增加plc点位，修改出库任务报完成位置

shkj-framework/src/main/java/com/shkj/framework/web/service/SysLoginService.java

@@ -69,13 +69,13 @@ public class SysLoginService {
         if (username.contains(",")) {
             throw new ServiceException("账号非法");
         }
-        String wid = branchId == null ? "" : branchId.toString();
+        String wid = branchId == null ? "1" : branchId.toString();
         // 用户验证
         Authentication authentication = null;
         try {
             // 该方法会去调用UserDetailsServiceImpl.loadUserByUsername  这里为了简单直接使用用户账号+仓库id 后面在进行分割
             authentication = authenticationManager
-                    .authenticate(new UsernamePasswordAuthenticationToken(username + "," + wid, password));
+                    .authenticate(new UsernamePasswordAuthenticationToken(username, password));
         } catch (Exception e) {
             if (e instanceof BadCredentialsException) {
                 AsyncManager.me().execute(AsyncFactory.recordLogininfor(username, Constants.LOGIN_FAIL, MessageUtils.message("user.password.not.match")));

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

@@ -47,8 +47,6 @@ public class AgvTaskContorller {
 
     @Autowired
     private IBusinDataTaskService iBusinDataTaskService;
-    @Autowired
-    private WCSUtil wcsUtil;
 
 
     /**

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

@@ -50,49 +50,24 @@ public class BusinDataTask implements Serializable {
     private String taskPath;
 
 
-    /** 是否是置顶 */
-    @Excel(name = "是否是置顶")
-    private String isTop;
 
     /** 任务优先级 */
     @Excel(name = "任务优先级")
     private String priority;
 
-    /** 出行 */
-    @Excel(name = "出行")
-    private String fromRow;
 
-    /** 出高 */
-    @Excel(name = "出高")
-    private String fromColumn;
-
-    /** 出列 */
-    @Excel(name = "出列")
-    private String fromLayer;
 
     /** 出边 */
     @Excel(name = "出边")
     private String fromSide;
 
-    /** 入行 */
-    @Excel(name = "入行")
-    private String toRow;
-
-    /** 入高 */
-    @Excel(name = "入高")
-    private String toColumn;
 
-    /** 入列 */
-    @Excel(name = "入列")
-    private String toLayer;
 
     /** 入边 */
     @Excel(name = "入边")
     private String toSide;
 
-    /** 巷道 */
+
-    @Excel(name = "巷道")
-    private String tunnel;
 
     /** 设备编号 */
     @Excel(name = "设备编号")
@@ -118,35 +93,15 @@ public class BusinDataTask implements Serializable {
     private String agvNo;
 
 
-    /** 立库输送线 */
-    @Excel(name = "立库输送线")
-    private String dpsNoOne;
-
-
-    /** 过点时间 */
-    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+7")
-    @Excel(name = "过点时间", width = 30, dateFormat = "yyyy-MM-dd")
-    private Date traverseDate;
 
     /** 治具编号 */
     @Excel(name = "治具编号")
     private String containerCode;
 
-    /** 业务单据 */
-    @Excel(name = "业务单据")
-    private String transId;
-
-    /** 仓库ID */
-    @Excel(name = "仓库ID")
-    private Long branchId;
 
     private String remark;
 
-    /**AGV点位 */
-    private String points;
 
-    /** AGV形态 */
-    private String isDown;
     /**
      * 创建时间
      */
@@ -166,6 +121,11 @@ public class BusinDataTask implements Serializable {
      */
     private String destination;
 
+    /**
+     * AGV模板
+     */
+    private String agvType;
+
     /**
      * AGV任务状态
      */

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

@@ -1,37 +1,52 @@
 package com.shkj.wcs.plc;
 
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import com.alibaba.fastjson.TypeReference;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.shkj.common.constant.RedisConstant;
 import com.shkj.common.core.domain.Result;
 import com.shkj.common.enums.BusinessType;
+import com.shkj.common.utils.DateUtils;
 import com.shkj.plc.sdk.device.PlcOperate;
 import com.shkj.system.service.ISysParameterService;
 import com.shkj.wcs.bo.WcsPlcConnectQueryBo;
+import com.shkj.wcs.domain.BusinDataTask;
 import com.shkj.wcs.domain.WcsPlcConnect;
 import com.shkj.wcs.domain.WcsPlcProperty;
 import com.shkj.wcs.mapper.WcsPlcConnectMapper;
+import com.shkj.wcs.service.IBusinDataTaskService;
 import com.shkj.wcs.service.IWcsPlcConnectService;
 import com.shkj.wcs.service.IWcsPlcPropertyService;
+import com.shkj.wcs.third.rcs.CounterService;
 import com.shkj.wcs.third.rcs.RCSUtil;
+import com.shkj.wcs.third.rcs.dto.CarrierInfoList;
+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.vo.RcsResponseVo;
 import com.shkj.wcs.third.workbinWcs.WCSUtil;
-import com.shkj.wcs.third.workbinWcs.dto.WCSQueryAreaStatusBody;
+import com.shkj.wcs.third.workbinWcs.dto.*;
-import com.shkj.wcs.third.workbinWcs.dto.WCSQueryTaskStatusBody;
-import com.shkj.wcs.third.workbinWcs.dto.WcsIncomingTaskRequestBody;
-import com.shkj.wcs.third.workbinWcs.dto.WcsIncomingTrayCheckBody;
 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.MapEnum;
+import com.shkj.wms.enums.TaskStatusEnum;
 import com.shkj.wms.enums.TaskTypeEnum;
+import com.shkj.wms.utils.IntIdUtil;
 import com.shkj.wms.utils.JsonUtil;
 import com.shkj.wms.vo.PlanOrderLocationVo;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.ibatis.exceptions.TooManyResultsException;
+import org.mvel2.util.Make;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.scheduling.annotation.EnableScheduling;
 
 import javax.annotation.Resource;
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
 import java.util.*;
 import java.util.concurrent.*;
 
@@ -58,10 +73,7 @@ public class PlcEventTask {
     IWcsPlcPropertyService iWcsPlcPropertyService;
 
     @Autowired
-    ISysParameterService isysParameterService;
+    IBusinDataTaskService iBusinDataTaskService;
-
-    @Resource
-    WcsPlcConnectMapper wcsPlcConnectMapper;
 
 
     @Autowired
@@ -70,7 +82,7 @@ public class PlcEventTask {
     @Autowired
     WCSUtil wcsUtil;
 
-   @Scheduled(fixedDelay = 5000)
+    @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);
@@ -128,28 +140,28 @@ public class PlcEventTask {
         //根据连接的plcId获取属性
         PlcOperate plcOperate = plcInit.getPlcOperate_dpj();
         if (plcOperate != null) {
-        PLCReadAndWrite plcReadAndWrite = new PLCReadAndWrite();
+            PLCReadAndWrite plcReadAndWrite = new PLCReadAndWrite();
-        Map<String, Object> readPointMap = new HashMap<>();
+            Map<String, Object> readPointMap = new HashMap<>();
-        String heartbeat = "DB5100.0.0";
+            String heartbeat = "DB5100.0.0";
-        readPointMap.put(heartbeat, "Boolean");
+            readPointMap.put(heartbeat, "Boolean");
-        Map<String, Object> pointMap = plcReadAndWrite.readPlcData(plcOperate, JsonUtil.toJSONString(readPointMap));
+            Map<String, Object> pointMap = plcReadAndWrite.readPlcData(plcOperate, JsonUtil.toJSONString(readPointMap));
 
