From 10778ff6207c31641187acb487d4b67c0de59b24 Mon Sep 17 00:00:00 2001
From: chen.lin <1442464845@qq.com>
Date: 星期一, 02 二月 2026 10:38:51 +0800
Subject: [PATCH] agv增加一个新单号防重复 ，增加一个手动呼叫agv
---
src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java | 676 +++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 619 insertions(+), 57 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
index 7ad382d..e9c6220 100644
--- a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
@@ -9,6 +9,7 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.enums.LocStsType;
+import com.zy.asrs.enums.TaskIOType;
import com.zy.asrs.mapper.BasDevpMapper;
import com.zy.asrs.mapper.BasStationMapper;
import com.zy.asrs.mapper.LocMastMapper;
@@ -22,7 +23,9 @@
import com.zy.common.model.DetlDto;
import com.zy.common.model.MesCombParam;
import com.zy.common.model.enums.WorkNoType;
+import com.zy.common.properties.AgvProperties;
import com.zy.common.service.CommonService;
+import com.zy.common.utils.AgvUtils;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.apache.poi.ss.formula.functions.T;
@@ -35,6 +38,8 @@
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicInteger;
import java.util.stream.Collectors;
/**
@@ -121,13 +126,33 @@
@Resource
private BasDevpMapper basDevpMapper;
+ @Resource
+ private AgvProperties agvProperties;
+
+ @Autowired
+ private com.zy.asrs.task.handler.AgvHandler agvHandler;
+
+ /**
+ * 绔欑偣杞璁℃暟鍣紝鐢ㄤ簬骞冲潎鍒嗛厤绔欑偣
+ * Key: 绔欑偣缁勬爣璇嗭紙濡� "east" 鎴� "west"锛夛紝Value: 褰撳墠杞绱㈠紩
+ */
+ private final Map<String, AtomicInteger> siteRoundRobinCounters = new ConcurrentHashMap<>();
+
@Override
public R inLocCallAgv(CallAgvParam param,Long userId) {
int type = param.getType();
- int sourceSite = param.getSourceSite();
+ String sourceSite = param.getSourceSite();
String barcode = param.getBarcode();
+
+ // 妫�鏌ユ墭鐩樼爜鍜屾殏瀛樹綅缂栫爜鏄惁鐩稿悓
+ if (barcode != null && sourceSite != null && barcode.trim().equals(sourceSite.trim())) {
+ throw new CoolException("鎵樼洏鐮佸拰鏆傚瓨浣嶇紪鐮佷笉鑳界浉鍚�");
+ }
+
int ioType;
-
+ // 鏌ヨ婧愮珯鐐癸紙搴撲綅锛変俊鎭紝浣嗕笉妫�鏌ユ槸鍚﹀瓨鍦紝鍏佽涓嬪崟鎴愬姛
+ // 绔欑偣涓嶅瓨鍦ㄧ殑妫�鏌ュ皢鍦ㄥ畾鏃朵换鍔★紙AgvHandler.callAgv锛変腑杩涜
+ LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>().eq("loc_no", sourceSite));
switch (type) {
case 1:
// 鍒ゆ柇鏈夋病鏈夌粍鎵�
@@ -135,7 +160,13 @@
if (count == 0) {
throw new CoolException("鏉＄爜鏈粍鎵橈細" + barcode);
}
- ioType = 1;
+ ioType = 1; // AGV瀹瑰櫒鍏ュ簱锛堝疄鎵樺叆搴擄級
+
+ // 濡傛灉搴撲綅瀛樺湪锛屾洿鏂扮姸鎬佷负鍏ュ簱棰勭害锛涗笉瀛樺湪鍒欒烦杩囷紝鐢卞畾鏃朵换鍔″鐞�
+ if (locCache != null) {
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_S.type); // S.鍏ュ簱棰勭害
+ locCacheService.updateById(locCache);
+ }
break;
case 2:
// 鍒ゆ柇鏄嫞閫夊洖搴撴墭鐩�
@@ -146,71 +177,119 @@
if (wrkMast.getIoType() != 103 && wrkMast.getIoType() != 107) {
throw new CoolException("鏉＄爜涓嶉渶瑕佸洖搴擄細" + barcode);
}
- ioType = wrkMast.getIoType() - 50;
+ ioType = wrkMast.getIoType() - 50; // 103->53(鎷ｆ枡鍏ュ簱), 107->57(鐩樼偣鍏ュ簱)
+
+ // 濡傛灉搴撲綅瀛樺湪锛屾洿鏂扮姸鎬佷负鍏ュ簱棰勭害锛涗笉瀛樺湪鍒欒烦杩囷紝鐢卞畾鏃朵换鍔″鐞�
+ if (locCache != null) {
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_S.type); // S.鍏ュ簱棰勭害锛堝鍣ㄥ洖搴撴槸鍏ュ簱鎿嶄綔锛�
+ locCacheService.updateById(locCache);
+ }
break;
case 3:
- // 鍒ゆ柇鏉＄爜鍦╳ms涓嶅瓨鍦紝鏄┖鎵樼洏
- // 宸茬粍鎵�
+ // 鍒ゆ柇鏄惁涓虹┖鎵樺叆搴擄細妫�鏌ユ潯鐮佸湪wms涓笉瀛樺湪锛岀‘璁や负绌烘墭鐩�
+ log.info("寮�濮嬪垽鏂槸鍚︿负绌烘墭鍏ュ簱锛屾潯鐮侊細{}", barcode);
+
+ // 妫�鏌ユ槸鍚﹀凡缁勬墭
