代码迁入

shkj-admin/pom.xml

@@ -34,6 +34,12 @@
             <artifactId>spring-boot-starter-test</artifactId>
         </dependency>
 
+        <!-- Maven依赖 -->
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-validation</artifactId>
+        </dependency>
+
 
 
         <!-- swagger3-->

shkj-admin/src/main/resources/application-yun.yml

@@ -92,9 +92,13 @@ third:
   wcsIncomingTaskRequestUrl: http://58.214.39.42:5000/api/toWzWcs/wcsIncomingTaskRequest
   uploadWCSTaskStatusUrl: http://58.214.39.42:5000/api/toWzWcs/uploadWCSTaskStatus
   #  agv接口
-  agvCreateTaskUrl: http://127.0.0.1:8081/rest/common/createTask
+  agvCreateTaskUrl: http://127.0.0.1:8081/rcs/rtas/api/robot/controller/task/submit
   agvStatesUrl: http://127.0.0.1:8081/api/robot/controller/robot/query
-  agvCancelTaskUrl: http://127.0.0.1:8081/rest/common/cancelTask
+  agvCancelTaskUrl: http://127.0.0.1:8081/rcs/rtas/api/robot/controller/task/cancel
   queryAckByTaskUrl: http://127.0.0.1:8081/rest/common/queryAckByTaskId
 
-
+plc:
+  host: 192.168.1.10
+  rack: 0
+  slot: 1
+  db-number: 5200

shkj-admin/src/main/resources/logback.xml

@@ -8,7 +8,7 @@
     <contextName>logback</contextName>
     <!-- name的值是变量的名称，value的值时变量定义的值。通过定义的值会被插入到logger上下文中。定义变量后，可以使“${}”来使用变量。 -->
     <!-- <property name="log.path" value="/opt/logs/mjk2" />-->
-    <property name="log.path" value="D:/wcs/logs" />
+    <property name="log.path" value="/opt/logs/sc" />
 
     <!-- 彩色日志 -->
     <!-- 配置格式变量：CONSOLE_LOG_PATTERN 彩色日志格式 -->

shkj-admin/src/test/java/com/shkj/test.java

@@ -1,77 +0,0 @@
-package com.shkj;
-
-import com.shkj.plc.sdk.device.PLCReadAndWrite;
-import com.shkj.wms.service.IBusinOutInPlanService;
-import lombok.extern.slf4j.Slf4j;
-import org.junit.Test;
-import org.junit.runner.RunWith;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.boot.test.context.SpringBootTest;
-import org.springframework.test.context.junit4.SpringRunner;
-
-import java.util.concurrent.ScheduledExecutorService;
-import java.util.concurrent.TimeUnit;
-
-import static java.util.concurrent.Executors.newScheduledThreadPool;
-
-@RunWith(SpringRunner.class)
-@SpringBootTest(classes = ShkjApplication.class)
-@Slf4j
-public class test {
-    @Autowired
-    IBusinOutInPlanService iBusinOutInPlanService;
-
-    @Autowired
-    PLCReadAndWrite plcReadAndWrite;
-
-    ScheduledExecutorService executor = newScheduledThreadPool(4);
-
-    @Test
-    public  void test() {
-        iBusinOutInPlanService.getOrderNoByContainerCode("10000171", "in");
-    }
-
-
-
-
-    @Test
-    public  void test2(){
-
-        executor.scheduleWithFixedDelay(new Runnable() {
-
-            public void run() {
-                System.out.println("====");
-              /*  try {
-                    int i = 1 / 0;
-                } catch (Exception e) {
-                    e.printStackTrace();
-                }*/
-
-				try {
-					Thread.sleep(10000);
-					System.out.println("执行完毕");
-				} catch (InterruptedException e) {
-					e.printStackTrace();
-				}
-
-            }
-        }, 1000, 3000, TimeUnit.MILLISECONDS);
-    }
-
-
-    @Test
-    public  void test3(){
-        executor.scheduleAtFixedRate(new Runnable() {
-
-            public void run() {
-                System.out.println("====");
-                try {
-                    Thread.sleep(10000);//此地方可以试下把try catch去掉，任务就会停掉
-                    System.out.println("执行完毕");
-                } catch (InterruptedException e) {
-                    e.printStackTrace();
-                }
-            }
-        }, 1000, 3000, TimeUnit.MILLISECONDS);
-    }
-}

shkj-common/src/main/java/com/shkj/common/core/domain/Result.java

@@ -117,4 +117,11 @@ public class Result<T> implements Serializable {
         return false;
     }
 
+    public static Boolean isOk(int code) {
+        if (code == Result.ok().getCode()) {
+            return true;
+        }
+        return false;
+    }
+
 }

shkj-wms/pom.xml

@@ -6,7 +6,7 @@
         <artifactId>shkj</artifactId>
         <groupId>com.shkj</groupId>
         <version>3.8.1</version>
-    </parent>
+    </parent><build><plugins><plugin><groupId>org.apache.maven.plugins</groupId><artifactId>maven-compiler-plugin</artifactId><configuration><source>8</source><target>8</target></configuration></plugin></plugins></build>
     <modelVersion>4.0.0</modelVersion>
 
     <artifactId>shkj-wms</artifactId>
@@ -117,6 +117,19 @@
             <artifactId>spring-aspects</artifactId>
             <version>5.3.23</version>
         </dependency>
+        <!-- Maven依赖 -->
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-validation</artifactId>
+        </dependency>
+        <!-- 接口参数校验注解依赖包 -->
+        <dependency>
+            <groupId>org.hibernate.validator</groupId>
+            <artifactId>hibernate-validator</artifactId>
+            <version>6.0.17.Final</version>
+            <scope>compile</scope>
+        </dependency>
+
 
         <!-- PLC设备联动-->
         <dependency>
@@ -124,6 +137,14 @@
             <artifactId>plc-sdk</artifactId>
             <version>1.0-SNAPSHOT</version>
         </dependency>
+
+        <dependency>
+            <groupId>com.github.s7connector</groupId>
+            <artifactId>s7connector</artifactId>
+            <version>2.1</version>
+        </dependency>
     </dependencies>
 