-        //读取心跳，并判断是写入true还是false;
+            //读取心跳，并判断是写入true还是false;
-        Boolean heartbeatV = false;
+            Boolean heartbeatV = false;
 
-        if (pointMap.containsKey(heartbeat)) {
+            if (pointMap.containsKey(heartbeat)) {
-            heartbeatV = Boolean.valueOf(pointMap.get(heartbeat).toString());
+                heartbeatV = Boolean.valueOf(pointMap.get(heartbeat).toString());
-        }
+            }
-        heartbeatV = (heartbeatV == true) ? false : true;
+            heartbeatV = (heartbeatV == true) ? false : true;
-        Map<String, Object> writeHbMap = new HashMap<>(1);
+            Map<String, Object> writeHbMap = new HashMap<>(1);
-        writeHbMap.put("Boolean", heartbeatV);
+            writeHbMap.put("Boolean", heartbeatV);
-        Map<String, Object> allHbMap = new HashMap<>(1);
+            Map<String, Object> allHbMap = new HashMap<>(1);
-        allHbMap.put("DB5110.0.0", writeHbMap);
+            allHbMap.put("DB5110.0.0", writeHbMap);
-        Boolean heartType = plcReadAndWrite.execWrite(plcOperate, JsonUtil.toJSONString(allHbMap));
+            Boolean heartType = plcReadAndWrite.execWrite(plcOperate, JsonUtil.toJSONString(allHbMap));
-        if (!heartType) {
+            if (!heartType) {
-            log.info("stk心跳写入失败，重连服务器");
+                log.info("stk心跳写入失败，重连服务器");
-            plcInit.connect();
+                plcInit.connect();
-        }
+            }
         }
     }
 
@@ -159,7 +171,7 @@ public class PlcEventTask {
         //根据连接的plcId获取属性
         PLCReadAndWrite plcReadAndWrite = new PLCReadAndWrite();
         Map<String, Object> pointMap = plcReadAndWrite.readPlcData(plcOperate, pointTables);
-        log.info("连接的IP:"+conn.getPlcIp()+":设备："+conn.getConnectName()+"   读取的点位内容："+pointMap);
+        log.info("连接的IP:" + conn.getPlcIp() + ":设备：" + conn.getConnectName() + "   读取的点位内容：" + pointMap);
 
         List<WcsPlcProperty> propertyList = (List<WcsPlcProperty>) redisTemplate.opsForValue().get(RedisConstant.redisPlcProperty + plcId);
         if (propertyList == null || propertyList.size() == 0) {
@@ -272,6 +284,23 @@ public class PlcEventTask {
             String retInOutSwitVt = "";
 
 
+            //空托上报请求序列号
+            String rptEySeria = "";
+
+            //空托上报条码
+            String rptEyBarcod = "";
+
+            //空托上报确认序列号
+            String retEyCfmSeria = "";
+            String retEyCfmSeriaVt = "";
+
+            //空托上报条码确认
+            String retEyCfmBarcod = "";
+            String retEyCfmBarcodVt = "";
+
+            //空托上报返回信息
+            String retEy = "";
+            String retEyVt = "";
 
 
             for (WcsPlcProperty plcProperty : propertyList) {
@@ -331,16 +360,29 @@ public class PlcEventTask {
                 } else if (pointType.equals("retOut1")) {
                     retOut1 = plcProperty.getAddress();
                     retOutVt1 = plcProperty.getValueType();
+                } else if (pointType.equals("rptEySeria")) {
+                    rptEySeria = plcProperty.getAddress();
+                } else if (pointType.equals("rptEyBarcod")) {
+                    rptEyBarcod = plcProperty.getAddress();
+                } else if (pointType.equals("retEyCfmSeria")) {
+                    retEyCfmSeria = plcProperty.getAddress();
+                    retEyCfmSeriaVt = plcProperty.getValueType();
+                } else if (pointType.equals("retEyCfmBarcod")) {
+                    retEyCfmBarcod = plcProperty.getAddress();
+                    retEyCfmBarcodVt = plcProperty.getValueType();
+                } else if (pointType.equals("retEy")) {
+                    retEy = plcProperty.getAddress();
+                    retEyVt = plcProperty.getValueType();
                 }
 
             }
-            //扫码处入库申请
+            //生产区扫码处入库申请
             //&& Boolean.valueOf(pointMap.get(reqInSeria).toString())
             if (pointMap.containsKey(reqInSeria) && !pointMap.get(reqInSeria).equals("0")) {
                 //读取请求序列号内容
                 String bCR01SeriaV1 = Objects.toString(pointMap.get(reqInSeria), "");
                 Integer bCR01SeriaV = 0;
-                if(!bCR01SeriaV1.isEmpty()){
+                if (!bCR01SeriaV1.isEmpty()) {
                     bCR01SeriaV = Integer.parseInt(bCR01SeriaV1.toString());
                 }
                 //读取托盘条码内容
@@ -349,11 +391,11 @@ public class PlcEventTask {
                 log.info("扫码处入库申请时，读取的条码内容：" + s);
                 //根据托盘条码返回正在执行的任务号
                 WcsIncomingTrayCheckBody body = new WcsIncomingTrayCheckBody();
-                body.setStation("SC-G1-00-00-1001");
+                body.setStation(MapEnum.oneIn.getValue());
                 body.setTaskType(TaskTypeEnum.In.getValue());
                 body.setBussinessType(BusinTaskTypeEnum.trayCheck.getValue());
                 body.setTrayCode(s);
-                body.setCreateDt(new Date().toString());
+                body.setCreateDt(getNowDate());
                 WcsResponseVo vo = wcsUtil.wcsIncomingTrayCheck(body);
                 log.info("扫码处入库申请wz-wcs返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
@@ -371,7 +413,7 @@ public class PlcEventTask {
                     allMap.put(reqInDest, destMap);
                 } else {
                     Map<String, Integer> destMap = new HashMap<>(1);
-                    destMap.put(reqInDestVt, 1);
+                    destMap.put(reqInDestVt, 2);
                     allMap.put(reqInDest, destMap);
                 }
                 String allMapJson = JsonUtil.toJSONString(allMap);
@@ -380,12 +422,12 @@ public class PlcEventTask {
                 log.info("扫码处入库申请时，写入的命令返回结果：" + reqInBoolean.toString());
             }
             //空托盘申请
-            if (pointMap.containsKey(reqEmpty) &&  !pointMap.get(reqEmpty).equals("0")) {
+            if (pointMap.containsKey(reqEmpty) && !pointMap.get(reqEmpty).equals("0")) {
                 WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
-                body.setStation("SC-G1-00-00-1002");
+                body.setStation(MapEnum.oneOut.getValue());
                 body.setTaskType(TaskTypeEnum.Out.getValue());
                 body.setBussinessType(BusinTaskTypeEnum.stockOut.getValue());
-                body.setCreateDt(new Date().toString());
+                body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
                 Map<String, Object> map1 = new HashMap<>();
                 map1.put("areaInLocation", "SC-A2");
@@ -396,15 +438,15 @@ public class PlcEventTask {
                 map2.put("status", 1);
 