int waitPakInCount = waitPakinService.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", barcode));
if (waitPakInCount != 0) {
+ log.warn("鏉＄爜缁勬墭妗ｅ凡瀛樺湪锛屼笉鏄┖鎵樼洏锛歿}", barcode);
throw new CoolException("鏉＄爜缁勬墭妗ｅ凡瀛樺湪锛�" + barcode);
}
- // 鏈変换鍔�
+
+ // 妫�鏌ユ槸鍚︽湁浠诲姟
int wrkMastCount = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("barcode", barcode));
if (wrkMastCount != 0) {
+ log.warn("鏉＄爜浠诲姟妗ｅ凡瀛樺湪锛屼笉鏄┖鎵樼洏锛歿}", barcode);
throw new CoolException("鏉＄爜浠诲姟妗ｅ凡瀛樺湪锛�" + barcode);
}
- // 鏈夊簱瀛�
+
+ // 妫�鏌ユ槸鍚︽湁搴撳瓨
int locDetlCount = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet", barcode));
if (locDetlCount != 0) {
+ log.warn("鏉＄爜搴撳瓨宸插瓨鍦紝涓嶆槸绌烘墭鐩橈細{}", barcode);
throw new CoolException("鏉＄爜搴撳瓨宸插瓨鍦細" + barcode);
}
+
+ // 閫氳繃鎵�鏈夋鏌ワ紝纭涓虹┖鎵樼洏锛岃缃负绌烘墭鍏ュ簱
ioType = 10;
+ log.info("纭涓虹┖鎵樼洏锛岃缃负绌烘墭鍏ュ簱锛屾潯鐮侊細{}锛宨oType锛歿}", barcode, ioType);
break;
default:
throw new CoolException("鍏ュ簱绫诲瀷閿欒,type锛�" + type);
}
// 鏉＄爜瀛樺湪agv浠诲姟
- int count = taskService.selectCount(new EntityWrapper<Task>().eq("barcode", barcode));
+ int count = taskService.selectCount(new EntityWrapper<Task>().eq("barcode", barcode).eq("is_deleted", 0));
if (count > 0) {
throw new CoolException(barcode+ "锛氭潯鐮佸瓨鍦╝gv鎼繍浠诲姟!");
}
- // 鍒ゆ柇鑳藉叆绔欑偣
- List<Integer> sites = basDevpMapper.selectList(
- new EntityWrapper<BasDevp>()
- .eq("canining", "Y")
- .in("dev_no", type == 1 ? Arrays.asList(1003, 1005, 1007) : Arrays.asList(1044, 1046, 1048))
- ).stream().map(BasDevp::getDevNo).collect(Collectors.toList());
+ // 鏍规嵁whs_type纭畾鏈哄櫒浜虹粍锛堢珯鐐瑰垎閰嶅畬鍏ㄧ敱瀹氭椂浠诲姟澶勭悊锛�
+ // 濡傛灉搴撲綅涓嶅瓨鍦紝浣跨敤榛樿閫昏緫锛堟牴鎹畉ype鍒ゆ柇锛�
+ Long whsType = locCache != null ? locCache.getWhsType() : null;
+ String robotGroup;
+
+ if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getInboundArea())) {
+ // whs_type = 1: 鍏ュ簱鍖猴紝浣跨敤Group-001
+ robotGroup = agvProperties.getRobotGroupEast();
+ log.info("搴撲綅whs_type={}锛屼娇鐢ㄥ叆搴撳尯閰嶇疆锛坽}锛�", whsType, robotGroup);
+ } else if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getCacheArea())) {
+ // whs_type = 2: 缂撳瓨鍖猴紝浣跨敤Group-002
+ robotGroup = agvProperties.getRobotGroupWest();
+ log.info("搴撲綅whs_type={}锛屼娇鐢ㄧ紦瀛樺尯閰嶇疆锛坽}锛�", whsType, robotGroup);
+ } else {
+ // whs_type涓虹┖鎴栧叾浠栧�硷紝鏍规嵁type鍒ゆ柇锛堝吋瀹规棫閫昏緫锛�
+ // 濡傛灉搴撲綅涓嶅瓨鍦紝涔熶娇鐢ㄦ閫昏緫
+ if (type == 1) {
+ robotGroup = agvProperties.getRobotGroupEast();
+ } else {
+ robotGroup = agvProperties.getRobotGroupWest();
+ }
+ if (locCache == null) {
+ log.warn("婧愮珯鐐癸紙搴撲綅锛墈}涓嶅瓨鍦紝浣跨敤type={}鐨勯粯璁ら�昏緫锛屾満鍣ㄤ汉缁勶細{}锛岀珯鐐瑰垎閰嶅皢鍦ㄥ畾鏃朵换鍔′腑杩涜", sourceSite, type, robotGroup);
+ } else {
+ log.warn("搴撲綅whs_type={}鏈厤缃垨涓嶅湪鏄犲皠鑼冨洿鍐咃紝浣跨敤type={}鐨勯粯璁ら�昏緫锛屾満鍣ㄤ汉缁勶細{}", whsType, type, robotGroup);
+ }
+ }
+
+ // 绔欑偣鍒嗛厤瀹屽叏鐢卞畾鏃朵换鍔″鐞嗭紝姝ゅ涓嶅垎閰嶇珯鐐癸紝鍙垱寤轰换鍔�
+ log.info("鍒涘缓AGV浠诲姟锛岀珯鐐瑰垎閰嶅皢鍦ㄥ畾鏃朵换鍔′腑澶勭悊锛屾満鍣ㄤ汉缁勶細{}", robotGroup);
- if (sites.isEmpty()) {
- throw new CoolException("娌℃湁鑳藉叆绔欑偣,type锛�" + type);
+
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 鐢熸垚AGV宸ヤ綔鍙�
+ String agvWrkNo = AgvUtils.generateAgvWrkNo(workNo);
+ // 淇濆瓨宸ヤ綔妗�
+ Task task = new Task();
+ Date now = new Date();
+ task.setWrkNo(workNo)
+ .setAgvWrkNo(agvWrkNo) // 璁剧疆AGV宸ヤ綔鍙�
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+ .setIoType(ioType) // 鍏ュ嚭搴撶姸鎬侊細 1.鍏ュ簱
+ .setTaskType("agv")
+ .setIoPri(10D)
+ .setStaNo(null) // 绔欑偣鍒嗛厤瀹屽叏鐢卞畾鏃朵换鍔″鐞�
+ .setSourceStaNo(sourceSite) // 璁剧疆婧愮珯鐐�
