From cea1758e1f540e3f5f807951f128b7385b32afe6 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期六, 24 一月 2026 17:03:04 +0800
Subject: [PATCH] agv增加主动查询状态
---
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 999 +++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 917 insertions(+), 82 deletions(-)
diff --git a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
index 96d2be9..d475681 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -3,26 +3,34 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
+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.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.common.constant.ApiInterfaceConstant;
+import com.zy.common.properties.AgvProperties;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
-import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicInteger;
import java.util.stream.Collectors;
/**
@@ -49,101 +57,655 @@
@Resource
private BasStationMapper basStationMapper;
- @Value("${Agv.sendTask}")
- private boolean agvSendTask;
+ @Resource
+ private BasDevpMapper basDevpMapper;
+
+ @Resource
+ private LocCacheService locCacheService;
+
+ @Resource
+ private AgvProperties agvProperties;
+
+ @Resource
+ private WrkMastService wrkMastService;
+
+ @Resource
+ private WrkMastLogService wrkMastLogService;
/**
- * 鍛煎彨agv鎼繍
+ * 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
*/
- public void callAgv(List<Task> taskList) {
+ private final Map<String, AtomicInteger> siteRoundRobinCounters = new ConcurrentHashMap<>();
- if (!agvSendTask) {
- return;
+ /**
+ * 鍛煎彨AGV
+ * <p>
+ * 閲嶈锛氭鏂规硶鍙兘浠� AgvScheduler.callAgv() 瀹氭椂浠诲姟涓皟鐢紒
+ * 鎵�鏈堿GV鍛煎彨璇锋眰蹇呴』閫氳繃瀹氭椂浠诲姟缁熶竴澶勭悊锛岀‘淇濓細
+ * 1. 浠诲姟鎸夐『搴忓鐞嗭紝閬垮厤骞跺彂鍐茬獊
+ * 2. 绔欑偣鍒嗛厤鍜孉GV鍛煎彨鍒嗙锛岃亴璐ｆ竻鏅�
+ * 3. 缁熶竴鐨勯敊璇鐞嗗拰閲嶈瘯鏈哄埗
+ *
+ * @param taskList 浠诲姟鍒楄〃锛堥�氬父鍙寘鍚竴涓换鍔★級
+ * @return 鏄惁鎴愬姛澶勭悊浜嗕换鍔★紙鎴愬姛鍛煎彨AGV锛岀姸鎬佷粠7鍙樹负8锛�
+ */
+ public boolean callAgv(List<Task> taskList) {
+ // 璁板綍璋冪敤鍫嗘爤锛岀‘淇濆彧鑳戒粠瀹氭椂浠诲姟璋冪敤
+ StackTraceElement[] stackTrace = Thread.currentThread().getStackTrace();
