diff --git a/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java b/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java index fb5fb24..09c511f 100644 --- a/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java +++ b/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java @@ -4,7 +4,6 @@ import com.youchain.appupdate.request.*; import com.youchain.appupdate.service.NioF3AppService; import com.youchain.basicdata.domain.Item; import com.youchain.basicdata.domain.Point; -import com.youchain.basicdata.repository.ItemRepository; import com.youchain.basicdata.service.ItemService; import com.youchain.basicdata.service.PointService; import com.youchain.businessdata.domain.AgvTask; @@ -49,7 +48,7 @@ public class NioF3AppServiceImpl implements NioF3AppService { @Transactional(rollbackFor = Exception.class) public void bindSmallItemPicking(BindSmall bindSmall) { // 验证参数 - validateParams(bindSmall); + validateBindSmallParams(bindSmall); // 验证Les任务 List lesList = validateLes(bindSmall.getSrcPositionCode(), bindSmall.getOnlineNo()); @@ -62,27 +61,28 @@ public class NioF3AppServiceImpl implements NioF3AppService { AgvTask agvTask = createAgvTask(bindSmall.getSrcPositionCode(), lesIds, beatCode); // 下发任务 - kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskQYCJson(agvTask, bindSmall.getShooter(), null)); + List tugModels = Arrays.asList("modelA", "modelB"); + kmReService.sendAgvTask(agvTask, kmReService.createTuggerJson(agvTask, tugModels)); } /** * 验证参数 * - * @param smallRequest -> 参数 + * @param bindSmall -> 参数 */ - private void validateParams(BindSmall smallRequest) { - if (StringUtils.isEmpty(smallRequest.getSrcPositionCode())) { + private void validateBindSmallParams(BindSmall bindSmall) { + if (StringUtils.isEmpty(bindSmall.getSrcPositionCode())) { throw new BadRequestException("起点必填"); } - if (StringUtils.isEmpty(smallRequest.getOnlineNo())) { + if (StringUtils.isEmpty(bindSmall.getOnlineNo())) { throw new BadRequestException("上线单号必填"); } //验证起点 - Point point = pointService.validatePoint(smallRequest.getSrcPositionCode()); + Point point = pointService.validatePoint(bindSmall.getSrcPositionCode()); if (!BaseStatus.XJ_DFQ.equals(point.getType())) { - throw new BadRequestException(smallRequest.getSrcPositionCode() + "不属于小件待发区点位"); + throw new BadRequestException(bindSmall.getSrcPositionCode() + "不属于小件待发区点位"); } } @@ -101,7 +101,7 @@ public class NioF3AppServiceImpl implements NioF3AppService { } private void validateAgvTask(String pointCode) { - Long taskCount = agvTaskService.findByStartSlotCode(pointCode, "MOVE", "TUGGER"); + Long taskCount = agvTaskService.findByStartSlotCode(pointCode, "MOVE", "TUGGER_MOVE"); if (taskCount > 0) { throw new BadRequestException(pointCode + "点位有任务，请勿重复下发"); } @@ -124,7 +124,7 @@ public class NioF3AppServiceImpl implements NioF3AppService { @Transactional(rollbackFor = Exception.class) public void bindLargeItemPicking(BindLarge bindLarge) { //验证参数 - validateParams(bindLarge); + validateBindLargeParams(bindLarge); //获取所有扫描的料箱号 List boxNos = bindLarge.getBoxAndDolly().stream().map(BoxAndDolly::getBoxNo).collect(Collectors.toList()); @@ -146,14 +146,44 @@ public class NioF3AppServiceImpl implements NioF3AppService { AgvTask agvTask = createAgvTask(bindLarge.getSrcPositionCode(), lesIds, beatCode); //下发任务 - kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskQYCJson(agvTask, boxNos.size(), dollyList)); + kmReService.sendAgvTask(agvTask, kmReService.createTuggerJson(agvTask, dollyList)); + } + + /** + * 验证参数 + * + * @param bindLarge -> 参数 + */ + private void validateBindLargeParams(BindLarge bindLarge) { + if (StringUtils.isEmpty(bindLarge.getSrcPositionCode())) { + throw new BadRequestException("起点必填"); + } + + if (bindLarge.getBoxAndDolly().isEmpty()) { + throw new BadRequestException("料箱和Dolly未扫描绑定"); + } + + for (BoxAndDolly item : bindLarge.getBoxAndDolly()) { + if (StringUtils.isEmpty(item.getBoxNo())) { + throw new BadRequestException("料箱必填"); + } + if (StringUtils.isEmpty(item.getDolly())) { + throw new BadRequestException("Dolly编号必填"); + } + } + + //验证起点 + Point point = pointService.validatePoint(bindLarge.getSrcPositionCode()); + if (!BaseStatus.DJ_DFQ.equals(point.getType())) { + throw new BadRequestException(bindLarge.getSrcPositionCode() + "不属于大件待发区点位"); + } } @Override @Transactional(rollbackFor = Exception.class) public void bindLargeItemZyPicking(BindLargeZy bindLargeZy) { //验证参数 - validateParams(bindLargeZy); + validateBindLargeZyParams(bindLargeZy); //获取所有扫描的料箱号; List boxNos = bindLargeZy.getBoxAndDolly().stream().map(BoxAndDolly::getBoxNo).collect(Collectors.toList()); @@ -169,6 +199,51 @@ public class NioF3AppServiceImpl implements NioF3AppService { //获取目标点位 String beatCode = getBeatCode(lesList); + //获取专用dolly + List dollyList = getDollyList(lesList); + + //创建任务 + AgvTask agvTask = createAgvTask(bindLargeZy.getSrcPositionCode(), lesIds, beatCode); + + //下发任务 + kmReService.sendAgvTask(agvTask, kmReService.createTuggerJson(agvTask, dollyList)); + + } + + /** + * 验证参数 + * + * @param bindLargeZy -> 参数 + */ + private void validateBindLargeZyParams(BindLargeZy bindLargeZy) { + if (StringUtils.isEmpty(bindLargeZy.getSrcPositionCode())) { + throw new BadRequestException("起点必填"); + } + + if (bindLargeZy.getBoxAndDolly().isEmpty()) { + throw new BadRequestException("料箱未扫描绑定"); + } + + for (BoxAndDolly item : bindLargeZy.getBoxAndDolly()) { + if (StringUtils.isEmpty(item.getBoxNo())) { + throw new BadRequestException("料箱必填"); + } + } + + //验证起点 + Point point = pointService.validatePoint(bindLargeZy.getSrcPositionCode()); + if (!BaseStatus.DJ_DFQ.equals(point.getType())) { + throw new BadRequestException(bindLargeZy.getSrcPositionCode() + "不属于大件待发区点位"); + } + } + + /** + * 获取专用dolly + * + * @param lesList -> 扫描的Les + * @return 专用dolly + */ + private List getDollyList(List lesList) { //获取物料 List materialCodes = lesList.stream().map(Les::getMaterialCode).collect(Collectors.toList()); materialCodes = removeLastTwoCharsFromList(materialCodes); @@ -186,14 +261,7 @@ public class NioF3AppServiceImpl implements NioF3AppService { dollyList.add("00000"); } } - - //创建任务 - AgvTask agvTask = createAgvTask(bindLargeZy.getSrcPositionCode(), lesIds, beatCode); - - //下发任务 - kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskQYCJson(agvTask, boxNos.size(), dollyList)); - - + return dollyList; } /** @@ -212,85 +280,27 @@ public class NioF3AppServiceImpl implements NioF3AppService { * @param strings 零件号 * @return 零件号 */ - public List removeLastTwoCharsFromList(List strings) { + private List removeLastTwoCharsFromList(List strings) { return strings.stream() .map(this::removeLastTwoChars) .collect(Collectors.toList()); } - /** - * 验证参数 - * - * @param bindLargeZy -> 参数 - */ - private void validateParams(BindLargeZy bindLargeZy) { - if (StringUtils.isEmpty(bindLargeZy.getSrcPositionCode())) { - throw new BadRequestException("起点必填"); - } - - if (bindLargeZy.getBoxAndDolly().isEmpty()) { - throw new BadRequestException("料箱未扫描绑定"); - } - - for (BoxAndDolly item : bindLargeZy.getBoxAndDolly()) { - if (item.getBoxNo() == null || item.getBoxNo().trim().isEmpty()) { - throw new BadRequestException("料箱必填"); - } - } - - - //验证起点 - Point point = pointService.validatePoint(bindLargeZy.getSrcPositionCode()); - if (!BaseStatus.DJ_DFQ.equals(point.getType())) { - throw new BadRequestException(bindLargeZy.getSrcPositionCode() + "不属于大件待发区点位"); - } - } - - - public AgvTask createAgvTask(String srcPositionCode, List lesIds, String beatCode) { + private AgvTask createAgvTask(String srcPositionCode, List lesIds, String beatCode) { String lockKey = getLockKey(srcPositionCode); synchronized (lockKey) { // 验证起点是否有Agv任务 validateAgvTask(srcPositionCode); // 生成任务 - AgvTask agvTask = agvTaskService.createAgvTask(BizStatus.OPEN, null, srcPositionCode, beatCode, "TUGGER"); + AgvTask agvTask = agvTaskService.createAgvTask(BizStatus.OPEN, null, srcPositionCode, beatCode, "TUGGER_MOVE"); // 绑定任务 bindLesAgvTask(agvTask.getId(), lesIds); return agvTask; } } - /** - * 验证参数 - * - * @param bindLarge -> 参数 - */ - private void validateParams(BindLarge bindLarge) { - if (StringUtils.isEmpty(bindLarge.getSrcPositionCode())) { - throw new BadRequestException("起点必填"); - } - if (bindLarge.getBoxAndDolly().isEmpty()) { - throw new BadRequestException("料箱和Dolly未扫描绑定"); - } - - for (BoxAndDolly item : bindLarge.getBoxAndDolly()) { - if (item.getBoxNo() == null || item.getBoxNo().trim().isEmpty()) { - throw new BadRequestException("料箱必填"); - } - if (item.getDolly() == null || item.getDolly().trim().isEmpty()) { - throw new BadRequestException("Dolly编号必填"); - } - } - - //验证起点 - Point point = pointService.validatePoint(bindLarge.getSrcPositionCode()); - if (!BaseStatus.DJ_DFQ.equals(point.getType())) { - throw new BadRequestException(bindLarge.getSrcPositionCode() + "不属于大件待发区点位"); - } - } - - public void validateBoxNos(List lesList, List boxNos) { + private void validateBoxNos(List lesList, List boxNos) { // 1.检查料箱是否有重复 Set seen = new HashSet<>(); Set duplicates = new HashSet<>(); diff --git a/youchain-system/src/main/java/com/youchain/businessdata/domain/AgvTask.java b/youchain-system/src/main/java/com/youchain/businessdata/domain/AgvTask.java index e6b5d96..7b7b888 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/domain/AgvTask.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/domain/AgvTask.java @@ -87,15 +87,12 @@ public class AgvTask extends BaseEntity implements Serializable { @Column(name = "`job_type`",nullable = false) @NotBlank - @ApiModelProperty(value = "工作类型") - /** - * 01：料箱 - */ - private String jobType="01"; + @ApiModelProperty(value = "工作类型;missionType") + private String jobType; @Column(name = "`job_priority`") @ApiModelProperty(value = "优先级") - private Integer jobPriority=1; + private Integer jobPriority; @Column(name = "`job_priority_type`") @ApiModelProperty(value = "强制优先级") diff --git a/youchain-system/src/main/java/com/youchain/businessdata/inputJson/AgvTaskJsonBuilder.java b/youchain-system/src/main/java/com/youchain/businessdata/inputJson/AgvTaskJsonBuilder.java new file mode 100644 index 0000000..00106c2 --- /dev/null +++ b/youchain-system/src/main/java/com/youchain/businessdata/inputJson/AgvTaskJsonBuilder.java @@ -0,0 +1,243 @@ +package com.youchain.businessdata.inputJson; + +import com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import com.youchain.basicdata.domain.Point; +import com.youchain.basicdata.service.PointService; +import com.youchain.businessdata.domain.AgvTask; +import com.youchain.utils.BizStatus; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; +import java.util.stream.Collectors; +@Service +@RequiredArgsConstructor +public class AgvTaskJsonBuilder { + // 常量定义 + private static final String ORG_ID_WMS = "WMS";//组织 + private static final String ORG_ID_WCS = "WCS";//组织 + private static final String PRIORITY = "1";//优先级 + private static final String NODE_POINT = "NODE_POINT";//节点类型 + private static final String NODE_SLOT = "NODE_SLOT";//节点类型 + private static final String PASS_STRATEGY_AUTO = "AUTO";//移动策略 + private static final String PASS_STRATEGY_MANUAL = "MANUAL";//移动策略 + + private final PointService pointService; + + /** + * 创建基础AGV任务JSON对象 + */ + private JSONObject createBaseAgvTaskJson(AgvTask agvTask, String orgId, String missionType, String robotType) { + JSONObject jsonObject = new JSONObject(true); + jsonObject.put("orgId", orgId); + jsonObject.put("requestId", String.valueOf(System.currentTimeMillis())); + jsonObject.put("missionCode", agvTask.getId()); + jsonObject.put("missionType", missionType); + jsonObject.put("viewBoardType", ""); + jsonObject.put("robotType", robotType); + jsonObject.put("priority", PRIORITY); + return jsonObject; + } + + /** + * 创建叉车任务JSON + */ + public String createForkMissionJson(AgvTask agvTask) { + //基础对象 + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "FORKLIFT"); + jsonObject.put("containerCode", agvTask.getStockCode()); + jsonObject.put("robotId", ""); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + //根据任务类型取节点类型 + boolean isPickTask = BizStatus.PICK.equals(agvTask.getType()); + String startNodeType = isPickTask ? NODE_SLOT : NODE_POINT; + String endNodeType = isPickTask ? NODE_POINT : NODE_SLOT; + + //起点 + missionDataArray.add(createForkMissionNode(1, agvTask.getStartSlotCode(), startNodeType)); + + //终点 + missionDataArray.add(createForkMissionNode(2, agvTask.getEndSlotCode(), endNodeType)); + + //添加任务数据 + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + /** + * 创建叉车任务数据节点 + */ + private JSONObject createForkMissionNode(int sequence, String position, String nodeType) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("position", position); + node.put("nodeType", nodeType); + node.put("stackNumber", 0); + node.put("actionConfirm", false); + return node; + } + + /** + * 创建货架任务JSON + */ + public String createRackMissionJson(AgvTask agvTask) { + //基础对象 + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "LIFT"); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + //创建任务数据 + missionDataArray.add(createRackMissionNode(agvTask)); + + //添加任务数据 + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + /** + * 创建货架任务数据节点 + */ + private JSONObject createRackMissionNode(AgvTask agvTask) { + JSONObject node = new JSONObject(true); + node.put("sequence", 1);//序号 + node.put("containerCode", agvTask.getStockCode());//容器 + node.put("startPosition", agvTask.getStartSlotCode());//点位 + node.put("startPositionType", "NODE_POINT");// + node.put("endPosition", agvTask.getEndSlotCode());//点位 + node.put("endPositionType", "NODE_POINT");// + return node; + } + + /** + * 创建滚筒任务JSON + */ + public String createRollerJson(AgvTask agvTask) { + //基础对象 + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "ROLLER"); + jsonObject.put("lockRobotAfterFinish", false); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + //起点 + missionDataArray.add(createRollerNode(1, agvTask.getStartSlotCode(), "ROLLER_RECEIVE", agvTask.getStartSlotCode(), true, "AUTO")); + + //途径点 + missionDataArray.add(createRollerNode(2, "FX001", "", "", false, "MANUAL")); + + //终点 + missionDataArray.add(createRollerNode(3, agvTask.getEndSlotCode(), "ROLLER_SEND", agvTask.getEndSlotCode(), true, "AUTO")); + + //添加任务数据 + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + /** + * 创建滚筒任务数据节点 + */ + private JSONObject createRollerNode(int sequence, String position, String actionType, String deviceCode, boolean actionConfirm, String passStrategy) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("position", position); + node.put("type", NODE_POINT); + node.put("actionType", actionType); + node.put("binCode", ""); + node.put("rollerLevel", 1); + node.put("deviceCode", deviceCode); + node.put("actionConfirm", actionConfirm); + node.put("passStrategy", passStrategy); + return node; + } + + /** + * 创建牵引车任务JSON + */ + public String createTuggerJson(AgvTask agvTask, List tugModels) { + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WCS, agvTask.getJobType(), "TUGGER"); + jsonObject.put("templateCode", ""); + jsonObject.put("lockRobotAfterFinish", false); + jsonObject.put("unlockRobotId", ""); + jsonObject.put("unlockMissionCode", ""); + + // 根据区域调整参数 + Point point = pointService.validatePoint(agvTask.getStartSlotCode()); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + // 起点 + missionDataArray.add(createTuggerStartNode(agvTask.getStartSlotCode(), tugModels)); + + //途径点 + List stations = parseStations(agvTask.getEndSlotCode()); + for (int i = 0; i < stations.size(); i++) { + missionDataArray.add(createTuggerWayNode(i + 2, stations.get(i))); + } + + //终点 + missionDataArray.add(createTuggerEndNode(stations.size() + 2, point.getBeatCode())); + + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + /** + * 创建牵引车任务起点数据节点 + */ + private JSONObject createTuggerStartNode(String position, List tugModels) { + JSONObject node = new JSONObject(true); + node.put("sequence", 1); + node.put("type", NODE_POINT); + node.put("position", position); + node.put("actionType", "TUGGER_ATTACH"); + node.put("tugCount", tugModels.size()); + node.put("passStrategy", PASS_STRATEGY_AUTO); + node.put("tugModels", tugModels); + return node; + } + + /** + * 创建牵引车任务途径点节点 + */ + private JSONObject createTuggerWayNode(int sequence, String position) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("type", NODE_POINT); + node.put("position", position); + node.put("passStrategy", PASS_STRATEGY_MANUAL); + return node; + } + + /** + * 创建牵引车任务终点节点 + */ + private JSONObject createTuggerEndNode(int sequence, String position) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("type", NODE_POINT); + node.put("position", position); + node.put("actionType", "TUGGER_DETACH"); + node.put("passStrategy", PASS_STRATEGY_AUTO); + node.put("waitingMillis", 0); + return node; + } + + /** + * 解析站点字符串 + */ + private List parseStations(String stationString) { + return Arrays.stream(stationString.split(",")) + .map(String::trim) + .filter(s -> !s.isEmpty()) + .collect(Collectors.toList()); + } + + +} diff --git a/youchain-system/src/main/java/com/youchain/businessdata/repository/AgvTaskRepository.java b/youchain-system/src/main/java/com/youchain/businessdata/repository/AgvTaskRepository.java index d9f78f8..ea1d897 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/repository/AgvTaskRepository.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/repository/AgvTaskRepository.java @@ -40,10 +40,6 @@ public interface AgvTaskRepository extends JpaRepository, JpaSpec @Lock(LockModeType.PESSIMISTIC_WRITE) Long findByStartSlotCode(String startSlotCode, String type, String jobType); - - @Query(value = "select count(agv.id) from AgvTask agv where agv.endSlotCode=:endSlotCode and agv.type=:type and agv.jobType=:jobType and agv.status in ('OPEN','ATCALL','UP_CONTAINER') ") - Long findByEndSlotCode(String endSlotCode, String type, String jobType); - - @Query(value = "from AgvTask agv where agv.slotCode=:slotCode and agv.type='MOVE' and agv.jobType='TUGGER' and agv.status='ARRIVED' ") - AgvTask findBySlotCode(String slotCode); + @Query(value = "from AgvTask agv where agv.slotCode=:slotCode and agv.type=:type and agv.jobType=:jobType and agv.status='ARRIVED' ") + AgvTask findBySlotCode(String slotCode,String type, String jobType); } diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java b/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java index 6698cf6..ea16758 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java @@ -15,7 +15,6 @@ */ package com.youchain.businessdata.service; -import com.youchain.basicdata.domain.Point; import com.youchain.basicdata.domain.Stock; import com.youchain.businessdata.domain.AgvTask; import com.youchain.businessdata.service.dto.AgvTaskDto; @@ -93,13 +92,14 @@ public interface AgvTaskService { /** * 创建agvTask任务 - * @param bizStatus 状态 - * @param stock 容器 + * + * @param bizStatus 状态 + * @param stock 容器 * @param srcPointCode 起点 * @param endPointCode 终点 - * @param jobType 任务类型 + * @param jobType 任务类型 */ - AgvTask createAgvTask(String bizStatus, Stock stock, String srcPointCode, String endPointCode,String jobType); + AgvTask createAgvTask(String bizStatus, Stock stock, String srcPointCode, String endPointCode, String jobType); /** * 根据容器查询任务 @@ -117,20 +117,14 @@ public interface AgvTaskService { */ Long findByStartSlotCode(String startSlotCode, String type, String jobType); - /** - * 根据终点查询是否有重复任务 - * - * @param endSlotCode 点位 - * @param type 任务类型 - * @param jobType 作业类型 - */ - Boolean findByEndSlotCode(String endSlotCode, String type, String jobType); - /** * 根据途径点找到对应任务 + * * @param slotCode 途径点 - * @return + * @param type 任务类型 + * @param jobType 作业类型 + * @return AgvTask */ - AgvTask findBySlotCode(String slotCode); + AgvTask findBySlotCode(String slotCode, String type, String jobType); } diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/KMReService.java b/youchain-system/src/main/java/com/youchain/businessdata/service/KMReService.java index 907f010..1010b30 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/service/KMReService.