root/xiMenZiZhuanYun
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add：增加接口

Browse Source
This commit is contained in:
songxiaopeng
2024-05-14 15:09:43 +08:00
parent 559605c3d9
commit 1618876477
10 changed files with 378 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/IotToWmsController.java
View File

@@ -8,6 +8,7 @@ import lombok.extern.slf4j.Slf4j;
import org.nl.common.logging.annotation.Log;
import org.nl.wms.ext.service.AcsToWmsService;
import org.nl.wms.ext.service.IotToWmsService;
import org.nl.wms.ext.service.dto.to.iot.BendReq;
import org.nl.wms.ext.service.dto.to.iot.IotOrdersReq;
import org.nl.wms.ext.service.dto.to.iot.IotPartsReq;
import org.nl.wms.ext.service.dto.to.iot.SortingReq;
@@ -67,5 +68,34 @@ public class IotToWmsController {
return new ResponseEntity<>(iotToWmsService.sortingCallMaterial(sortingReq), HttpStatus.OK);
}
@PostMapping("/sortingBack")
@Log("分拣系统下发回库请求")
@ApiOperation("分拣系统下发回库请求")
public ResponseEntity<Object> sortingBack(@RequestBody SortingReq sortingReq) {
return new ResponseEntity<>(iotToWmsService.sortingBack(sortingReq), HttpStatus.OK);
}
@PostMapping("/sortingBackMaterial")
@Log("分拣系统下发回库托盘物料信息")
@ApiOperation("分拣系统下发回库托盘物料信息")
public ResponseEntity<Object> sortingBackMaterial(@RequestBody SortingReq sortingReq) {
return new ResponseEntity<>(iotToWmsService.sortingBackMaterial(sortingReq), HttpStatus.OK);
}
@PostMapping("/autoBendMaterialInfo")
@Log("自动折弯系统查询物料库存")
@ApiOperation("自动折弯系统查询物料库存")
public ResponseEntity<Object> autoBendMaterialInfo(@RequestBody BendReq bendReq) {
return new ResponseEntity<>(iotToWmsService.autoBendMaterialInfo(bendReq), HttpStatus.OK);
}
@PostMapping("/autoBendCallMaterial")
@Log("自动折弯上料")
@ApiOperation("自动折弯上料")
public ResponseEntity<Object> autoBendCallMaterial(@RequestBody BendReq bendReq) {
return new ResponseEntity<>(iotToWmsService.autoBendCallMaterial(bendReq), HttpStatus.OK);
}
}

12
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/IotToWmsService.java
View File

@@ -2,9 +2,11 @@ package org.nl.wms.ext.service;
import com.alibaba.fastjson.JSONObject;
import org.nl.wms.ext.service.dto.to.BaseResponse;
import org.nl.wms.ext.service.dto.to.iot.BendReq;
import org.nl.wms.ext.service.dto.to.iot.IotOrdersReq;
import org.nl.wms.ext.service.dto.to.iot.IotPartsReq;
import org.nl.wms.ext.service.dto.to.iot.SortingReq;
import org.nl.wms.sch.group.service.dao.SchBaseVehiclematerialgroup;
import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
import java.util.List;
@@ -21,7 +23,15 @@ public interface IotToWmsService {
BaseResponse orders(IotOrdersReq iotOrdersReq);
List<MaterialVehicleBind> sortingMaterialInfo(SortingReq sortingReq);
List<SchBaseVehiclematerialgroup> sortingMaterialInfo(SortingReq sortingReq);
BaseResponse sortingCallMaterial(SortingReq sortingReq);
BaseResponse sortingBack(SortingReq sortingReq);
BaseResponse sortingBackMaterial(SortingReq sortingReq);
List<SchBaseVehiclematerialgroup> autoBendMaterialInfo(BendReq bendReq);
BaseResponse autoBendCallMaterial(BendReq bendReq);
}

16
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/dto/to/iot/BendReq.java Normal file
View File

