slf4j
+public class IHikAgvServiceImpl implements IHikAgvService {
+
+    // 接口开关
+    final String open_flag = "OPEN";
+
+    // 成功码
+    final String success_code = "SUCCESS";
+
+    @Autowired
+    private SysDictMapper sysDictMapper;
+
+    @Autowired
+    private AgvTaskMapper agvTaskMapper;
+
+    @Autowired
+    private IAgvTaskService iAgvTaskService;
+
+    @Override
+    public SubmitRequest generateAgvTaskJson(AgvTask agvTask) {
+        SubmitRequest submitRequest = new SubmitRequest();
+        submitRequest.setTaskType("PF-LMR-COMMON");
+
+        // 设置起点路径
+        TargetRoute srcTargetRoute = createSrcTargetRoute(agvTask);
+
+        // 设置终点路径
+        TargetRoute dstTargetRoute = createDstTargetRoute(agvTask);
+
+        submitRequest.setTargetRoute(Arrays.asList(srcTargetRoute, dstTargetRoute));
+        submitRequest.setInitPriority(agvTask == null ? 99 : agvTask.getPriority());
+
+        LocalDateTime now = LocalDateTime.now(ZoneOffset.UTC);
+        String deadline = now.format(DateTimeFormatter.ofPattern("yyyy-MM-dd'T'HH:mm:ss'Z'"));
+        submitRequest.setDeadline(deadline);
+
+        submitRequest.setRobotType("GROUPS");
+        submitRequest.setRobotCode(Collections.singletonList("c3a1e7bb"));
+
+        Extra extra1 = new Extra();
+        extra1.setCarrierInfo(createCarrierInfoList(agvTask == null ? "" : agvTask.getCarrierCode()));
+
+        submitRequest.setExtra(extra1);
+        submitRequest.setInterrupt(0);
+        submitRequest.setRobotTaskCode(agvTask == null ? "" : agvTask.getId());
+        submitRequest.setGroupCode(agvTask == null ? "" : agvTask.getId());
+
+        return submitRequest;
+    }
+
+    @Override
+    public void sendAgvTask(String url, String json, AgvTask agvTask) {
+        log.info("请求报文:{}", json);
+        // 检查接口开关, 未开启则返回
+        if (sysDictMapper.queryByDictCode(open_flag) == null) {
+            updateAgvTaskResponse(agvTask, "接口未开启", "FAILED");
+            return;
+        }
+
+        String code = null;
+        String message = null;
+        try {
+            //String result = HttpPostUtil.sendPostReq(url, json);
+            String result = "{\n" +
+                    "    \"message\": \"成功\",\n" +
+                    "    \"code\":\"SUCCESS\",\n" +
+                    "}";
+            if (StringUtils.isEmpty(result)) {
+                message = "AGV返回信息:下发任务接口调用失败";
+                throw new RuntimeException(message);
+            }
+
+            JSONObject resulObject = JSON.parseObject(result);
+            if (resulObject == null) {
+                message = "AGV返回信息:下发任务接口返回为空";
+                throw new RuntimeException(message);
+            }
+
+            code = resulObject.getString("code");
+            message = resulObject.getString("message");
+
+            if (!success_code.equals(code)) {
+                throw new RuntimeException("AGV返回消息:" + message);
+            }
+
+            // 更新任务状态
+            updateAgvTaskResponse(agvTask, message, code);
+        } catch (Exception e) {
+            // 记录异常到 AgvTask
+            updateAgvTaskResponse(agvTask, e.getMessage(), "FAILED");
+            throw e; // 继续向上抛出异常供 Controller 层处理
+        }
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void taskReporter(TaskReporterRequest taskReporterRequest) {
+        AgvTask agvTask = agvTaskMapper.selectById(taskReporterRequest.getRobotTaskCode());
+        String status = taskReporterRequest.getExtra().getValues().getMethod();
+        switch (status) {
+            case "outbin":
+                //走出储位
+                handleOutBin(agvTask);
+                break;
+            case "end":
+                //任务完成
+                handleEnd(agvTask);
+                break;
+            case "resend":
+                //重新发送
+                handleResend(agvTask);
+                break;
+        }
+    }
+
+
+    /**
+     * 走出储位
+     *
+     * @param agvTask 任务
+     */
+    private void handleOutBin(AgvTask agvTask) {
+
+    }
+
+    /**
+     * 任务完成
+     *
+     * @param agvTask 任务
+     */
+    private void handleEnd(AgvTask agvTask) {
+        agvTask.setStatus(AgvStatusEnum.COMPLETED.getValue());
+        agvTask.setEndTime(new Date());
+        agvTaskMapper.updateById(agvTask);
+    }
+
+    /**
+     * 重新发送
+     *
+     * @param agvTask
+     */
+    private void handleResend(AgvTask agvTask) {
+        Long count = agvTaskMapper.isAGVTaskDuplicate(agvTask.getCarrierCode(), agvTask.getStartCode(), agvTask.getEndCode());
+        if (count > 0) {
+            throw new RuntimeException("任务已重新生成，请勿重复操作! ");
+        }
+        AgvTask newAgvTask = iAgvTaskService.createAgvTask(AgvStatusEnum.CREATED.getValue(), agvTask.getCarrierCode(), agvTask.getStartCode(), agvTask.getEndCode(), agvTask.getTaskType(), agvTask.getType());
+        switch (agvTask.getType()) {
+            case "INBOUND":
+            case "OUTBOUND":
+                //下发任务
+                sendAgvTask("", "", newAgvTask);
+                break;
+            default:
+                throw new RuntimeException("任务类型不支持: " + agvTask.getType());
+        }
+    }
+
+
+    private void updateAgvTaskResponse(AgvTask agvTask, String message, String code) {
+        if (agvTask != null) {
+            if (success_code.equals(code)) {
+                agvTask.setStatus(AgvStatusEnum.EXECUTING.getValue());
+            }
+            agvTask.setResMessage(message);
+            agvTask.setStartTime(new Date());
+            agvTaskMapper.updateById(agvTask);
+        }
+    }
+
+    /**
+     * 创建起点路径
+     *
+     * @param agvTask 任务
+     * @return TargetRoute
+     */
+    private TargetRoute createSrcTargetRoute(AgvTask agvTask) {
+        TargetRoute srcTargetRoute = new TargetRoute();
+        srcTargetRoute.setSeq(0);
+        srcTargetRoute.setType("ZONE");
+        srcTargetRoute.setCode(agvTask == null ? "" : agvTask.getStartCode());
+        srcTargetRoute.setOperation("COLLECT");
+        srcTargetRoute.setExtra(null);
+        srcTargetRoute.setRobotType("GROUPS");
+        srcTargetRoute.setRobotCode(Collections.singletonList("a361flb8"));
+        return srcTargetRoute;
+    }
+
+    /**
+     * 创建终点路径
+     *
+     * @param agvTask 任务
+     * @return TargetRoute
+     */
+    private TargetRoute createDstTargetRoute(AgvTask agvTask) {
+        TargetRoute dstTargetRoute = new TargetRoute();
+        dstTargetRoute.setSeq(1);
+        dstTargetRoute.setType("SITE");
+        dstTargetRoute.setCode(agvTask == null ? "" : agvTask.getEndCode());
+        dstTargetRoute.setOperation("DELIVERY");
+
+        Extra extra = new Extra();
+
+        AngleInfo angleInfo = new AngleInfo();
+        angleInfo.setType("RELATIVE");
+        angleInfo.setCode("90");
+
+        extra.setAngleInfo(angleInfo);
+        extra.setCarrierInfo(createCarrierInfoList(agvTask == null ? "" : agvTask.getCarrierCode()));
+
+        dstTargetRoute.setExtra(extra);
+        return dstTargetRoute;
+    }
+
+    private List<CarrierInfo> createCarrierInfoList(String carrierCode) {
+        List<CarrierInfo> carrierInfoList = new ArrayList<>();
+        CarrierInfo cif = new CarrierInfo();
+        cif.setCarrierType("1"); // 建议替换为常量
+        cif.setCarrierCode(carrierCode);
+        cif.setLayer("0");
+        carrierInfoList.add(cif);
+        return carrierInfoList;
+    }
+
+}
+
+