+ .setInvWh(robotGroup) // 鏍规嵁whs_type璁剧疆鏈哄櫒浜虹粍
+ .setFullPlt(ioType == 10 ? "N" : "Y")// 绌烘墭鍏ュ簱(ioType=10)璁剧疆涓篘锛屽叾浠栧叆搴撹缃负Y锛堟弧鏉匡級
+ .setPicking("N") // 鎷ｆ枡
+ .setExitMk("N")// 閫�鍑�
+ .setSourceLocNo(locCache != null ? locCache.getLocNo() : sourceSite) // 璁剧疆婧愬簱浣嶇紪鍙凤紝鐢ㄤ簬AGV fromBin锛屽鏋滃簱浣嶄笉瀛樺湪鍒欎娇鐢╯ourceSite
+ .setEmptyMk(ioType == 10 ? "Y" : "N")// 绌烘墭鍏ュ簱(ioType=10)璁剧疆涓篩锛屽叾浠栬缃负N
+ .setBarcode(barcode)// 鎵樼洏鐮�
+ .setLinkMis("N")
+ .setAppeTime(now)
+ .setModiTime(now);
+ if (!taskService.insert(task)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
}
- // 鑾峰彇娌℃湁鍑哄簱浠诲姟鐨勭珯鐐�
- List<Integer> canInSites = basDevpMapper.getCanInSites(sites);
- if (canInSites.isEmpty()) {
- throw new CoolException("璇风瓑寰呭嚭搴撳畬鎴�,type:" + type);
+ // 濡傛灉搴撲綅瀛樺湪锛屾牴鎹甶oType鏇存柊鏆傚瓨浣嶇姸鎬侊細鍏ュ簱浠诲姟璁剧疆涓篠锛堝叆搴撻绾︼級锛屽嚭搴撲换鍔¤缃负R锛堝嚭搴撻绾︼級
+ if (locCache != null) {
+ String locSts = (ioType < 100) ? "S" : "R"; // 鍏ュ簱浠诲姟锛坕oType < 100锛夎缃负S锛屽嚭搴撲换鍔¤缃负R
+ basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(sourceSite)), locSts);
}
-
- // 瀵绘壘鍏ュ簱浠诲姟鏈�灏戠殑绔欑偣
- List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>().in("dev_no", canInSites));
- // 鍏ュ簱浠诲姟鏁版帓搴�
- devList.sort(Comparator.comparing(BasDevp::getInQty));
-
- // 鍙栧叆搴撲换鍔℃渶灏戠珯鐐�
- BasDevp basDevp = devList.get(0);
- int endSite = basDevp.getDevNo();
-
- // 鍏ュ簱鏆傚瓨+1
- basDevpMapper.incrementInQty(endSite);
-
- // 鎻掑叆agv浠诲姟
- Task task = new Task(0, 7L, ioType, String.valueOf(sourceSite), String.valueOf(endSite), userId, barcode);
- taskService.insert(task);
-
- // 鏇存柊鏆傚瓨浣嶇姸鎬佷负 R.鍑哄簱棰勭害
- basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(sourceSite)), "R");
return R.ok("agv浠诲姟鐢熸垚鎴愬姛!");
}
@@ -1282,23 +1361,54 @@
*/
@Override
public R callAgvMove(AgvCallParams params, Long userId) {
- if (Objects.isNull(params.getTarSite())) {
- throw new CoolException("鐩爣鍙傛暟涓嶈兘涓虹┖锛侊紒");
- }
if (Objects.isNull(params.getOrgSite())) {
throw new CoolException("婧愮珯鐐逛笉鑳戒负绌猴紒锛�");
}
- LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>()
- .eq("frozen", 0)
- .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
- .eq("loc_no", params.getTarSite())
- .orderAsc(Arrays.asList("loc_no"))
- .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
- if (Objects.isNull(locCache)) {
- throw new CoolException("璇锋鏌ョ洰鏍囧簱浣嶆槸鍚﹂棽缃腑锛侊紒");
+ if (Objects.isNull(params.getBarcode())) {
+ throw new CoolException("鎵樼洏鐮佷笉鑳戒负绌猴紒锛�");
}
-
- generateAgvTask("agv", locCache, params.getOrgSite(), params.getBarcode(), userId);
+
+ String callType = params.getCallType();
+ if (callType == null || callType.isEmpty()) {
+ callType = "manual"; // 榛樿鎵嬪姩杈撳叆
+ }
+
+ if ("manual".equals(callType)) {
+ // 鎵嬪姩杈撳叆锛氶渶瑕佺洰鏍囩珯鐐�
+ if (Objects.isNull(params.getTarSite())) {
+ throw new CoolException("鎵嬪姩杈撳叆妯″紡涓嬶紝鐩爣绔欑偣涓嶈兘涓虹┖锛侊紒");
+ }
+ LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>()
+ .eq("frozen", 0)
+ .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
+ .eq("loc_no", params.getTarSite())
+ .orderAsc(Arrays.asList("loc_no"))
+ .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
+ if (Objects.isNull(locCache)) {
+ throw new CoolException("璇锋鏌ョ洰鏍囧簱浣嶆槸鍚﹂棽缃腑锛侊紒");
+ }
+ generateAgvTask("agv", locCache, params.getOrgSite(), params.getBarcode(), userId);
+ } else if ("outbound".equals(callType)) {
