From 9611dc686299be640ce5e5f5990c747765161ec7 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期三, 21 一月 2026 10:59:38 +0800
Subject: [PATCH] agv逻辑调整2
---
src/main/java/com/zy/asrs/task/AgvScheduler.java | 513 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 506 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/asrs/task/AgvScheduler.java b/src/main/java/com/zy/asrs/task/AgvScheduler.java
index 1205b62..e04f9ef 100644
--- a/src/main/java/com/zy/asrs/task/AgvScheduler.java
+++ b/src/main/java/com/zy/asrs/task/AgvScheduler.java
@@ -1,21 +1,28 @@
package com.zy.asrs.task;
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.WrkMast;
import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.entity.WrkMastLog;
import com.zy.asrs.service.TaskService;
+import com.zy.asrs.service.WrkMastLogService;
+import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.task.handler.AgvHandler;
+import com.zy.common.properties.SchedulerProperties;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
-import org.springframework.scheduling.TaskScheduler;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.Arrays;
+import java.util.Collections;
+import java.util.Date;
import java.util.List;
/**
@@ -23,6 +30,7 @@
* @description AGV浜や簰鐩稿叧瀹氭椂浠诲姟
* @createDate 2025/11/18 14:18
*/
+@Slf4j
@Component
public class AgvScheduler {
@@ -38,17 +46,180 @@
@Resource
private WrkMastMapper wrkMastMapper;
+ @Resource
+ private WrkMastService wrkMastService;
+
+ @Resource
+ private WrkMastLogService wrkMastLogService;
+
+ @Resource
+ private SchedulerProperties schedulerProperties;
+
/**
- * 鍛煎彨agv鎼繍
+ * 璁板綍涓婃澶勭悊鐨勪换鍔D锛岀敤浜庤疆璇㈠鐞�
+ * 纭繚姣忔澶勭悊涓嶅悓鐨勪换鍔★紝閬垮厤涓�鐩村鐞嗗悓涓�涓换鍔�
+ */
+ private Long lastProcessedTaskId = null;
+
+ /**
+ * 璁板綍涓婃鍒嗛厤绔欑偣鐨勪换鍔D锛岀敤浜庤疆璇㈠鐞�
+ */
+ private Long lastAllocatedTaskId = null;
+
+ /**
+ * 鍒嗛厤绔欑偣瀹氭椂浠诲姟
+ * 鏌ヨ鐘舵��7锛堝緟鍛煎彨AGV锛変絾娌℃湁鍒嗛厤绔欑偣鐨勪换鍔★紝涓哄叾鍒嗛厤鍙敤绔欑偣
+ * 鍙礋璐ｅ垎閰嶇珯鐐癸紝涓嶅懠鍙獳GV
+ * 姣忔鍙鐞嗕竴涓换鍔★紝閬垮厤楂樺苟鍙戞墽琛�
+ */
+ @Scheduled(cron = "0/5 * * * * ? ")
+ private void allocateSite() {
+ if (!schedulerProperties.isEnabled()) {
+ log.debug("瀹氭椂浠诲姟allocateSite锛氳皟搴﹀櫒鏈惎鐢紝璺宠繃鎵ц");