                 Map<String, Object> map3 = new HashMap<>();
-                map1.put("areaInLocation", "SC-C2");
+                map3.put("areaInLocation", "SC-C2");
-                map1.put("status", 1);
+                map3.put("status", 1);
 
                 Map<String, Object> map4 = new HashMap<>();
-                map2.put("areaInLocation", "SC-D2");
+                map4.put("areaInLocation", "SC-D2");
-                map2.put("status", 1);
+                map4.put("status", 1);
 
-                Object[] areaStatus = new Object[] { map1,map2,map3,map4};
+                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:"+Arrays.toString(areaStatus));
+                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
                 body.setAreaStatus(areaStatus);
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
                 log.info("空托申请wz-wcs返回：" + vo.getHeader());
@@ -428,7 +470,7 @@ public class PlcEventTask {
                 //读取序列号
                 String IntegeroutSeria = Objects.toString(pointMap.get(rptOutSeria), "");
                 Integer outSeria = 0;
-                if(!IntegeroutSeria.isEmpty()){
+                if (!IntegeroutSeria.isEmpty()) {
                     outSeria = Integer.parseInt(IntegeroutSeria.toString());
                 }
                 //读取托盘条码内容
@@ -437,11 +479,11 @@ public class PlcEventTask {
                 log.info("实盘出口上报时，读取的条码内容：" + s);
                 //调用wz-wcs接口
                 WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
-                body.setStation("SC-G2-00-00-2002");
+                body.setStation(MapEnum.twoDownIn.getValue());
                 body.setTaskType(TaskTypeEnum.In.getValue());
                 body.setBussinessType(BusinTaskTypeEnum.stockIn.getValue());
                 body.setTrayCode(s);
-                body.setCreateDt(new Date().toString());
+                body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
                 Map<String, Object> map1 = new HashMap<>();
                 map1.put("areaInLocation", "SC-A2");
@@ -459,11 +501,11 @@ public class PlcEventTask {
                 map4.put("areaInLocation", "SC-D2");
                 map4.put("status", 1);
 
-                Object[] areaStatus = new Object[] { map1,map2,map3,map4};
+                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:"+Arrays.toString(areaStatus));
+                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
                 body.setAreaStatus(areaStatus);
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
-                log.info("agv扫码处申请wz-wcs返回：" + vo.getHeader());
+                log.info("实盘出口上报wz-wcs返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
                 Map<String, Integer> seriaMap = new HashMap<>(1);
                 seriaMap.put(rptOutCfmSeriaVt, outSeria);
@@ -491,7 +533,7 @@ public class PlcEventTask {
                 //读取序列号
                 String IntegeroutSeria = Objects.toString(pointMap.get(rptOutSeria1), "");
                 Integer outSeria = 0;
-                if(!IntegeroutSeria.isEmpty()){
+                if (!IntegeroutSeria.isEmpty()) {
                     outSeria = Integer.parseInt(IntegeroutSeria);
                 }
                 //读取托盘条码内容
@@ -501,11 +543,11 @@ public class PlcEventTask {
                 log.info("实盘出口上报时，读取的条码内容：" + s);
                 //调用wz-wcs接口
                 WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
-                body.setStation("SC-G2-00-00-2001");
+                body.setStation(MapEnum.twoUpIn.getValue());
                 body.setTaskType(TaskTypeEnum.In.getValue());
                 body.setBussinessType(BusinTaskTypeEnum.stockIn.getValue());
                 body.setTrayCode(s);
-                body.setCreateDt(new Date().toString());
+                body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
                 Map<String, Object> map1 = new HashMap<>();
                 map1.put("areaInLocation", "SC-A2");
@@ -523,8 +565,8 @@ public class PlcEventTask {
                 map4.put("areaInLocation", "SC-D2");
                 map4.put("status", 1);
 
-                Object[] areaStatus = new Object[] { map1,map2,map3,map4};
+                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:"+Arrays.toString(areaStatus));
+                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
                 body.setAreaStatus(areaStatus);
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
                 log.info("agv扫码处申请wz-wcs返回：" + vo.getHeader());
@@ -532,16 +574,12 @@ public class PlcEventTask {
                 Map<String, Integer> seriaMap = new HashMap<>(1);
                 seriaMap.put(rptOutCfmSeriaVt1, outSeria);
                 allMap.put(rptOutCfmSeria1, seriaMap);
-
-//                Map<String, String> barcodMap = new HashMap<>(1);
-//                barcodMap.put(rptOutCfmBarcodVt1, s);
-//                allMap.put(rptOutCfmBarcod1, barcodMap);
                 Map<String, Integer> reqMap = new HashMap<>(1);
 
                 if (Result.isOk(vo.getHeader().getMsgCode())) {
                     reqMap.put(retOutVt1, 1);
                 } else {
-                    reqMap.put(retOutVt1, 1);
+                    reqMap.put(retOutVt1, 2);
                 }
                 allMap.put(retOut1, reqMap);
                 String allMapJson = JsonUtil.toJSONString(allMap);
@@ -554,12 +592,13 @@ public class PlcEventTask {
             //出入库切换
             if (pointMap.containsKey(inOutSwit) && !pointMap.get(inOutSwit).equals("0")) {
                 WCSQueryTaskStatusBody body = new WCSQueryTaskStatusBody();
-                body.setDestination("SC-G1-00-00-1002");
+                body.setDestination(MapEnum.oneOut.getValue());
                 body.setTaskType("1");
                 body.setTrayType("2");
                 WcsResponseVo<TaskStatusBody> vo = JSON.parseObject(
                         JSON.toJSONString(wcsUtil.queryTaskStatus(body)),
-                        new TypeReference<WcsResponseVo<TaskStatusBody>>() {}
+                        new TypeReference<WcsResponseVo<TaskStatusBody>>() {
+                        }
                 );
                 Integer taskCount = vo.getBody().get(0).getTaskCount();
 
@@ -581,6 +620,72 @@ public class PlcEventTask {
                 log.info("出入库切换时，写入的命令返回结果：" + inOutSwitBoolean.toString());
             }
 