+ // 璧风偣+鍑哄簱锛氳嚜鍔ㄥ垎閰嶇珯鐐瑰拰缂撳瓨浣�
+ generateOutboundAgvTask(params.getOrgSite(), params.getBarcode(), userId);
+ } else if ("inbound".equals(callType)) {
+ // 璧风偣+鍏ュ簱锛氳嚜鍔ㄥ垎閰嶇珯鐐癸紝搴撲綅鎵嬪姩杈撳叆
+ if (Objects.isNull(params.getTarLoc())) {
+ throw new CoolException("鍏ュ簱妯″紡涓嬶紝鐩爣搴撲綅涓嶈兘涓虹┖锛侊紒");
+ }
+ LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>()
+ .eq("frozen", 0)
+ .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
+ .eq("loc_no", params.getTarLoc())
+ .orderAsc(Arrays.asList("loc_no"))
+ .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
+ if (Objects.isNull(locCache)) {
+ throw new CoolException("璇锋鏌ョ洰鏍囧簱浣嶆槸鍚﹂棽缃腑锛侊紒");
+ }
+ generateInboundAgvTask(locCache, params.getOrgSite(), params.getBarcode(), userId);
+ } else {
+ throw new CoolException("涓嶆敮鎸佺殑鍛煎彨绫诲瀷锛�" + callType);
+ }
return R.ok();
}
@@ -1369,9 +1479,12 @@
public void generateOutTask(BasStation station, LocCache loc, Long userId) {
// 鑾峰彇宸ヤ綔鍙�
int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 鐢熸垚AGV宸ヤ綔鍙�
+ String agvWrkNo = AgvUtils.generateAgvWrkNo(workNo);
// 淇濆瓨宸ヤ綔妗�
Task task = new Task();
task.setWrkNo(workNo)
+ .setAgvWrkNo(agvWrkNo)
.setIoTime(new Date())
.setWrkSts(11L) // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
.setIoType(101) // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
@@ -1456,15 +1569,20 @@
}
// 鑾峰彇宸ヤ綔鍙�
int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 鐢熸垚AGV宸ヤ綔鍙�
+ String agvWrkNo = AgvUtils.generateAgvWrkNo(workNo);
// 淇濆瓨宸ヤ綔妗�
Task task = new Task();
+ Date now = new Date();
task.setWrkNo(workNo)
- .setIoTime(new Date())
- .setWrkSts(1L) // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+ .setAgvWrkNo(agvWrkNo) // 璁剧疆AGV宸ヤ綔鍙�
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細7.寰呭懠鍙獳GV锛堜笌鑷姩鍒涘缓淇濇寔涓�鑷达紝鐢卞畾鏃朵换鍔″垎閰嶇珯鐐瑰苟鍛煎彨锛�
.setIoType(1) // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
.setTaskType("agv")
.setIoPri(10D)
.setLocNo(loc.getLocNo()) // 鐩爣搴撲綅
+ .setStaNo(null) // 绔欑偣鍒嗛厤鐢卞畾鏃朵换鍔″鐞嗭紙涓庤嚜鍔ㄥ垱寤轰繚鎸佷竴鑷达級
.setFullPlt("Y") // 婊℃澘锛歒
.setPicking("N") // 鎷ｆ枡
.setExitMk("N")// 閫�鍑�
@@ -1473,9 +1591,9 @@
.setBarcode(barcode)// 鎵樼洏鐮�
.setLinkMis("N")
.setAppeUser(userId)
- .setAppeTime(new Date())
+ .setAppeTime(now)
.setModiUser(userId)
- .setModiTime(new Date());
+ .setModiTime(now);
if (!taskService.insert(task)) {
throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
}
@@ -1516,4 +1634,448 @@
throw new CoolException("绉昏浆澶辫触锛岀洰鏍囧簱浣嶇姸鎬侊細" + loc.getLocSts$());
}
}
+
+ /**
+ * 鐢熸垚鍑哄簱AGV浠诲姟锛堣捣鐐�+鍑哄簱锛岃嚜鍔ㄥ垎閰嶇珯鐐瑰拰缂撳瓨浣嶏級
+ * @param orgSite 婧愮珯鐐�
+ * @param barcode 鎵樼洏鐮�
+ * @param userId 鐢ㄦ埛ID
+ */
+ @Transactional(rollbackFor = Exception.class)
+ public void generateOutboundAgvTask(String orgSite, String barcode, Long userId) {
+ // 鏍规嵁婧愮珯鐐瑰垽鏂槸涓滀晶杩樻槸瑗夸晶锛岀‘瀹氱紦瀛樺尯绔欑偣鍜寃hs_type
+ List<String> eastStations = agvProperties.getEastStations();
+ List<String> westStations = agvProperties.getWestStations();
+ List<String> cacheStations;
+ Long targetWhsType;
+ String robotGroup;
+ String cacheAreaPrefix = agvProperties.getLocationPrefix().getCacheArea();
+ boolean isEmptyPallet = false; // 榛樿婊℃澘鍑哄簱锛屽彲鏍规嵁闇�瑕佽皟鏁�
+
+ if (eastStations.contains(orgSite)) {
+ // 涓滀晶鍑哄簱绔欑偣锛屾煡鎵句笢渚A搴撲綅锛坵hs_type=1锛�
+ cacheStations = agvProperties.getEastStations();
+ robotGroup = agvProperties.getRobotGroupEast();