@@ -0,0 +1,16 @@
package org.nl.wms.ext.service.dto.to.iot;
import lombok.Data;
/**
* @author songxiaopeng
*/
@Data
public class BendReq {
//订单号
private String order;
//组盘ID
private String groupId;
//请求点位
private String endDeviceCode;
}

86
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/IotToWmsServiceImpl.java
View File

@@ -1,17 +1,24 @@
package org.nl.wms.ext.service.impl;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.common.exception.BadRequestException;
import org.nl.wms.ext.service.AcsToWmsService;
import org.nl.wms.ext.service.IotToWmsService;
import org.nl.wms.ext.service.dto.to.BaseResponse;
import org.nl.wms.ext.service.dto.to.iot.BendReq;
import org.nl.wms.ext.service.dto.to.iot.IotOrdersReq;
import org.nl.wms.ext.service.dto.to.iot.IotPartsReq;
import org.nl.wms.ext.service.dto.to.iot.SortingReq;
import org.nl.wms.pda.service.dao.vo.PdaResponseVo;
import org.nl.wms.sch.group.service.ISchBaseVehiclematerialgroupService;
import org.nl.wms.sch.group.service.dao.SchBaseVehiclematerialgroup;
import org.nl.wms.sch.materialBind.service.IMaterialVehicleBindService;
import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
import org.nl.wms.sch.task_manage.enums.GroupBindMaterialStatusEnum;
import org.nl.wms.sch.task_manage.enums.GroupStatusEnum;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Service;
@@ -31,6 +38,9 @@ public class IotToWmsServiceImpl implements IotToWmsService {
@Autowired
private IMaterialVehicleBindService materialVehicleBindService;
@Autowired
private ISchBaseVehiclematerialgroupService schBaseVehiclematerialgroupService;
@Override
public BaseResponse acsApply(JSONObject param) {
return acsToWmsService.acsApply(param);
@@ -49,9 +59,11 @@ public class IotToWmsServiceImpl implements IotToWmsService {
}
@Override
public List<MaterialVehicleBind> sortingMaterialInfo(SortingReq sortingReq) {
public List<SchBaseVehiclematerialgroup> sortingMaterialInfo(SortingReq sortingReq) {
//todo 现在是查询该订单下的所有组盘信息
// 需确认是否只查询分拣后的物料 以及需要把组盘绑定的物料信息都查出来
String order = sortingReq.getOrder();
return materialVehicleBindService.selectByOrder(order);
return schBaseVehiclematerialgroupService.selectByOrder(order);
}
@Override
@@ -59,8 +71,74 @@ public class IotToWmsServiceImpl implements IotToWmsService {
JSONObject param = new JSONObject();
param.put("taskCode", IdUtil.getSnowflake(1, 1).nextIdStr());
param.put("taskType", "FJSLTask");
param.put("start_device_code",sortingReq.getStartDeviceCode());
param.put("end_device_code",sortingReq.getEndDeviceCode());
param.put("start_device_code", sortingReq.getStartDeviceCode());
param.put("end_device_code", sortingReq.getEndDeviceCode());
acsToWmsService.acsApply(param);
return BaseResponse.responseOk("任务下发成功");
}
@Override
public BaseResponse sortingBack(SortingReq sortingReq) {
JSONObject param = new JSONObject();
param.put("taskCode", IdUtil.getSnowflake(1, 1).nextIdStr());
param.put("taskType", "FJHKTask");
param.put("start_device_code", sortingReq.getStartDeviceCode());
acsToWmsService.acsApply(param);
return BaseResponse.responseOk("任务下发成功");
}
@Override
public BaseResponse sortingBackMaterial(SortingReq sortingReq) {
// SchBaseVehiclematerialgroup groupEntity = new SchBaseVehiclematerialgroup();
// groupEntity.setGroup_id(IdUtil.getSnowflake(1, 1).nextIdStr());
// groupEntity.setCreate_id("2");
// groupEntity.setCreate_name("ACS");
// groupEntity.setCreate_time(DateUtil.now());
// groupEntity.setVehicle_code(jsonObject.getString("vehicle_code"));
// groupEntity.setVehicle_type(schBaseTask.getVehicle_type());
// groupEntity.setPoint_code(startPoint.getPoint_code());
// groupEntity.setPoint_name(startPoint.getPoint_name());
// groupEntity.setPcsn(DateUtil.format(DateUtil.date(), "yyyyMMdd"));
// groupEntity.setInstorage_time(DateUtil.now());
// groupEntity.setTask_code(schBaseTask.getTask_code());
// groupEntity.setMove_way(startPoint.getPoint_code());
// groupEntity.setGroup_bind_material_status(GroupBindMaterialStatusEnum.BOUND.getValue()); // 绑定
// groupEntity.setGroup_status(GroupStatusEnum.IN_STORAGE.getType()); // 暂时不维护。
// groupEntity.setIs_delete(false);
// vehiclematerialgroupService.save(groupEntity);
// //todo 多个物料信息绑定
// MaterialVehicleBind materialVehicleBind = new MaterialVehicleBind();
// materialVehicleBind.setId(IdUtil.getSnowflake(1, 1).nextIdStr());
// materialVehicleBind.setCreate_time(DateUtil.now());
// materialVehicleBind.setVehicle_code(jsonObject.getString("vehicle_code"));
// materialVehicleBind.setGroup_id(groupEntity.getGroup_id());
// materialVehicleBind.setMaterial_code(jsonObject.getString("material_code"));
// materialVehicleBind.setMaterial_name(jsonObject.getString("material_name"));
// materialVehicleBind.setOrder_code(jsonObject.getString("order_code"));
// materialVehicleBindService.save(materialVehicleBind);
return BaseResponse.responseOk("物料信息接收成功");
}
@Override
public List<SchBaseVehiclematerialgroup> autoBendMaterialInfo(BendReq bendReq) {
//todo 现在是查询该订单下的所有组盘信息
// 需确认是否只查询分拣后的物料 以及需要把组盘绑定的物料信息都查出来
String order = bendReq.getOrder();
return schBaseVehiclematerialgroupService.selectByOrder(order);
}
@Override
public BaseResponse autoBendCallMaterial(BendReq bendReq) {
String groupId = bendReq.getGroupId();
SchBaseVehiclematerialgroup groupInfo = schBaseVehiclematerialgroupService.getById(groupId);
if (null == groupInfo) {
throw new BadRequestException("请求物料为空");
}
JSONObject param = new JSONObject();
param.put("taskCode", IdUtil.getSnowflake(1, 1).nextIdStr());
param.put("taskType", "ZWSLTask");
param.put("start_device_code", groupInfo.getPoint_code());
param.put("end_device_code", bendReq.getEndDeviceCode());
acsToWmsService.acsApply(param);
return BaseResponse.responseOk("任务下发成功");
}