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/quartz/job/AgvTaskJob.java

@@ -0,0 +1,38 @@
+package org.cpte.modules.quartz.job;
+
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.cpte.modules.agvTask.entity.AgvTask;
+import org.cpte.modules.agvTask.service.IAgvTaskService;
+import org.cpte.modules.constant.enums.AgvStatusEnum;
+import org.cpte.modules.hikAgv.service.IHikAgvService;
+import org.jeecg.common.util.DateUtils;
+import org.quartz.Job;
+import org.quartz.JobExecutionContext;
+import org.quartz.JobExecutionException;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.List;
+
+@Slf4j
+public class AgvTaskJob implements Job {
+    @Autowired
+    private IAgvTaskService agvTaskService;
+
+    @Autowired
+    private IHikAgvService hikAgvService;
+
+    @Override
+    public void execute(JobExecutionContext jobExecutionContext) throws JobExecutionException {
+        // 查询待执行任务
+        List<AgvTask> agvTaskList = agvTaskService.queryAgvTaskList(AgvStatusEnum.CREATED.getValue());
+        String taskSubmitUrl = "http://localhost:8000/cpte-wms/rcs/rtas/api/robot/controller/task/submit";
+        for (AgvTask agvTask : agvTaskList) {
+            try {
+                hikAgvService.sendAgvTask(taskSubmitUrl, JSON.toJSONString(hikAgvService.generateAgvTaskJson(agvTask)), agvTask);
+            } catch (Exception e) {
+                log.error("发送AGV任务失败，任务ID: {}", agvTask.getId(), e);
+            }
+        }
+    }
+}

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/receive/mapper/AsnDetailMapper.java

