LES任务下发、LES回传；AGV任务下发；AGV上报

youchain-common/src/main/java/com/youchain/exception/handler/LesResult.java

@@ -1,35 +1,27 @@
 package com.youchain.exception.handler;
 
-import lombok.Data;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
 
-import java.time.LocalDateTime;
+@Slf4j
-
-@Data
 public class LesResult {
-    private Object data;//数据
+    public static JSONObject fail(String requestId, String displayMsg) {
-    private String debugMsg;//调试信息
+        return result(requestId, 400, displayMsg, null);
-    private String displayMsg;//描述信息，失败原因
-    private String requestId;//请求id
-    private int resultCode;//返回码
-    private String serverTime;//请求时间，服务器时间戳
-
-    public static LesResult fail(String requestId, String displayMsg) {
-        return result(requestId,400, displayMsg, null);
     }
 
-    public static LesResult success(String requestId) {
+    public static JSONObject success(String requestId) {
         return result(requestId, 2000, "", null);
     }
 
-    public static LesResult result(String requestId, int resultCode, String displayMsg, Object data) {
+    public static JSONObject result(String requestId, int resultCode, String displayMsg, Object data) {
-        LesResult lesResult = new LesResult();
+        JSONObject jsonObject = new JSONObject(true); // true 保持顺序
-        lesResult.setRequestId(requestId);
+        jsonObject.put("requestId", requestId);
-        lesResult.setServerTime(LocalDateTime.now().toString());
+        jsonObject.put("serverTime", System.currentTimeMillis()); // 数值类型时间戳
-        lesResult.setResultCode(resultCode);
+        jsonObject.put("resultCode", resultCode);
-        lesResult.setDisplayMsg(displayMsg);
+        jsonObject.put("displayMsg", displayMsg == null ? "" : displayMsg);
-        lesResult.setDebugMsg("");
+        jsonObject.put("debugMsg", "");
-        lesResult.setData(data);
+        jsonObject.put("data", data == null ? "" : data);
-        return lesResult;
+        return jsonObject;
     }
 
 }

youchain-system/src/main/java/com/youchain/businessdata/inputJson/LesRequest.java

@@ -1,5 +1,6 @@
 package com.youchain.businessdata.inputJson;
 
+import com.fasterxml.jackson.annotation.JsonPropertyOrder;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -33,6 +34,6 @@ public class LesRequest {
     String onlineNo;
 
     @ApiModelProperty(value = "节点", required = true)
-    List<PositionCodeRequest> positionCodes;
+    List<PositionCodeRequest> positionCodePath;
 
 }

youchain-system/src/main/java/com/youchain/businessdata/repository/AgvTaskRepository.java

@@ -30,59 +30,12 @@ import java.util.Map;
  **/
 public interface AgvTaskRepository extends JpaRepository<AgvTask, Long>, JpaSpecificationExecutor<AgvTask> {
 
