no message

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

@@ -0,0 +1,33 @@
+package com.youchain.businessdata.inputJson;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class MissionData {
+    @ApiModelProperty(value = "序号")
+    Long sequence;
+
+    @ApiModelProperty(value = "作业位置类型", example = "NODE_POINT")
+    String type;
+
+    @ApiModelProperty(value = "作业路径位置")
+    String position;
+
+    @ApiModelProperty(value = "在点位上需要执行的动作")
+    String actionType;
+
+    @ApiModelProperty(value = "牵引车后方的拖挂车数量")
+    Long tugCount;
+
+    @ApiModelProperty(value = "模型名字")
+    List<String> tugModels;
+
+    @ApiModelProperty(value = "当前任务点结束后放行策略", example = "AUTO")
+    String passStrategy;
+
+    @ApiModelProperty(value = "自动触发离开当前任务节点的时间，默认单位:毫秒", example = "0")
+    Long waitingMillis;
+}

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

@@ -0,0 +1,51 @@
+package com.youchain.businessdata.inputJson;
+
+import com.alibaba.fastjson.annotation.JSONType;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+@JSONType(orders = {
+        "orgId", "requestId", "missionCode", "missionType", "viewBoardType",
+        "robotType", "priority", "templateCode", "lockRobotAfterFinish",
+        "unlockRobotId", "unlockMissionCode", "missionData"
+})
+public class SubmitMission {
+    @ApiModelProperty(value = "任务ID",example = "KUKA")
+    String orgId;
+
+    @ApiModelProperty(value = "请求 id")
+    String requestId;
+
+    @ApiModelProperty(value = "任务编号")
+    Long missionCode;
+
+    @ApiModelProperty(value = "任务类型",example = "TUGGER_MOVE")
+    String missionType;
+
+    @ApiModelProperty(value = "上视识别类型")
+    String viewBoardType;
+
+    @ApiModelProperty(value = "机器人功能类型",example = "TUGGER")
+    String robotType;
+
+    @ApiModelProperty(value = "优先级",example = "1")
+    String priority;
+
+    @ApiModelProperty(value = "作业流程模板编号")
+    String templateCode;
+
+    @ApiModelProperty(value = "是否需要流程结束后机器人保持任务锁定状态")
+    Boolean lockRobotAfterFinish;
+
+    @ApiModelProperty(value = "解锁当前小车的在上个任务的锁定状态")
+    String unlockRobotId;
+
+    @ApiModelProperty(value = "当前小车的上一个任务")
+    String unlockMissionCode;
+
+    @ApiModelProperty(value = "任务节点")
+    List<MissionData> missionData;
+}

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

@@ -1,12 +1,21 @@
 package com.youchain.businessdata.rest;
 
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.alibaba.fastjson.serializer.SerializerFeature;
 import com.youchain.annotation.AnonymousAccess;
 import com.youchain.annotation.Log;
 import com.youchain.businessdata.domain.AgvTask;
 import com.youchain.businessdata.inputJson.MissionStateCallback;
+import com.youchain.businessdata.inputJson.SubmitMission;
 import com.youchain.businessdata.service.AgvTaskService;
 import com.youchain.businessdata.service.KMReService;
+import com.youchain.exception.BadRequestException;
 import com.youchain.exception.handler.ApiResult;
+import com.youchain.modules.system.domain.Dict;
+import com.youchain.utils.HttpPostUtil;
+import com.youchain.utils.StringUtils;
+import com.youchain.utils.UrlApi;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
@@ -47,4 +56,23 @@ public class KMReSController {
     }
 
 
+    @PostMapping("/submitMission")
+    @Log("KMReS任务下发")
+    @ApiOperation("KMReS任务下发")
+    @AnonymousAccess
+    public ResponseEntity<Object> submitMission(@RequestBody SubmitMission submitMission) {
+        try {
+            kmReService.sendAgvTaskToContainer(UrlApi.submitMission(),JSON.toJSONString(submitMission));
+            return new ResponseEntity<>(ApiResult.success(), HttpStatus.OK);
+        } catch (Exception e) {
+            return new ResponseEntity<>(ApiResult.fail(e.getMessage()), HttpStatus.BAD_REQUEST);
+        }
+    }
+
+
+
+
+
+
+
 }

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

@@ -149,6 +149,7 @@ public class KMReServiceImpl implements KMReService {
      */
     @Override
     public void sendAgvTaskToContainer(String url, String json) {
+        log.info(json);
         Dict dict = dictRepository.findDictByName("OPEN");
         if (dict != null) {
             String resultJson = HttpPostUtil.sendPostReq(url, json);