+ return;
+ }
+
+ // 鏋勫缓鏌ヨ鏉′欢锛氭煡璇㈡墍鏈夊緟鍛煎彨AGV浣嗘病鏈夊垎閰嶇珯鐐圭殑浠诲姟
+ EntityWrapper<Task> wrapper = new EntityWrapper<Task>();
+ wrapper.eq("wrk_sts", 7); // 寰呭懠鍙獳GV鐘舵��
+ wrapper.eq("task_type", "agv"); // AGV浠诲姟绫诲瀷
+ wrapper.andNew("(is_deleted = 0)");
+ wrapper.andNew()
+ .isNull("sta_no")
+ .or()
+ .eq("sta_no", "")
+ .or()
+ .eq("sta_no", "0");
+ wrapper.orderBy("id", true); // 鎸塱d鍗囧簭鎺掑簭
+
+ // 濡傛灉涓婃澶勭悊杩囦换鍔★紝浠庝笅涓�涓换鍔″紑濮嬫煡璇紙杞锛�
+ if (lastAllocatedTaskId != null) {
+ wrapper.gt("id", lastAllocatedTaskId);
+ }
+
+ // 鏌ヨ寰呭垎閰嶇珯鐐圭殑浠诲姟锛屾瘡娆″彧鏌ヨ涓�涓�
+ List<Task> taskList = taskService.selectList(
+ wrapper.last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY")
+ );
+
+ // 濡傛灉浠庝笂娆′换鍔′箣鍚庢病鏈夋壘鍒颁换鍔★紝浠庡ご寮�濮嬫煡璇紙瀹炵幇寰幆杞锛�
+ if (taskList.isEmpty() && lastAllocatedTaskId != null) {
+ lastAllocatedTaskId = null; // 閲嶇疆锛屼粠澶村紑濮�
+ taskList = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("wrk_sts", 7)
+ .eq("task_type", "agv")
+ .andNew("(is_deleted = 0)")
+ .andNew()
+ .isNull("sta_no")
+ .or()
+ .eq("sta_no", "")
+ .or()
+ .eq("sta_no", "0")
+ .orderBy("id", true)
+ .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY")
+ );
+ }
+
+ if(taskList.isEmpty()) {
+ log.debug("瀹氭椂浠诲姟allocateSite锛氭病鏈夊緟鍒嗛厤绔欑偣鐨勪换鍔★紙wrk_sts=7锛宼ask_type=agv锛宻ta_no涓虹┖锛�");
+ return;
+ }
+
+ // 璋冪敤鍒嗛厤绔欑偣閫昏緫
+ Task task = taskList.get(0);
+ String displayTaskId = (task.getWrkNo() != null) ? String.valueOf(task.getWrkNo()) : String.valueOf(task.getId());
+ log.info("瀹氭椂浠诲姟allocateSite锛氬紑濮嬩负浠诲姟ID锛歿}鍒嗛厤绔欑偣锛坵rk_no={}锛宨oType={}锛�",
+ displayTaskId, task.getWrkNo(), task.getIoType());
+
+ String errorMsg = agvHandler.allocateSiteForTask(task);
+
+ // 妫�鏌ユ槸鍚︽垚鍔熷垎閰嶄簡绔欑偣
+ String staNo = task.getStaNo();
+ if (errorMsg == null && staNo != null && !staNo.isEmpty() && !staNo.equals("0")) {
+ // 鍒嗛厤绔欑偣鎴愬姛
+ lastAllocatedTaskId = task.getId();
+ log.info("瀹氭椂浠诲姟allocateSite锛氫换鍔D锛歿}鎴愬姛鍒嗛厤绔欑偣锛歿}锛屾洿鏂發astAllocatedTaskId涓簕}",
+ displayTaskId, staNo, lastAllocatedTaskId);
+ } else {
+ // 鏃犳硶鍒嗛厤绔欑偣锛屼笉鏇存柊lastAllocatedTaskId锛屼笅娆′細閲嶆柊灏濊瘯
+ log.info("瀹氭椂浠诲姟allocateSite锛氫换鍔D锛歿}鏃犳硶鍒嗛厤绔欑偣锛歿}锛屼笉鏇存柊lastAllocatedTaskId锛堝綋鍓嶏細{}锛夛紝涓嬫灏嗛噸鏂板皾璇�",