+
+
 </project>

shkj-wms/src/main/java/com/shkj/wcs/bo/AGVFeedbackBo.java

@@ -0,0 +1,27 @@
+package com.shkj.wcs.bo;
+
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import lombok.experimental.Accessors;
+
+import javax.validation.constraints.NotBlank;
+
+@Data
+@NoArgsConstructor
+@Accessors(chain = true)
+public class AGVFeedbackBo {
+
+    /**
+     * 任务号
+     */
+    @NotBlank()
+    private String robotTaskCode;
+
+    /**
+     * 当前执行任务的机器人唯一标识
+     */
+    private String singleRobotCode;
+
+    private ExtraData extra;
+
+}

shkj-wms/src/main/java/com/shkj/wcs/bo/ExtraData.java

@@ -0,0 +1,75 @@
+package com.shkj.wcs.bo;
+
+import lombok.Data;
+
+@Data
+public class ExtraData {
+
+    private String async;
+    private Values values;
+
+    @Data
+    public static class Values {
+        /**
+         * 地图编号
+         */
+        private String mapCode;
+        /**
+         * 上报的方法名
+         */
+        private String method;
+        /**
+         * 载具编号
+         */
+        private String carrierCode;
+        /**
+         * 载具名称
+         */
+        private String carrierName;
+        /**
+         * 载具类型
+         */
+        private String carrierType;
+        /**
+         * 载具种类
+         */
+        private String carrierCategory;
+        /**
+         * 载具角度
+         */
+        private String carrierDir;
+        /**
+         * 当前站点编号
+         */
+        private String slotCode;
+        /**
+         * 站点别名
+         */
+        private String slotName;
+        /**
+         * 存储类型
+         */
+        private String slotCategory;
+        /**
+         * 机器人当前位置x坐标
+         */
+        private String x;
+        /**
+         * 机器人当前位置y坐标
+         */
+        private String y;
+        /**
+         * 机器人种类
+         */
+        private String amrCategory;
+        /**
+         * 机器人类型
+         */
+        private String amrType;
+        /**
+         * 区域编号
+         */
+        private String zoneCode;
+
+    }
+}

shkj-wms/src/main/java/com/shkj/wcs/controller/busin/AgvTaskContorller.java

@@ -1,35 +1,90 @@
 package com.shkj.wcs.controller.busin;
 
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.shkj.common.annotation.Log;
 import com.shkj.common.annotation.RepeatSubmit;
+import com.shkj.common.core.domain.Result;
 import com.shkj.common.enums.BusinessType;
+import com.shkj.common.utils.DateUtils;
+import com.shkj.wcs.bo.AGVFeedbackBo;
+import com.shkj.wcs.bo.ExtraData;
 import com.shkj.wcs.bo.WcsRequestBo;
+import com.shkj.wcs.domain.BusinDataTask;
+import com.shkj.wcs.service.IBusinDataTaskService;
+import com.shkj.wcs.third.rcs.RCSUtil;
+import com.shkj.wcs.third.rcs.dto.RcsCreateTaskDto;
+import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
+import com.shkj.wcs.third.workbinWcs.WCSUtil;
+import com.shkj.wcs.third.workbinWcs.dto.UploadWCSTaskStatusBody;
+import com.shkj.wcs.third.workbinWcs.dto.UploadWCSTaskStatusDto;
+import com.shkj.wcs.third.workbinWcs.dto.WcsCreateTaskHeader;
 import com.shkj.wcs.vo.QueryAreaStatusVo;
 import com.shkj.wcs.vo.WcsResponseVo;
+import com.shkj.wms.enums.TaskStatusEnum;
 import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.ibatis.exceptions.TooManyResultsException;
+import org.checkerframework.checker.units.qual.A;
 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;
 
 import java.util.ArrayList;
+import java.util.Date;
 import java.util.List;
 
+@Slf4j
 @RequiredArgsConstructor(onConstructor_ =@Autowired)
 @RestController
 @RequestMapping("/agvapi")
 public class AgvTaskContorller {
 
+    @Autowired
+    private RCSUtil rcsUtil;
+
+    @Autowired
+    private IBusinDataTaskService iBusinDataTaskService;
+    @Autowired
+    private WCSUtil wcsUtil;
+
 
     /**
-     * 执行task
+     * 查询每个库区状态
      */
     @Log(title = "查询每个库区状态",businessType = BusinessType.UPDATE)
     @PostMapping("/toKjWcs/queryAreaStatus")
     @RepeatSubmit
-    public WcsResponseVo queryAreaStatus(WcsRequestBo wcsRequestBo){
+    public WcsResponseVo queryAreaStatus(@RequestBody WcsRequestBo wcsRequestBo){
         // 请求agv接口...
         List<QueryAreaStatusVo> areaStatusVos = new ArrayList<>();
         return  WcsResponseVo.success(areaStatusVos);
     }
+
+    /**
+     * 下发任务
+     */
+
+    @Log(title = "下发任务测试接口",businessType = BusinessType.UPDATE)
+    @PostMapping("/toAgv/rcsCreateTask")
+    @RepeatSubmit
+    public Result rcsCreateTask(@RequestBody RcsCreateTaskDto rcsCreateTaskDto){
+        // 请求agv接口...
+
+        return  rcsUtil.rcsCreateTask(rcsCreateTaskDto);
+    }
+
+    /**
+     * 任务执行过程回馈接口
+     */
+
+    @Log(title = "任务执行过程回馈接口",businessType = BusinessType.UPDATE)
+    @PostMapping("/toKjWcs/rcsFeedbackTask")
+    @RepeatSubmit
+    public RcsResponseVo rcsFeedbackTask(@RequestBody AGVFeedbackBo bo){
+        return iBusinDataTaskService.rcsFeedbackTask(bo);
+    }
+
 }

shkj-wms/src/main/java/com/shkj/wcs/controller/busin/WcsTaskController.java

@@ -1,5 +1,6 @@
 package com.shkj.wcs.controller.busin;
 
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.shkj.common.annotation.Log;
 import com.shkj.common.annotation.RepeatSubmit;
@@ -24,6 +25,7 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
+import javax.validation.Valid;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -48,7 +50,7 @@ public class WcsTaskController {
      */
     @PostMapping("/toKjWcs/commonApi")
     @RepeatSubmit
-    public WcsResponseVo commonApi(@RequestBody WcsCreateTaskDto bo) {
+    public WcsResponseVo commonApi(@Valid @RequestBody  WcsCreateTaskDto bo) {
         return iBusinDataTaskService.doTaskGeneratePickTask(bo);
     }
 
@@ -66,22 +68,18 @@ public class WcsTaskController {
     @PostMapping("/toKjWcs/queryAreaStatus")
     @RepeatSubmit
     public WcsResponseVo queryAreaStatus(@RequestBody WCSQueryAreaStatusDto dto) {
-        //调用plc接口 暂时不用
+        //测试使用
-        WCSQueryAreaStatusDto wcsQueryAreaStatusDto = new WCSQueryAreaStatusDto();
         List<WCSQueryAreaStatusBody> areaStatusBodyList = new ArrayList<>();
         String[] areaCodes = {"SC-A2", "SC-B2", "SC-C2", "SC-D2"};
-
         int[] statusValues = {0, 1, 1, 1};
-
         for (int i = 0; i < 4; i++) {
             WCSQueryAreaStatusBody queryAreaStatusBody = new WCSQueryAreaStatusBody();
             queryAreaStatusBody.setAreaInLocation(areaCodes[i]);
             queryAreaStatusBody.setStatus(statusValues[i]);
             areaStatusBodyList.add(queryAreaStatusBody);
         }
-
+        log.info("查询结果及返回结果："+ JSONObject.toJSONString(areaStatusBodyList));
-        wcsQueryAreaStatusDto.setBody(areaStatusBodyList);
+        return WcsResponseVo.success(areaStatusBodyList);
-        return WcsResponseVo.success(wcsQueryAreaStatusDto);
     }
 
 

shkj-wms/src/main/java/com/shkj/wcs/domain/BusinDataTask.java

@@ -167,4 +167,10 @@ public class BusinDataTask implements Serializable {
     @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+7")
     private Date updateTime;
 