3
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/group/service/ISchBaseVehiclematerialgroupService.java
View File

@@ -7,6 +7,7 @@ import com.baomidou.mybatisplus.extension.service.IService;
import org.nl.wms.sch.group.service.dao.SchBaseVehiclematerialgroup;
import org.nl.wms.sch.group.service.dto.SchBaseVehiclematerialgroupQuery;
import java.util.List;
import java.util.Map;
import java.util.Set;
@@ -49,4 +50,6 @@ public interface ISchBaseVehiclematerialgroupService extends IService<SchBaseVeh
* @return
*/
SchBaseVehiclematerialgroup getGroup(JSONObject entity);
List<SchBaseVehiclematerialgroup> selectByOrder(String order);
}

4
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/group/service/dao/mapper/SchBaseVehiclematerialgroupMapper.java
View File

@@ -6,6 +6,8 @@ import com.baomidou.mybatisplus.core.metadata.IPage;
import org.nl.wms.sch.group.service.dao.SchBaseVehiclematerialgroup;
import org.nl.wms.sch.group.service.dto.SchBaseVehiclematerialgroupQuery;
import java.util.List;
/**
* @author lyd
* @date 2023-05-16
@@ -15,4 +17,6 @@ public interface SchBaseVehiclematerialgroupMapper extends BaseMapper<SchBaseVeh
IPage<SchBaseVehiclematerialgroup> selectPageLeftJoin(IPage<SchBaseVehiclematerialgroup> pages, SchBaseVehiclematerialgroupQuery query);
SchBaseVehiclematerialgroup getGroup(JSONObject entity);
List<SchBaseVehiclematerialgroup> selectByOrder(String order);
}

8
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/group/service/dao/mapper/SchBaseVehiclematerialgroupMapper.xml
View File

@@ -49,4 +49,12 @@
</if>
AND vg.group_bind_material_status = '2'
</select>
<select id="selectByOrder" resultType="org.nl.wms.sch.group.service.dao.SchBaseVehiclematerialgroup">
SELECT *
FROM sch_base_vehiclematerialgroup
WHERE group_id IN (SELECT group_id
FROM material_vehicle_bind
WHERE order_code = #{order})
order by point_code
</select>
</mapper>

6
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/group/service/impl/SchBaseVehiclematerialgroupServiceImpl.java
View File

@@ -19,6 +19,7 @@ import org.nl.wms.sch.group.service.dto.SchBaseVehiclematerialgroupQuery;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.List;
import java.util.Map;
import java.util.Set;
@@ -79,4 +80,9 @@ public class SchBaseVehiclematerialgroupServiceImpl extends ServiceImpl<SchBaseV
return vehiclematerialgroupMapper.getGroup(entity);
}
@Override
public List<SchBaseVehiclematerialgroup> selectByOrder(String order) {
return vehiclematerialgroupMapper.selectByOrder(order);
}
}

214
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/FJHKTask.java Normal file
View File

