add：增加接口

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

@@ -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);
+    }
+
 
 }

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

@@ -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);
 }

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

@@ -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;
+}

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

@@ -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("start_device_code", sortingReq.getStartDeviceCode());
-        param.put("end_device_code",sortingReq.getEndDeviceCode());
+        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");
     }

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

@@ -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);
 }

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

@@ -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);
 }

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

@@ -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>

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

@@ -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);
+    }
+
 }

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

@@ -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!");
+        }
+
+    }
+}

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

@@ -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
+    //查找空载具
-    private SchBasePoint findStartPoint(String startRegionStr,String vehicleType) {
+    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);