+    /**
+     * 实际放货位置
+     */
+    private String destination;
+
+
 }

shkj-wms/src/main/java/com/shkj/wcs/domain/PlcProperties.java

@@ -0,0 +1,16 @@
+package com.shkj.wcs.domain;
+
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.stereotype.Component;
+
+@Component
+@ConfigurationProperties(prefix = "plc")
+@Data
+public class PlcProperties {
+    private String host;
+    private int rack;
+    private int slot;
+    private int dbNumber;
+
+}

shkj-wms/src/main/java/com/shkj/wcs/plc/PlcEventTask.java

@@ -1,6 +1,8 @@
 package com.shkj.wcs.plc;
 
 import com.shkj.common.constant.RedisConstant;
+import com.shkj.common.core.domain.Result;
+import com.shkj.common.enums.BusinessType;
 import com.shkj.plc.sdk.device.PlcOperate;
 import com.shkj.system.service.ISysParameterService;
 import com.shkj.wcs.bo.WcsPlcConnectQueryBo;
@@ -10,8 +12,16 @@ import com.shkj.wcs.mapper.WcsPlcConnectMapper;
 import com.shkj.wcs.service.IWcsPlcConnectService;
 import com.shkj.wcs.service.IWcsPlcPropertyService;
 import com.shkj.wcs.third.rcs.RCSUtil;
+import com.shkj.wcs.third.workbinWcs.WCSUtil;
+import com.shkj.wcs.third.workbinWcs.dto.WCSQueryTaskStatusBody;
+import com.shkj.wcs.third.workbinWcs.dto.WcsIncomingTaskRequestBody;
+import com.shkj.wcs.vo.TaskStatusBody;
 import com.shkj.wcs.vo.WcsPlcConnectVo;
+import com.shkj.wcs.vo.WcsResponseVo;
+import com.shkj.wms.enums.BusinTaskTypeEnum;
+import com.shkj.wms.enums.TaskTypeEnum;
 import com.shkj.wms.utils.JsonUtil;
+import com.shkj.wms.vo.PlanOrderLocationVo;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.data.redis.core.RedisTemplate;
@@ -22,6 +32,7 @@ import java.util.*;
 import java.util.concurrent.*;
 
 import com.shkj.plc.sdk.device.PLCReadAndWrite;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 
 
@@ -52,7 +63,10 @@ public class PlcEventTask {
     @Autowired
     PlcInit plcInit;
 
-    //@Scheduled(fixedDelay = 5000)
+    @Autowired
+    WCSUtil wcsUtil;
+
+    @Scheduled(fixedDelay = 5000)
     public void init() {
         //查询需要连接的PLC,初始化连接对象
         List<WcsPlcConnectVo> plcList =(List<WcsPlcConnectVo>) redisTemplate.opsForValue().get(RedisConstant.redisPlcListConnect);
@@ -74,13 +88,13 @@ public class PlcEventTask {
 
 
     //输送线心跳
-    //@Scheduled(fixedDelay = 4000)
+    @Scheduled(fixedDelay = 4000)
     public void writePlcheartbeatDps() {
         //根据连接的plcId获取属性
         PlcOperate plcOperate = plcInit.getPlcOperate_dps();
         PLCReadAndWrite plcReadAndWrite = new PLCReadAndWrite();
         Map<String, Object> readPointMap = new HashMap<>();
-        String heartbeat = "DB320.0.0";
+        String heartbeat = "DB5100";
         readPointMap.put(heartbeat, "Boolean");
         Map<String, Object> pointMap = plcReadAndWrite.readPlcData(plcOperate, JsonUtil.toJSONString(readPointMap));
 
@@ -143,8 +157,7 @@ public class PlcEventTask {
         if (propertyList == null || propertyList.size() == 0) {
             propertyList = iWcsPlcPropertyService.getWcsPlcPropertyByPlcId(plcId);
         }
-        //任务ID
+
-        Long taskId = 0L;
         // 设备类型：2输送线  1 堆垛机
         switch (conn.getDevType()) {
             //输送线
@@ -159,169 +172,269 @@ public class PlcEventTask {
 
     public void dpsRealTimeTask(List<WcsPlcProperty> propertyList, Map<String, Object> pointMap, PLCReadAndWrite plcReadAndWrite, PlcOperate plcOperate) {
         try {
-        } catch (Exception e) {
+            /**
-            log.error("dpsRealTimeTask:" + e.getMessage());
+             * 请求入库
-        }
+             */
-    }
+            //BCR01请求序列号
-
+            String reqInSeria = "";
-    /**
+
-     * 输送线请求入库
+            //BCR01条码
-     *
+            String reqInBarcod = "";
-     * @param taskId
+            //BCR01条码数据类型
-     * @return
+
-     */
+            //BCR01外形检测
-    public Boolean dpsTask(Long taskId, Integer reqLayer) {
+            String reqInLength = "";
-
+
-        //下发任务时，先查询是否有正在执行的入库任务或出库任务，如果有，则不下发入库任务
+            //请求入库返回序列号
-        Object taskInId = redisTemplate.opsForValue().get(RedisConstant.redisTaskIn);
+            String reqInCfmSeria = "";
-        if (taskInId != null) {
+            String reqInCfmSeriaVt = "";
-            log.info("有入库任务在执行，无法下发入库任务:" + taskInId);
+
-            return false;
+            //请求入库返回条码
-        }
+            String reqInCfmBarcod= "";
+            String reqInCfmBarcodVt= "";
+
+            //返回去向
+            String reqInDest = "";
+            String reqInDestVt= "";
+
+            /**
+             * 空托
+             */
+            //空托申请
+            String reqEmpty = "";
+
+            //空托确认
+            String reqCfm = "";
+            String reqCfmVt = "";
+
+            /**
+             * 出口上报
+             */
+            //出口上报请求序列号
+            String rptOutSeria = "";
+
+            //出口上报条码
+            String rptOutBarcod = "";
+
+            //出口上报确认序列号
+            String rptOutCfmSeria = "";
+            String rptOutCfmSeriaVt = "";
+
+            //出口上报条码确认
+            String rptOutCfmBarcod= "";
+            String rptOutCfmBarcodVt= "";
+
+            //出口上报返回信息
+            String retOut = "";
+            String retOutVt= "";
+
+            /**
+             * 出入库切换
+             */
+            //出入库切换
+            String inOutSwit = "";
+
+            //出入库切换返回
+            String retInOutSwit = "";
+            String retInOutSwitVt = "";
+
+            /**
+             * 叠盘机
+             */
+            //叠盘机完成
+            String stk = "";
+
+            //叠盘机返回
+            String retStk = "";
+            String retStkVt = "";
+
+
+            for (WcsPlcProperty plcProperty : propertyList) {
+                String pointType = plcProperty.getPointType();
+                //请求分配
+                if (pointType.equals("reqInSeria")) {
+                    reqInSeria = plcProperty.getAddress();
+                }  else if (pointType.equals("reqInBarcod")) {
+                    reqInBarcod = plcProperty.getAddress();
+                }  else if (pointType.equals("reqInLength")) {
+                    reqInLength = plcProperty.getAddress();
+                    reqInLength = plcProperty.getPointType();
+                }  else if (pointType.equals("reqInCfmSeria")) {
+                    reqInCfmSeria = plcProperty.getAddress();
+                    reqInCfmSeriaVt = plcProperty.getPointType();
+                }  else if (pointType.equals("reqInCfmBarcod")) {
+                    reqInCfmBarcod = plcProperty.getAddress();
+                    reqInCfmBarcodVt = plcProperty.getPointType();
+                }  else if (pointType.equals("reqInDest")) {
+                    reqInDest = plcProperty.getAddress();
+                    reqInDestVt = plcProperty.getPointType();
+
+                }  else if (pointType.equals("reqEmpty")) {
+                    reqEmpty = plcProperty.getAddress();
+                }  else if (pointType.equals("reqCfm")) {
+                    reqCfm = plcProperty.getAddress();
+                    reqCfmVt = plcProperty.getPointType();
+                }  else if (pointType.equals("rptOutSeria")) {
+                    rptOutSeria = plcProperty.getAddress();
+                }  else if (pointType.equals("rptOutBarcod")) {
+                    rptOutBarcod = plcProperty.getAddress();
+                }  else if (pointType.equals("rptOutCfmSeria")) {
+                    rptOutCfmSeria = plcProperty.getAddress();
+                    rptOutCfmSeriaVt = plcProperty.getPointType();
+                }  else if (pointType.equals("rptOutCfmBarcod")) {
+                    rptOutCfmBarcod = plcProperty.getAddress();
+                    rptOutCfmBarcodVt = plcProperty.getPointType();
+                }  else if (pointType.equals("retOut")) {
+                    retOut = plcProperty.getAddress();
+                    retOutVt = plcProperty.getPointType();
+                }  else if (pointType.equals("inOutSwit")) {
+                    inOutSwit = plcProperty.getAddress();
+                }  else if (pointType.equals("retInOutSwit")) {
+                    retInOutSwit = plcProperty.getAddress();
+                    retInOutSwitVt = plcProperty.getPointType();
+                }
 