-    /**
+    @Query(value = "select count(agv.id) from AgvTask agv where agv.stockCode=:stockCode and agv.startSlotCode=:srcPointCode and agv.endSlotCode=:endPointCode  and agv.status in ('OPEN','ATCALL','UP_CONTAINER') ")
-     * 本周任务数统计
+    int isAGVTaskDuplicate(String stockCode, String srcPointCode, String endPointCode);
-     * @return
+
-     */
+    @Query(value = "select count(agv.id) from AgvTask agv where agv.startSlotCode=:startSlotCode and agv.type=:type and agv.jobType=:jobType  and agv.status  in ('OPEN','ATCALL','UP_CONTAINER') ")
-    @Query(value = " SELECT " +
+    int findByStartSlotCode(String startSlotCode, String type, String jobType);
-            "    weekDay," +
+
-            "    taskCount" +
+    @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')  ")
-            " FROM (" +
+    int findByEndSlotCode(String endSlotCode, String type, String jobType);
-            "    SELECT " +
-            "        0 AS sort_order," +
-            "        NULL AS date," +
-            "        '总计' AS weekDay," +
-            "        SUM(task_count) AS taskCount" +
-            "    FROM (" +
-            "        SELECT " +
-            "            DATE(create_time) AS date," +
-            "            COUNT(id) AS task_count" +
-            "        FROM data_agv_task  " +
-            "        WHERE " +
-            "        WEEK(create_time, 1) = WEEK(CURDATE(), 1)" +
-            "        GROUP BY DATE(create_time)" +
-            "    ) sub" +
-            "    UNION ALL" +
-            "    SELECT " +
-            "        1 AS sort_order," +
-            "        dr.date," +
-            "        CASE " +
-            "            WHEN WEEKDAY(dr.date) = 0 THEN '周一'" +
-            "            WHEN WEEKDAY(dr.date) = 1 THEN '周二'" +
-            "            WHEN WEEKDAY(dr.date) = 2 THEN '周三'" +
-            "            WHEN WEEKDAY(dr.date) = 3 THEN '周四'" +
-            "            WHEN WEEKDAY(dr.date) = 4 THEN '周五'" +
-            "            WHEN WEEKDAY(dr.date) = 5 THEN '周六'" +
-            "            WHEN WEEKDAY(dr.date) = 6 THEN '周日'" +
-            "        END AS weekDay," +
-            "        COALESCE(dt.task_count, 0) AS taskCount" +
-            "    FROM " +
-            "        (SELECT " +
-            "            CURDATE() - INTERVAL (WEEKDAY(CURDATE())) DAY + INTERVAL weeks DAY AS date" +
-            "         FROM " +
-            "            (SELECT 0 AS weeks UNION ALL SELECT 1 UNION ALL SELECT 2 UNION ALL SELECT 3 UNION ALL SELECT 4 UNION ALL SELECT 5 UNION ALL SELECT 6) weeks" +
-            "        ) dr" +
-            "    LEFT JOIN (" +
-            "        SELECT " +
-            "            DATE(create_time) AS date," +
-            "            COUNT(id) AS task_count" +
-            "        FROM data_agv_task  " +
-            "        WHERE " +
-            "        WEEK(create_time, 1) = WEEK(CURDATE(), 1)" +
-            "        GROUP BY DATE(create_time)" +
-            "    ) dt " +
-            "    ON dr.date = dt.date" +
-            " ) result" +
-            " ORDER BY sort_order, date;", nativeQuery = true)
-    List<Object[]> queryWeeklyTaskCounts();
 }

youchain-system/src/main/java/com/youchain/businessdata/repository/LesRepository.java

@@ -1,6 +1,5 @@
 package com.youchain.businessdata.repository;
 
-import com.youchain.businessdata.domain.AgvTask;
 import com.youchain.businessdata.domain.Les;
 import org.springframework.data.jpa.repository.JpaRepository;
 import org.springframework.data.jpa.repository.JpaSpecificationExecutor;

youchain-system/src/main/java/com/youchain/businessdata/rest/LesController.java

@@ -76,6 +76,7 @@ public class LesController {
     public ResponseEntity<Object> genAgvSchedulingTask(@RequestBody LesRequest lesRequest) {
         String id = lesRequest.getGuId();//请求id
         try {
+            lesService.genAgvSchedulingTask(lesRequest);
             return new ResponseEntity<>(LesResult.success(id), HttpStatus.OK);
         } catch (Exception e) {
             return new ResponseEntity<>(LesResult.fail(id, e.getMessage()), HttpStatus.BAD_REQUEST);

youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java

@@ -101,5 +101,29 @@ public interface AgvTaskService {
      */
     AgvTask createAgvTask(String bizStatus, Stock stock, Point srcPoint, Point endPoint,String jobType);
 
+    /**
+     * 根据容器查询任务
+     *
+     * @param stockCode 容器
+     */
+    Boolean isAGVTaskDuplicate(String stockCode, String srcPointCode, String endPointCode);
+
+    /**
+     * 根据起点查询是否有重复任务
+     *
+     * @param startSlotCode 点位
+     * @param type          任务类型
+     * @param jobType       作业类型
+     */
+    Boolean 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);
 
