1.完善AGV任务任务下发 2.拣料回库数据更新维护

zwl

2025-12-31 b187814d7cfa5ace1ed9c203372524c69fe56553

 src/main/java/com/zy/asrs/task/AGVTaskReportScheduler.java

@@ -3,10 +3,12 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.TaskService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.BasDevpServiceImpl;
import com.zy.asrs.task.core.ReturnT;
import com.zy.asrs.task.handler.AGVTaskReportHandler;
import org.slf4j.Logger;
@@ -31,58 +33,67 @@
    private Boolean switchErpReportOld;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasDevpServiceImpl basDevpService;

    /**
     * 满板和空板出库任务，出到输送线后创建AGV搬运任务
     */
    @Scheduled(cron = "0/3 * * * * ? ")
    private void createAGVTask(){
        if (!switchErpReportOld){
    private void createAGVTask() {
        if (!switchErpReportOld) {
            return;
        }
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 300));
        if (wrkMasts.isEmpty()){
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 30));
        if (wrkMasts.isEmpty()) {
            return;
        }
        for (WrkMast wrkMast : wrkMasts){
        for (WrkMast wrkMast : wrkMasts) {
            //查询是否有源站和目标站有一样的agv搬运任务
            //如果有则跳过本次agv搬运任务下发

            //mes给的agv目标站点需要解析 Q：区域 ； Z： 站点
            String[] split = wrkMast.getMemo().split("-");
            //入出库状态： 3.站到站  4.站到区域
            Integer ioType = split[0].equals("Q") ? 4 : 3;
            //agv目标站点
            String stnNo = split[1];
            Task task1 = taskService.selectOne(new EntityWrapper<Task>()
                    .in("source_sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo())
                    .in("sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo()));
            if (Cools.isEmpty(task1)) {

            //生成AGV搬运出库任务
            // 保存工作档
            Task task = new Task();
            Date date = new Date();
            String TaskNo = wrkMast.getWrkNo()+"-"+date.getTime();
            task.setWrkNo(wrkMast.getWrkNo())
                    .setTaskNo(TaskNo)
                    .setIoTime(date)
                    .setWrkSts(301L) // 工作状态：301.任务下发
                    .setIoType(3) // 入出库状态： 3.站到站
                    .setTaskType("agv")
                    .setIoPri(10D)
                    .setFullPlt("Y") // 满板：Y
                    .setPicking("N") // 拣料
                    .setExitMk("N")// 退出
                    .setStaNo(wrkMast.getMemo())
                    .setSourceStaNo(wrkMast.getSourceStaNo())//空料架缓存区E1
                    .setEmptyMk("N")// 空板
                    .setBarcode(wrkMast.getBarcode())// 托盘码
                    .setLinkMis("N")
                    .setAppeUser(9945L)
                    .setAppeTime(date)
                    .setModiUser(9945L)
                    .setModiTime(date);
            if (!taskService.insert(task)) {
                throw new CoolException("保存工作档失败");
            }else {
                wrkMast.setWrkSts(31L);//31.AGV搬运任务创建成功
                wrkMast.setModiTime(date);
                wrkMastService.updateById(wrkMast);
            }
                //生成AGV搬运出库任务
                // 保存工作档
                Task task = new Task();
                Date date = new Date();
                String TaskNo = wrkMast.getWrkNo() + "aa" + date.getTime();
                task.setWrkNo(wrkMast.getWrkNo())
                        .setTaskNo(TaskNo)
                        .setIoTime(date)
                        .setWrkSts(301L) // 工作状态：301.任务下发
                        .setIoType(ioType) // 入出库状态： 3.站到站  4.站到区域
                        .setTaskType("agv")
                        .setIoPri(10D)
                        .setFullPlt("Y") // 满板：Y
                        .setPicking("N") // 拣料
                        .setExitMk("N")// 退出
                        .setStaNo(wrkMast.getMemo())
                        .setSourceStaNo(wrkMast.getSourceStaNo())
                        .setEmptyMk("N")// 空板
                        .setBarcode(wrkMast.getBarcode())// 托盘码
                        .setLinkMis("N")
                        .setAppeUser(9945L)
                        .setAppeTime(date)
                        .setModiUser(9945L)
                        .setModiTime(date);
                if (!taskService.insert(task)) {
                    throw new CoolException("保存工作档失败");
                } else {
                    wrkMast.setWrkSts(31L);//31.AGV搬运任务创建成功
                    wrkMast.setModiTime(date);
                    wrkMastService.updateById(wrkMast);
                }
            }
        }
    }
@@ -91,32 +102,118 @@
     * AGV 任务下发接口，定时给AGV下发任务
     */
    @Scheduled(cron = "0/3 * * * * ? ")
    private void execute(){
        if (!switchErpReportOld){
    private void execute() {
        if (!switchErpReportOld) {
            return;
        }
        //查询所有agv待下发任务
        List<Task> wrkSts = taskService.selectList(new EntityWrapper<Task>().eq("wrk_sts", 301));
        if (wrkSts!=null&& !wrkSts.isEmpty()){
            for (Task task:wrkSts){
        List<Task> wrkSts = taskService.selectList(new EntityWrapper<Task>().eq("wrk_sts", 301).orderBy("appe_time"));
        if (wrkSts != null && !wrkSts.isEmpty()) {
            for (Task task : wrkSts) {
                //查询是否有正在作业的源站和目标站有一样的agv搬运任务
                //如果有则跳过本次agv搬运任务下发
                Task task1 = taskService.selectOne(new EntityWrapper<Task>()
                        .eq("wrk_sts", 302)
                        .andNew()
                        .in("source_sta_no", task.getSourceStaNo(), task.getStaNo())
                        .or()
                        .in("sta_no", task.getStaNo(), task.getSourceStaNo()));
                Boolean flag = true;
                if (Cools.isEmpty(task1)) {
                    //AGV任务下发
                    ReturnT<String> start = AGVTaskReportHandler.start(task);
                    if (!start.isSuccess()){
                        task.setUpdMk("X");
                        task.setErrorMemo(start.getMsg());
                        task.setModiTime(new Date());
                        if (!taskService.updateById(task)) {
                            log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo());
                    //agv搬运移动任务下发时，搬运目标点是否是立库AGV和堆垛机接驳站点
                    //如果是接驳站点则需要判断接驳站点是否有空料架
                    //如果有空料架需要判断是否有出库任务
                    //有出库任务则禁止下发本次搬运任务
                    if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
                        flag = false;
                        BasDevp basDevp = basDevpService.checkSiteStatus(Integer.parseInt(task.getStaNo()));
                        if (basDevp != null && !Cools.isEmpty(basDevp.getInreq1())
                                && basDevp.getInreq1().equals("Y")
                                && basDevp.getLoading().equals("N")
                                && basDevp.getWrkNo()!=9991
                                && basDevp.getWrkNo()!=9999) {
                            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                                    .in("io_type", 101, 110)
                                    .le("wrk_sts", 14)
                                    .eq("sta_no", task.getStaNo()));
                            List<WrkMast> wrkMasts1 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("io_type", 1).eq("sta_no", task.getStaNo()));
                            if (Cools.isEmpty(wrkMasts)&&Cools.isEmpty(wrkMasts1)) {
                                //判断是否已经生成空料架搬运回空料架补库区
                                //如果有的话，不在生成任务
                                Task task2 = taskService.selectOne(new EntityWrapper<Task>().eq("task_type","AGV空料架回缓存区").eq("source_sta_no", task.getStaNo()));
                                //有入库任务搬运，需要生成空料架搬运到空料架缓冲区AGV任务
                                if (Cools.isEmpty(task2)) {