+            //空托上报完成
+            if (pointMap.containsKey(rptEySeria) && !pointMap.get(rptEySeria).equals("0")) {
+                //读取序列号
+                String IntegeroutSeria = Objects.toString(pointMap.get(rptEySeria), "");
+                Integer outSeria = 0;
+                if (!IntegeroutSeria.isEmpty()) {
+                    outSeria = Integer.parseInt(IntegeroutSeria);
+                }
+                //读取托盘条码内容
+                String barcodeValueOne = Objects.toString(pointMap.get(rptEyBarcod), "");
+                String s = barcodeValueOne.replaceAll("[^A-Za-z0-9]", "");
+
+                Map<String, Object> allMap = new HashMap<>(1);
+                Map<String, Integer> seriaMap = new HashMap<>(1);
+                Map<String, Integer> reqMap = new HashMap<>(1);
+
+                log.info("空托上报完成时，读取的条码内容：" + s);
+                if(!s.isEmpty()){
+                    LambdaQueryWrapper<BusinDataTask> lqw = new LambdaQueryWrapper<BusinDataTask>().eq(BusinDataTask::getContainerCode,s)
+                            .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_callback.getValue());
+                    BusinDataTask businDataTask = iBusinDataTaskService.getOne(lqw);
+                    if(businDataTask != null){
+                        log.info("空托报完成任务号："+ businDataTask.getTaskCode());
+                        businDataTask.setTaskStatus(TaskStatusEnum.finished.getValue());
+                        businDataTask.setDestination(MapEnum.oneOut.getValue());
+                        businDataTask.setTaskEntime(new Date());
+                        iBusinDataTaskService.updateById(businDataTask);
+                        UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
+                        WcsCreateTaskHeader header = new WcsCreateTaskHeader();
+                        header.setBusinessType("stockOutReturn");
+
+                        uploadWCSTaskStatusDto.setHeader(header);
+                        UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
+                        List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
+                        body.setTaskId(businDataTask.getTaskCode());
+                        body.setTrayCode(businDataTask.getContainerCode());
+                        body.setTaskType(businDataTask.getTaskType());
+                        body.setStatus(businDataTask.getTaskStatus());
+                        body.setDestination(MapEnum.oneOut.getValue());
+                        body.setMsgCode("200");
+                        bodyList.add(body);
+                        uploadWCSTaskStatusDto.setBody(bodyList);
+                        log.info("空托任务状态上报请求zk-wcs参数{}", JSONObject.toJSONString(uploadWCSTaskStatusDto));
+                        WcsResponseVo vo = wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
+                        log.info("空托任务状态上报反馈："+ JSONObject.toJSONString(vo));
+                        if (Result.isOk(vo.getHeader().getMsgCode())) {
+                            reqMap.put(retEyVt, 1);
+                        } else {
+                            reqMap.put(retEyVt, 2);
+                        }
+                    }else{
+                        log.info("未查询到条码为："+s+"未完成的任务");
+                        reqMap.put(retEyVt, 2);
+                    }
+                }else{
+                    reqMap.put(retEyVt, 2);
+                }
+                seriaMap.put(retEyCfmSeriaVt, outSeria);
+                allMap.put(retEy, reqMap);
+                allMap.put(retEyCfmSeria,seriaMap);
+                String allMapJson = JsonUtil.toJSONString(allMap);
+                log.info("空托上报完成时，给输送线写命令数据：{}", allMapJson);
+                Boolean rptOutBoolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+                log.info("空托上报完成时，写入的命令返回结果：" + rptOutBoolean.toString());
+            }
+
         } catch (Exception e) {
             log.error("dpsRealTimeTask:" + e.getMessage());
         }
@@ -595,6 +700,22 @@ public class PlcEventTask {
             /**
              * 叠盘机
              */
+
+
+            //叠盘机请求序列号
+            String dpjSeria = "";
+
+            //叠盘机确认序列号
+            String retDpjCfmSeria = "";
+            String retDpjCfmSeriaVt = "";
+
+            //叠盘机请求条码
+            String dpjBarcod = "";
+
+            //叠盘机返回条码
+            String retDpjCfmBarcod = "";
+            String retDpjCfmBarcodVt = "";
+
             //叠盘机完成
             String dpj = "";
 
@@ -602,6 +723,31 @@ public class PlcEventTask {
             String retDpj = "";
             String retDpjVt = "";
 
+            //叠盘机返回
+            String retDpj1 = "";
+            String retDpj1Vt = "";
+
+            //请求叠盘工位1
+            String dpjGw1 = "";
+
+            //请求叠盘工位1返回
+            String retDpjGw1 = "";
+            String retDpjGw1Vt = "";
+
+            //请求叠盘工位2
+            String dpjGw2 = "";
+
+            //请求叠盘工位2返回
+            String retDpjGw2 = "";
+            String retDpjGw2Vt = "";
+
+            //请求叠盘工位3
+            String dpjGw3 = "";
+
+            //请求叠盘工位3返回
+            String retDpjGw3 = "";
+            String retDpjGw3Vt = "";
+
 
             for (WcsPlcProperty plcProperty : propertyList) {
                 String pointType = plcProperty.getPointType();
@@ -611,18 +757,54 @@ public class PlcEventTask {
                 } else if (pointType.equals("retDpj")) {
                     retDpj = plcProperty.getAddress();
                     retDpjVt = plcProperty.getValueType();
+                } else if (pointType.equals("dpjSeria")) {
+                    dpjSeria = plcProperty.getAddress();
+                } else if (pointType.equals("retDpjCfmSeria")) {
+                    retDpjCfmSeria = plcProperty.getAddress();
+                    retDpjCfmSeriaVt = plcProperty.getValueType();
+                }else if (pointType.equals("dpjBarcod")) {
+                    dpjBarcod = plcProperty.getAddress();
+                } else if (pointType.equals("retDpj1")) {
+                    retDpj1 = plcProperty.getAddress();
+                    retDpj1Vt = plcProperty.getValueType();
+                }  else if (pointType.equals("dpjGw1")) {
+                    dpjGw1 = plcProperty.getAddress();
+                } else if (pointType.equals("retDpjGw1")) {
+                    retDpjGw1 = plcProperty.getAddress();
+                    retDpjGw1Vt = plcProperty.getValueType();
+                } else if (pointType.equals("dpjGw2")) {
+                    dpjGw2 = plcProperty.getAddress();
+                } else if (pointType.equals("retDpjGw2")) {
+                    retDpjGw2 = plcProperty.getAddress();
+                    retDpjGw2Vt = plcProperty.getValueType();
+                } else if (pointType.equals("dpjGw3")) {
+                    dpjGw3 = plcProperty.getAddress();
+                } else if (pointType.equals("retDpjGw3")) {
+                    retDpjGw3 = plcProperty.getAddress();
+                    retDpjGw3Vt = plcProperty.getValueType();
                 }
 
             }
 
             //叠盘机
-            if (pointMap.containsKey(dpj) && !pointMap.get(dpj).equals("0")) {
+            if (pointMap.containsKey(dpjSeria) && !pointMap.get(dpjSeria).equals("0")) {
+
+                //读取序列号
+                String IntegeroutSeria = Objects.toString(pointMap.get(dpjSeria), "");
+                Integer seria = 0;
+                if (!IntegeroutSeria.isEmpty()) {
+                    seria = Integer.parseInt(IntegeroutSeria);
+                }
+                //读取托盘条码内容
+                String barcodeValueOne = Objects.toString(pointMap.get(dpjBarcod), "");
+                String s = barcodeValueOne.replaceAll("[^A-Za-z0-9]", "");
+                log.info("叠盘机入库请求读取的条码："+ s);
                 WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
-                body.setStation("SC-G2-00-00-2003");
+                body.setStation(MapEnum.dpj.getValue());
                 body.setTaskType(TaskTypeEnum.In.getValue());
-                body.setTrayCode("TP4077566601");
+                body.setTrayCode(s);
                 body.setBussinessType(BusinTaskTypeEnum.stockIn.getValue());
-                body.setCreateDt(new Date().toString());
+                body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
                 Map<String, Object> map1 = new HashMap<>();
                 map1.put("areaInLocation", "SC-A2");
@@ -633,32 +815,193 @@ public class PlcEventTask {
                 map2.put("status", 1);
 