@@ -0,0 +1,214 @@
package org.nl.wms.sch.task_manage.task.tasks.fj;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.http.HttpRequest;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.nl.common.exception.BadRequestException;
import org.nl.config.SpringContextHolder;
import org.nl.system.service.param.impl.SysParamServiceImpl;
import org.nl.wms.ext.service.dto.to.BaseResponse;
import org.nl.wms.ext.service.dto.to.iot.AgvStateParam;
import org.nl.wms.pdm.service.IPdmBdWorkorderService;
import org.nl.wms.sch.group.service.ISchBaseVehiclematerialgroupService;
import org.nl.wms.sch.point.service.ISchBasePointService;
import org.nl.wms.sch.point.service.dao.SchBasePoint;
import org.nl.wms.sch.task.service.ISchBaseTaskService;
import org.nl.wms.sch.task.service.ISchBaseTaskconfigService;
import org.nl.wms.sch.task.service.dao.SchBaseTask;
import org.nl.wms.sch.task.service.dao.SchBaseTaskconfig;
import org.nl.wms.sch.task_manage.AbstractTask;
import org.nl.wms.sch.task_manage.enums.PointStatusEnum;
import org.nl.wms.sch.task_manage.task.TaskType;
import org.nl.wms.sch.task_manage.task.core.TaskStatus;
import org.nl.wms.util.PointUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.http.HttpStatus;
import org.springframework.stereotype.Component;
import java.util.Arrays;
import java.util.List;
/**
* @Author: sxp
* @Description: 分拣回库
* @Date: 2024/3/11
*/
@Slf4j
@Component
@TaskType("FJHKTask")
@Lazy
public class FJHKTask extends AbstractTask {
private static String TASK_CONFIG_CODE = "FJHKTask";
@Autowired
private ISchBasePointService pointService;
@Autowired
private ISchBaseTaskService taskService;
@Autowired
private ISchBaseTaskconfigService taskConfigService;
@Autowired
private ISchBaseVehiclematerialgroupService vehiclematerialgroupService;
@Override
protected void create() throws BadRequestException {
List<SchBaseTask> tasks = taskService.findTasksByTaskStatus(TASK_CONFIG_CODE, TaskStatus.APPLY);
SchBaseTaskconfig taskConfig = taskConfigService.getOne(new LambdaQueryWrapper<SchBaseTaskconfig>()
.eq(SchBaseTaskconfig::getConfig_code, TASK_CONFIG_CODE));
for (SchBaseTask task : tasks) {
SchBasePoint point = findNextPoint(taskConfig.getNext_region_str(), task.getVehicle_type());
if (ObjectUtil.isEmpty(point)) {
task.setRemark("未找到所需点位!");
taskService.update(task);
log.info("分拣下料未找到当前符合条件的点位！");
continue;
}
task.setPoint_code2(point.getPoint_code());
task.setTask_status(TaskStatus.CREATED.getCode());
task.setRemark("");
taskService.update(task);
//发起任务时先把点位占用，防止发起重复任务
point.setIng_task_code(task.getTask_code());
pointService.update(point);
this.renotifyAcs(task);
}
}
/**
* 判断目标点位
*
* @return
*/
private SchBasePoint findNextPoint(String nextReginStr, String vehicleType) {
String[] reginList = nextReginStr.split(",");
LambdaQueryWrapper<SchBasePoint> lam = new LambdaQueryWrapper<>();
lam.in(SchBasePoint::getRegion_code, Arrays.asList(reginList))
.eq(SchBasePoint::getPoint_status, PointStatusEnum.EMPTY_POINT.getCode())
.eq(SchBasePoint::getCan_vehicle_type, vehicleType)
.and(la -> la.isNull(SchBasePoint::getIng_task_code) // 当前执行的任务为空或者NULL，有数据表示锁住
.or()
.eq(SchBasePoint::getIng_task_code, ""))
.eq(SchBasePoint::getIs_used, true)
.orderByAsc(SchBasePoint::getIn_order_seq)
.orderByAsc(SchBasePoint::getPoint_code);
List<SchBasePoint> schBasePoints = pointService.list(lam);
return ObjectUtil.isNotEmpty(schBasePoints) ? schBasePoints.get(0) : null;
}
@Override
// @Transactional(rollbackFor = Exception.class)
protected void updateStatus(String task_code, TaskStatus status) {