+ targetWhsType = agvProperties.getWhsTypeMapping().getInboundArea(); // whs_type=1
+ } else if (westStations.contains(orgSite)) {
+ // 瑗夸晶鍑哄簱绔欑偣锛屾煡鎵捐タ渚A搴撲綅锛坵hs_type=2锛�
+ cacheStations = agvProperties.getWestStations();
+ robotGroup = agvProperties.getRobotGroupWest();
+ targetWhsType = agvProperties.getWhsTypeMapping().getCacheArea(); // whs_type=2
+ } else {
+ // 榛樿浣跨敤瑗夸晶
+ cacheStations = agvProperties.getWestStations();
+ robotGroup = agvProperties.getRobotGroupWest();
+ targetWhsType = agvProperties.getWhsTypeMapping().getCacheArea();
+ log.warn("婧愮珯鐐箋}涓嶅湪閰嶇疆鐨勭珯鐐瑰垪琛ㄤ腑锛屼娇鐢ㄩ粯璁よタ渚ч厤缃�", orgSite);
+ }
+
+ // 鑷姩鍒嗛厤缂撳瓨浣嶏紙浣跨敤浼樺厛绾у垎閰嶉�昏緫锛�
+ LocCache locCache = allocateCacheLocationByPriority(targetWhsType, cacheAreaPrefix, isEmptyPallet);
+ if (Objects.isNull(locCache)) {
+ throw new CoolException("鏆傛棤婊¤冻闇�姹傜殑缂撳瓨浣嶏紒");
+ }
+
+ // 鑷姩鍒嗛厤绔欑偣锛堜娇鐢ㄥ嚭搴撳埌缂撳瓨鍖虹殑鍒嗛厤绛栫暐锛�
+ String allocatedSite = allocateCacheStationForOutbound(cacheStations, 101);
+ if (allocatedSite == null) {
+ throw new CoolException("鏃犳硶鍒嗛厤缂撳瓨鍖虹珯鐐癸紝鎵�鏈夌珯鐐归兘鍦ㄤ娇鐢ㄤ腑锛�");
+ }
+
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 鐢熸垚AGV宸ヤ綔鍙�
+ String agvWrkNo = AgvUtils.generateAgvWrkNo(workNo);
+ // 淇濆瓨宸ヤ綔妗�
+ Task task = new Task();
+ Date now = new Date();
+ task.setWrkNo(workNo)
+ .setAgvWrkNo(agvWrkNo)
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細7.寰呭懠鍙獳GV锛堢珯鐐瑰凡鍒嗛厤锛�
+ .setIoType(101) // 鍏ュ嚭搴撶姸鎬侊細101.鍏ㄦ澘鍑哄簱
+ .setTaskType("agv")
+ .setIoPri(10D)
+ .setStaNo(allocatedSite) // 绔欑偣宸茶嚜鍔ㄥ垎閰�
+ .setLocNo(locCache.getLocNo()) // 鐩爣缂撳瓨浣�
+ .setFullPlt("Y") // 婊℃澘锛歒
+ .setPicking("N") // 鎷ｆ枡
+ .setExitMk("N")// 閫�鍑�
+ .setSourceStaNo(orgSite) // 婧愮珯鐐�
+ .setSourceLocNo(locCache.getLocNo()) // 婧愬簱浣嶏紙缂撳瓨浣嶏級
+ .setEmptyMk(locCache.getLocSts().equals("D") ? "Y" : "N")// 绌烘澘
+ .setBarcode(barcode)// 鎵樼洏鐮�
+ .setLinkMis("N")
+ .setInvWh(robotGroup) // 鏍规嵁婧愮珯鐐硅缃満鍣ㄤ汉缁�
+ .setAppeUser(userId)
+ .setAppeTime(now)
+ .setModiUser(userId)
+ .setModiTime(now);
+ if (!taskService.insert(task)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+
+ // 鏇存柊缂撳瓨浣嶇姸鎬侊細O锛堥棽缃級-> R锛堝嚭搴撻绾︼級
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_R.type);
+ locCache.setModiUser(userId);
+ locCache.setModiTime(now);
+ if (!locCacheService.updateById(locCache)) {
+ throw new CoolException("鏇存柊缂撳瓨浣嶇姸鎬佸け璐�");
+ }
+ }
+
+ /**
+ * 鐢熸垚鍏ュ簱AGV浠诲姟锛堣捣鐐�+鍏ュ簱锛岃嚜鍔ㄥ垎閰嶇珯鐐癸紝搴撲綅鎵嬪姩鎸囧畾锛�
+ * @param locCache 鐩爣搴撲綅
+ * @param orgSite 婧愮珯鐐�
+ * @param barcode 鎵樼洏鐮�
+ * @param userId 鐢ㄦ埛ID
+ */
+ @Transactional(rollbackFor = Exception.class)
+ public void generateInboundAgvTask(LocCache locCache, String orgSite, String barcode, Long userId) {
+ // 鍒ゆ柇鏄惁鏄┖鎵樺叆搴擄細搴撲綅鐘舵�佷负"D"锛堢┖妗�/绌烘爤鏉匡級琛ㄧず绌烘墭鍏ュ簱
+ boolean isEmptyPallet = LocStsType.LOC_STS_TYPE_D.type.equals(locCache.getLocSts());
+ Integer ioType = isEmptyPallet ? 10 : 1; // 10=绌烘墭鍏ュ簱锛�1=瀹炴墭鍏ュ簱
+
+ // 鍙湁瀹炴墭鍏ュ簱鎵嶉渶瑕佺粍鎵樹俊鎭�
+ List<WaitPakin> pakins = null;
+ if (!isEmptyPallet) {
+ // 瀹炴墭鍏ュ簱锛氭鏌ョ粍鎵樹俊鎭槸鍚﹀瓨鍦�
+ pakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode));
+ if (Objects.isNull(pakins) || pakins.isEmpty()) {
+ throw new CoolException("缁勬墭淇℃伅涓嶅瓨鍦紒锛�");
+ }
+ }
+
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 鐢熸垚AGV宸ヤ綔鍙�
+ String agvWrkNo = AgvUtils.generateAgvWrkNo(workNo);
+ // 淇濆瓨宸ヤ綔妗�
+ Task task = new Task();
+ Date now = new Date();
+
+ // 鏍规嵁搴撲綅whs_type纭畾鏈哄櫒浜虹粍
+ Long whsType = locCache.getWhsType();
+ String robotGroup;
+ if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getInboundArea())) {
+ robotGroup = agvProperties.getRobotGroupEast();
+ } else if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getCacheArea())) {
+ robotGroup = agvProperties.getRobotGroupWest();
+ } else {
+ robotGroup = agvProperties.getRobotGroupEast(); // 榛樿涓滀晶
+ }
+
+ task.setWrkNo(workNo)
+ .setAgvWrkNo(agvWrkNo) // 璁剧疆AGV宸ヤ綔鍙�
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細7.寰呭懠鍙獳GV锛堢珯鐐瑰皢鑷姩鍒嗛厤锛�
+ .setIoType(ioType) // 鍏ュ嚭搴撶姸鎬侊細10=绌烘墭鍏ュ簱锛�1=瀹炴墭鍏ュ簱
+ .setTaskType("agv")
+ .setIoPri(10D)
+ .setLocNo(locCache.getLocNo()) // 鐩爣搴撲綅
+ .setStaNo(null) // 绔欑偣灏嗚嚜鍔ㄥ垎閰�
+ .setFullPlt(isEmptyPallet ? "N" : "Y") // 绌烘墭鍏ュ簱璁剧疆涓篘锛屽疄鎵樺叆搴撹缃负Y
+ .setPicking("N") // 鎷ｆ枡
+ .setExitMk("N")// 閫�鍑�
+ .setSourceStaNo(orgSite) // 婧愮珯鐐�
+ .setSourceLocNo(orgSite) // 婧愬簱浣嶏紙浣跨敤婧愮珯鐐癸級
+ .setEmptyMk(isEmptyPallet ? "Y" : "N")// 绌烘澘锛氱┖鎵樺叆搴撲负Y锛屽疄鎵樺叆搴撲负N
+ .setBarcode(barcode)// 鎵樼洏鐮�
+ .setLinkMis("N")
+ .setInvWh(robotGroup) // 鏍规嵁whs_type璁剧疆鏈哄櫒浜虹粍
+ .setAppeUser(userId)
+ .setAppeTime(now)
+ .setModiUser(userId)
+ .setModiTime(now);
+ if (!taskService.insert(task)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+
+ // 绔嬪嵆鍒嗛厤绔欑偣锛堣窡闅忓叆搴撻�昏緫锛�
+ String errorMsg = agvHandler.allocateSiteForTask(task);
+ if (errorMsg != null) {
+ throw new CoolException("鍒嗛厤绔欑偣澶辫触锛�" + errorMsg);
+ }
+ // 閲嶆柊鏌ヨ浠诲姟浠ヨ幏鍙栧垎閰嶅悗鐨勭珯鐐�
+ task = taskService.selectById(task.getId());
+ if (task.getStaNo() == null || task.getStaNo().isEmpty() || task.getStaNo().equals("0")) {
+ throw new CoolException("绔欑偣鍒嗛厤澶辫触锛屾棤娉曠户缁紒");
+ }
+
+ // 鍙湁瀹炴墭鍏ュ簱鎵嶉渶瑕佷繚瀛樺伐浣滄。鏄庣粏
+ if (!isEmptyPallet && pakins != null && !pakins.isEmpty()) {
+ List<TaskDetl> taskDetls = new ArrayList<>();
+ pakins.forEach(pakin -> {
+ TaskDetl wrkDetl = new TaskDetl();
+ BeanUtils.copyProperties(pakin, wrkDetl);
+ wrkDetl.setWrkNo(workNo)
+ .setIoTime(new Date())
+ .setOrderNo(pakin.getOrderNo())
+ .setAnfme(pakin.getAnfme())
+ .setZpallet(pakin.getZpallet())
+ .setBatch(pakin.getBatch())
+ .setMatnr(pakin.getMatnr())
+ .setMaktx(pakin.getMaktx())
+ .setAppeUser(userId)
+ .setUnit(pakin.getUnit())
+ .setModel(pakin.getModel())
+ .setAppeTime(new Date())
+ .setModiUser(userId);
+ taskDetls.add(wrkDetl);
+ });
+
+ if (!taskDetlService.insertBatch(taskDetls)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+ }
+ }
+
+ // 淇敼鐩爣搴撲綅鐘舵�侊細O锛堥棽缃級-> S锛堝叆搴撻绾︼級
+ if (locCache.getLocSts().equals(LocStsType.LOC_STS_TYPE_O.type)) {
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_S.type);
+ locCache.setModiTime(now);
+ locCache.setModiUser(userId);
+ if (!locCacheService.updateById(locCache)) {
+ throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ }
+ } else {
+ throw new CoolException("绉昏浆澶辫触锛岀洰鏍囧簱浣嶇姸鎬侊細" + locCache.getLocSts());
+ }
+ }
+
+ /**
+ * 鎸変紭鍏堢骇鍒嗛厤缂撳瓨搴撲綅锛堣窡闅忓嚭搴撻�昏緫锛�
+ * @param whsType 搴撳尯绫诲瀷
+ * @param cacheAreaPrefix 缂撳瓨鍖哄簱浣嶅墠缂�锛堝"WA"锛�
+ * @param isEmptyPallet 鏄惁绌烘墭
+ * @return 鍒嗛厤鐨勭紦瀛樺簱浣嶏紝濡傛灉鏃犳硶鍒嗛厤鍒欒繑鍥瀗ull
+ */
+ private LocCache allocateCacheLocationByPriority(Long whsType, String cacheAreaPrefix, boolean isEmptyPallet) {
+ // 鏌ヨ鎵�鏈夌鍚堟潯浠剁殑绌哄簱浣�
+ List<LocCache> allLocations = locCacheService.selectList(new EntityWrapper<LocCache>()
+ .eq("whs_type", whsType)
+ .like("loc_no", cacheAreaPrefix + "%")
+ .eq("frozen", 0)
+ .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type) // O.闂茬疆
+ .ne("full_plt", isEmptyPallet ? "Y" : "N") // 绌烘墭涓嶉�夋弧鏉垮簱浣嶏紝婊℃墭涓嶉�夌┖鏉垮簱浣�
+ );
+
+ if (allLocations == null || allLocations.isEmpty()) {
+ return null;
+ }
+
+ // 鎸塺ow1鍒嗙粍
+ Map<Integer, List<LocCache>> locationsByRow = allLocations.stream()
+ .filter(loc -> loc.getRow1() != null)
+ .collect(Collectors.groupingBy(LocCache::getRow1));
+
+ if (locationsByRow.isEmpty()) {
+ return null;
+ }
+
+ // 浼樺厛绾�1锛氬垎閰嶇涓夊垪锛坆ay1=3锛夛紝涓旇鎺掔殑1銆�2銆�3鍒楅兘鏄┖鐨�
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ // 妫�鏌ヨ鎺掔殑1銆�2銆�3鍒楁槸鍚﹂兘鏈夌┖搴撲綅
+ boolean hasBay1 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 1);
+ boolean hasBay2 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 2);
+ boolean hasBay3 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 3);
+
+ if (hasBay1 && hasBay2 && hasBay3) {
+ // 璇ユ帓鐨�1銆�2銆�3鍒楅兘鏄┖鐨勶紝鍒嗛厤绗笁鍒�
+ List<LocCache> bay3Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 3)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay3Locs.isEmpty()) {
+ log.debug("浼樺厛绾�1锛氬垎閰嶆帓{}鐨勭涓夊垪锛屽簱浣嶏細{}", row, bay3Locs.get(0).getLocNo());
+ return bay3Locs.get(0);
+ }
+ }
+ }
+
+ // 浼樺厛绾�2锛氬垎閰嶇浜屽垪锛坆ay1=2锛夛紝涓旇鎺掔殑1銆�2鍒楅兘鏄┖鐨�
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ boolean hasBay1 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 1);
+ boolean hasBay2 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 2);
+
+ if (hasBay1 && hasBay2) {
+ List<LocCache> bay2Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 2)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay2Locs.isEmpty()) {
+ log.debug("浼樺厛绾�2锛氬垎閰嶆帓{}鐨勭浜屽垪锛屽簱浣嶏細{}", row, bay2Locs.get(0).getLocNo());
+ return bay2Locs.get(0);
+ }
+ }
+ }
+
+ // 浼樺厛绾�3锛氬垎閰嶇涓�鍒楋紙bay1=1锛�
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ List<LocCache> bay1Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 1)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay1Locs.isEmpty()) {
+ log.debug("浼樺厛绾�3锛氬垎閰嶆帓{}鐨勭涓�鍒楋紝搴撲綅锛歿}", row, bay1Locs.get(0).getLocNo());
+ return bay1Locs.get(0);
+ }
+ }
+
+ // 浼樺厛绾�4锛氬垎閰嶇浜屽垪锛堜笉瑕佹眰璇ユ帓鐨�1銆�2鍒楅兘鏄┖鐨勶級
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ List<LocCache> bay2Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 2)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay2Locs.isEmpty()) {
+ log.debug("浼樺厛绾�4锛氬垎閰嶆帓{}鐨勭浜屽垪锛屽簱浣嶏細{}", row, bay2Locs.get(0).getLocNo());
+ return bay2Locs.get(0);
+ }
+ }
+
+ // 浼樺厛绾�5锛氬垎閰嶇涓夊垪锛堜笉瑕佹眰璇ユ帓鐨�1銆�2銆�3鍒楅兘鏄┖鐨勶級
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ List<LocCache> bay3Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 3)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay3Locs.isEmpty()) {
+ log.debug("浼樺厛绾�5锛氬垎閰嶆帓{}鐨勭涓夊垪锛屽簱浣嶏細{}", row, bay3Locs.get(0).getLocNo());
+ return bay3Locs.get(0);
+ }
+ }
+
+ return null;
+ }
+
+ /**
+ * 涓哄嚭搴撳埌缂撳瓨鍖虹殑浠诲姟鍒嗛厤绔欑偣锛堣窡闅忓嚭搴撻�昏緫锛�
+ * @param cacheStations 缂撳瓨鍖虹珯鐐瑰垪琛�
+ * @param ioType 浠诲姟绫诲瀷锛�101=鍏ㄦ澘鍑哄簱锛�110=绌烘澘鍑哄簱锛�
+ * @return 鍒嗛厤鐨勭珯鐐圭紪鍙凤紝濡傛灉鏃犳硶鍒嗛厤鍒欒繑鍥瀗ull
+ */
+ private String allocateCacheStationForOutbound(List<String> cacheStations, Integer ioType) {