-        Object oneTaskOutId = redisTemplate.opsForValue().get(RedisConstant.redisTaskOutOne);
-        if (oneTaskOutId != null) {
-            log.info("1F有出库任务在执行，无法下发入库任务:" + oneTaskOutId);
-            return false;
-        }
-
-        Object twoTaskOutId = redisTemplate.opsForValue().get(RedisConstant.redisTaskOutTwo);
-        if (twoTaskOutId != null) {
-            log.info("2F有出库任务在执行，无法下发入库任务:" + twoTaskOutId);
-            return false;
-        }
-
-        PLCReadAndWrite plcReadAndWrite = new PLCReadAndWrite();
-
-        WcsPlcConnectQueryBo plcConnect = new WcsPlcConnectQueryBo();
-        plcConnect.setDevType("1");
-        WcsPlcConnectVo wcsPlcConnectVo = wcsPlcConnectMapper.selectPlcConnectBydevType(plcConnect);
-        Long stkPlcId = wcsPlcConnectVo.getId();
-        PlcOperate stkOperate = plcInit.getPlcOperateByIp(wcsPlcConnectVo.getPlcIp());
-        String pointTables = wcsPlcConnectVo.getPointTables();
-
-        Map<String, Object> pointMap = plcReadAndWrite.readPlcData(stkOperate, pointTables);
-
-        List<WcsPlcProperty> propertyList = iWcsPlcPropertyService.getWcsPlcPropertyByPlcId(stkPlcId);
-        String plcTaskId = "";
-        String taskIdvalueType = "";
-        String plcToRow = "";
-        String toRowValueType = "";
-        String plcToColumn = "";
-        String toColumnValueType = "";
-        String plcToLayer = "";
-        String toLayerValueType = "";
-
-        String plcPlatform = "";
-        String plcPlatformValueType = "";
-
-        String plcOrderType = "";
-        String plcOrderTypeValue = "";
-
-        //堆垛机完成状态
-        String readfinish = "";
-        String readfinishValueType = "";
-
-        String stkAutoManual = "";
-        String stkGround = "";
-        String stkidle = "";
-        String stkRun = "";
-
-        for (WcsPlcProperty stkProperty : propertyList) {
-            //获取要堆垛机要写入的点位
-            if (stkProperty.getPointType().equals("101")) {
-                plcTaskId = stkProperty.getAddress();
-                taskIdvalueType = stkProperty.getValueType();
-            } else if (stkProperty.getPointType().equals("108")) {
-                plcToRow = stkProperty.getAddress();
-                toRowValueType = stkProperty.getValueType();
-            } else if (stkProperty.getPointType().equals("109")) {
-                plcToColumn = stkProperty.getAddress();
-                toColumnValueType = stkProperty.getValueType();
-            } else if (stkProperty.getPointType().equals("110")) {
-                plcToLayer = stkProperty.getAddress();
-                toLayerValueType = stkProperty.getValueType();
-            } else if (stkProperty.getPointType().equals("102")) {
-                plcOrderType = stkProperty.getAddress();
-                plcOrderTypeValue = stkProperty.getValueType();
-            } else if (stkProperty.getPointType().equals("103")) {
-                plcPlatform = stkProperty.getAddress();
-                plcPlatformValueType = stkProperty.getValueType();
-            } else if (stkProperty.getPointType().equals("4")) {
-                readfinish = stkProperty.getAddress();
-                readfinishValueType = stkProperty.getValueType();
-            } else if (stkProperty.getPointType().equals("10")) {
-                //等于1时堆垛机自动，等于0时堆垛机手动
-                stkAutoManual = stkProperty.getAddress();
-            } else if (stkProperty.getPointType().equals("11")) {
-                //等于1时地面柜自动，等于0时地面柜手动
-                stkGround = stkProperty.getAddress();
-            } else if (stkProperty.getPointType().equals("12")) {
-                //等于1时堆垛机空闲，等于0时堆垛机正忙
-                stkidle = stkProperty.getAddress();
-            } else if (stkProperty.getPointType().equals("13")) {
-                //等于1时堆垛机已激活（运行）
-                stkRun = stkProperty.getAddress();
             }
-        }
+            //扫码处入库申请
-
+            if (pointMap.containsKey(reqInSeria) && Boolean.valueOf(pointMap.get(reqInSeria).toString())) {
-        Boolean stkRunV = false;
+                //读取请求序列号内容
-        if (pointMap.containsKey(stkRun)) {
+                Integer bCR01SeriaV = (Integer) pointMap.get(reqInSeria);
-            stkRunV = Boolean.valueOf(pointMap.get(stkRun).toString());
+                //读取托盘条码内容
-        }
+                String barcodeValueOne = pointMap.get(reqInBarcod).toString();
-        log.info("堆垛机运行状态：" + stkRunV);
+                log.info("扫码处入库申请时，读取的条码内容：" + barcodeValueOne);
-        if (!stkRunV) {
+                //根据托盘条码返回正在执行的任务号
-            log.info(taskId + "请求入库时，堆垛机尚未运行");
+                WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
-            return false;
+                body.setStation("");
-        }
+                body.setTaskType(TaskTypeEnum.In.getValue());
-
+                body.setBussinessType(BusinTaskTypeEnum.stockIn.getValue());
-
+                body.setTrayCode(barcodeValueOne);
-        Boolean stkAutoManualV = null;
+                body.setCreateDt(new Date().toString());
-        if (pointMap.containsKey(stkAutoManual)) {
+                //调用agv接口查询库区状态
-            stkAutoManualV = Boolean.valueOf(pointMap.get(stkAutoManual).toString());
+                Object[] areaStatus = {};
-        }
+                body.setAreaStatus(areaStatus);
-        log.info(taskId + "堆垛机自动状态：" + stkAutoManualV);
+                WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
-        if (!stkAutoManualV) {
+                log.info("扫码处入库申请wz-wcs返回：" + vo.getHeader());
-            log.info(taskId + "请求入库时，堆垛机手动状态");
+                Map<String, Object> allMap = new HashMap<>(1);
-            return false;
+                Map<String, Integer> seriaMap = new HashMap<>(1);
-        }
+                seriaMap.put(reqInCfmSeriaVt,bCR01SeriaV );
-
+                allMap.put(reqInCfmSeria, seriaMap);
-        Boolean stkGroundV = false;
+
-        if (pointMap.containsKey(stkGround)) {
+                Map<String, String> barcodMap = new HashMap<>(1);
-            stkGroundV = Boolean.valueOf(pointMap.get(stkGround).toString());
+                barcodMap.put(reqInCfmBarcodVt, barcodeValueOne);
-        }
+                allMap.put(reqInCfmBarcod, barcodMap);
-        log.info(taskId + "地面柜自动状态：" + stkGroundV);
+                //成功直行 失败回退
-        if (!stkGroundV) {
+                if (Result.isOk(vo.getHeader().getMsgCode())) {
-            log.info(taskId + "请求入库时，堆垛机地面柜手动状态");
+                    Map<String, Integer> destMap = new HashMap<>(1);
-            return false;
+                    destMap.put(reqInDestVt, 1);
-        }
+                    allMap.put(reqInDest, destMap);
-
+                } else {
-        Boolean stkidleV = false;
+                    Map<String, Integer> destMap = new HashMap<>(1);
-        if (pointMap.containsKey(stkidle)) {
+                    destMap.put(reqInDestVt, 2);
-            stkidleV = Boolean.valueOf(pointMap.get(stkidle).toString());
+                    allMap.put(reqInDest, destMap);
-        }
+                }
-        log.info(taskId + "堆垛机是状态:" + stkidleV);
+                String allMapJson = JsonUtil.toJSONString(allMap);
-        //1空闲 0繁忙
+                log.info("扫码处入库申请时，给输送线写命令数据：{}",allMapJson);
-        if (!stkidleV) {
+                Boolean reqInBoolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
-            log.info(taskId + "请求入库时，堆垛机繁忙");
+                log.info("扫码处入库申请时，写入的命令返回结果："+reqInBoolean.toString());
-            return false;
+            }
-        }
+            //空托盘申请
+            if (pointMap.containsKey(reqEmpty) && Boolean.valueOf(pointMap.get(reqEmpty).toString())) {
+                WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
+                body.setStation("空托处");
+                body.setTaskType(TaskTypeEnum.Out.getValue());
+                body.setBussinessType(BusinTaskTypeEnum.stockOut.getValue());
+                body.setCreateDt(new Date().toString());
+                //调用agv接口查询库区状态
+                Object[] areaStatus = {};
+                body.setAreaStatus(areaStatus);
+                WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
+                log.info("空托申请wz-wcs返回：" + vo.getHeader());
+                Map<String, Object> allMap = new HashMap<>(1);
+                Map<String, Integer> reqMap = new HashMap<>(1);
+
+                if (Result.isOk(vo.getHeader().getMsgCode())) {
+                    reqMap.put(retOutVt,1);
+                } else {
+                    reqMap.put(retOutVt,0);
+                }
+                allMap.put(retOut, reqMap);
+                String allMapJson = JsonUtil.toJSONString(allMap);
+                log.info("空托申请时，给输送线写命令数据：{}",allMapJson);
+                Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+                log.info("空托申请时，写入的命令返回结果："+bCR01Boolean.toString());
+            }
 