+ displayTaskId, errorMsg != null ? errorMsg : "鎵�鏈夌珯鐐归兘琚崰鐢�", lastAllocatedTaskId);
+ }
+ }
+
+ /**
+ * 鍛煎彨AGV瀹氭椂浠诲姟
+ * 鏌ヨ鐘舵��7锛堝緟鍛煎彨AGV锛変笖宸插垎閰嶇珯鐐圭殑浠诲姟锛屽懠鍙獳GV
+ * 鍛煎彨鎴愬姛鍚庯紝鐘舵�佷粠7锛堝緟鍛煎彨AGV锛夊彉涓�8锛堟鍦ㄦ惉杩愶級
+ * 姣忔鍙鐞嗕竴涓换鍔★紝閬垮厤楂樺苟鍙戞墽琛�
+ * 浣跨敤杞鏈哄埗锛岀‘淇濅笉浼氫竴鐩村鐞嗗悓涓�涓换鍔�
*/
@Scheduled(cron = "0/5 * * * * ? ")
private void callAgv() {
- // 鏌ヨ寰呭懠鍙玜gv浠诲姟
- List<Task> taskList = taskService.selectList(new EntityWrapper<Task>().eq("wrk_sts", 7));
- if(taskList.isEmpty()) {
+ if (!schedulerProperties.isEnabled()) {
+ log.debug("瀹氭椂浠诲姟callAgv锛氳皟搴﹀櫒鏈惎鐢紝璺宠繃鎵ц");
return;
}
- agvHandler.callAgv(taskList);
+
+ // 鏋勫缓鏌ヨ鏉′欢锛氭煡璇㈢姸鎬�7锛堝緟鍛煎彨AGV锛変笖宸插垎閰嶇珯鐐圭殑浠诲姟
+ EntityWrapper<Task> wrapper = new EntityWrapper<Task>();
+ wrapper.eq("wrk_sts", 7); // 寰呭懠鍙獳GV鐘舵��
+ wrapper.eq("task_type", "agv"); // AGV浠诲姟绫诲瀷
+ wrapper.andNew("(is_deleted = 0)");
+ wrapper.isNotNull("sta_no"); // 蹇呴』鏈夌珯鐐瑰垎閰�
+ wrapper.ne("sta_no", ""); // 绔欑偣涓嶈兘涓虹┖瀛楃涓�
+ wrapper.ne("sta_no", "0"); // 绔欑偣涓嶈兘涓�0
+ wrapper.orderBy("id", true); // 鎸塱d鍗囧簭鎺掑簭
+
+ // 濡傛灉涓婃澶勭悊杩囦换鍔★紝浠庝笅涓�涓换鍔″紑濮嬫煡璇紙杞锛�
+ if (lastProcessedTaskId != null) {
+ wrapper.gt("id", lastProcessedTaskId);
+ }
+
+ // 鏌ヨ寰呭懠鍙玜gv浠诲姟锛屾瘡娆″彧鏌ヨ涓�涓�
+ List<Task> taskList = taskService.selectList(
+ wrapper.last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY")
+ );
+
+ // 濡傛灉浠庝笂娆′换鍔′箣鍚庢病鏈夋壘鍒颁换鍔★紝浠庡ご寮�濮嬫煡璇紙瀹炵幇寰幆杞锛�
+ if (taskList.isEmpty() && lastProcessedTaskId != null) {
+ lastProcessedTaskId = null; // 閲嶇疆锛屼粠澶村紑濮�
+ taskList = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("wrk_sts", 7)
+ .eq("task_type", "agv")
+ .andNew("(is_deleted = 0)")
+ .isNotNull("sta_no")
+ .ne("sta_no", "")
+ .ne("sta_no", "0")
+ .orderBy("id", true)
+ .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY")
+ );
+ }
+
+ if(taskList.isEmpty()) {
+ log.debug("瀹氭椂浠诲姟callAgv锛氭病鏈夊緟鍛煎彨AGV鐨勪换鍔★紙wrk_sts=7锛宼ask_type=agv锛宻ta_no涓嶄负绌猴級");
+ return;
+ }
+
+ // 璋冪敤澶勭悊閫昏緫锛氬懠鍙獳GV锛屾垚鍔熷悗鐘舵�佷粠7鍙樹负8
+ Task task = taskList.get(0);
+ String displayTaskId = (task.getWrkNo() != null) ? String.valueOf(task.getWrkNo()) : String.valueOf(task.getId());
+ log.info("瀹氭椂浠诲姟callAgv锛氬紑濮嬪鐞嗕换鍔D锛歿}锛坵rk_no={}锛宨oType={}锛宻ta_no={}锛�",