+ boolean calledFromScheduler = false;
+ for (StackTraceElement element : stackTrace) {
+ if (element.getClassName().contains("AgvScheduler") &&
+ element.getMethodName().equals("callAgv")) {
+ calledFromScheduler = true;
+ break;
+ }
}
- for (Task task : taskList) {
- // 鍛煎彨agv
- String response = "";
- boolean success = false;
- String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CREATE_TASK_PATH;
- String namespace = "";
- switch (task.getIoType()) {
- case 1:
- case 10:
- case 53:
- case 57:
- namespace = "鍏ュ簱";
- break;
- case 3:
- namespace = "杞Щ";
- break;
- case 101:
- case 110:
- case 103:
- case 107:
- namespace = "鍑哄簱";
- break;
- default:
+ if (!calledFromScheduler) {
+ log.error("涓ラ噸閿欒锛歝allAgv鏂规硶鍙兘浠嶢gvScheduler.callAgv()瀹氭椂浠诲姟涓皟鐢紒褰撳墠璋冪敤鍫嗘爤锛歿}",
+ Arrays.stream(stackTrace).limit(5).map(StackTraceElement::toString).collect(Collectors.joining("\n")));
+ return false;
+ }
+
+ if (!agvProperties.isSendTask()) {
+ log.warn("AGV鍛煎彨锛氶厤缃甶sSendTask=false锛屼笉鍙戦�丄GV浠诲姟");
+ return false;
+ }
+
+ // 姣忔鍙鐞嗕竴涓换鍔★紝閬垮厤楂樺苟鍙戞墽琛�
+ if (taskList == null || taskList.isEmpty()) {
+ return false;
+ }
+
+ // 鍙鐞嗙涓�涓换鍔�
+ Task task = taskList.get(0);
+
+ // 鍛煎彨AGV瀹氭椂浠诲姟鍙鐞嗗凡鍒嗛厤绔欑偣鐨勪换鍔★紝绔欑偣鍒嗛厤鐢卞崟鐙殑瀹氭椂浠诲姟澶勭悊
+ String staNo = task.getStaNo();
+ String displayTaskId = (task.getWrkNo() != null) ? String.valueOf(task.getWrkNo()) : String.valueOf(task.getId());
+
+ // 妫�鏌ョ珯鐐规槸鍚︽湁鏁堬紙涓嶄负绌恒�佷笉涓虹┖瀛楃涓层�佷笉涓�0锛�
+ if (staNo == null || staNo.isEmpty() || staNo.equals("0")) {
+ // 娌℃湁鏈夋晥绔欑偣锛岃烦杩囷紙绔欑偣鍒嗛厤鐢盿llocateSite瀹氭椂浠诲姟澶勭悊锛�
+ log.warn("瀹氭椂浠诲姟callAgv锛氫换鍔D锛歿}娌℃湁鏈夋晥绔欑偣鍒嗛厤锛坰ta_no={}锛夛紝璺宠繃鍙戦�侊紝绛夊緟鍒嗛厤绔欑偣瀹氭椂浠诲姟澶勭悊", displayTaskId, staNo);
+ return false; // 杩斿洖false锛岃〃绀烘湭鎴愬姛澶勭悊
+ }
+
+ // 妫�鏌ョ珯鐐规槸鍚︽湁鏁堬紙涓嶄负0涓斿瓨鍦級
+ try {
+ Integer siteNo = Integer.parseInt(staNo);
+ if (siteNo == null || siteNo == 0) {
+ log.warn("瀹氭椂浠诲姟callAgv锛氫换鍔D锛歿}鐨勭洰鏍囩珯鐐箋}鏃犳晥锛堜负0锛夛紝娓呯┖绔欑偣鍒嗛厤锛屽皢閲嶆柊鍒嗛厤", displayTaskId, staNo);
+ task.setStaNo(null);