+            //实盘出口上报
+            if (pointMap.containsKey(rptOutSeria) && Boolean.valueOf(pointMap.get(rptOutSeria).toString())) {
+                //读取序列号
+                Integer outSeria = (Integer) pointMap.get(rptOutSeria);
+                //读取托盘条码内容
+                String barcodeValueOne = pointMap.get(rptOutBarcod).toString();
+                log.info("请求入库时，读取的条码内容：" + barcodeValueOne);
+                //调用wz-wcs接口
+                WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
+                body.setStation("出口上报处");
+                body.setTaskType(TaskTypeEnum.In.getValue());
+                body.setBussinessType(BusinTaskTypeEnum.stockIn.getValue());
+                body.setTrayCode(barcodeValueOne);
+                body.setCreateDt(new Date().toString());
+                //调用agv接口查询库区状态
+                Object[] areaStatus = {};
+                body.setAreaStatus(areaStatus);
+                WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
+                log.info("agv扫码处申请wz-wcs返回：" + vo.getHeader());
+                Map<String, Object> allMap = new HashMap<>(1);
+                Map<String, Integer> seriaMap = new HashMap<>(1);
+                seriaMap.put(rptOutCfmSeriaVt,outSeria );
+                allMap.put(rptOutCfmSeria, seriaMap);
+
+                Map<String, String> barcodMap = new HashMap<>(1);
+                barcodMap.put(rptOutCfmBarcodVt, barcodeValueOne);
+                allMap.put(rptOutCfmBarcod, barcodMap);
+                Map<String, Integer> reqMap = new HashMap<>(1);
+
+                if (Result.isOk(vo.getHeader().getMsgCode())) {
+                    reqMap.put(reqCfmVt,1);
+                } else {
+                    reqMap.put(reqCfmVt,0);
+                }
+                allMap.put(reqCfm, reqMap);
+                String allMapJson = JsonUtil.toJSONString(allMap);
+                log.info("出口上报时，给输送线写命令数据：{}",allMapJson);
+                Boolean rptOutBoolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+                log.info("出口上报时，写入的命令返回结果："+rptOutBoolean.toString());
+            }
 
+            //出入库切换
+            if (pointMap.containsKey(inOutSwit) && Boolean.valueOf(pointMap.get(inOutSwit).toString())) {
+                WCSQueryTaskStatusBody body = new WCSQueryTaskStatusBody();
+                body.setDestination("叠盘机");
+                body.setTaskType("1");
+                body.setTrayType("2");
+                WcsResponseVo<TaskStatusBody> vo = wcsUtil.queryTaskStatus(body);
+                log.info("扫码处入库申请wz-wcs返回：" + vo.getHeader());
+                Map<String, Object> allMap = new HashMap<>(1);
+                Map<String, Integer> reqMap = new HashMap<>(1);
+                if (Result.isOk(vo.getHeader().getMsgCode())) {
+                    int taskCount = vo.getBody().get(0).getTaskCount();
+                    if (taskCount == 0){
+                        reqMap.put(retInOutSwitVt,2);
+                    }else {
+                        reqMap.put(retInOutSwitVt,1);
+                    }
+                } else {
+                    reqMap.put(retInOutSwitVt,1);
+                }
+                allMap.put(retInOutSwit, reqMap);
+                String allMapJson = JsonUtil.toJSONString(allMap);
+                log.info("出入库切换时，给输送线写命令数据：{}",allMapJson);
+                Boolean inOutSwitBoolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+                log.info("出入库切换时，写入的命令返回结果："+inOutSwitBoolean.toString());
+            }
 