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/service/KMReService.java @@ -50,7 +50,7 @@ public interface KMReService { * * @param agvTask 任务 */ - String sendAgvTaskCcJson(AgvTask agvTask); + String createForkMissionJson(AgvTask agvTask); /** @@ -58,23 +58,22 @@ public interface KMReService { * * @param agvTask 任务 */ - String sendAgvTaskHjJson(AgvTask agvTask); + String createRackMissionJson(AgvTask agvTask); /** * 下发agv滚筒任务JSON * * @param agvTask 任务 */ - String sendAgvTaskGtJson(AgvTask agvTask); + String createRollerJson(AgvTask agvTask); /** * 下发agv牵引车任务JSON * * @param agvTask 任务 - * @param tugCount 牵引车数量 * @param tugModels 牵引车型号 */ - String sendAgvTaskQYCJson(AgvTask agvTask, int tugCount, List tugModels); + String createTuggerJson(AgvTask agvTask, List tugModels); /** * 下发agv任务 diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/dto/LesDto.java b/youchain-system/src/main/java/com/youchain/businessdata/service/dto/LesDto.java index f0c743a..9636ff7 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/service/dto/LesDto.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/service/dto/LesDto.java @@ -49,6 +49,9 @@ public class LesDto { //终点类型 private String dstType; + //响应报文 + private String repMessage; + /** 创建时间 */ private Timestamp createTime; diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java index 3521bdd..5914d6c 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java @@ -18,7 +18,6 @@ package com.youchain.businessdata.service.impl; import com.youchain.basicdata.domain.Stock; import com.youchain.businessdata.domain.*; import com.youchain.businessdata.service.*; -import com.youchain.exception.BadRequestException; import com.youchain.utils.*; import com.youchain.businessdata.repository.AgvTaskRepository; import com.youchain.businessdata.service.dto.AgvTaskDto; @@ -149,13 +148,8 @@ public class AgvTaskServiceImpl implements AgvTaskService { } @Override - public Boolean findByEndSlotCode(String endSlotCode, String type, String jobType) { - return agvTaskRepository.findByEndSlotCode(endSlotCode, type, jobType)>0; - } - - @Override - public AgvTask findBySlotCode(String slotCode) { - return agvTaskRepository.findBySlotCode(slotCode); + public AgvTask findBySlotCode(String slotCode, String type, String jobType) { + return agvTaskRepository.findBySlotCode(slotCode, type, jobType); } } diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java index 248054a..b9daad2 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java @@ -1,24 +1,17 @@ package com.youchain.businessdata.service.impl; import com.alibaba.fastjson.JSON; -import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; -import com.youchain.appupdate.request.BoxAndDolly; import com.youchain.basicdata.domain.Point; import com.youchain.basicdata.domain.Stock; import com.youchain.basicdata.service.PointService; import com.youchain.basicdata.service.StockService; import com.youchain.businessdata.domain.AgvTask; -import com.youchain.businessdata.domain.Les; -import com.youchain.businessdata.domain.Task; +import com.youchain.businessdata.inputJson.AgvTaskJsonBuilder; import com.youchain.businessdata.inputJson.Dolly; import com.youchain.businessdata.inputJson.UpdateTuggerTrailerInfo; import com.youchain.businessdata.service.*; -import com.youchain.config.SignConfig; import com.youchain.exception.BadRequestException; -import com.youchain.modules.quartz.utils.TimeNumberUtils; -import com.youchain.modules.system.domain.Dict; -import com.youchain.modules.system.repository.DictRepository; import com.youchain.modules.system.service.DictService; import com.youchain.utils.*; import lombok.RequiredArgsConstructor; @@ -27,7 +20,6 @@ import org.apache.commons.collections4.CollectionUtils; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; -import java.sql.Array; import java.sql.Timestamp; import java.util.*; import java.util.stream.Collectors; @@ -41,6 +33,7 @@ public class KMReServiceImpl implements KMReService { private final PointService pointService; private final AgvTaskService agvTaskService; private final LesService lesService; + private final AgvTaskJsonBuilder agvTaskJsonBuilder; /** @@ -160,7 +153,7 @@ public class KMReServiceImpl implements KMReService { if (!dictService.isInterfaceEnabled()) { return; } - + //请求 String result = HttpPostUtil.sendPostReq(url, json); @@ -169,242 +162,51 @@ public class KMReServiceImpl implements KMReService { } + /** * 叉车任务Json * - * @param agvTasks 任务 + * @param agvTask 任务 */ @Override - public String sendAgvTaskCcJson(AgvTask agvTasks) { - - JSONObject jsonObject = new JSONObject(true); - String requestId = TimeNumberUtils.getCcCode(); - Map objMap = new LinkedHashMap<>(); - objMap.put("orgId", "KUKA");//库存组织 ID - objMap.put("requestId", requestId);//请求 id - objMap.put("missionCode", agvTasks.getId());//任务编号 - objMap.put("missionType", agvTasks.getJobType());//货 架 ( 托 盘 ) 移动 RACK_MOVE - objMap.put("viewBoardType", "");// - objMap.put("containerCode", agvTasks.getStockCode());// - objMap.put("robotType", "FORKLIFT");//机器人功能类型 - objMap.put("robotId", "");//机器人编号 - objMap.put("priority", "1");//数值越小，优先级越高，默认是 1 - JSONArray missionDataArray = new JSONArray(); - JSONObject missionDataObj = new JSONObject(true); - Map missionDataMap = new LinkedHashMap<>(); - missionDataMap.put("sequence", 1);//序号 - missionDataMap.put("position", agvTasks.getStartSlotCode());//点位 - String nodeType = "NODE_POINT"; - if (BizStatus.PICK.equals(agvTasks.getType())) { - nodeType = "NODE_SLOT"; - } - missionDataMap.put("nodeType", nodeType);// - missionDataMap.put("stackNumber", 