+ displayTaskId, task.getWrkNo(), task.getIoType(), task.getStaNo());
+ boolean processed = agvHandler.callAgv(taskList);
+
+ // 鍙湁褰撲换鍔℃垚鍔熷鐞嗭紙鎴愬姛鍛煎彨AGV锛岀姸鎬佷粠7鍙樹负8锛夋椂锛屾墠鏇存柊lastProcessedTaskId
+ // 濡傛灉浠诲姟琚烦杩囷紙绔欑偣琚崰鐢ㄧ瓑锛夛紝涓嶆洿鏂發astProcessedTaskId锛屼笅娆′細閲嶆柊灏濊瘯
+ if (processed) {
+ lastProcessedTaskId = task.getId();
+ log.info("瀹氭椂浠诲姟callAgv锛氫换鍔D锛歿}鎴愬姛鍛煎彨AGV锛岀姸鎬佸凡浠�7鍙樹负8锛屾洿鏂發astProcessedTaskId涓簕}锛屼笅娆″皢澶勭悊涓嬩竴涓换鍔�",
+ displayTaskId, lastProcessedTaskId);
+ } else {
+ log.info("瀹氭椂浠诲姟callAgv锛氫换鍔D锛歿}琚烦杩囷紝涓嶆洿鏂發astProcessedTaskId锛堝綋鍓嶏細{}锛夛紝涓嬫灏嗛噸鏂板皾璇曞鐞嗘浠诲姟",
+ displayTaskId, lastProcessedTaskId);
+ }
}
/**
@@ -56,6 +227,9 @@
*/
@Scheduled(cron = "0/3 * * * * ? ")
private void createAgvOutTasks() {
+ if (!schedulerProperties.isEnabled()) {
+ return;
+ }
// 鑾峰彇鍛煎彨agv閰嶇疆
List<Config> configs = configService.selectList(new EntityWrapper<Config>().in("code", "eastCallAgvControl", "westCallAgvControl").eq("status", 1));
@@ -86,12 +260,337 @@
*/
@Scheduled(cron = "0/10 * * * * ? ")
private void moveTaskToHistory() {
- List<Task> taskList = taskService.selectList(new EntityWrapper<Task>().eq("wrk_sts", 9));
+ if (!schedulerProperties.isEnabled()) {
+ return;
+ }
+ List<Task> taskList = taskService.selectList(new EntityWrapper<Task>().eq("wrk_sts", 9).andNew("(is_deleted = 0)"));
if(taskList.isEmpty()) {
return;
}
agvHandler.moveTaskToHistory(taskList);
}
+ /**
+ * 妫�鏌ュ叆搴撴垚鍔熺殑浠诲姟锛屽畬缁撳搴旂殑AGV鍛煎彨鍗�
+ * 濡傛灉鍏ュ簱浠诲姟鍛煎彨AGV鍚庢病鏈夋敹鍒板洖璋冿紝浣嗗伐浣滄。宸茬粡鍏ュ簱鎴愬姛锛屽垯瀹岀粨AGV鍛煎彨鍗�
+ */
+ @Scheduled(cron = "0/10 * * * * ? ")
+ private void checkInboundCompletedTasks() {
+ if (!schedulerProperties.isEnabled()) {
+ return;
+ }
+ try {
+ // 鏌ヨ鍏ュ簱鎴愬姛鐨勫伐浣滄。锛堢姸鎬�4锛氬叆搴撳畬鎴愶紝鍏ュ簱绫诲瀷锛�1,10,53,57锛�
+ List<WrkMast> completedWrkMasts = wrkMastService.selectList(
+ new EntityWrapper<WrkMast>()
+ .eq("wrk_sts", 4L) // 鍏ュ簱瀹屾垚
+ .in("io_type", 1, 10, 53, 57) // 鍏ュ簱绫诲瀷
+ .isNotNull("wrk_no")
+ );
+
+ if (completedWrkMasts.isEmpty()) {
+ return;
+ }
+
+ Date now = new Date();
+ int completedCount = 0;
+ List<Task> completedTasks = new ArrayList<>();
+
+ for (WrkMast wrkMast : completedWrkMasts) {