                 Map<String, Object> map3 = new HashMap<>();
-                map1.put("areaInLocation", "SC-C2");
+                map3.put("areaInLocation", "SC-C2");
-                map1.put("status", 1);
+                map3.put("status", 1);
 
                 Map<String, Object> map4 = new HashMap<>();
-                map2.put("areaInLocation", "SC-D2");
+                map4.put("areaInLocation", "SC-D2");
-                map2.put("status", 1);
+                map4.put("status", 1);
 
-                Object[] areaStatus = new Object[] { map1,map2,map3,map4};
+                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:"+Arrays.toString(areaStatus));
+                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
                 body.setAreaStatus(areaStatus);
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
                 log.info("叠盘机满入库任务申请WZ-WCS返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
                 Map<String, Integer> reqMap = new HashMap<>(1);
+                Map<String, Integer> req1Map = new HashMap<>(1);
+                Map<String, Integer> seriaMap = new HashMap<>(1);
+                seriaMap.put(retDpjCfmSeriaVt,seria);
                 if (Result.isOk(vo.getHeader().getMsgCode())) {
                     reqMap.put(retDpjVt, 1);
+                    req1Map.put(retDpj1Vt,1);
                 } else {
                     reqMap.put(retDpjVt, 2);
+                    req1Map.put(retDpj1Vt,2);
                 }
                 allMap.put(retDpj, reqMap);
+                allMap.put(retDpj1, req1Map);
+                allMap.put(retDpjCfmSeria,seriaMap);
                 String allMapJson = JsonUtil.toJSONString(allMap);
                 log.info("叠盘机叠满上报时，给输送线写命令数据：{}", allMapJson);
                 Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
                 log.info("叠盘机叠满上报时，写入的命令返回结果：" + bCR01Boolean.toString());
             }
 
+            //叠盘机搬运1
+            if (pointMap.containsKey(dpjGw1) && !pointMap.get(dpjGw1).equals("0")) {
+                BusinDataTask businDataTask;
+                boolean save = true;
+                Map<String, Object> allMap = new HashMap<>(1);
+                Map<String, Integer> reqMap = new HashMap<>(1);
+                LambdaQueryWrapper<BusinDataTask> lqwTask = new LambdaQueryWrapper<BusinDataTask>()
+                        .eq(BusinDataTask::getFromSide,MapEnum.dpjGw1.getValue())
+                        .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_put);
+                businDataTask = iBusinDataTaskService.getOne(lqwTask);
+                if(businDataTask != null){
+                    log.info("还未下发的任务："+businDataTask.getTaskCode());
+                }else{
+                    String taskCode = IntIdUtil.generateIntId().toString();
+                    businDataTask.setTaskCode(taskCode);
+                    businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
+                    businDataTask.setTaskType(TaskTypeEnum.Carry.getValue());
+                    businDataTask.setTaskPath(MapEnum.dpj.getValue());
+                    businDataTask.setPriority("1");
+                    businDataTask.setFromSide(MapEnum.dpjGw1.getValue());
+                    businDataTask.setToSide(MapEnum.dpj.getValue());
+                    businDataTask.setCreateTime(DateUtils.getNowDate());
+                    businDataTask.setAgvType("B113");
+                    save = iBusinDataTaskService.save(businDataTask);
+                }
+                if (!save) {
+                    log.info("叠盘工位1，任务存储失败！");
+                    reqMap.put(retDpjGw1Vt, 2);
+                    allMap.put(retDpjGw1, reqMap);
+                }else{
+                    Result result = iBusinDataTaskService.rcsTaskIssued(businDataTask);
+                    if (!Result.isOk(result)) {
+                        log.info("叠盘工位1，给rcs下发任务失败！");
+                        reqMap.put(retDpjGw1Vt, 2);
+                        allMap.put(retDpjGw1, reqMap);
+                    }else{
+                        log.info("叠盘工位1，给rcs下发任务成功！");
+                        reqMap.put(retDpjGw1Vt, 1);
+                        allMap.put(retDpjGw1, reqMap);
+                        businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+                        businDataTask.setTaskStarttime(DateUtils.getNowDate());
+                        businDataTask.setUpdateTime(DateUtils.getNowDate());
+                        iBusinDataTaskService.updateById(businDataTask);
+                    }
+                }
+                String allMapJson = JsonUtil.toJSONString(allMap);
+                log.info("叠盘工位1叠盘请求时，给输送线写命令数据：{}", allMapJson);
+                Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+                log.info("叠盘工位1叠盘请求时，写入的命令返回结果：" + bCR01Boolean.toString());
+            }
+
+            //叠盘机搬运2
+            if (pointMap.containsKey(dpjGw2) && !pointMap.get(dpjGw2).equals("0")) {
+                BusinDataTask businDataTask;
+                boolean save = true;
+                Map<String, Object> allMap = new HashMap<>(1);
+                Map<String, Integer> reqMap = new HashMap<>(1);
+                LambdaQueryWrapper<BusinDataTask> lqwTask = new LambdaQueryWrapper<BusinDataTask>()
+                        .eq(BusinDataTask::getFromSide,MapEnum.dpjGw2.getValue())
+                        .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_put);
+                businDataTask = iBusinDataTaskService.getOne(lqwTask);
+                if(businDataTask != null){
+                    log.info("还未下发的任务："+businDataTask.getTaskCode());
+                }else{
+                    String taskCode = IntIdUtil.generateIntId().toString();
+                    businDataTask.setTaskCode(taskCode);
+                    businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
+                    businDataTask.setTaskType(TaskTypeEnum.Carry.getValue());
+                    businDataTask.setTaskPath(MapEnum.dpj.getValue());
+                    businDataTask.setPriority("1");
+                    businDataTask.setFromSide(MapEnum.dpjGw2.getValue());
+                    businDataTask.setToSide(MapEnum.dpj.getValue());
+                    businDataTask.setCreateTime(DateUtils.getNowDate());
+                    businDataTask.setAgvType("B113");
+                    save = iBusinDataTaskService.save(businDataTask);
+                }
+                if (!save) {
+                    log.info("叠盘工位2，任务存储失败！");
+                    reqMap.put(retDpjGw2Vt, 2);
+                    allMap.put(retDpjGw2, reqMap);
+                }else{
+                    Result result = iBusinDataTaskService.rcsTaskIssued(businDataTask);
+                    if (!Result.isOk(result)) {
+                        log.info("叠盘工位2，给rcs下发任务失败！");
+                        reqMap.put(retDpjGw2Vt, 2);
+                        allMap.put(retDpjGw2, reqMap);
+                    }else{
+                        log.info("叠盘工位2，给rcs下发任务成功！");
+                        reqMap.put(retDpjGw2Vt, 1);
+                        allMap.put(retDpjGw2, reqMap);
+                        businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+                        businDataTask.setTaskStarttime(DateUtils.getNowDate());
+                        businDataTask.setUpdateTime(DateUtils.getNowDate());
+                        iBusinDataTaskService.updateById(businDataTask);
+                    }
+                }
+                String allMapJson = JsonUtil.toJSONString(allMap);
+                log.info("叠盘工位2叠盘请求时，给输送线写命令数据：{}", allMapJson);
+                Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+                log.info("叠盘工位2叠盘请求时，写入的命令返回结果：" + bCR01Boolean.toString());
+            }
+
+            //叠盘机搬运3
+            if (pointMap.containsKey(dpjGw3) && !pointMap.get(dpjGw3).equals("0")) {
+                BusinDataTask businDataTask;
+                boolean save = true;
+                Map<String, Object> allMap = new HashMap<>(1);
+                Map<String, Integer> reqMap = new HashMap<>(1);
+                LambdaQueryWrapper<BusinDataTask> lqwTask = new LambdaQueryWrapper<BusinDataTask>()
+                        .eq(BusinDataTask::getFromSide,MapEnum.dpjGw3.getValue())
+                        .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_put);
+                businDataTask = iBusinDataTaskService.getOne(lqwTask);
+                if(businDataTask != null){
+                        log.info("还未下发的任务："+businDataTask.getTaskCode());
+                }else{
+                    String taskCode = IntIdUtil.generateIntId().toString();
+                    businDataTask.setTaskCode(taskCode);
+                    businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
+                    businDataTask.setTaskType(TaskTypeEnum.Carry.getValue());
+                    businDataTask.setTaskPath(MapEnum.dpj.getValue());
+                    businDataTask.setPriority("1");
+                    businDataTask.setFromSide(MapEnum.dpjGw3.getValue());
+                    businDataTask.setToSide(MapEnum.dpj.getValue());
+                    businDataTask.setCreateTime(DateUtils.getNowDate());
+                    businDataTask.setAgvType("B113");
+                    save = iBusinDataTaskService.save(businDataTask);
+                }
+                if (!save) {
+                    log.info("叠盘工位3，任务存储失败！");
+                    reqMap.put(retDpjGw3Vt, 2);
+                    allMap.put(retDpjGw3, reqMap);
+                }else{
+                    Result result = iBusinDataTaskService.rcsTaskIssued(businDataTask);
+                    if (!Result.isOk(result)) {
+                        log.info("叠盘工位3，给rcs下发任务失败！");
+                        reqMap.put(retDpjGw3Vt, 2);
+                        allMap.put(retDpjGw3, reqMap);
+                    }else{
+                        log.info("叠盘工位3，给rcs下发任务成功！");
+                        reqMap.put(retDpjGw3Vt, 1);
+                        allMap.put(retDpjGw3, reqMap);
+                        businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+                        businDataTask.setTaskStarttime(DateUtils.getNowDate());
+                        businDataTask.setUpdateTime(DateUtils.getNowDate());
+                        iBusinDataTaskService.updateById(businDataTask);
+                    }
+                }
+                String allMapJson = JsonUtil.toJSONString(allMap);
+                log.info("叠盘工位3叠盘请求时，给输送线写命令数据：{}", allMapJson);
+                Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+                log.info("叠盘工位3叠盘请求时，写入的命令返回结果：" + bCR01Boolean.toString());
+            }
+
+
         } catch (Exception e) {
             log.error("dpsRealTimeTask:" + e.getMessage());
         }
@@ -667,6 +1010,14 @@ public class PlcEventTask {
     }
 