 }

youchain-system/src/main/java/com/youchain/businessdata/service/KMReService.java

@@ -0,0 +1,100 @@
+package com.youchain.businessdata.service;
+
+import com.youchain.businessdata.domain.AgvTask;
+
+import java.util.List;
+
+public interface KMReService {
+    /**
+     * 容器入场JSON
+     *
+     * @param containerCode 容器编号
+     * @param position      点位
+     */
+    String containerInJson(String containerCode, String position);
+
+    /**
+     * 容器入场
+     *
+     * @param containerCode 容器
+     * @param position      点位
+     * @param itemCode      物料
+     */
+    void containerIn(String containerCode, String position, String itemCode);
+
+    /**
+     * 容器出场JSON
+     *
+     * @param containerCode 容器编号
+     */
+    String containerOutJson(String containerCode);
+
+    /**
+     * 容器出场
+     *
+     * @param containerCode 容器
+     */
+    void containerOut(String containerCode);
+
+    /**
+     * 下发容器入场或出场或放行
+     *
+     * @param url  接口地址
+     * @param json 接口json
+     */
+    void sendAgvTaskToContainer(String url, String json);
+
+    /**
+     * 下发agv叉车任务JSON
+     *
+     * @param agvTask 任务
+     */
+    String sendAgvTaskCcJson(AgvTask agvTask);
+
+
+    /**
+     * 下发agv货架任务JSON
+     *
+     * @param agvTask 任务
+     */
+    String sendAgvTaskHjJson(AgvTask agvTask);
+
+    /**
+     * 下发agv滚筒任务JSON
+     *
+     * @param agvTask 任务
+     */
+    String sendAgvTaskGtJson(AgvTask agvTask);
+
+    /**
+     * 下发agv牵引车任务JSON
+     *
+     * @param agvTask   任务
+     * @param tugModels 牵引车型号
+     */
+    String sendAgvTaskQYCJson(AgvTask agvTask, List<String> tugModels);
+
+    /**
+     * 下发agv任务
+     *
+     * @param agvTasks 任务
+     */
+    void sendAgvTask(AgvTask agvTasks, String json);
+
+    /**
+     * 任务回报更新状态
+     *
+     * @param agvTask         任务
+     * @param status          状态
+     * @param containerCode   容器
+     * @param currentPosition 当前位置
+     */
+    void missionStateCallback(AgvTask agvTask, String status, String containerCode, String currentPosition);
+
+    /**
+     * 任务放行Json
+     *
+     * @param agvTask 任务
+     */
+    String operationFeedbackJson(AgvTask agvTask);
+}

youchain-system/src/main/java/com/youchain/businessdata/service/LesService.java

@@ -75,4 +75,12 @@ public interface LesService {
      */
     void genAgvSchedulingTask( LesRequest lesRequest);
 
+    /**
+     * LES任务回调
+     * @param currentPositionCode 当前点位
+     * @param taskCode 任务号
+     * @return json
+     */
+    String lesCallBack(String currentPositionCode,String taskCode);
+
 }

youchain-system/src/main/java/com/youchain/businessdata/service/dto/LesDto.java

@@ -1,9 +1,7 @@
 package com.youchain.businessdata.service.dto;
 
-import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
-import javax.persistence.Column;
 import java.sql.Timestamp;
 
 

youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java

@@ -34,6 +34,7 @@ import org.springframework.data.domain.Pageable;
 import java.util.*;
 import java.io.IOException;
 import java.util.stream.Collectors;
+import javax.persistence.Query;
 import javax.servlet.http.HttpServletResponse;
 
 
@@ -138,4 +139,19 @@ public class AgvTaskServiceImpl implements AgvTaskService {
         return agvTask;
     }
 
+    @Override
+    public Boolean isAGVTaskDuplicate(String stockCode, String srcPointCode, String endPointCode) {
+        return agvTaskRepository.isAGVTaskDuplicate(stockCode, srcPointCode, endPointCode)>0;
+    }
+
+    @Override
+    public Boolean findByStartSlotCode(String startSlotCode, String type, String jobType) {
+        return agvTaskRepository.findByStartSlotCode(startSlotCode, type, jobType)>0;
+    }
+
+    @Override
+    public Boolean findByEndSlotCode(String endSlotCode, String type, String jobType) {
+        return agvTaskRepository.findByEndSlotCode(endSlotCode, type, jobType)>0;
+    }
+
 }

youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java

@@ -0,0 +1,558 @@
+package com.youchain.businessdata.service.impl;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+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.Task;
+import com.youchain.businessdata.service.*;
+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.utils.*;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.sql.Timestamp;
+import java.util.*;
+
+@Service
+@Slf4j
+@RequiredArgsConstructor
+public class KMReServiceImpl implements KMReService {
+    private final DictRepository dictRepository;
+    private final StockService stockService;
+    private final PointService pointService;
+    private final TaskService taskService;
+    private final AgvTaskService agvTaskService;
+
+
+    /**
+     * 容器入场Json
+     *
+     * @param containerCode 容器编号
+     * @param position      点位
+     */
+    @Override
+    public String containerInJson(String containerCode, String position) {
+        JSONObject jsonObject = new JSONObject(true);
+        //请求 id
+        jsonObject.put("requestId", String.valueOf(System.currentTimeMillis()));
+        //容器类型
+        jsonObject.put("containerType", "");
+        //容器编号
+        jsonObject.put("containerCode", containerCode);
+        //容器当前位置
+        jsonObject.put("position", position);
+        //角度
+        jsonObject.put("enterOrientation", "");
+        return jsonObject.toString();
+    }
+
+    /**
+     * 容器入场
+     *
+     * @param containerCode 容器
+     * @param position      点位
+     * @param itemCode      物料
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void containerIn(String containerCode, String position, String itemCode) {
+        //验证容器是否存在
+        Stock stock = stockService.validateStock(containerCode);
+
+        //验证点位是否存在
+        Point point = pointService.validatePoint(position);
+
+        //入空车
+        this.handleEmptyContainer(stock, point);
+
+        //下发任务
+        this.sendAgvTaskToContainer(UrlApi.containerIn(), this.containerInJson(containerCode, position));
+    }
+
+    /**
+     * 容器出场Json
+     *
+     * @param containerCode 容器编号
+     */
+    @Override
+    public String containerOutJson(String containerCode) {
+        JSONObject jsonObject = new JSONObject(new LinkedHashMap<>());
+        //请求 id
+        jsonObject.put("requestId", String.valueOf(System.currentTimeMillis()));
+        //容器类型
+        jsonObject.put("containerType", "");
+        //容器编号
+        jsonObject.put("containerCode", containerCode);
+        //容器当前位置
+        jsonObject.put("position", "");
+        return jsonObject.toJSONString();
+    }
+
+    /**
+     * 容器出场
+     *
+     * @param containerCode 容器
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void containerOut(String containerCode) {
+        //验证容器
+        Stock stock = stockService.validateStock(containerCode);
+
+        //释放点位
+        Point point = stock.getPoint();
+        if (point != null) {
+            pointService.freePoint(point);
+        }
+
+        //释放容器
+        stockService.usedStock(stock, null, BaseStatus.FREE);
+
+        //下发任务
+        this.sendAgvTaskToContainer(UrlApi.containerOut(), this.containerOutJson(containerCode));
+
+    }
+
+    /**
+     * 入空车
+     *
+     * @param stock 容器
+     * @param point 点位
+     */
+    public void handleEmptyContainer(Stock stock, Point point) {
+        //占用点位
+        pointService.usedPoint(point);
+
+        //占用容器
+        stockService.usedStock(stock, point, BaseStatus.FREE);
+    }
+
+
+    /**
+     * 下发容器入场或容器出场
+     *
+     * @param url  接口地址
+     * @param json 接口json
+     */
+    @Override
+    public void sendAgvTaskToContainer(String url, String json) {
+        Dict dict = dictRepository.findDictByName("OPEN");
+        if (dict != null) {
+            String resultJson = HttpPostUtil.sendPostReq(url, json);
+            if (StringUtils.isEmpty(resultJson)) {
+                throw new BadRequestException("AGV返回信息:接口调用失败!");
+            }
+            JSONObject resultObject = JSON.parseObject(resultJson);
+            if (resultObject == null) {
+                throw new BadRequestException("AGV返回信息:接口数据返回为空!");
+            }
+            String code = resultObject.getString("code");
+            String message = resultObject.getString("message");
+            if (!"0".equals(code)) {
+                throw new BadRequestException("AGV返回信息:接口调用失败!" + message);
+            }
+        }
+
+    }
+
+    /**
+     * 叉车任务Json
+     *