+ // 鏌ユ壘瀵瑰簲鐨凙GV浠诲姟锛堜紭鍏堥�氳繃wrk_no鏌ヨ锛�
+ Wrapper<Task> taskWrapper1 = new EntityWrapper<Task>()
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 宸插懠鍙獳GV鐘舵��
+ .eq("wrk_no", wrkMast.getWrkNo())
+ .andNew("(is_deleted = 0)");
+ List<Task> agvTasks = taskService.selectList(taskWrapper1);
+
+ // 濡傛灉閫氳繃wrk_no娌℃壘鍒帮紝涓旀湁鏉＄爜锛屽垯閫氳繃鏉＄爜鏌ヨ
+ if (agvTasks.isEmpty() && !Cools.isEmpty(wrkMast.getBarcode())) {
+ Wrapper<Task> taskWrapper2 = new EntityWrapper<Task>()
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L)
+ .eq("barcode", wrkMast.getBarcode())
+ .andNew("(is_deleted = 0)");
+ agvTasks = taskService.selectList(taskWrapper2);
+ }
+
+ for (Task agvTask : agvTasks) {
+ // 纭繚鏄叆搴撲换鍔�
+ if (agvTask.getIoType() != null &&
+ (agvTask.getIoType() == 1 || agvTask.getIoType() == 10 ||
+ agvTask.getIoType() == 53 || agvTask.getIoType() == 57)) {
+ // 鏇存柊AGV浠诲姟鐘舵�佷负瀹屾垚
+ agvTask.setWrkSts(9L);
+ agvTask.setModiTime(now);
+ if (taskService.updateById(agvTask)) {
+ completedTasks.add(agvTask);
+ completedCount++;
+ // taskId浣跨敤宸ヤ綔鍙凤紙wrk_no锛夛紝濡傛灉宸ヤ綔鍙蜂负绌哄垯浣跨敤浠诲姟ID
+ String displayTaskId = (agvTask.getWrkNo() != null) ? String.valueOf(agvTask.getWrkNo()) : String.valueOf(agvTask.getId());
+ log.info("鍏ュ簱浠诲姟宸ヤ綔妗ｅ凡鍏ュ簱鎴愬姛锛屽畬缁揂GV鍛煎彨鍗曪紝taskId锛歿}锛寃rkNo锛歿}锛宐arcode锛歿}",
+ displayTaskId, wrkMast.getWrkNo(), wrkMast.getBarcode());
+ }
+ }
+ }
+ }
+
+ // 绔嬪嵆灏嗗畬鎴愮殑AGV浠诲姟杞Щ鍒板巻鍙茶〃锛屼笉淇濈暀鍦═ask琛ㄤ腑
+ if (!completedTasks.isEmpty()) {
+ try {
+ agvHandler.moveTaskToHistory(completedTasks);
+ log.info("鍏ュ簱瀹屾垚锛屽凡灏唟}涓狝GV浠诲姟杞Щ鍒板巻鍙茶〃锛堜笉淇濈暀鍦═ask琛ㄤ腑锛�", completedTasks.size());
+ } catch (Exception e) {
+ log.error("鍏ュ簱瀹屾垚锛岃浆绉籄GV浠诲姟鍒板巻鍙茶〃澶辫触", e);
+ }
+ }
+
+ if (completedCount > 0) {
+ log.info("鏈妫�鏌ュ畬缁撲簡{}涓叆搴揂GV鍛煎彨鍗�", completedCount);
+ }
+ } catch (Exception e) {
+ log.error("妫�鏌ュ叆搴撴垚鍔熶换鍔″苟瀹岀粨AGV鍛煎彨鍗曞紓甯�", e);
+ }
+ }
+
+ /**
+ * 妫�鏌ュ苟淇寮傚父鐘舵�佺殑AGV浠诲姟锛氭鍦ㄦ惉杩愪絾娌℃湁鍒嗛厤绔欑偣
+ * 杩欑鎯呭喌鍙兘鏄暟鎹紓甯告垨骞跺彂闂瀵艰嚧鐨�
+ */
+ @Scheduled(cron = "0/30 * * * * ? ")
+ private void checkAbnormalTasksWithoutSite() {
+ if (!schedulerProperties.isEnabled()) {
+ return;
+ }
+ try {
+ // 鏌ヨ鐘舵�佷负8锛堟鍦ㄦ惉杩愶級浣嗘病鏈夊垎閰嶇珯鐐圭殑浠诲姟