+ taskService.updateById(task);
+ return false; // 杩斿洖false锛岃鍒嗛厤绔欑偣瀹氭椂浠诲姟閲嶆柊鍒嗛厤
}
- String body = getRequest(task,namespace);
- try {
- // 浣跨敤浠欏伐M4鎺ュ彛
- response = new HttpHandler.Builder()
- .setUri(ApiInterfaceConstant.AGV_IP)
- .setPath(ApiInterfaceConstant.AGV_CREATE_TASK_PATH)
- .setJson(body)
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- success = true;
- task.setWrkSts(8L);
- taskService.updateById(task);
- log.info(namespace + "鍛煎彨agv鎼繍鎴愬姛锛歿}", task.getId());
- } else {
- log.error(namespace + "鍛煎彨agv鎼繍澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
+ // 妫�鏌ョ珯鐐规槸鍚﹀瓨鍦�
+ List<BasDevp> basDevpList = basDevpMapper.selectList(new EntityWrapper<BasDevp>().eq("dev_no", siteNo));
+ if (basDevpList == null || basDevpList.isEmpty()) {
+ log.warn("瀹氭椂浠诲姟callAgv锛氫换鍔D锛歿}鐨勭洰鏍囩珯鐐箋}涓嶅瓨鍦紝娓呯┖绔欑偣鍒嗛厤锛屽皢閲嶆柊鍒嗛厤", displayTaskId, staNo);
+ task.setStaNo(null);
+ taskService.updateById(task);
+ return false; // 杩斿洖false锛岃鍒嗛厤绔欑偣瀹氭椂浠诲姟閲嶆柊鍒嗛厤
+ }
+ } catch (NumberFormatException e) {
+ // 绔欑偣鏍煎紡閿欒锛屾竻绌虹珯鐐癸紝璁╁垎閰嶇珯鐐瑰畾鏃朵换鍔￠噸鏂板垎閰�
+ log.warn("瀹氭椂浠诲姟callAgv锛氫换鍔D锛歿}鐨勭洰鏍囩珯鐐箋}鏍煎紡閿欒锛屾竻绌虹珯鐐瑰垎閰嶏紝灏嗛噸鏂板垎閰�", displayTaskId, staNo);
+ task.setStaNo(null);
+ taskService.updateById(task);
+ return false; // 杩斿洖false锛岃鍒嗛厤绔欑偣瀹氭椂浠诲姟閲嶆柊鍒嗛厤
+ }
+
+ log.info("瀹氭椂浠诲姟callAgv锛氫换鍔D锛歿}宸叉湁绔欑偣鍒嗛厤锛歿}锛屽噯澶囧彂閫丄GV鍛戒护", displayTaskId, staNo);
+
+
+ // 妫�鏌ョ珯鐐规槸鍚︽湁鐘舵��8鐨勫悓绫诲瀷浠诲姟锛屾湁鍒欒烦杩囷紙涓嶆竻绌虹珯鐐癸級
+ // 瑙勫垯锛氭渶澶氱粰姣忎釜绔欑偣鍒嗛厤1鏉′换鍔★紝鏈畬鎴愬垯绛夊緟
+ // 鍒ゆ柇浠诲姟鏄惁瀹屾垚锛氶�氳繃鏌ヨagv宸ヤ綔妗ｏ紙wrk_mast锛夛紝濡傛灉鏌ヤ笉鍒板氨鏄畬鎴愪簡
+ if (staNo != null && !staNo.isEmpty() && task.getIoType() != null) {
+ // 鏍规嵁褰撳墠浠诲姟绫诲瀷锛屽彧妫�鏌ュ悓绫诲瀷鐨勬鍦ㄦ惉杩愪换鍔★紙鐘舵��8锛�
+ // 鍏ュ簱浠诲姟锛坕oType < 100锛夛細鍙鏌ュ叆搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ // 鍑哄簱浠诲姟锛坕oType >= 100锛夛細鍙鏌ュ嚭搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ List<Integer> ioTypes;
+ String taskType;
+ if (task.getIoType() < 100) {
+ // 鍏ュ簱浠诲姟锛氬彧妫�鏌ュ叆搴撶被鍨嬶紙1, 10, 53, 57锛�
+ ioTypes = Arrays.asList(1, 10, 53, 57);
+ taskType = "鍏ュ簱";
+ } else {