// 校验任务
SchBaseTask taskObj = taskService.getById(task_code);
if (taskObj.getTask_status().equals(TaskStatus.FINISHED.getCode())) {
throw new BadRequestException("该任务已完成!");
}
if (taskObj.getTask_status().equals(TaskStatus.CANCELED.getCode())) {
throw new BadRequestException("该任务已取消!");
}
String startPoint = taskObj.getPoint_code1(); // 获取起点
String endPoint = taskObj.getPoint_code2(); // 获取终点
SchBasePoint startPointObj = pointService.getById(startPoint);
SchBasePoint endPointObj = pointService.getById(endPoint);
// 根据传来的类型去对任务进行操作
if (status.equals(TaskStatus.EXECUTING)) { // 执行中
taskObj.setTask_status(TaskStatus.EXECUTING.getCode());
taskObj.setRemark("执行中");
}
if (status.equals(TaskStatus.FINISHED)) { // 完成
// 起点清空
if (ObjectUtil.isNotEmpty(startPointObj)) {
PointUtils.clearPoint(startPointObj);
}
// 终点解锁
endPointObj.setIng_task_code("");
// endPointObj.setVehicle_code(ObjectUtil.isEmpty(endPointObj.getVehicle_code()) ? vehicle_code + "," : endPointObj.getVehicle_code() + vehicle_code + ",");
endPointObj.setVehicle_qty(1);
pointService.update(endPointObj);
// 任务完成
taskObj.setTask_status(TaskStatus.FINISHED.getCode());
taskObj.setRemark("任务完成");
}
if (status.equals(TaskStatus.CANCELED)) { // 取消
// 终点解锁
if (ObjectUtil.isNotEmpty(endPointObj)) {
endPointObj.setIng_task_code("");
//任务取消把原先占用的位置释放
pointService.update(endPointObj);
}
taskObj.setRemark("任务取消");
taskObj.setTask_status(TaskStatus.CANCELED.getCode());
}
taskService.update(taskObj);
}
@Override
public void forceFinish(String task_code) {
this.updateStatus(task_code, TaskStatus.FINISHED);
}
@Override
public void cancel(String task_code) {
this.updateStatus(task_code, TaskStatus.CANCELED);
}
@Override
protected void feedbackTaskState(JSONObject param, SchBaseTask schBaseTask, BaseResponse result) {
// 反馈上位系统 反馈上位系统成功后，返回200给acs
AgvStateParam agvStateParam = new AgvStateParam();
agvStateParam.setTask_code(schBaseTask.getTask_code());
agvStateParam.setDevice_code(schBaseTask.getPoint_code1());
agvStateParam.setVehicle_code(schBaseTask.getVehicle_code());
String phase = param.getString("phase");
String iotUrl = SpringContextHolder.getBean(SysParamServiceImpl.class).findByCode("iot_url").getValue();
SchBasePoint startPoint = pointService.getById(schBaseTask.getPoint_code1());
if ("3".equals(phase)) {
agvStateParam.setStatus("1");
//叉车到位 请求取货
String url = iotUrl + "iot/agvarrive";
applyIot(url, agvStateParam, result);
//锁住起点
startPoint.setIng_task_code(schBaseTask.getTask_code());
pointService.update(startPoint);
}
if ("5".equals(phase)) {
agvStateParam.setStatus("2");
//取货完成，请求离开
String url = iotUrl + "iot/agvfinish";
applyIot(url, agvStateParam, result);
//起点解锁 下发补空托盘任务
startPoint.setIng_task_code("");
pointService.update(startPoint);
}
}
private void applyIot(String url, AgvStateParam agvStateParam, BaseResponse result) {
String jsonParam = JSON.toJSONString(agvStateParam);
log.info("请求iot参数为:{}", jsonParam);
try {
String resultMsg = HttpRequest.post(url)
.body(jsonParam)
.execute().body();
JSONObject res = JSONObject.parseObject(resultMsg);
if ("200".equals(res.getString("code"))) {
log.info("请求iot成功,返回结果为:{}", res);
result.setCode(HttpStatus.OK.value());
result.setMessage("请求iot成功!");
} else {
log.error("请求iot失败:{}", res);
result.setCode(HttpStatus.BAD_REQUEST.value());
result.setMessage("请求iot失败!");
}
} catch (Exception e) {
String msg = e.getMessage();
//请求iot失败
log.error("请求iot失败:{}", msg);
result.setCode(HttpStatus.BAD_REQUEST.value());
result.setMessage("请求iot失败!");
}
}
}