+ List<Task> abnormalTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 姝ｅ湪鎼繍
+ .andNew("(is_deleted = 0)")
+ .andNew()
+ .isNull("sta_no")
+ .or()
+ .eq("sta_no", "")
+ .or()
+ .eq("sta_no", "0")
+ );
+
+ if (abnormalTasks.isEmpty()) {
+ return;
+ }
+
+ log.warn("妫�娴嬪埌{}涓紓甯哥姸鎬佺殑AGV浠诲姟锛氭鍦ㄦ惉杩愪絾娌℃湁鍒嗛厤绔欑偣锛屽紑濮嬩慨澶�", abnormalTasks.size());
+
+ Date now = new Date();
+ int fixedCount = 0;
+ int completedCount = 0;
+
+ for (Task task : abnormalTasks) {
+ String displayTaskId = (task.getWrkNo() != null) ? String.valueOf(task.getWrkNo()) : String.valueOf(task.getId());
+
+ // 妫�鏌ュ伐浣滄。鍜屽巻鍙叉。鐘舵��
+ WrkMast wrkMast = null;
+ WrkMastLog wrkMastLog = null;
+
+ if (task.getWrkNo() != null) {
+ wrkMast = wrkMastService.selectOne(
+ new EntityWrapper<WrkMast>().eq("wrk_no", task.getWrkNo())
+ );
+ wrkMastLog = wrkMastLogService.selectOne(
+ new EntityWrapper<WrkMastLog>().eq("wrk_no", task.getWrkNo())
+ );
+ }
+
+ // 濡傛灉宸ヤ綔妗ｅ凡瀹屾垚鎴栧凡杞巻鍙叉。锛岀洿鎺ョ粨鏉熶换鍔�
+ boolean shouldComplete = false;
+ String reason = "";
+
+ if (wrkMastLog != null) {
+ shouldComplete = true;
+ reason = "宸ヤ綔妗ｅ凡杞巻鍙叉。";
+ } else if (wrkMast != null) {
+ Long wrkSts = wrkMast.getWrkSts();
+ Integer ioType = task.getIoType();
+
+ if (wrkSts != null && ioType != null) {
+ // 鍏ュ簱浠诲姟锛氱姸鎬�4鎴�5
+ if ((ioType == 1 || ioType == 10 || ioType == 53 || ioType == 57) &&
+ (wrkSts == 4L || wrkSts == 5L)) {
+ shouldComplete = true;
+ reason = String.format("宸ヤ綔妗ｅ凡瀹屾垚锛堝叆搴擄級锛岀姸鎬侊細%d", wrkSts);
+ }
+ // 鍑哄簱浠诲姟锛氱姸鎬�14鎴�15
+ else if ((ioType == 101 || ioType == 110 || ioType == 103 || ioType == 107) &&
+ (wrkSts == 14L || wrkSts == 15L)) {
+ shouldComplete = true;
+ reason = String.format("宸ヤ綔妗ｅ凡瀹屾垚锛堝嚭搴擄級锛岀姸鎬侊細%d", wrkSts);
+ }
+ }
+ }
+
+ if (shouldComplete) {
+ // 宸ヤ綔妗ｅ凡瀹屾垚锛岀洿鎺ョ粨鏉熶换鍔�
+ task.setWrkSts(9L);
+ task.setModiTime(now);
+ if (taskService.updateById(task)) {
+ try {
+ agvHandler.moveTaskToHistory(Collections.singletonList(task));
+ completedCount++;
+ log.info("淇寮傚父浠诲姟锛歿}锛寋}锛屽凡缁撴潫浠诲姟骞惰浆绉诲埌鍘嗗彶琛紝taskId锛歿}",
+ reason, displayTaskId, displayTaskId);
+ } catch (Exception e) {
+ log.error("淇寮傚父浠诲姟锛氳浆绉讳换鍔″埌鍘嗗彶琛ㄥけ璐ワ紝taskId锛歿}", displayTaskId, e);
+ }
+ }