 
+
+
+    public static String getNowDate() {
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss.SSS");
+        return LocalDateTime.now().format(formatter);
+    }
+
+
     /**
      * 单个的plc写入
      */

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

@@ -1,6 +1,7 @@
 package com.shkj.wcs.service;
 
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.shkj.common.core.domain.Result;
 import com.shkj.wcs.bo.AGVFeedbackBo;
 import com.shkj.wcs.domain.BusinDataTask;
 import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
@@ -25,6 +26,13 @@ public interface IBusinDataTaskService extends IService<BusinDataTask> {
      */
     RcsResponseVo rcsFeedbackTask(AGVFeedbackBo bo);
 
+    /**
+     * agv任务下发
+     * @param businDataTask
+     * @return
+     */
+    Result rcsTaskIssued(BusinDataTask businDataTask);
+
 
 
 }

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

@@ -27,7 +27,9 @@ import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
 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.MapEnum;
 import com.shkj.wms.enums.TaskStatusEnum;
+import com.shkj.wms.enums.TaskTypeEnum;
 import com.shkj.wms.utils.JsonUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.ibatis.exceptions.TooManyResultsException;
@@ -72,6 +74,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                     String taskType = by.getTaskType();
                     String fromBinCode = by.getFromBinCode();
                     String toBinCode = by.getToBinCode();
+                    String agvType = by.getAgvType();
                     String dataChange = by.getDataChange();
                     String priority = by.getPriority();
                     LambdaQueryWrapper<BusinDataTask> lqwDataTask = new LambdaQueryWrapper<BusinDataTask>()
@@ -86,9 +89,11 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                         BusinDataTask businDataTask = new BusinDataTask();
                         businDataTask.setTaskCode(taskId);
                         businDataTask.setTaskType(taskType);
+                        businDataTask.setAgvType(agvType);
                         businDataTask.setContainerCode(trayCode);
                         businDataTask.setFromSide(fromBinCode);
                         businDataTask.setToSide(toBinCode);
+                        businDataTask.setTaskPath(toBinCode);
                         businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
                         businDataTask.setCreateTime(DateUtils.getNowDate());
                         if (!priority.isEmpty()) {
@@ -98,52 +103,12 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                         if (save) {
                             //调用下游接口下任务
                             log.info("任务储存成功！");
-                            RcsCreateTaskDto rcsCreateTaskDto = new RcsCreateTaskDto();
+                            Result result = rcsTaskIssued(businDataTask);
-                            rcsCreateTaskDto.setTaskType("B12");
-                            if(taskType.equals("1")){
-                                rcsCreateTaskDto.setTaskType("B13");
-                            }
-                            rcsCreateTaskDto.setRobotTaskCode(businDataTask.getTaskCode());
-                            if (!businDataTask.getPriority().isEmpty()) {
-                                rcsCreateTaskDto.setInitPriority(Integer.parseInt(businDataTask.getPriority()));
-                            }
-                            List<RcsIdList> rcsIdLists = new ArrayList<>();
-                            for (int i = 1; i <= 2; i++) {
-                                RcsIdList rcsIdList = new RcsIdList();
-
-                                rcsIdList.setType("SITE");
-                                if (i == 1) {
-                                    rcsIdList.setSeq(0);
-                                    rcsIdList.setCode(businDataTask.getFromSide());
-                                    rcsIdList.setOperation(RCSOperation.OT_COLLECT.getValue());
-                                } else {
-                                    rcsIdList.setSeq(1);
-                                    String code = businDataTask.getToSide();
-                                    if(code.equals("SC-G1-00-00-1002")){
-                                        code = "SC-G2-00-00-2002";
-                                    }
-                                    rcsIdList.setCode(code);
-                                    rcsIdList.setOperation(RCSOperation.OT_DELIVERY.getValue());
-                                }
-                                rcsIdList.setAutoStart(1);
-                                rcsIdLists.add(rcsIdList);
-                            }
-                            rcsCreateTaskDto.setTargetRoute(rcsIdLists);
-                            CarrierInfoList carrierInfoList = new CarrierInfoList();
-                            int carrierCode = CounterService.incrementAndGet();
-                            carrierInfoList.setCarrierCode(String.valueOf(carrierCode));
-                            carrierInfoList.setCarrierType("4");
-                            carrierInfoList.setLayer("0");
-                            List<CarrierInfoList> carrierInfoLists = new ArrayList<>();
-                            carrierInfoLists.add(carrierInfoList);
-                            Map<String, Object> extra = new HashMap<>();
-                            extra.put("carrierInfo", carrierInfoLists);
-                            rcsCreateTaskDto.setExtra(extra);
-                            Result result = rcsUtil.rcsCreateTask(rcsCreateTaskDto);
                             if (!Result.isOk(result)) {
                                 return WcsResponseVo.error(200, "接受成功但给rcs下发任务失败");
                             }
                             businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+                            businDataTask.setTaskStarttime(DateUtils.getNowDate());
                             iBusinDataTaskService.updateById(businDataTask);
                             if (fromBinCode.equals("SC-G2-00-00-2003")) {
                                 Boolean aBoolean = plcEventTask.plcExecWrite(2);
@@ -153,6 +118,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                             }
 
