AGV工作档界面和逻辑调整

chen.lin

2026-02-14 371462edc6b3ee1de97c235d4a019b544badda0d

 src/main/java/com/zy/asrs/task/handler/AgvHandler.java

@@ -3,28 +3,20 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.TaskLog;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.LocCache;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasDevpMapper;
import com.zy.asrs.mapper.BasStationMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.LocCacheService;
import com.zy.asrs.service.TaskLogService;
import com.zy.asrs.service.TaskService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.WrkMastLogService;
import com.zy.asrs.entity.WrkMastLog;
import com.zy.asrs.service.*;
import com.zy.common.constant.ApiInterfaceConstant;
import com.zy.common.properties.AgvProperties;
import com.zy.common.utils.AgvUtils;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

@@ -72,7 +64,8 @@

    @Resource
    private WrkMastLogService wrkMastLogService;

    @Resource
    private LocMastService locMastService;
    /**
     * 站点轮询计数器，用于平均分配站点
     * Key: 站点组标识（如 "east" 或 "west"），Value: 当前轮询索引
@@ -91,6 +84,7 @@
     * @param taskList 任务列表（通常只包含一个任务）
     * @return 是否成功处理了任务（成功呼叫AGV，状态从7变为8）
     */
    @Transactional(rollbackFor = Exception.class)
    public boolean callAgv(List<Task> taskList) {
        // 记录调用堆栈，确保只能从定时任务调用
        StackTraceElement[] stackTrace = Thread.currentThread().getStackTrace();
@@ -515,24 +509,36 @@
            WrkMast wrkMast = null;
            if (agvTask.getWrkNo() != null) {
                wrkMast = wrkMastService.selectOne(
                        new EntityWrapper<WrkMast>().eq("wrk_no", agvTask.getWrkNo())
                        new EntityWrapper<WrkMast>()
                                .eq("barcode", agvTask.getBarcode())
                );
            }

            // 检查历史档是否存在
            WrkMastLog wrkMastLog = null;
            if (agvTask.getWrkNo() != null) {
                wrkMastLog = wrkMastLogService.selectOne(
                        new EntityWrapper<WrkMastLog>().eq("wrk_no", agvTask.getWrkNo())
            if (agvTask.getBarcode() != null) {
                Wrapper<WrkMastLog> wrkMastLogMapper = new EntityWrapper<WrkMastLog>()
                        .eq("barcode", agvTask.getBarcode());
                if (agvTask.getAppeTime() != null) {
                    // 计算AGV创建时间之后6小时的时间
                    Calendar calendar = Calendar.getInstance();
                    calendar.setTime(agvTask.getAppeTime());
                    calendar.add(Calendar.HOUR_OF_DAY, 6); // 加6小时
                    Date endTime = calendar.getTime();
                    // 查询条件：历史档创建时间 >= AGV订单创建时间 且 <= AGV创建时间之后6小时
                    wrkMastLogMapper = wrkMastLogMapper.ge("appe_time", agvTask.getAppeTime())
                            .le("appe_time", endTime).eq("barcode", agvTask.getBarcode()).orderBy("appe_time DESC");
                }
                List<WrkMastLog> wrkMastLogList = wrkMastLogService.selectList(
                        wrkMastLogMapper
                );
            }
            // 如果通过wrk_no没找到，且有条码，则通过条码查询
            if (wrkMastLog == null && !Cools.isEmpty(agvTask.getBarcode())) {
                List<WrkMastLog> logList = wrkMastLogService.selectList(
                        new EntityWrapper<WrkMastLog>().eq("barcode", agvTask.getBarcode())
                );
                if (!logList.isEmpty()) {
                    wrkMastLog = logList.get(0);
                if(wrkMastLogList.size()==1){
                    wrkMastLog=wrkMastLogList.get(0);
                }else if(wrkMastLogList.size()>1){
                    int locmastCount = locMastService.selectCount(new EntityWrapper<LocMast>().eq("loc_sts", "F").eq("barcode", agvTask.getBarcode()));
                        if(locmastCount>0){
                            wrkMastLog=wrkMastLogList.get(0);
                        }
                }
            }

@@ -1075,16 +1081,16 @@
     * 取消AGV任务（仙工M4接口）
     *
     * @param task 任务对象
     * @return 是否成功
     * @return 成功返回 null，失败返回错误原因
     */
    public boolean cancelAgvTask(Task task) {
    public String cancelAgvTask(Task task) {
        if (!agvProperties.isSendTask()) {
            return false;
            return "未启用AGV任务下发";
        }

        if (task == null || task.getId() == null) {
            log.error("取消AGV任务失败：任务或任务ID为空");
            return false;
            return "任务或任务ID为空";
        }

        String response = "";
@@ -1147,10 +1153,16 @@
                String displayTaskId = (task.getWrkNo() != null) ? String.valueOf(task.getWrkNo()) : String.valueOf(task.getId());
                log.info(namespace + "取消AGV任务成功：{}", displayTaskId);
            } else {
                String errMsg = jsonObject.getString("message");
                if (errMsg == null || errMsg.isEmpty()) {
                    errMsg = "response: " + response;
                }
                log.error(namespace + "取消AGV任务失败！！！url：{}；request：{}；response：{}", url, body, response);
                return errMsg;
            }
        } catch (Exception e) {
            log.error(namespace + "取消AGV任务异常", e);
            return e.getMessage() != null ? e.getMessage() : "取消AGV任务异常";
        } finally {
            try {
                // 保存接口日志
@@ -1168,6 +1180,6 @@
            }
        }

        return success;
        return success ? null : "取消AGV任务失败";
    }
}