+ } else {
+ // 宸ヤ綔妗ｆ湭瀹屾垚锛屽皾璇曞垎閰嶇珯鐐规垨閲嶇疆鐘舵��
+ // 鍏堝皾璇曞垎閰嶇珯鐐�
+ String errorMsg = agvHandler.allocateSiteForTask(task);
+ if (errorMsg == null && task.getStaNo() != null && !task.getStaNo().isEmpty() && !task.getStaNo().equals("0")) {
+ // 鍒嗛厤绔欑偣鎴愬姛
+ fixedCount++;
+ log.info("淇寮傚父浠诲姟锛氬凡涓轰换鍔″垎閰嶇珯鐐癸紝taskId锛歿}锛岀珯鐐癸細{}", displayTaskId, task.getStaNo());
+ } else {
+ // 鏃犳硶鍒嗛厤绔欑偣锛岄噸缃姸鎬佷负7锛堝緟鍛煎彨AGV锛夛紝绛夊緟涓嬫鍒嗛厤
+ task.setWrkSts(7L);
+ task.setModiTime(now);
+ if (taskService.updateById(task)) {
+ fixedCount++;
+ log.warn("淇寮傚父浠诲姟锛氭棤娉曞垎閰嶇珯鐐癸紝閲嶇疆鐘舵�佷负7锛堝緟鍛煎彨AGV锛夛紝taskId锛歿}锛屽師鍥狅細{}",
+ displayTaskId, errorMsg != null ? errorMsg : "鎵�鏈夌珯鐐归兘琚崰鐢�");
+ }
+ }
+ }
+ }
+
+ if (fixedCount > 0 || completedCount > 0) {
+ log.info("淇寮傚父浠诲姟瀹屾垚锛氫慨澶嶄簡{}涓换鍔★紝缁撴潫浜唟}涓凡瀹屾垚宸ヤ綔妗ｇ殑浠诲姟", fixedCount, completedCount);
+ }
+ } catch (Exception e) {
+ log.error("妫�鏌ュ苟淇寮傚父鐘舵�佺殑AGV浠诲姟寮傚父", e);
+ }
+ }
+
+ /**
+ * 妫�鏌GV浠诲姟瀵瑰簲鐨勫伐浣滄。鏄惁宸插畬鎴愭垨宸茶浆鍘嗗彶妗ｅ苟瀹岀粨
+ * 澶勭悊琚烦杩囩殑AGV浠诲姟锛�
+ * 1. 濡傛灉宸ヤ綔妗ｅ凡瀹屾垚锛坵rk_sts=4,5,14,15锛夛紝鍒欏畬缁揂GV浠诲姟
+ * 2. 濡傛灉宸ヤ綔妗ｈ繘鍏ュ巻鍙叉。锛岀珛鍗崇粨鏉烝GV浠诲姟
+ * 3. 濡傛灉鍏ュ簱鎴愬姛锛屼篃缁撴潫鎺夋惉杩愪换鍔★紙宸插湪checkInboundCompletedTasks涓疄鐜帮級
+ */
+ @Scheduled(cron = "0/10 * * * * ? ")
+ private void checkCompletedTasksInHistory() {
+ if (!schedulerProperties.isEnabled()) {
+ return;
+ }
+ try {
+ // 鏌ヨ鐘舵�佷负8锛堝凡鍛煎彨AGV锛夌殑AGV浠诲姟
+ List<Task> agvTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 宸插懠鍙獳GV鐘舵��
+ .andNew("(is_deleted = 0)")
+ );
+
+ if (agvTasks.isEmpty()) {
+ return;
+ }
+
+ Date now = new Date();
+ int completedCount = 0;
+ List<Task> completedTasks = new ArrayList<>();
+
+ for (Task agvTask : agvTasks) {
+ boolean isCompleted = false;
+ String reason = "";
+
+ // 妫�鏌ュ伐浣滄。鏄惁瀛樺湪
+ WrkMast wrkMast = null;
+ if (agvTask.getWrkNo() != null) {
+ wrkMast = wrkMastService.selectOne(
+ new EntityWrapper<WrkMast>().eq("wrk_no", agvTask.getWrkNo())
+ );
+ }
+
+ // 妫�鏌ュ巻鍙叉。鏄惁瀛樺湪锛堟棤璁哄伐浣滄。鏄惁瀛樺湪閮介渶瑕佹鏌ワ級
+ WrkMastLog wrkMastLog = null;
+ // 浼樺厛閫氳繃wrk_no鏌ヨ鍘嗗彶妗�
+ if (agvTask.getWrkNo() != null) {
+ wrkMastLog = wrkMastLogService.selectOne(
+ new EntityWrapper<WrkMastLog>().eq("wrk_no", agvTask.getWrkNo())
+ );
+ }