+     * @param agvTasks 任务
+     */
+    @Override
+    public String sendAgvTaskCcJson(AgvTask agvTasks) {
+
+        JSONObject jsonObject = new JSONObject(true);
+        String requestId = TimeNumberUtils.getCcCode();
+        Map<String, Object> 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<String, Object> 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<String, Object> 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();
+    }
+
+    /**
+     * 货架任务Json
+     *
+     * @param agvTasks 任务
+     */
+    @Override
+    public String sendAgvTaskHjJson(AgvTask agvTasks) {
+        JSONObject jsonObject = new JSONObject(true);
+        String requestId = TimeNumberUtils.getHjCode();
+        Map<String, Object> 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<String, Object> 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();
+    }
+
+    @Override
+    public String sendAgvTaskGtJson(AgvTask agvTask) {
+        JSONObject jsonObject = new JSONObject(true);
+        String requestId = TimeNumberUtils.getGTTaskCode();
+        Map<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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();
+    }
+
+    @Override
+    public String sendAgvTaskQYCJson(AgvTask agvTask, List<String> tugModels) {
+        JSONObject jsonObject = new JSONObject(true);
+        String requestId = TimeNumberUtils.getGTTaskCode();
+        Map<String, Object> 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", "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<String, Object> missionDataMap = new LinkedHashMap<>();
+        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", tugModels.size());//牵引车后方的拖挂车数量
+        missionDataMap.put("passStrategy", "MANUAL");//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);
+
+        JSONObject missionDataObj2 = new JSONObject(true);
+        Map<String, Object> missionDataMap2 = new LinkedHashMap<>();
+        missionDataMap2.put("sequence", 2);//序号
+        missionDataMap2.put("type", "NODE_AREA");//作业类型:点位：NODE_POINT;区域：NODE_AREA
+        missionDataMap2.put("position", agvTask.getEndSlotCode());//终点
+        missionDataMap.put("actionType", "TUGGER_DETACH");//动作：TUGGER_ATTACH：挂钩；TUGGER_DETACH：脱钩
+        missionDataMap.put("passStrategy", "AUTO");//当前任务点结束后放行策略:自动：AUTO;手动：MANUAL
+        missionDataMap2.put("waitingMillis", 0);//自动触发离开当前任务节点的时间，默认单位:毫秒
+        missionDataObj2.putAll(missionDataMap2);
+        missionDataArray.add(missionDataObj2);
+
+        objMap.put("missionData", missionDataArray);
+        jsonObject.putAll(objMap);
+        return jsonObject.toJSONString();
+    }
+
+    @Override
+    public void sendAgvTask(AgvTask agvTasks, String json) {
+        Dict dict = dictRepository.findDictByName("OPEN");
+        String resultJson = "";
+        if (dict != null) {
+            resultJson = HttpPostUtil.sendPostReq(UrlApi.submitMission(), json);
+            if (StringUtils.isEmpty(resultJson)) {
+                throw new BadRequestException("AGV返回信息:下发任务接口调用失败!");
+            }
+            JSONObject resulObject = JSON.parseObject(resultJson);
+            if (resulObject == null) {
+                throw new BadRequestException("AGV返回信息:下发任务接口返回为空!");
+            }
+
+            String code = resulObject.getString("code");
+            String message = resulObject.getString("message");
+            if (!"0".equals(code)) {
+                throw new BadRequestException("AGV返回消息:" + message);
+            }
+        }
+
+        agvTasks.setJobForce(agvTasks.getId().toString());
+        agvTasks.setJobForceAsc((1));
+        agvTasks.setStatus(BizStatus.ATCALL);
+        agvTasks.setJobMessage(resultJson);
+        agvTasks.setReqMessage(json);
+        agvTasks.setStartTime(new Timestamp(System.currentTimeMillis()));
+        agvTaskService.update(agvTasks);
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void missionStateCallback(AgvTask agvTask, String status, String containerCode, String currentPosition) {
+        Stock stock = stockService.validateStock(containerCode);
+        //顶升的是起点；其它终点；
+        Point point;
+        String pointCode;
+        if ("UP_CONTAINER".equals(status) || "FORK_UP".equals(status)) {
+            pointCode = agvTask.getStartSlotCode();
+        } else {
+            pointCode = agvTask.getEndSlotCode();
+        }
+        point = pointService.queryPoint(pointCode, null, null, null);
+        switch (status) {
+            case "UP_CONTAINER":