+ // 鍑哄簱浠诲姟锛氬彧妫�鏌ュ嚭搴撶被鍨嬶紙101, 110, 103, 107锛�
+ ioTypes = Arrays.asList(101, 110, 103, 107);
+ taskType = "鍑哄簱";
+ }
+
+ // 閫氳繃SQL鏌ヨ璇ョ珯鐐规墍鏈堿GV浠诲姟锛堝寘鎷姸鎬�7鍜�8锛�
+ // 瑙勫垯锛氭渶澶氱粰姣忎釜绔欑偣鍒嗛厤1鏉′换鍔★紝鏈畬鎴愬垯绛夊緟
+ // 鍒ゆ柇浠诲姟鏄惁瀹屾垚锛氶�氳繃鏌ヨagv宸ヤ綔妗ｏ紙wrk_mast锛夛紝濡傛灉鏌ヤ笉鍒板氨鏄畬鎴愪簡
+ List<Task> allTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("sta_no", staNo)
+ .eq("task_type", "agv")
+ .in("wrk_sts", 7L, 8L)
+ .in("io_type", ioTypes)
+ .ne("id", task.getId()) // 鎺掗櫎褰撳墠浠诲姟鏈韩
+ .eq("is_deleted", 0) // 鎺掗櫎宸插垹闄ょ殑浠诲姟
+ );
+
+ int taskCount = allTasks != null ? allTasks.size() : 0;
+ log.info("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}鏌ヨ鍒皗}涓狝GV浠诲姟锛堟帓闄ゅ綋鍓嶄换鍔★級锛屽紑濮嬫鏌ユ槸鍚︽湁鏈畬鎴愮殑浠诲姟",
+ displayTaskId, staNo, taskCount);
+
+ // 妫�鏌ユ槸鍚︽湁鏈夋晥鐨勬湭瀹屾垚浠诲姟锛堥�氳繃鏌ヨagv宸ヤ綔妗ｅ垽鏂級
+ boolean hasValidTask = false;
+ if (taskCount > 0) {
+ for (Task agvTask : allTasks) {
+ if (agvTask.getWrkNo() != null) {
+ // 鏌ヨ宸ヤ綔妗ｏ紝濡傛灉鏌ヤ笉鍒板氨鏄畬鎴愪簡
+ WrkMast wrkMast = wrkMastService.selectOne(
+ new EntityWrapper<WrkMast>().eq("wrk_no", agvTask.getWrkNo())
+ );
+ if (wrkMast != null) {
+ // 宸ヤ綔妗ｅ瓨鍦紝妫�鏌ユ槸鍚﹀凡瀹屾垚
+ Long wrkSts = wrkMast.getWrkSts();
+ Integer ioType = agvTask.getIoType();
+
+ if (wrkSts != null && ioType != null) {
+ // 鍏ュ簱浠诲姟锛氱姸鎬�4鎴�5琛ㄧず瀹屾垚
+ boolean isCompleted = false;
+ if ((ioType == 1 || ioType == 10 || ioType == 53 || ioType == 57) &&
+ (wrkSts == 4L || wrkSts == 5L)) {
+ isCompleted = true;
+ }
+ // 鍑哄簱浠诲姟锛氱姸鎬�14鎴�15琛ㄧず瀹屾垚
+ else if ((ioType == 101 || ioType == 110 || ioType == 103 || ioType == 107) &&
+ (wrkSts == 14L || wrkSts == 15L)) {
+ isCompleted = true;
+ }
+
+ if (!isCompleted) {
+ // 宸ヤ綔妗ｅ瓨鍦ㄤ笖鏈畬鎴愶紝瑙嗕负鏈夋晥浠诲姟
+ hasValidTask = true;
+ log.info("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}宸叉湁1鏉℃湭瀹屾垚鐨剓}AGV浠诲姟锛堝伐浣滃彿锛歿}锛屽伐浣滄。鐘舵�侊細{}锛夛紝璺宠繃褰撳墠浠诲姟锛岀瓑寰呭畬鎴�",
+ displayTaskId, staNo, taskType, agvTask.getWrkNo(), wrkSts);
+ break;
+ } else {
+ log.info("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}鐨勪换鍔}锛堝伐浣滃彿锛歿}锛夊凡瀹屾垚锛堝伐浣滄。鐘舵�侊細{}锛夛紝涓嶇畻鏈夋晥浠诲姟",