0); - missionDataMap.put("actionConfirm", false); - missionDataObj.putAll(missionDataMap); - missionDataArray.add(missionDataObj); - - JSONObject missionDataObj2 = new JSONObject(new LinkedHashMap<>()); - Map missionDataMap2 = new LinkedHashMap<>(); - missionDataMap2.put("sequence", 2);//序号 - missionDataMap2.put("position", agvTasks.getEndSlotCode());//目标点 - String nodeType2 = "NODE_SLOT"; - if (BizStatus.PICK.equals(agvTasks.getType())) { - nodeType2 = "NODE_POINT"; - } - missionDataMap2.put("nodeType", nodeType2);// - missionDataMap2.put("stackNumber", 0); - missionDataMap2.put("actionConfirm", false); - missionDataObj2.putAll(missionDataMap2); - missionDataArray.add(missionDataObj2); - - objMap.put("missionData", missionDataArray); - jsonObject.putAll(objMap); - return jsonObject.toJSONString(); + public String createForkMissionJson(AgvTask agvTask) { + return agvTaskJsonBuilder.createForkMissionJson(agvTask); } /** * 货架任务Json * - * @param agvTasks 任务 + * @param agvTask 任务 */ @Override - public String sendAgvTaskHjJson(AgvTask agvTasks) { - JSONObject jsonObject = new JSONObject(true); - String requestId = TimeNumberUtils.getHjCode(); - Map objMap = new LinkedHashMap<>(); - objMap.put("orgId", "KUKA");//库存组织 ID - objMap.put("requestId", requestId);//请求 id - objMap.put("missionCode", agvTasks.getId());//任务编号 - objMap.put("missionType", agvTasks.getJobType());//货 架 ( 托 盘 ) 移动 RACK_MOVE - objMap.put("viewBoardType", "");//IDENTIFY_REQUIRE - objMap.put("robotType", "LIFT");//机器人功能类型 - objMap.put("priority", "1");//数值越小，优先级越高，默认是 1 - JSONArray missionDataArray = new JSONArray(); - JSONObject missionDataObj = new JSONObject(true); - Map missionDataMap = new LinkedHashMap<>(); - missionDataMap.put("sequence", 1);//序号 - missionDataMap.put("containerCode", agvTasks.getStockCode());//容器 - missionDataMap.put("startPosition", agvTasks.getStartSlotCode());//点位 - missionDataMap.put("startPositionType", "NODE_POINT");// - missionDataMap.put("endPosition", agvTasks.getEndSlotCode());//点位 - missionDataMap.put("endPositionType", "NODE_POINT");// - missionDataObj.putAll(missionDataMap); - missionDataArray.add(missionDataObj); - - objMap.put("missionData", missionDataArray); - jsonObject.putAll(objMap); - return jsonObject.toJSONString(); + public String createRackMissionJson(AgvTask agvTask) { + return agvTaskJsonBuilder.createRackMissionJson(agvTask); } @Override - public String sendAgvTaskGtJson(AgvTask agvTask) { - JSONObject jsonObject = new JSONObject(true); - String requestId = TimeNumberUtils.getGTTaskCode(); - Map objMap = new LinkedHashMap<>(); - objMap.put("orgId", "KUKA");//库存组织 ID(或工厂代码，供应商代码) - objMap.put("requestId", requestId);//请求 id - objMap.put("missionCode", agvTask.getId());//任务编号 - objMap.put("missionType", "ROLLER_MOVE");//任务类型 ：滚筒 - objMap.put("viewBoardType", "");//上视识别类型: - objMap.put("robotType", "ROLLER"); - objMap.put("priority", "1"); - objMap.put("lockRobotAfterFinish", false); - JSONArray missionDataArray = new JSONArray(); - - JSONObject missionDataObj = new JSONObject(true); - Map missionDataMap = new LinkedHashMap<>(); - missionDataMap.put("sequence", 1);//序号 - missionDataMap.put("position", agvTask.getStartSlotCode());//起点 - missionDataMap.put("type", "NODE_POINT");// - missionDataMap.put("actionType", "ROLLER_RECEIVE");// - missionDataMap.put("binCode", "");//容器 - missionDataMap.put("rollerLevel", 1);// - missionDataMap.put("deviceCode", agvTask.getStartSlotCode());//设备编号 - missionDataMap.put("actionConfirm", true);// - missionDataMap.put("passStrategy", "AUTO");// - missionDataObj.putAll(missionDataMap); - missionDataArray.add(missionDataObj); - - JSONObject missionDataObj2 = new JSONObject(true); - Map missionDataMap2 = new LinkedHashMap<>(); - missionDataMap2.put("sequence", 2);//序号 - missionDataMap2.put("position", "FX001");//中转点 - missionDataMap2.put("type", "NODE_POINT");// - missionDataMap2.put("actionType", "");// - missionDataMap2.put("binCode", "");//容器 - missionDataMap2.put("rollerLevel", 1);// - missionDataMap2.put("deviceCode", "");// - missionDataMap2.put("actionConfirm", false);// - missionDataMap2.put("passStrategy", "MANUAL");// - missionDataObj2.putAll(missionDataMap2); - missionDataArray.add(missionDataObj2); - - JSONObject missionDataObj3 = new JSONObject(true); - Map missionDataMap3 = new LinkedHashMap<>(); - missionDataMap3.put("sequence", 3);//序号 - missionDataMap3.put("position", agvTask.getEndSlotCode());//终点 - missionDataMap3.put("type", "NODE_POINT");// - missionDataMap3.put("actionType", "ROLLER_SEND");// - missionDataMap3.put("binCode", "");//容器 - missionDataMap3.put("rollerLevel", 1);// - missionDataMap3.put("deviceCode", agvTask.getEndSlotCode());//终点 - missionDataMap3.put("actionConfirm", true);// - missionDataMap3.put("passStrategy", "AUTO");// - missionDataObj3.putAll(missionDataMap3); - missionDataArray.add(missionDataObj3); - - objMap.put("missionData", missionDataArray); - jsonObject.putAll(objMap); - return jsonObject.toJSONString(); + public String createRollerJson(AgvTask agvTask) { + return agvTaskJsonBuilder.createRollerJson(agvTask); } @Override - public