                         }
+                        return WcsResponseVo.error(500, "任务存储失败");
                         //任务取消
                     } else if (dataChange.equals("2")) {
                         if (one == null) {
@@ -209,7 +175,16 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
             log.warn("未找到对应任务，任务号：{}", robotTaskCode);
             return RcsResponseVo.error("未找到对应任务");
         }
-
+        businDataTask.setAgvTaskStatus(method);
+        businDataTask.setUpdateTime(new Date());
+        businDataTask.setAgvNo(bo.getSingleRobotCode());
+        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("agv任务状态更新成功，任务号：{}", robotTaskCode);
+        if(!businDataTask.getTaskType().equals(TaskTypeEnum.Out.getValue())){
         switch (method) {
             case "start":
                 businDataTask.setTaskStarttime(new Date());
@@ -230,54 +205,106 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
             default:
                 return RcsResponseVo.error("任务状态未知！");
         }
-        businDataTask.setAgvTaskStatus(method);
+            boolean bool = iBusinDataTaskService.updateById(businDataTask);
-        businDataTask.setUpdateTime(new Date());
+            if (!bool) {
-        businDataTask.setAgvNo(bo.getSingleRobotCode());
+                log.error("总任务状态更新失败，任务号：{}", robotTaskCode);
-        boolean isUpdated = iBusinDataTaskService.updateById(businDataTask);
+                return RcsResponseVo.error("总任务状态更新失败");
-        if (!isUpdated) {
+            }
-            log.error("任务状态更新失败，任务号：{}", robotTaskCode);
+            log.info("总任务状态更新成功，任务号：{}", robotTaskCode);
-            return RcsResponseVo.error("任务状态更新失败");
+            UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
-        }
+            WcsCreateTaskHeader header = new WcsCreateTaskHeader();
-        log.info("任务状态更新成功，任务号：{}", robotTaskCode);
+            String taskType = businDataTask.getTaskType();
-        UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
+            switch (taskType) {
-        WcsCreateTaskHeader header = new WcsCreateTaskHeader();
+                case "1":
-        String taskType = businDataTask.getTaskType();
+                    header.setBusinessType("stockOutReturn");
-        switch (taskType) {
+                    break;
-            case "1":
+                case "2":
-                header.setBusinessType("stockOutReturn");
+                    header.setBusinessType("stockInReturn");
-                break;
+                    break;
-            case "2":
+                case "3":
-                header.setBusinessType("stockInReturn");
+                    header.setBusinessType("transferReturn");
-                break;
+                    break;
-            case "3":
+                default:
-                header.setBusinessType("transferReturn");
+                    return RcsResponseVo.error("未知任务类型！");
-                break;
+            }
-            default:
+            uploadWCSTaskStatusDto.setHeader(header);
-                return RcsResponseVo.error("未知任务类型！");
+            UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
-        }
+            List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
-        uploadWCSTaskStatusDto.setHeader(header);
+            body.setTaskId(businDataTask.getTaskCode());
-        UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
+            body.setTrayCode(carrierCode);
-        List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
+            body.setTaskType(taskType);
-        body.setTaskId(businDataTask.getTaskCode());
+            body.setStatus(businDataTask.getTaskStatus());
-        body.setTrayCode(carrierCode);
-        body.setTaskType(taskType);
-        body.setStatus(businDataTask.getTaskStatus());
 //        if (businDataTask.getTaskStatus().equals(TaskStatusEnum.finished.getValue())) {
+            if(slotName.equals("0187000XY0234215")){
+                slotName = "SC-G2-00-00-43022";
+            }
             body.setDestination(slotName);
 //        }
-        body.setMsgCode("200");
+            body.setMsgCode("200");
-        bodyList.add(body);
+            bodyList.add(body);
-        uploadWCSTaskStatusDto.setBody(bodyList);
+            uploadWCSTaskStatusDto.setBody(bodyList);
-        log.info("请求zk-wcs参数{}", JSONObject.toJSONString(uploadWCSTaskStatusDto));
+            log.info("请求zk-wcs参数{}", JSONObject.toJSONString(uploadWCSTaskStatusDto));
-        try {
+            try {
-            WcsResponseVo vo = wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
+                WcsResponseVo vo = wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
-            log.info("WZ-WCS状态上报反馈："+ JSONObject.toJSONString(vo));
+                log.info("WZ-WCS状态上报反馈："+ JSONObject.toJSONString(vo));
-        } catch (TooManyResultsException e) {
+            } catch (TooManyResultsException e) {
-            log.error("WZ-WCS状态上报异常，任务号：{}", robotTaskCode, 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.error("KJ-WCS状态上报异常");
+            }
         }
+
+
         return RcsResponseVo.success(new JSONObject().fluentPut("data", robotTaskCode));
     }
 