+            case "FORK_UP":
+                handleUpContainer(agvTask, stock, point);//容器顶升
+                break;
+            case "FORK_DOWN":
+                //容器放下
+                break;
+            case "ARRIVED":
+                //容器到达
+                break;
+            case "COMPLETED":
+                handleComContainer(agvTask, stock, point);//任务完成
+                break;
+            case "CANCELED":
+                handleCanceledTask(agvTask, stock, point);//任务取消
+                break;
+            case "RESEND":
+                handleResendTask(agvTask);//重新发送
+                break;
+        }
+
+    }
+
+    @Override
+    public String operationFeedbackJson(AgvTask agvTask) {
+        JSONObject jsonObject = new JSONObject(new LinkedHashMap<>());
+        //请求 id
+        jsonObject.put("requestId", String.valueOf(System.currentTimeMillis()));
+        //容器类型
+        jsonObject.put("containerCode", "");
+        //容器编号
+        jsonObject.put("missionCode", agvTask.getId());
+        //容器当前位置
+        jsonObject.put("position", "");
+        return jsonObject.toString();
+    }
+
+    /**
+     * 容器顶升
+     *
+     * @param agvTask 任务
+     * @param stock   容器
+     */
+    private void handleUpContainer(AgvTask agvTask, Stock stock, Point startPoint) {
+        //顶升，起点释放点位
+        pointService.freePoint(startPoint);
+        agvTask.setStockCode(stock == null ? null : stock.getCode());
+        agvTask.setStatus(BizStatus.UP_CONTAINER);
+        agvTaskService.update(agvTask);
+    }
+
+    /**
+     * 任务完成
+     *
+     * @param agvTask 任务
+     * @param stock   容器
+     */
+    private void handleComContainer(AgvTask agvTask, Stock stock, Point endPoint) {
+        //任务完成；根据AGV任务的目标点位走对应流程
+        switch (agvTask.getType()) {
+            case BizStatus.PICK:
+                break;
+            case BizStatus.ASN:
+                break;
+            default:
+                throw new BadRequestException("任务类型不存在!");
+        }
+
+        //更新任务状态
+        this.updateAgvTaskStatus(agvTask, stock, BizStatus.FINISH);
+
+    }
+
+    /**
+     * 任务取消完成
+     *
+     * @param agvTask 任务
+     * @param stock   容器
+     */
+    private void handleCanceledTask(AgvTask agvTask, Stock stock, Point endPoint) {
+
+        //更新任务状态
+        this.updateAgvTaskStatus(agvTask, stock, BizStatus.CANCEL);
+
+    }
+
+    /**
+     * 重新发送任务
+     *
+     * @param agvTask 任务
+     */
+    private synchronized void handleResendTask(AgvTask agvTask) {
+        Boolean bool = agvTaskService.isAGVTaskDuplicate(agvTask.getStockCode(), agvTask.getStartSlotCode(), agvTask.getEndSlotCode());
+        if (bool) {
+            throw new BadRequestException("任务已重新生成，请勿重复操作! ");
+        }
+        AgvTask newAgvTask = AgvTask.builder()
+                .stockCode(agvTask.getStockCode())
+                .type(agvTask.getType())
+                .jobType(agvTask.getJobType())
+                .jobPriority(1)
+                .startSlotCode(agvTask.getStartSlotCode())
+                .endSlotCode(agvTask.getEndSlotCode())
+                .slotCode(agvTask.getSlotCode())
+                .status(BizStatus.OPEN)
+                .lineSlotCode(agvTask.getLineSlotCode())
+                .build();
+        agvTaskService.create(newAgvTask);
+
+        List<Task> taskList = new ArrayList<>();
+
+        for (Task task : taskList) {
+            task.setAgvTask(newAgvTask);
+            taskService.update(task);
+        }
+
+
+        // 根据任务类型发送不同的实现
+        switch (agvTask.getJobType()) {
+            case "FORKLIFT_MOVE":
+                sendAgvTask(newAgvTask, sendAgvTaskCcJson(newAgvTask));
+                break;
+            case "RACK_MOVE":
+                sendAgvTask(newAgvTask, sendAgvTaskHjJson(newAgvTask));
+                break;
+            case "ROLLER_MOVE":
+                sendAgvTask(newAgvTask, sendAgvTaskGtJson(newAgvTask));
+                break;
+            default:
+                throw new BadRequestException("任务类型不支持: " + agvTask.getJobType());
+        }
+
+
+    }
+
+
+    /**
+     * 更新任务状态
+     *
+     * @param agvTask 任务
+     * @param stock   容器
+     * @param status  状态
+     */
+    private void updateAgvTaskStatus(AgvTask agvTask, Stock stock, String status) {
+        agvTask.setStockCode(stock == null ? null : stock.getCode());
+        agvTask.setStatus(status);
+        agvTask.setEndTime(new Timestamp(new Date().getTime()));
+        agvTaskService.update(agvTask);
+    }
+}