+ // 濡傛灉閫氳繃wrk_no娌℃壘鍒帮紝涓旀湁鏉＄爜锛屽垯閫氳繃鏉＄爜鏌ヨ
+ 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); // 鍙栫涓�涓�
+ }
+ }
+
+ // 濡傛灉宸ヤ綔妗ｅ瓨鍦紝妫�鏌ユ槸鍚﹀凡瀹屾垚
+ if (wrkMast != null) {
+ Long wrkSts = wrkMast.getWrkSts();
+ Integer ioType = agvTask.getIoType();
+
+ if (wrkSts != null && ioType != null) {
+ // 鍏ュ簱浠诲姟锛氱姸鎬�4锛堝叆搴撳畬鎴愶級鎴�5锛堝簱瀛樻洿鏂板畬鎴愶級
+ if ((ioType == 1 || ioType == 10 || ioType == 53 || ioType == 57) &&
+ (wrkSts == 4L || wrkSts == 5L)) {
+ isCompleted = true;
+ reason = String.format("宸ヤ綔妗ｅ凡瀹屾垚锛岀姸鎬侊細%d", wrkSts);
+ }
+ // 鍑哄簱浠诲姟锛氱姸鎬�14锛堝凡鍑哄簱鏈‘璁わ級鎴�15锛堝嚭搴撴洿鏂板畬鎴愶級
+ else if ((ioType == 101 || ioType == 110 || ioType == 103 || ioType == 107) &&
+ (wrkSts == 14L || wrkSts == 15L)) {
+ isCompleted = true;
+ reason = String.format("宸ヤ綔妗ｅ凡瀹屾垚锛岀姸鎬侊細%d", wrkSts);
+ }
+ }
+ }
+
+ // 1. 濡傛灉宸ヤ綔妗ｈ繘鍏ュ巻鍙叉。锛岀珛鍗崇粨鏉烝GV浠诲姟锛堝彧瑕佸巻鍙叉。瀛樺湪灏辩粨鏉燂級
+ if (!isCompleted && wrkMastLog != null) {
+ isCompleted = true;
+ reason = String.format("宸ヤ綔妗ｅ凡杞巻鍙叉。锛岀珛鍗崇粨鏉烝GV浠诲姟锛屽巻鍙叉。鐘舵�侊細%d", wrkMastLog.getWrkSts());
+ }
+
+ // 濡傛灉宸插畬鎴愶紝鏇存柊AGV浠诲姟鐘舵�佸苟鏀堕泦鍒板垪琛�
+ if (isCompleted) {
+ agvTask.setWrkSts(9L);
+ agvTask.setModiTime(now);
+ if (taskService.updateById(agvTask)) {
+ completedTasks.add(agvTask);
+ completedCount++;
+ // taskId浣跨敤宸ヤ綔鍙凤紙wrk_no锛夛紝濡傛灉宸ヤ綔鍙蜂负绌哄垯浣跨敤浠诲姟ID
+ String displayTaskId = (agvTask.getWrkNo() != null) ? String.valueOf(agvTask.getWrkNo()) : String.valueOf(agvTask.getId());
+ log.info("{}锛屽畬缁揂GV鍛煎彨鍗曪紝taskId锛歿}锛寃rkNo锛歿}锛宐arcode锛歿}锛岀珯鐐癸細{}",
+ reason, displayTaskId, agvTask.getWrkNo(), agvTask.getBarcode(), agvTask.getStaNo());
+ }
+ }
+ }
+
+ // 绔嬪嵆灏嗗畬鎴愮殑AGV浠诲姟杞Щ鍒板巻鍙茶〃锛屼笉淇濈暀鍦═ask琛ㄤ腑
+ if (!completedTasks.isEmpty()) {
+ try {
+ agvHandler.moveTaskToHistory(completedTasks);
+ log.info("鍏ュ簱/鍑哄簱瀹屾垚锛屽凡灏唟}涓狝GV浠诲姟杞Щ鍒板巻鍙茶〃锛堜笉淇濈暀鍦═ask琛ㄤ腑锛�", completedTasks.size());
+ } catch (Exception e) {
+ log.error("鍏ュ簱/鍑哄簱瀹屾垚锛岃浆绉籄GV浠诲姟鍒板巻鍙茶〃澶辫触", e);
+ }
+ }
+
+ if (completedCount > 0) {
+ log.info("鏈妫�鏌ュ畬缁撲簡{}涓狝GV鍛煎彨鍗曪紙宸ヤ綔妗ｅ凡瀹屾垚鎴栧凡杞巻鍙叉。锛�", completedCount);
+ }
+ } catch (Exception e) {
+ log.error("妫�鏌ュ伐浣滄。宸插畬鎴愭垨鍘嗗彶妗ｅ畬缁撲换鍔″苟瀹岀粨AGV鍛煎彨鍗曞紓甯�", e);
+ }
+ }
+
}
--
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