7
lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/FJJKTask.java
View File

@@ -75,7 +75,7 @@ public class FJJKTask extends AbstractTask {
SchBaseTaskconfig taskConfig = taskConfigService.getOne(new LambdaQueryWrapper<SchBaseTaskconfig>()
.eq(SchBaseTaskconfig::getConfig_code, TASK_CONFIG_CODE));
for (SchBaseTask task : tasks) {
SchBasePoint point = findStartPoint(taskConfig.getStart_region_str(),task.getVehicle_type());
SchBasePoint point = findStartPoint(taskConfig.getStart_region_str(), task.getVehicle_type());
if (ObjectUtil.isEmpty(point)) {
task.setRemark("未找到所需点位!");
taskService.update(task);
@@ -101,8 +101,8 @@ public class FJJKTask extends AbstractTask {
}
}
//查找空托盘
private SchBasePoint findStartPoint(String startRegionStr,String vehicleType) {
//查找空载具
private SchBasePoint findStartPoint(String startRegionStr, String vehicleType) {
if (StringUtils.isEmpty(startRegionStr)) {
return null;
}
@@ -234,6 +234,7 @@ public class FJJKTask extends AbstractTask {
pointService.update(endPoint);
}
}
private void applyIot(String url, AgvStateParam agvStateParam, BaseResponse result) {
String jsonParam = JSON.toJSONString(agvStateParam);
log.info("请求iot参数为:{}", jsonParam);