+    @Override
+    public Result rcsTaskIssued(BusinDataTask businDataTask) {
+        String toSide = businDataTask.getToSide();
+        RcsCreateTaskDto rcsCreateTaskDto = new RcsCreateTaskDto();
+        rcsCreateTaskDto.setTaskType(businDataTask.getAgvType());
+        rcsCreateTaskDto.setRobotTaskCode(businDataTask.getTaskCode());
+        if (!businDataTask.getPriority().isEmpty()) {
+            rcsCreateTaskDto.setInitPriority(Integer.parseInt(businDataTask.getPriority()));
+        }
+        List<RcsIdList> rcsIdLists = new ArrayList<>();
+        for (int i = 1; i <= 2; i++) {
+            RcsIdList rcsIdList = new RcsIdList();
+
+            rcsIdList.setType("SITE");
+            if (i == 1) {
+                rcsIdList.setSeq(0);
+                rcsIdList.setCode(businDataTask.getFromSide());
+                rcsIdList.setOperation(RCSOperation.OT_COLLECT.getValue());
+            } else {
+                rcsIdList.setSeq(1);
+                if(toSide.equals(MapEnum.oneOut.getValue())){
+                    toSide = MapEnum.twoDownIn.getValue();
+                }
+                rcsIdList.setCode(toSide);
+                rcsIdList.setOperation(RCSOperation.OT_DELIVERY.getValue());
+            }
+            rcsIdList.setAutoStart(1);
+            rcsIdLists.add(rcsIdList);
+        }
+        rcsCreateTaskDto.setTargetRoute(rcsIdLists);
+        CarrierInfoList carrierInfoList = new CarrierInfoList();
+        String substring = toSide.substring(4, 5);
+        int number = Integer.parseInt(substring);
+        int carrierCode = 0;
+        if(number ==2){
+            carrierCode = CounterService.incrementAndGet(2);
+        }
+
+        carrierInfoList.setCarrierCode(String.valueOf(carrierCode));
+        carrierInfoList.setCarrierType("4");
+        carrierInfoList.setLayer("0");
+        List<CarrierInfoList> carrierInfoLists = new ArrayList<>();
+        carrierInfoLists.add(carrierInfoList);
+        Map<String, Object> extra = new HashMap<>();
+        extra.put("carrierInfo", carrierInfoLists);
+        rcsCreateTaskDto.setExtra(extra);
+        return  rcsUtil.rcsCreateTask(rcsCreateTaskDto);
+    }
+
 
 }

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

@@ -1,10 +1,47 @@
 package com.shkj.wcs.third.rcs;
 
 public class CounterService {
-    private static int i = 200000; // 静态变量，全局共享
+    private static int i = 200000; // 2楼
+    private static int j = 300000; // 3楼
 
-    public static synchronized int incrementAndGet() {
+    public static synchronized int incrementAndGet(int code) {
-        i++;
+        if (code == 2) {
-        return i;
+            return handleIncrement(i, 200000);
+        } else if (code == 3) {
+            return handleIncrement(j, 300000);
+        } else {
+            throw new IllegalArgumentException("Invalid code: " + code + "楼层错误");
+        }
+    }
+
+    private static int handleIncrement(int current, int base) {
+        int next = current + 1;
+        int lastThreeDigits = next % 1000;
+
+        if (lastThreeDigits > 500) {
+            next = base + 1;
+        }
+
+        // 更新对应的计数器
+        if (base == 200000) {
+            i = next;
+        } else {
+            j = next;
+        }
+
+        return next;
+    }
+
+    public static void main(String[] args) {
+        String toSide = "SC-G3-00-00-2001";
+        String substring = toSide.substring(4, 5);
+        int number = Integer.parseInt(substring);
+        int carrierCode = 0;
+        if(number ==2){
+            carrierCode = incrementAndGet(2);
+        }else if(number ==3){
+            carrierCode = incrementAndGet(3);
+        }
+        System.out.println(carrierCode);
     }
 }

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

@@ -136,16 +136,16 @@ public class WCSUtil {
         jsonObject.put("body",incomingTaskRequestBodies);
         String json = JSONObject.toJSONString(jsonObject);
 
-        log.info("KJ向WZ空托申请参数"+json);
+        log.info("KJ向WZ入库申请参数"+json);
         try {
             String res = HttpRequest.post(wcsIncomingTaskRequestUrl)
                     .body(json)
                     .execute().body();
-            log.info("KJ向WZ空托请返回：" + res);
+            log.info("KJ向WZ入库申请返回：" + res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
             e.printStackTrace();
-            log.error("KJ向WZ空托申请 方法出错了 = {}", e.getMessage());
+            log.error("KJ向WZ入库申请 方法出错了 = {}", e.getMessage());
             return WcsResponseVo.error(500,e.getMessage());
         }
     }

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

@@ -59,7 +59,7 @@ public class UploadWCSTaskStatusBody implements Serializable {
     /**
      * 新增：1
      */
-    private String bussinessType ="trayCheck";
+    private String bussinessType;
 
 
 }

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

@@ -56,6 +56,9 @@ public class WcsCreateTaskBody implements Serializable {
     @NotBlank(message = "数据类型不得为空")
     private String dataChange;
 
+    @NotBlank(message = "agv模板不得为空")
+    private String agvType;
+
     /**
      * 优先级
      */

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

@@ -0,0 +1,47 @@
+package com.shkj.wms.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum MapEnum {
+
+    /**
+     * 一楼生产车间入库工作站
+     */
+    oneIn("SC-G1-00-00-1001", "一楼生产车间入库工作站"),
+
+    /**
+     * 一楼生产车间出库工作站
+     */
+    oneOut("SC-G1-00-00-1002", "一楼生产车间出库工作站"),
+    /**
+     * 二楼连廊入库扫码工作站（上面）
+     */
+    twoUpIn("SC-G2-00-00-2001", "二楼连廊入库扫码工作站（上面）"),
+    /**
+     * 二楼连廊入库扫码工作站（下面）
+     */
+    twoDownIn("SC-G2-00-00-2002", "二楼连廊入库扫码工作站（下面）"),
+    /**
+     * 叠盘机工作站
+     */
+    dpj("SC-G2-00-00-2003", "叠盘机工作站"),
+    /**
+     * 叠盘机工位1
+     */
+    dpjGw1("SC-E2-00-34-01", "叠盘机工位1"),
+    /**
+     * 叠盘机工位2
+     */
+    dpjGw2("SC-E2-00-34-02", "叠盘机工位2"),
+    /**
+     * 叠盘机工位3
+     */
+    dpjGw3("SC-E2-00-34-03", "叠盘机工位3"),
+    ;
+
+    private String value;
+    private String desc;
+}

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

@@ -27,7 +27,7 @@ public enum TaskStatusEnum {
     /**
      * 异常
      */
-    err("-1", "异常"),
+    err("-1", "AGV下发异常"),
 
     clean("6","已取消"),
     ;

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

@@ -12,7 +12,9 @@ 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"),
-    In("2", "入");
+    In("2", "入"),
+    Carry("3", "搬运");
+
 
 
     private String value;

shkj-wms/src/main/java/com/shkj/wms/service/impl/SysThirdExceptionRequestServiceImpl.java

@@ -117,7 +117,7 @@ public class SysThirdExceptionRequestServiceImpl extends ServiceImpl<SysThirdExc
      * 做任务  定时任务
      */
     @Override
-    @Scheduled(fixedDelay = 10000)
+    //@Scheduled(fixedDelay = 10000)
     public void doTask() {
         LambdaQueryWrapper<SysThirdExceptionRequest> wrapper = new LambdaQueryWrapper<>();
         wrapper.eq(SysThirdExceptionRequest::getStatus, ThirdApiStatusEnum.fail.getValue());