youchain-system/src/main/java/com/youchain/businessdata/service/impl/LesServiceImpl.java

@@ -1,14 +1,20 @@
 package com.youchain.businessdata.service.impl;
 
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.youchain.businessdata.domain.AgvTask;
 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.KMReService;
 import com.youchain.businessdata.service.LesService;
 import com.youchain.businessdata.service.dto.LesDto;
 import com.youchain.businessdata.service.dto.LesQueryCriteria;
 import com.youchain.businessdata.service.mapstruct.LesMapper;
 import com.youchain.exception.BadRequestException;
+import com.youchain.modules.system.domain.Dict;
+import com.youchain.modules.system.repository.DictRepository;
 import com.youchain.utils.*;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -19,6 +25,8 @@ import org.springframework.transaction.annotation.Transactional;
 
 import javax.servlet.http.HttpServletResponse;
 import java.io.IOException;
+import java.sql.Timestamp;
+import java.text.SimpleDateFormat;
 import java.util.*;
 
 @Service
@@ -28,6 +36,8 @@ public class LesServiceImpl implements LesService {
 
     private final LesRepository lesRepository;
 
+    private final DictRepository dictRepository;
+
     private final LesMapper lesMapper;
 
     @Override
@@ -97,8 +107,7 @@ public class LesServiceImpl implements LesService {
         validateParams(lesRequest);
 
         //验证任务是否存在
-        String taskCode = lesRequest.getTaskCode();
+        validateLes(lesRequest.getTaskCode());
-        validateLes(taskCode);
 
         String materialCode = lesRequest.getMaterialCode();//物料代码
 
@@ -107,9 +116,36 @@ public class LesServiceImpl implements LesService {
             createLes(lesRequest);
         } else {
             //直接转发给AGV
+            sendLesTask(JSON.toJSONString(lesRequest));
         }
     }
 
+    @Override
+    public String lesCallBack(String currentPositionCode,String taskCode) {
+        JSONObject jsonObject = new JSONObject(true);
+        String guid = String.valueOf(System.currentTimeMillis());
+        //LES任务的业务单号，不一定唯一
+        jsonObject.put("reqCode", guid);
+        //请求 id
+        jsonObject.put("guid", guid);
+        //系统标识
+        jsonObject.put("appId", "KUKA");
+        //请求时间
+        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+        jsonObject.put("reqTime", sdf.format(new Date()));
+        //当前点位
+        jsonObject.put("currentPositionCode", currentPositionCode);
+        //关联任务号
+        jsonObject.put("relReqTask", "");
+        //备注
+        jsonObject.put("data", "");
+        //LES产生的任务号
+        jsonObject.put("taskCode", taskCode);
+        //method
+        jsonObject.put("method", "end");
+        return jsonObject.toString();
+    }
+
     /**
      * 验证参数有效性
      *
@@ -117,10 +153,23 @@ public class LesServiceImpl implements LesService {
      */
     private void validateParams(LesRequest lesRequest) {
         if (StringUtils.isEmpty(lesRequest.getTaskCode())) {
-            throw new BadRequestException("任务号必填!");
+            throw new BadRequestException("taskCode必填");
         }
+        //物料有值；说明是料箱上线场景
         if (StringUtils.isNotEmpty(lesRequest.getMaterialCode())) {
-            if (lesRequest.getPositionCodes().isEmpty() || lesRequest.getPositionCodes().size() < 2) {
+            if(StringUtils.isEmpty(lesRequest.getRouteCode())){
+                throw new BadRequestException("routeCode必填");
+            }
+
+            if(StringUtils.isEmpty(lesRequest.getBoxNo())){
+                throw new BadRequestException("boxNo必填");
+            }
+
+            if(StringUtils.isEmpty(lesRequest.getOnlineNo())){
+                throw new BadRequestException("onlineNo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");
             }
         }
@@ -134,14 +183,14 @@ public class LesServiceImpl implements LesService {
     private void validateLes(String taskCode) {
         Les les = lesRepository.findByTaskCode(taskCode);
         if (les != null) {
-            throw new BadRequestException(taskCode + "任务号已存在!");
+            throw new BadRequestException(taskCode + "任务号系统已接收,请勿重复请求");
         }
     }
 
     @Transactional(rollbackFor = Exception.class)
     public void createLes(LesRequest lesRequest) {
         //节点集合
-        List<PositionCodeRequest> positionCodes = lesRequest.getPositionCodes();
+        List<PositionCodeRequest> positionCodes = lesRequest.getPositionCodePath();
         //起点对象
         PositionCodeRequest srcPosition = positionCodes.get(0);
         //终点对象
@@ -162,4 +211,25 @@ public class LesServiceImpl implements LesService {
         lesRepository.save(les);
     }
 
+    private void sendLesTask(String json) {
+        Dict dict = dictRepository.findDictByName("OPEN");
+        String resultJson = "";
+        if (dict != null) {
+            resultJson = HttpPostUtil.sendPostReq(UrlApi.submitMission(), json);
+            if (StringUtils.isEmpty(resultJson)) {
+                throw new BadRequestException("AGV返回信息:下发任务接口调用失败");
+            }
+            JSONObject resulObject = JSON.parseObject(resultJson);
+            if (resulObject == null) {
+                throw new BadRequestException("AGV返回信息:下发任务接口返回为空");
+            }
+
+            String code = resulObject.getString("code");
+            String message = resulObject.getString("message");
+            if (!"0".equals(code)) {
+                throw new BadRequestException("AGV返回消息:" + message);
+            }
+        }
+    }
+
 }

youchain-system/src/main/java/com/youchain/businessdata/service/mapstruct/LesMapper.java