String sendAgvTaskQYCJson(AgvTask agvTask, int tugCount, List tugModels) { - JSONObject jsonObject = new JSONObject(true); - String requestId = TimeNumberUtils.getQYTaskCode(); - Map objMap = new LinkedHashMap<>(); - objMap.put("orgId", "WCS");//库存组织 ID(或工厂代码，供应商代码) - objMap.put("requestId", requestId);//请求 id - objMap.put("missionCode", agvTask.getId());//任务编号 - objMap.put("missionType", "TUGGER_MOVE");//任务类型 ：滚筒 - objMap.put("viewBoardType", "");//上视识别类型: - objMap.put("robotType", "TUGGER"); - objMap.put("priority", "1"); - objMap.put("templateCode", ""); - objMap.put("lockRobotAfterFinish", false); - objMap.put("unlockRobotId", ""); - objMap.put("unlockMissionCode", ""); - - JSONArray missionDataArray = new JSONArray(); - - JSONObject missionDataObj = new JSONObject(true); - Map missionDataMap = new LinkedHashMap<>(); - Point point = pointService.validatePoint(agvTask.getStartSlotCode()); - String areaCode = point.getArea().getCode(); - if ("XJQ".equals(areaCode)) { - tugModels = Arrays.asList("modelA", "modelB"); - } else { - tugCount = tugModels.size(); - } - missionDataMap.put("sequence", 1);//序号 - missionDataMap.put("type", "NODE_POINT");//作业类型:点位：NODE_POINT;区域：NODE_AREA - missionDataMap.put("position", agvTask.getStartSlotCode());//起点 - missionDataMap.put("actionType", "TUGGER_ATTACH");//动作：TUGGER_ATTACH：挂钩；TUGGER_DETACH：脱钩 - missionDataMap.put("tugCount", tugCount);//牵引车后方的拖挂车数量 - missionDataMap.put("passStrategy", "AUTO");//当前任务点结束后放行策略:自动：AUTO;手动：MANUAL - missionDataMap.put("tugModels", tugModels);//牵引车后方的拖挂车规格【模型名字】需要和tugCount一致 - missionDataObj.putAll(missionDataMap); - missionDataArray.add(missionDataObj); - - List stations = Arrays.stream(agvTask.getEndSlotCode().split(",")) - .map(String::trim) - .filter(s -> !s.isEmpty()) - .collect(Collectors.toList()); - - //途径点 - for (int i = 0; i < stations.size(); i++) { - JSONObject missionDataObj2 = new JSONObject(true); - Map missionDataMap2 = new LinkedHashMap<>(); - int sequence = (1 + (i + 1)); - missionDataMap2.put("sequence", sequence);//序号 - missionDataMap2.put("type", "NODE_POINT");//作业类型:点位：NODE_POINT;区域：NODE_AREA - missionDataMap2.put("position", stations.get(i));//途径点 - missionDataMap2.put("passStrategy", "MANUAL");//当前任务点结束后放行策略:自动：AUTO;手动：MANUAL - missionDataObj2.putAll(missionDataMap2); - missionDataArray.add(missionDataObj2); - } - - JSONObject missionDataObj3 = new JSONObject(true); - Map missionDataMap3 = new LinkedHashMap<>(); - missionDataMap3.put("sequence", stations.size() + 2);//序号 - missionDataMap3.put("type", "NODE_POINT");//作业类型:点位：NODE_POINT;区域：NODE_AREA - missionDataMap3.put("position", point.getBeatCode());//终点 - missionDataMap3.put("actionType", "TUGGER_DETACH");//动作：TUGGER_ATTACH：挂钩；TUGGER_DETACH：脱钩 - missionDataMap3.put("passStrategy", "AUTO");//当前任务点结束后放行策略:自动：AUTO;手动：MANUAL - missionDataMap3.put("waitingMillis", 0);//自动触发离开当前任务节点的时间，默认单位:毫秒 - missionDataObj3.putAll(missionDataMap3); - missionDataArray.add(missionDataMap3); - - objMap.put("missionData", missionDataArray); - jsonObject.putAll(objMap); - return jsonObject.toJSONString(); + public String createTuggerJson(AgvTask agvTask, List tugModels) { + return agvTaskJsonBuilder.createTuggerJson(agvTask, tugModels); } @Override public void sendAgvTask(AgvTask agvTask, String json) { try { - // 请求 - String result = HttpPostUtil.sendPostReq(UrlApi.submitMission(), json); - log.info("LES回传参数: {}", json); - // 检查接口开关 if (!dictService.isInterfaceEnabled()) { - // 更新LES状态 + // 更新AGV状态 updateAgvTaskStatus(agvTask, null, json); return; } + // 请求 + String result = HttpPostUtil.sendPostReq(UrlApi.submitMission(), json); + log.info("AGV请求参数: {}", json); + //验证响应 validateAgvTaskResponse(result); @@ -412,8 +214,7 @@ public class KMReServiceImpl implements KMReService { updateAgvTaskStatus(agvTask, result, json); } catch (Exception e) { - log.error("AGV下发失败", e); - throw new BadRequestException("AGV下发失败:" + e.getMessage()); + throw new BadRequestException(e.getMessage()); } } @@ -423,11 +224,11 @@ public class KMReServiceImpl implements KMReService { */ private void validateAgvTaskResponse(String result) { if (StringUtils.isEmpty(result)) { - throw new BadRequestException("AGV返回信息:下发任务接口调用失败!"); + throw new BadRequestException("AGV返回信息:下发任务接口调用失败"); } JSONObject resulObject = JSON.parseObject(result); if (resulObject == null) { - throw new BadRequestException("AGV返回信息:下发任务接口返回为空!"); + throw new BadRequestException("AGV返回信息:下发任务接口返回为空"); } String code = resulObject.getString("code"); @@ -502,7 +303,7 @@ public class KMReServiceImpl implements KMReService { throw new BadRequestException("器具必填"); } //根据点位找到当前到站的AGV任务; - AgvTask agvTask = agvTaskService.findBySlotCode(updateTuggerTrailerInfo.getSrcPositionCode()); + AgvTask agvTask = agvTaskService.findBySlotCode(updateTuggerTrailerInfo.getSrcPositionCode(), BizStatus.MOVE, "TUGGER_MOVE"); if (agvTask == null) { throw new BadRequestException(updateTuggerTrailerInfo.getSrcPositionCode() + "点未匹配到任务"); } @@ -597,13 +398,13 @@ public class KMReServiceImpl implements KMReService { // 根据任务类型发送不同的实现 switch (agvTask.getJobType()) { case "FORKLIFT_MOVE": - sendAgvTask(newAgvTask, sendAgvTaskCcJson(newAgvTask)); + sendAgvTask(newAgvTask, createForkMissionJson(newAgvTask)); break; case "RACK_MOVE": - sendAgvTask(newAgvTask, sendAgvTaskHjJson(newAgvTask)); + sendAgvTask(newAgvTask, createRackMissionJson(newAgvTask)); break; case "ROLLER_MOVE": - sendAgvTask(newAgvTask, sendAgvTaskGtJson(newAgvTask)); + sendAgvTask(newAgvTask, createRollerJson(newAgvTask)); break; default: throw new BadRequestException("任务类型不支持: " + agvTask.getJobType()); diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/LesServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/LesServiceImpl.java index 7bff36f..b561357 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/LesServiceImpl.