-       HashMap allMap = new HashMap();
+        } catch (Exception e) {
-        log.info(taskId + "请求入库：任务下发之前" + JsonUtil.toJSONString(allMap));
+            log.error("dpsRealTimeTask:" + e.getMessage());
-        if (plcReadAndWrite.execWrite(stkOperate, JsonUtil.toJSONString(allMap))) {
-            log.info(taskId + "请求入库，任务下发成功：");
-            redisTemplate.opsForValue().set(RedisConstant.redisTaskIn, taskId);
-            //请求成功，记录已下发
-            redisTemplate.opsForValue().set(RedisConstant.redisReqWare + taskId, taskId, 24, TimeUnit.HOURS);
-            //请求分配任务ID dps
-            redisTemplate.delete(RedisConstant.redisContainer + taskId);
-            return true;
-        } else {
-            log.info(taskId + "请求入库任务下发失败");
-            return false;
         }
     }
+
 }

shkj-wms/src/main/java/com/shkj/wcs/plc/PlcInit.java

@@ -57,21 +57,12 @@ public class PlcInit {
                 plcOperate_stk = plc.getAutomation();
                 OperateResult connect = plcOperate_stk.connect();
                 if (connect.IsSuccess){
-                    log.info(conn.getPlcIp()+"stk连接成功");
+                    log.info(conn.getPlcIp()+"连接成功");
                 }else {
-                    log.info(conn.getPlcIp()+"stk连接失败");
+                    log.info(conn.getPlcIp()+"连接失败");
                 }
             }
 
-            if (conn.getPlcIp().contains("155.170")){
-                plcOperate_dps = plc.getAutomation();
-                OperateResult connect = plcOperate_dps.connect();
-                if (connect.IsSuccess){
-                    log.info(conn.getPlcIp()+"dps连接成功");
-                }else {
-                    log.info(conn.getPlcIp()+"dps连接失败");
-                }
-            }
         }
     }
     private void reconnect(){

shkj-wms/src/main/java/com/shkj/wcs/service/IBusinDataTaskService.java

@@ -1,7 +1,9 @@
 package com.shkj.wcs.service;
 
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.shkj.wcs.bo.AGVFeedbackBo;
 import com.shkj.wcs.domain.BusinDataTask;
+import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
 import com.shkj.wcs.third.workbinWcs.dto.WcsCreateTaskDto;
 import com.shkj.wcs.vo.WcsResponseVo;
 
@@ -16,6 +18,13 @@ public interface IBusinDataTaskService extends IService<BusinDataTask> {
      */
     WcsResponseVo doTaskGeneratePickTask(WcsCreateTaskDto bo);
 
+    /**
+     * agv任务反馈
+     * @param bo
+     * @return
+     */
+    RcsResponseVo rcsFeedbackTask(AGVFeedbackBo bo);
+
 
 
 }

shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinDataTaskServiceImpl.java

@@ -1,8 +1,12 @@
 package com.shkj.wcs.service.impl;
 
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.shkj.common.core.domain.Result;
 import com.shkj.common.utils.DateUtils;
+import com.shkj.wcs.bo.AGVFeedbackBo;
+import com.shkj.wcs.bo.ExtraData;
 import com.shkj.wcs.bo.WcsPlcPropertyQueryBo;
 import com.shkj.wcs.domain.BusinDataTask;
 import com.shkj.wcs.domain.WcsPlcProperty;
@@ -10,20 +14,26 @@ import com.shkj.wcs.mapper.BusinDataTaskMapper;
 import com.shkj.wcs.mapper.WcsPlcPropertyMapper;
 import com.shkj.wcs.service.IBusinDataTaskService;
 import com.shkj.wcs.service.IWcsPlcPropertyService;
+import com.shkj.wcs.third.rcs.RCSUtil;
+import com.shkj.wcs.third.rcs.dto.RcsCancelTaskDto;
 import com.shkj.wcs.third.rcs.dto.RcsCreateTaskDto;
 import com.shkj.wcs.third.rcs.dto.RcsIdList;
 import com.shkj.wcs.third.rcs.enums.RCSOperation;
 import com.shkj.wcs.third.rcs.enums.RCSTaskTypeEnum;
-import com.shkj.wcs.third.workbinWcs.dto.WcsCreateTaskBody;
+import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
-import com.shkj.wcs.third.workbinWcs.dto.WcsCreateTaskDto;
+import com.shkj.wcs.third.workbinWcs.WCSUtil;
+import com.shkj.wcs.third.workbinWcs.dto.*;
 import com.shkj.wcs.vo.WcsResponseVo;
 import com.shkj.wms.enums.TaskStatusEnum;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.ibatis.exceptions.TooManyResultsException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.util.ArrayList;
+import java.util.Date;
 import java.util.List;
 
 /**
@@ -34,12 +44,21 @@ import java.util.List;
  */
 @Service
 @Slf4j
+@Transactional(rollbackFor = Exception.class)
 public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, BusinDataTask> implements IBusinDataTaskService {
 
+
+    @Autowired
+    private IBusinDataTaskService iBusinDataTaskService;
+    @Autowired
+    private WCSUtil wcsUtil;
+    @Autowired
+    private RCSUtil rcsUtil;
+
     @Override
     public WcsResponseVo doTaskGeneratePickTask(WcsCreateTaskDto bo) {
-        log.info("中科下发任务请求数据:"+bo);
         if (bo != null) {
+            log.info("中科下发任务请求数据:" + JSONObject.toJSONString(bo));
             List<WcsCreateTaskBody> body = bo.getBody();
             if (!body.isEmpty()) {
                 for (WcsCreateTaskBody by : body) {
@@ -52,7 +71,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                     String priority = by.getPriority();
                     LambdaQueryWrapper<BusinDataTask> lqwDataTask = new LambdaQueryWrapper<BusinDataTask>()
                             .eq(BusinDataTask::getContainerCode, trayCode)
-                            .in(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_put.getValue(),TaskStatusEnum.wait_callback.getValue() );
+                            .in(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_put.getValue(), TaskStatusEnum.wait_callback.getValue());
                     BusinDataTask one = this.getOne(lqwDataTask);
                     if (dataChange.equals("1")) {
                         if (one != null) {
@@ -66,7 +85,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                         businDataTask.setToSide(toBinCode);
                         businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
                         businDataTask.setCreateTime(DateUtils.getNowDate());
-                        if (!priority.isEmpty()){
+                        if (!priority.isEmpty()) {
                             businDataTask.setPriority(priority);
                         }
                         boolean save = this.save(businDataTask);
@@ -76,13 +95,13 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                             RcsCreateTaskDto rcsCreateTaskDto = new RcsCreateTaskDto();
                             rcsCreateTaskDto.setTaskType(RCSTaskTypeEnum.PF_LMR_COMMON.getValue());
                             rcsCreateTaskDto.setRobotTaskCode(businDataTask.getTaskCode());
-                            if(!businDataTask.getPriority().isEmpty()){
+                            if (!businDataTask.getPriority().isEmpty()) {
                                 rcsCreateTaskDto.setInitPriority(Integer.parseInt(businDataTask.getPriority()));
                             }
-                            List<RcsIdList> rcsIdLists =new ArrayList<>();
+                            List<RcsIdList> rcsIdLists = new ArrayList<>();
-                            for (int i = 1;i<=2;i++){
+                            for (int i = 1; i <= 2; i++) {
-                                RcsIdList rcsIdList =new RcsIdList();
+                                RcsIdList rcsIdList = new RcsIdList();
-                                if(i==1){
+                                if (i == 1) {
                                     rcsIdList.setType("ZONE");
                                     rcsIdList.setCode(businDataTask.getFromSide());
                                     rcsIdList.setOperation(RCSOperation.OT_COLLECT.getValue());
@@ -92,10 +111,14 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                                 rcsIdList.setOperation(RCSOperation.OT_DELIVERY.getValue());
                                 rcsIdLists.add(rcsIdList);
                             }
+                            rcsCreateTaskDto.setTargetRoute(rcsIdLists);
 