@@ -1,6 +1,9 @@
 package org.cpte.modules.receive.mapper;
 
 import java.util.List;
+
+import org.apache.ibatis.annotations.Select;
+import org.cpte.modules.receive.entity.Asn;
 import org.cpte.modules.receive.entity.AsnDetail;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
 import org.apache.ibatis.annotations.Param;
@@ -28,4 +31,18 @@ public interface AsnDetailMapper extends BaseMapper<AsnDetail> {
      * @return List<AsnDetail>
      */
     public List<AsnDetail> selectByMainId(@Param("mainId") String mainId);
+
+
+    /**
+     * 根据容器查询入库信息
+     *
+     * @param stockCode 容器编号
+     * @return AsnDetail
+     */
+    @Select("select * from data_asn_detail " +
+			"join data_asn on data_asn.id=data_asn_detail.asn_id " +
+			"join base_stock on data_asn_detail.stock_id=base_stock.id " +
+			"where base_stock.stock_code = #{stockCode} " +
+			"and data_asn.status='CREATED' ")
+    AsnDetail queryByStockCode(@Param("stockCode") String stockCode);
 }

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/receive/mapper/AsnMapper.java

@@ -22,4 +22,6 @@ public interface AsnMapper extends BaseMapper<Asn> {
      */
     @Select("select * from data_asn where no = #{no}")
     Asn queryByNo(@Param("no") String no);
+
+
 }

cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/utils/HttpPostUtil.java

@@ -0,0 +1,75 @@
+package org.cpte.modules.utils;
+
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.io.IOUtils;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.net.HttpURLConnection;
+import java.net.URL;
+import java.nio.charset.StandardCharsets;
+
+@Slf4j
+public class HttpPostUtil {
+    public static String sendPostReq(String apiUrl, String jsonRequest) {
+        HttpURLConnection connection = null;
+        try {
+            // 创建URL对象并建立连接
+            URL url = new URL(apiUrl);
+            connection = (HttpURLConnection) url.openConnection();
+
+            // 配置连接参数
+            connection.setConnectTimeout(5000);
+            connection.setReadTimeout(10000);
+            connection.setDoOutput(true);
+            connection.setDoInput(true);
+            connection.setUseCaches(false);
+            connection.setRequestMethod("POST");
+
+            // 设置HTTP头
+            connection.setRequestProperty("Content-Type", "application/json; charset=UTF-8");
+            connection.setRequestProperty("Accept", "application/json");
+
+            // 写入请求体
+            byte[] requestData = jsonRequest.getBytes(StandardCharsets.UTF_8);
+            connection.setRequestProperty("Content-Length", String.valueOf(requestData.length));
+
+            try (OutputStream os = connection.getOutputStream()) {
+                os.write(requestData);
+            }
+
+            // 处理响应
+            int responseCode = connection.getResponseCode();
+            if (responseCode >= HttpURLConnection.HTTP_BAD_REQUEST) {
+                // 错误处理
+                try (InputStream errorStream = connection.getErrorStream()) {
+                    String errorResponse = "";
+                    if (errorStream != null) {
+                        errorResponse = new String(IOUtils.toByteArray(errorStream), StandardCharsets.UTF_8);
+                    }
+                    log.error("HTTP请求失败: 状态码={}, 错误响应={}", responseCode, errorResponse);
+                    return null;
+                }
+            }
+
+            // 读取正常响应
+            try (InputStream inputStream = connection.getInputStream()) {
+                String response = new String(IOUtils.toByteArray(inputStream), StandardCharsets.UTF_8);
+                if (response.trim().isEmpty()) {
+                    log.warn("HTTP请求返回空响应");
+                }
+                return response;
+            }
+
+        } catch (IOException e) {
+            log.error("HTTP请求异常: {}", e.getMessage(), e);
+            return null;
+        } finally {
+            // 确保连接断开
+            if (connection != null) {
+                connection.disconnect();
+            }
+        }
+    }
+}

cpte-module-system/cpte-system-biz/src/main/java/org/jeecg/modules/quartz/job/AgvTaskJob.java

@@ -1,25 +0,0 @@
-package org.jeecg.modules.quartz.job;
-
-import lombok.extern.slf4j.Slf4j;
-import org.jeecg.common.util.DateUtils;
-import org.quartz.Job;
-import org.quartz.JobExecutionContext;
-import org.quartz.JobExecutionException;
-
-@Slf4j
-public class AgvTaskJob implements Job {
-    /**
-     * 若参数变量名修改 QuartzJobController中也需对应修改
-     */
-    private String parameter;
-
-    public void setParameter(String parameter) {
-        this.parameter = parameter;
-    }
-
-    @Override
-    public void execute(JobExecutionContext jobExecutionContext) throws JobExecutionException {
-        log.info(" Job Execution key：" + jobExecutionContext.getJobDetail().getKey());
-        log.info(String.format("welcome %s! Jeecg-Boot 带参数定时任务 SampleParamJob !   时间:" + DateUtils.now(), this.parameter));
-    }
-}

cpte-module-system/cpte-system-biz/src/main/java/org/jeecg/modules/system/mapper/SysDictMapper.java

@@ -214,4 +214,7 @@ public interface SysDictMapper extends BaseMapper<SysDict> {
 	 * @return
 	 */
     int removeLogicDeleted(@Param("ids")List<String> ids);
+
+	@Select("select * from sys_dict where description = #{description}")
+	SysDict queryByDictCode(String description);
 }