+ if (cacheStations == null || cacheStations.isEmpty()) {
+ log.warn("缂撳瓨鍖虹珯鐐瑰垪琛ㄤ负绌猴紝鏃犳硶鍒嗛厤绔欑偣");
+ return null;
+ }
+
+ // 灏嗙珯鐐瑰瓧绗︿覆鍒楄〃杞崲涓烘暣鏁板垪琛�
+ List<Integer> siteIntList = cacheStations.stream()
+ .map(Integer::parseInt)
+ .collect(Collectors.toList());
+
+ // 鏌ヨ鎵�鏈夌紦瀛樺尯绔欑偣鐨勮澶囦俊鎭紙鍖呭惈浠诲姟鏁帮級
+ List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", siteIntList)
+ );
+
+ if (devList.isEmpty()) {
+ log.warn("缂撳瓨鍖虹珯鐐箋}鍦ㄨ澶囪〃涓笉瀛樺湪", cacheStations);
+ return cacheStations.get(0); // 闄嶇骇锛氳繑鍥炵涓�涓珯鐐�
+ }
+
+ // 鎸夊叆搴撲换鍔℃暟鎺掑簭锛堝嚭搴撳埌缂撳瓨鍖轰篃浣跨敤in_qty瀛楁锛�
+ devList.sort(Comparator.comparing(BasDevp::getInQty));
+
+ // 鑾峰彇鏈�灏戜换鍔℃暟
+ int minInQty = devList.get(0).getInQty();
+
+ // 绛涢�夊嚭浠诲姟鏁版渶灏戠殑绔欑偣鍒楄〃
+ List<BasDevp> minTaskSites = devList.stream()
+ .filter(dev -> dev.getInQty() == minInQty)
+ .collect(Collectors.toList());
+
+ // 鏍规嵁閰嶇疆閫夋嫨鍒嗛厤绛栫暐
+ String strategy = agvProperties.getSiteAllocation().getStrategy();
+ boolean enableRoundRobin = agvProperties.getSiteAllocation().isEnableRoundRobin();
+
+ List<BasDevp> orderedSites = new ArrayList<>();
+ String groupKey = "west"; // 缂撳瓨鍖轰娇鐢ㄨタ渚�
+
+ if (minTaskSites.size() > 1 && enableRoundRobin && "round-robin".equals(strategy)) {
+ // 杞鍒嗛厤
+ AtomicInteger counter = siteRoundRobinCounters.computeIfAbsent(groupKey, k -> new AtomicInteger(0));
+ int startIndex = counter.get() % minTaskSites.size();
+ orderedSites.addAll(minTaskSites.subList(startIndex, minTaskSites.size()));
+ orderedSites.addAll(minTaskSites.subList(0, startIndex));
+ orderedSites.addAll(devList.stream()
+ .filter(dev -> dev.getInQty() > minInQty)
+ .collect(Collectors.toList()));
+ counter.getAndIncrement();
+ log.debug("浣跨敤杞鍒嗛厤绛栫暐锛岀珯鐐圭粍锛歿}锛岃疆璇㈣捣濮嬬储寮曪細{}", groupKey, startIndex);
+ } else if (minTaskSites.size() > 1 && enableRoundRobin && "random".equals(strategy)) {
+ // 闅忔満鍒嗛厤
+ List<BasDevp> shuffledMinSites = new ArrayList<>(minTaskSites);
+ Collections.shuffle(shuffledMinSites);
+ orderedSites.addAll(shuffledMinSites);
+ orderedSites.addAll(devList.stream()
+ .filter(dev -> dev.getInQty() > minInQty)
+ .collect(Collectors.toList()));
+ log.debug("浣跨敤闅忔満鍒嗛厤绛栫暐");
+ } else {
+ // 榛樿锛氭寜鍏ュ簱浠诲姟鏁版帓搴�
+ orderedSites = devList;
+ }
+
+ // 渚濇妫�鏌ユ瘡涓珯鐐规槸鍚﹀湪鎼繍锛屾壘鍒扮涓�涓┖闂茬珯鐐瑰氨鍒嗛厤
+ String selectedSite = null;
+ List<Integer> checkIoTypes = Arrays.asList(101, 110); // 鍑哄簱鍒扮紦瀛樺尯鐨勪换鍔＄被鍨�
+
+ for (BasDevp dev : orderedSites) {
+ String staNo = String.valueOf(dev.getDevNo());
+
+ // 妫�鏌ヨ绔欑偣鏄惁鏈夋鍦ㄦ惉杩愮殑鍚岀被鍨嬩换鍔�
+ List<Task> transportingTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("sta_no", staNo)
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 鍙鏌ユ鍦ㄦ惉杩愮姸鎬佺殑浠诲姟
+ .in("io_type", checkIoTypes)
+ .eq("is_deleted", 0)
+ );
+
+ if (!transportingTasks.isEmpty()) {
+ log.debug("缂撳瓨鍖虹珯鐐箋}鏈墈}涓鍦ㄦ惉杩愮殑鍑哄簱AGV浠诲姟锛屾鏌ヤ笅涓�涓珯鐐�",
+ staNo, transportingTasks.size());
+ continue; // 璇ョ珯鐐规鍦ㄦ惉杩愶紝妫�鏌ヤ笅涓�涓珯鐐�
+ }
+
+ // 鎵惧埌绗竴涓┖闂茬珯鐐癸紝鍒嗛厤
+ selectedSite = staNo;
+ log.info("鍑哄簱鍒扮紦瀛樺尯浠诲姟鎸夎鍒欏簲鍒嗛厤鍒扮珯鐐箋}锛岃绔欑偣绌洪棽锛屽垎閰嶆垚鍔�", staNo);
+ break;
+ }
+
+ // 濡傛灉鎵�鏈夌珯鐐归兘鍦ㄦ惉杩愶紝鍒欎笉鍒嗛厤绔欑偣
+ if (selectedSite == null) {
+ return null;
+ }
+
+ // 鏇存柊绔欑偣浠诲姟鏁帮紙鍑哄簱鍒扮紦瀛樺尯涔熶娇鐢╥n_qty瀛楁锛�
+ basDevpMapper.incrementInQty(Integer.parseInt(selectedSite));
+
+ return selectedSite;
+ }
}
--
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