                                    //生成AGV搬运出库任务
                                    // 保存工作档
                                    String SourceStaNo = "";
                                    if (task.getStaNo().equals("401")) {
                                        //大料架缓冲区
                                        SourceStaNo = "Q-E3";
                                    }else if (task.getStaNo().equals("402")) {
                                        SourceStaNo = "Q-E2";
                                    }else if (task.getStaNo().equals("307")) {
                                        SourceStaNo = "Q-E1";
                                    }
                                    Task task3 = new Task();
                                    Date date = new Date();
                                    String TaskNo = task.getTaskNo() + "bb" + date.getTime();
                                    task3.setWrkNo(999999)
                                            .setTaskNo(TaskNo)
                                            .setIoTime(date)
                                            .setWrkSts(301L) // 工作状态：301.任务下发
                                            .setIoType(4) // 入出库状态： 3.站到站  4.站到区域
                                            .setTaskType("AGV空料架回缓存区")
                                            .setIoPri(10D)
                                            .setFullPlt("Y") // 满板：Y
                                            .setPicking("N") // 拣料
                                            .setExitMk("N")// 退出
                                            .setStaNo(SourceStaNo)
                                            .setSourceStaNo(task.getStaNo())//空料架缓存区E1
                                            .setEmptyMk("N")// 空板
                                            .setBarcode("")// 托盘码
                                            .setLinkMis("N")
                                            .setAppeUser(9945L)
                                            .setAppeTime(date)
                                            .setModiUser(9945L)
                                            .setModiTime(date);
                                    if (!taskService.insert(task3)) {
                                        throw new CoolException("保存工作档失败");
                                    }
                                    break;
                                }
                            }
                        }else if(basDevp != null && !Cools.isEmpty(basDevp.getInreq1())
                                && basDevp.getInreq1().equals("N")
                                && basDevp.getLoading().equals("N")
                                ) {
                            flag = true;
                        }

                    }
                    if (flag || task.getTaskType().equals("AGV空料架回缓存区")) {
                        //AGV任务下发
                        ReturnT<String> start = AGVTaskReportHandler.start(task);
                        if (!start.isSuccess()) {
                            task.setUpdMk("X");
                            task.setErrorMemo(start.getMsg());
                            task.setCtnType(task.getCtnType()+1);//下发任务计数
                            task.setModiTime(new Date());
                            if (!taskService.updateById(task)) {
                                log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo());
                            }
                            break;
                        }else {
                            task.setCtnType(task.getCtnType()+1);
                            task.setModiTime(new Date());
                            task.setWrkSts(302L);//任务执行中
                            if (!taskService.updateById(task)) {
                                log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo());
                            }
                        }
                    }


                }
            }
        }