@@ -1,9 +1,7 @@
 package com.youchain.businessdata.service.mapstruct;
 
 import com.youchain.base.BaseMapper;
-import com.youchain.businessdata.domain.AgvTask;
 import com.youchain.businessdata.domain.Les;
-import com.youchain.businessdata.service.dto.AgvTaskDto;
 import com.youchain.businessdata.service.dto.LesDto;
 import org.mapstruct.Mapper;
 import org.mapstruct.ReportingPolicy;

youchain-system/src/main/java/com/youchain/modules/quartz/utils/TimeNumberUtils.java

@@ -5,7 +5,7 @@ import java.util.Date;
 
 public class TimeNumberUtils {
     private static int sequence = 0;
-    private static int length = 5;
+    private static final int length = 5;
 
     public static synchronized String getCKCode() {
         sequence = sequence >= 999999 ? 1 : sequence + 1;
@@ -23,20 +23,20 @@ public class TimeNumberUtils {
         return "RK"+datetime +addLeftZero(s, length);
     }
 
-    public static synchronized String getRCCode() {
+    public static synchronized String getCcCode() {
         sequence = sequence >= 999999 ? 1 : sequence + 1;
         String datetime = new SimpleDateFormat("yyMMddHHmmss")
                 .format(new Date());
         String s = Integer.toString(sequence);
-        return "RC"+datetime +addLeftZero(s, length);
+        return "CC"+datetime +addLeftZero(s, length);
     }
 
-    public static synchronized String getXJTaskCode() {
+    public static synchronized String getHjCode() {
         sequence = sequence >= 999999 ? 1 : sequence + 1;
         String datetime = new SimpleDateFormat("yyMMddHHmmss")
                 .format(new Date());
         String s = Integer.toString(sequence);
-        return "XJ"+datetime +addLeftZero(s, length);
+        return "HJ"+datetime +addLeftZero(s, length);
     }
 
     public static synchronized String getGTTaskCode() {
@@ -47,13 +47,6 @@ public class TimeNumberUtils {
         return "GT"+datetime +addLeftZero(s, length);
     }
 
-    public static synchronized String getKLXTaskCode() {
-        sequence = sequence >= 999999 ? 1 : sequence + 1;
-        String datetime = new SimpleDateFormat("yyMMddHHmmss")
-                .format(new Date());
-        String s = Integer.toString(sequence);
-        return "KLX"+datetime +addLeftZero(s, length);
-    }
 
     /**
      * 左填0

youchain-system/src/main/java/com/youchain/modules/system/repository/DictRepository.java

@@ -42,9 +42,6 @@ public interface DictRepository extends JpaRepository<Dict, Long>, JpaSpecificat
      */
     List<Dict> findByIdIn(Set<Long> ids);
 
-    @Query(value = "SELECT * FROM sys_dict b WHERE b.name = ?1 ", nativeQuery = true)
+    @Query("from Dict dict where dict.name = :name ")
-    Dict getDictDescription(String name);
+    Dict findDictByName(String name);
-
-    @Query(value = " from Dict where description = :description ")
-    Dict findDictByDescription(String description);
 }

youchain-system/src/main/java/com/youchain/modules/system/service/DictService.java

@@ -73,5 +73,5 @@ public interface DictService {
      */
     void download(List<DictDto> queryAll, HttpServletResponse response) throws IOException;
 
-    Dict getDictDescription(String name);
+    Dict findDictByName(String name);
 }

youchain-system/src/main/java/com/youchain/modules/system/service/impl/DictServiceImpl.java

@@ -26,6 +26,7 @@ import lombok.RequiredArgsConstructor;
 import com.youchain.modules.system.repository.DictRepository;
 import com.youchain.modules.system.service.mapstruct.DictMapper;
 import org.springframework.cache.annotation.CacheConfig;
+import org.springframework.cache.annotation.Cacheable;
 import org.springframework.data.domain.Page;
 import org.springframework.data.domain.Pageable;
 import org.springframework.stereotype.Service;
@@ -116,8 +117,9 @@ public class DictServiceImpl implements DictService {
     }
 
     @Override
-    public Dict getDictDescription(String name) {
+    @Cacheable(key = "#name", unless = "#result == null")
-        return dictRepository.getDictDescription(name);
+    public Dict findDictByName(String name) {
+        return dictRepository.findDictByName(name);
     }
 
     public void delCaches(Dict dict){