-                            //Result result = rcsUtil.rcsCreateTask(rcsCreateTaskDto);
+                            Result result = rcsUtil.rcsCreateTask(rcsCreateTaskDto);
-
+                            if (!Result.isOk(result)){
+                                return WcsResponseVo.error(200,"给rcs下发任务失败");
+                            }
                         }
+                        //任务取消
                     } else if (dataChange.equals("2")) {
                         if (one == null) {
                             return WcsResponseVo.error(500, "未查询到该托盘" + trayCode + "存在未完成的任务");
@@ -103,13 +126,109 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                         one.setTaskStatus("6");
                         this.updateById(one);
                         //推送给下游
-
+                        RcsCancelTaskDto rcsCancelTaskDto = new RcsCancelTaskDto();
+                        rcsCancelTaskDto.setRobotTaskCode(taskId);
+                        if(one.getTaskStatus().equals(TaskStatusEnum.wait_put.getValue())){
+                            //软取消
+                            rcsCancelTaskDto.setCancelType("CANCEL");
+                        }else{
+                            //硬取消（人工介入）
+                            rcsCancelTaskDto.setCancelType("DROP");
+                        }
+                        Result result = rcsUtil.rcsTaskCancel(rcsCancelTaskDto);
+                        if (!Result.isOk(result)){
+                            return WcsResponseVo.error(200,"给rcs取消任务失败");
+                        }
                     }
                     return WcsResponseVo.success();
                 }
             }
-
+        }else{
+            log.info("中科下发任务请求数据为空");
         }
         return WcsResponseVo.error(500,"请求失败请检查参数");
     }
+
+    @Override
+    public RcsResponseVo rcsFeedbackTask(AGVFeedbackBo bo) {
+        String robotTaskCode = bo.getRobotTaskCode();
+        ExtraData.Values values = bo.getExtra().getValues();
+        String carrierCode = values.getCarrierCode();
+        String method = values.getMethod();
+        String slotName = values.getSlotName();
+        LambdaQueryWrapper<BusinDataTask> queryWrapper = new LambdaQueryWrapper<BusinDataTask>()
+                .eq(BusinDataTask::getTaskCode, robotTaskCode)
+                .eq(BusinDataTask::getContainerCode, carrierCode);
+        BusinDataTask businDataTask;
+        try {
+            businDataTask = iBusinDataTaskService.getOne(queryWrapper, true);
+        } catch (TooManyResultsException e) {
+            log.error("任务编号 {} 存在重复记录", robotTaskCode);
+            return RcsResponseVo.error("任务编号存在重复记录");
+        }
+
+        if (businDataTask == null) {
+            log.warn("未找到对应任务，任务号：{}", robotTaskCode);
+            return RcsResponseVo.error("未找到对应任务");
+        }
+
+        String taskType = businDataTask.getTaskType();
+        switch (method) {
+            case "start":
+            case "outbin":
+                businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+                break;
+            case "end":
+                businDataTask.setTaskStatus(TaskStatusEnum.finished.getValue());
+                businDataTask.setDestination(slotName);
+                break;
+            default:
+                return  RcsResponseVo.error("任务状态未知！");
+        }
+        businDataTask.setUpdateTime(new Date());
+        boolean isUpdated  = iBusinDataTaskService.updateById(businDataTask);
+        if (!isUpdated) {
+            log.error("任务状态更新失败，任务号：{}", robotTaskCode);
+            return RcsResponseVo.error("任务状态更新失败");
+        }
+        log.info("任务状态更新成功，任务号：{}", robotTaskCode);
+        UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
+        WcsCreateTaskHeader header = new WcsCreateTaskHeader();
+        switch (taskType) {
+            case "1":
+                header.setBusinessType("stockOutReturn");
+                break;
+            case "2":
+                header.setBusinessType("stockInReturn");
+                break;
+            case "3":
+                header.setBusinessType("transferReturn");
+                break;
+            default:
+                return RcsResponseVo.error("未知任务类型！");
+        }
+        uploadWCSTaskStatusDto.setHeader(header);
+        UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
+        List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
+        body.setTaskId(businDataTask.getTaskCode());
+        body.setTrayCode(carrierCode);
+        body.setTaskType(taskType);
+        body.setStatus(businDataTask.getTaskStatus());
+        if (businDataTask.getTaskStatus().equals(TaskStatusEnum.finished.getValue())){
+            body.setDestination(slotName);
+        }
+        body.setMsgCode("200");
+        bodyList.add(body);
+        uploadWCSTaskStatusDto.setBody(bodyList);
+        log.info("请求zk-wcs参数{}",JSONObject.toJSONString(uploadWCSTaskStatusDto));
+        try {
+            wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
+        } catch (TooManyResultsException e) {
+            log.error("WZ-WCS状态上报异常，任务号：{}", robotTaskCode, e);
+            return RcsResponseVo.error("KJ-WCS状态上报异常");
+        }
+        return RcsResponseVo.success(new JSONObject().fluentPut("data", robotTaskCode));
+    }
+
+
 }