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/LesServiceImpl.java @@ -8,8 +8,6 @@ import com.youchain.businessdata.domain.Les; import com.youchain.businessdata.inputJson.LesRequest; import com.youchain.businessdata.inputJson.PositionCodeRequest; import com.youchain.businessdata.repository.LesRepository; -import com.youchain.businessdata.service.AgvTaskService; -import com.youchain.businessdata.service.KMReService; import com.youchain.businessdata.service.LesService; import com.youchain.businessdata.service.dto.LesDto; import com.youchain.businessdata.service.dto.LesQueryCriteria; @@ -54,8 +52,6 @@ public class LesServiceImpl implements LesService { private final DictService dictService; - private final KMReService kmReService; - private final LesMapper lesMapper; @Override @@ -130,21 +126,13 @@ public class LesServiceImpl implements LesService { String taskCode = lesRequest.getTaskCode(); validateLes(taskCode); - String materialCode = lesRequest.getMaterialCode();//物料代码 - - //有物料走料箱上线场景;无物料走其余场景 - if (StringUtils.isNotEmpty(materialCode)) { - try { - createLes(lesRequest, dstPoint); - } catch (DataIntegrityViolationException e) { - // 数据库唯一约束冲突 - throw new BadRequestException(taskCode + "任务号系统已接收,请勿重复操作"); - } catch (Exception e) { - throw new BadRequestException("创建任务失败：" + e.getMessage()); - } - } else { - //直接转发给AGV - sendLesTask(JSON.toJSONString(lesRequest)); + try { + createLes(lesRequest, dstPoint); + } catch (DataIntegrityViolationException e) { + // 数据库唯一约束冲突 + throw new BadRequestException(taskCode + "任务号系统已接收,请勿重复操作"); + } catch (Exception e) { + throw new BadRequestException("创建任务失败：" + e.getMessage()); } } @@ -183,12 +171,12 @@ public class LesServiceImpl implements LesService { try { // 生成请求参数 String json = this.lesCallBackJson(les.getDstPositionCode(), les.getTaskCode()); - log.info("LES回传参数: {}", json); + log.info("LES请求参数: {}", json); // 检查接口开关 if (!dictService.isInterfaceEnabled()) { // 更新LES状态 - updateLesStatus(les, null, json); + updateLesStatus(les, "success", json); return; } @@ -205,8 +193,7 @@ public class LesServiceImpl implements LesService { updateLesStatus(les, result, json); } catch (Exception e) { - log.error("LES回传失败", e); - throw new BadRequestException("LES回传失败:" + e.getMessage()); + throw new BadRequestException(e.getMessage()); } } @@ -266,7 +253,7 @@ public class LesServiceImpl implements LesService { */ private void validateLesResponse(String result) { if (StringUtils.isEmpty(result)) { - throw new BadRequestException("LES返回信息:LES回传接口调用失败!"); + throw new BadRequestException("LES返回信息:LES回传接口调用失败"); } //解析XML格式 @@ -275,7 +262,7 @@ public class LesServiceImpl implements LesService { //解析JSON格式 JSONObject resulObject = JSON.parseObject(result); if (resulObject == null) { - throw new BadRequestException("LES返回信息:LES回传接口返回为空!"); + throw new BadRequestException("LES返回信息:LES回传接口返回为空"); } String resultCode = resulObject.getString("resultCode"); @@ -343,23 +330,20 @@ public class LesServiceImpl implements LesService { if (StringUtils.isEmpty(lesRequest.getTaskCode())) { throw new BadRequestException("任务号必填"); } - //物料有值；说明是料箱上线场景 - if (StringUtils.isNotEmpty(lesRequest.getMaterialCode())) { - if (StringUtils.isEmpty(lesRequest.getRouteCode())) { - throw new BadRequestException("编组/线路必填"); - } + if (StringUtils.isEmpty(lesRequest.getRouteCode())) { + throw new BadRequestException("编组/线路必填"); + } - if (StringUtils.isEmpty(lesRequest.getBoxNo())) { - throw new BadRequestException("料箱号必填"); - } + if (StringUtils.isEmpty(lesRequest.getBoxNo())) { + throw new BadRequestException("料箱号必填"); + } - if (StringUtils.isEmpty(lesRequest.getOnlineNo())) { - throw new BadRequestException("上线单号必填"); - } + if (StringUtils.isEmpty(lesRequest.getOnlineNo())) { + throw new BadRequestException("上线单号必填"); + } - if (lesRequest.getPositionCodePath() == null || lesRequest.getPositionCodePath().isEmpty() || lesRequest.getPositionCodePath().size() < 2) { - throw new BadRequestException("节点不能为空且长度至少为2"); - } + if (lesRequest.getPositionCodePath() == null || lesRequest.getPositionCodePath().isEmpty() || lesRequest.getPositionCodePath().size() < 2) { + throw new BadRequestException("节点不能为空且长度至少为2"); } } @@ -414,9 +398,4 @@ public class LesServiceImpl implements LesService { .build(); lesRepository.save(les); } - - private void sendLesTask(String json) { - kmReService.sendAgvTaskToContainer(UrlApi.submitMission(), json); - } - }