shkj-wms/src/main/java/com/shkj/wcs/third/rcs/RCSUtil.java

@@ -95,14 +95,15 @@ public class RCSUtil {
      */
     public Result rcsCreateTask(RcsCreateTaskDto dto) {
         String json = JSONObject.toJSONString(dto);
+        log.info("向rcs创建任务参数"+json);
         try {
             Map<String, String> headerMap = getHeaderMap();
             String res = HttpRequest.post(agvCreateTaskUrl)
                     .addHeaders(headerMap)
                     .body(json)
                     .execute().body();
-            Result result = parseThirdRcsResult(res);
+            log.info("向rcs创建任务返回：" + res);
-            return result;
+            return parseThirdRcsResult(res);
         } catch (Exception e) {
             e.printStackTrace();
             log.error("createTask 方法出错了 = {}", e.getMessage());
@@ -161,14 +162,14 @@ public class RCSUtil {
      */
     public Result rcsTaskCancel(RcsCancelTaskDto dto) {
         String json = JSONObject.toJSONString(dto);
-
+        log.info("向rcs任务取消参数：" + json);
         try {
             Map<String, String> headerMap = getHeaderMap();
             String res = HttpRequest.post(agvCancelTaskUrl)
                     .addHeaders(headerMap)
                     .body(json)
                     .execute().body();
-
+            log.info("向rcs任务取消返回：" + res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
             e.printStackTrace();

shkj-wms/src/main/java/com/shkj/wcs/third/rcs/dto/RcsCancelTaskDto.java

@@ -19,11 +19,11 @@ public class RcsCancelTaskDto implements Serializable {
 
 
     /**
-     * 地图 id
+     * 任务号
      */
-    private Integer mapId;
+    private String robotTaskCode;
     /**
-     * 任务id 任务 id,唯一标识(不能重复)
+     * 任务取消类型
      */
-    private String taskId;
+    private String cancelType;
 }

shkj-wms/src/main/java/com/shkj/wcs/third/rcs/vo/RcsResponseVo.java

@@ -0,0 +1,51 @@
+package com.shkj.wcs.third.rcs.vo;
+
+import lombok.Data;
+
+import java.util.Collections;
+import java.util.List;
+
+@Data
+public class RcsResponseVo<T> {
+    private String  code;
+    private String message;
+    private List<T> data;
+
+
+    // 成功
+    public static <T> RcsResponseVo<T> success(List<T> data) {
+        RcsResponseVo<T> response = new RcsResponseVo<>();
+        response.setCode("SUCCESS");
+        response.setMessage("成功");
+        response.setData(data != null ? data : Collections.emptyList());
+        return response;
+    }
+
+    // 无数据的成功响应
+    public static <T> RcsResponseVo<T> success() {
+        return success(null);
+    }
+
+    // 单对象成功响应（非List场景）
+    public static <T> RcsResponseVo<T> success(T item) {
+        RcsResponseVo<T> response = new RcsResponseVo<>();
+        response.setCode("SUCCESS");
+        response.setMessage("成功");
+        response.setData(item != null ?
+                Collections.singletonList(item) :
+                Collections.emptyList());
+        return response;
+    }
+
+
+
+    // 错误响应
+    public static <T> RcsResponseVo<T> error(String msg) {
+        RcsResponseVo<T> response = new RcsResponseVo<>();
+        response.setCode("ERROR");
+        response.setMessage(msg);
+        response.setData(Collections.emptyList());
+        return response;
+    }
+
+}

shkj-wms/src/main/java/com/shkj/wcs/third/workbinWcs/WCSUtil.java

@@ -123,16 +123,16 @@ public class WCSUtil {
     /**
      * 入库申请
      *
-     * @param dto
+     * @param
      * @return
      */
-    public WcsResponseVo wcsIncomingTaskRequest(WcsIncomingTaskRequestBody dto) {
+    public WcsResponseVo wcsIncomingTaskRequest(WcsIncomingTaskRequestBody body) {
         JSONObject jsonObject = new JSONObject();
         JSONObject header = new JSONObject();
-        header.put("businessType","stockIn");
+        header.put("businessType",body.getBussinessType());
         jsonObject.put("header",header);
         List<WcsIncomingTaskRequestBody> incomingTaskRequestBodies = new ArrayList<>();
-        incomingTaskRequestBodies.add(dto);
+        incomingTaskRequestBodies.add(body);
         jsonObject.put("body",incomingTaskRequestBodies);
         String json = JSONObject.toJSONString(jsonObject);
 
@@ -158,13 +158,14 @@ public class WCSUtil {
      * @return
      */
     public WcsResponseVo uploadWCSTaskStatus(UploadWCSTaskStatusDto dto) {
-        Map<String, String> headerMap = new HashMap<>(1);
+        JSONObject jsonObject = new JSONObject();
-        headerMap.put("businessType", dto.getHeader().getBusinessType());
+        JSONObject header = new JSONObject();
-        String json = JSONObject.toJSONString(dto);
+        jsonObject.put("header",dto.getHeader());
+        jsonObject.put("body",dto.getBody());
+        String json = JSONObject.toJSONString(jsonObject);
         log.info("KJ向WZ任务上报参数"+json);
         try {
             String res = HttpRequest.post(uploadWCSTaskStatusUrl)
-                    .addHeaders(headerMap)
                     .body(json)
                     .execute().body();
             log.info("KJ向WZ任务上报返回：" + res);

shkj-wms/src/main/java/com/shkj/wcs/vo/TaskStatusBody.java

@@ -0,0 +1,8 @@
+package com.shkj.wcs.vo;
+
+import lombok.Data;
+
+@Data
+public class TaskStatusBody {
+    private int taskCount;
+}

shkj-wms/src/main/java/com/shkj/wms/enums/BusinTaskTypeEnum.java

@@ -13,20 +13,12 @@ public enum BusinTaskTypeEnum {
     /**
      * 入库
      */
-    in("in", "入库"),
+    stockIn("stockIn", "入库"),
 
     /**
      * 出库
      */
-    out("out", "出库"),
+    stockOut("stockOut", "出库")
-    /**
-     * 搬运
-     */
-    move("move", "搬运"),
-    /**
-     * 移库
-     */
-    remove("9","移库"),
     ;
 
     private String value;

shkj-wms/src/main/java/com/shkj/wms/enums/TaskTypeEnum.java

@@ -11,58 +11,9 @@ import lombok.Getter;
 public enum TaskTypeEnum {
 
     //任务类型 0 正常入库 1维修异常 2扫码异常  3入库冲孔 4 正常出库 5紧急出库 6越库出库 7手工入库 8呼叫空治具
-    /**
+    Out("1", "出"),
-     * 正常入库
+    In("2", "入");
-     */
-    normal_in("0", "正常入库"),
 
-    /**
-     * 1维修异常
-     */
-    upkeep_err("1", "维修异常"),
-    /**
-     * 扫码异常
-     */
-    scancode_err("2", "扫码异常"),
-    /**
-     * 入库冲孔
-     */
-    putin_punching("3", "入库冲孔"),
-
-    /**
-     * 正常出库
-     */
-    normal_out("4", "正常出库"),
-
-    /**
-     * 5紧急出库
-     */
-    urgent_out("5", "紧急出库"),
-
-    /**
-     * 6越库出库
-     */
-    cross_out("6", "越库出库"),
-
-    /**
-     * 7手工入库
-     */
-    byhand_in("7", "手工入库"),
-    /**
-     * 8呼叫空治具
-     */
-    call_container("8", "呼叫空治具"),
-
-    /**
-     * 9 移库
-     */
-    relocation("9", "移库"),
-
-    /**
-     * 10 补货出库
-     */
-    replenish("10", "补货出库"),
-    ;
 
     private String value;
     private String desc;