+ displayTaskId, staNo, agvTask.getId(), agvTask.getWrkNo(), wrkSts);
+ }
+ } else {
+ // 宸ヤ綔妗ｅ瓨鍦ㄤ絾鐘舵�佹湭鐭ワ紝瑙嗕负鏈夋晥浠诲姟
+ hasValidTask = true;
+ log.info("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}宸叉湁1鏉}AGV浠诲姟锛堝伐浣滃彿锛歿}锛屽伐浣滄。鐘舵�佹湭鐭ワ級锛岃烦杩囧綋鍓嶄换鍔★紝绛夊緟瀹屾垚",
+ displayTaskId, staNo, taskType, agvTask.getWrkNo());
+ break;
+ }
+ } else {
+ // 濡傛灉宸ヤ綔妗ｆ煡涓嶅埌锛岃涓哄凡瀹屾垚锛屼笉绠楁湁鏁堜换鍔�
+ log.info("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}鐨勪换鍔}锛堝伐浣滃彿锛歿}锛夊伐浣滄。鏌ヤ笉鍒帮紝瑙嗕负宸插畬鎴愶紝涓嶇畻鏈夋晥浠诲姟",
+ displayTaskId, staNo, agvTask.getId(), agvTask.getWrkNo());
+ }
+ }
}
- } catch (Exception e) {
- log.error(namespace + "鍛煎彨agv鎼繍寮傚父", e);
- } finally {
+ } else {
+ log.info("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}娌℃湁鍏朵粬AGV浠诲姟锛屽彲浠ュ垎閰�", displayTaskId, staNo);
+ }
+
+ // 濡傛灉绔欑偣鏈夋湁鏁堢殑鏈畬鎴愪换鍔★紝璺宠繃褰撳墠浠诲姟
+ if (hasValidTask) {
+ log.warn("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}鏈夋湭瀹屾垚鐨剓}AGV浠诲姟锛岃烦杩囧綋鍓嶄换鍔★紝绛夊緟瀹屾垚銆備笅娆″皢閲嶆柊灏濊瘯澶勭悊姝や换鍔�",
+ displayTaskId, staNo, taskType);
+ return false; // 杩斿洖false锛岃〃绀烘湭鎴愬姛澶勭悊锛屼笅娆′細閲嶆柊灏濊瘯
+ }
+
+ // 妫�鏌ユ槸鍚︽湁鐘舵��8涓斿凡鏀跺埌AGV纭鐨勪换鍔★紙鐢ㄤ簬鏃ュ織璁板綍锛�
+ 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惉杩愶紙8锛夌殑浠诲姟
+ .isNotNull("plc_str_time") // 鍙鏌ュ凡鏀跺埌AGV纭鐨勪换鍔★紙plc_str_time涓嶄负绌猴級
+ .in("io_type", ioTypes)
+ .ne("id", task.getId()) // 鎺掗櫎褰撳墠浠诲姟鏈韩
+ .eq("is_deleted", 0) // 鎺掗櫎宸插垹闄ょ殑浠诲姟
+ );
+
+ // 妫�鏌ュ苟鑷姩缁撴潫宸插畬鎴愬伐浣滄。鐨凙GV浠诲姟
+ int originalCount = transportingTasks.size();
+ List<Task> validTransportingTasks = checkAndCompleteFinishedTasks(transportingTasks, taskType);
+ int completedCount = originalCount - validTransportingTasks.size();
+
+ if (completedCount > 0) {
+ log.info("瀹氭椂浠诲姟锛氱珯鐐箋}鑷姩缁撴潫浜唟}涓凡瀹屾垚宸ヤ綔妗ｇ殑AGV浠诲姟锛屽墿浣檣}涓鍦ㄦ惉杩愮殑浠诲姟",
+ staNo, completedCount, validTransportingTasks.size());
+ }
+
+ if (!validTransportingTasks.isEmpty()) {
+ List<Integer> transportingTaskIds = validTransportingTasks.stream()
+ .map(Task::getWrkNo)
+ .filter(wrkNo -> wrkNo != null) // 杩囨护鎺塶ull鍊�
+ .collect(Collectors.toList());
+ // 璁板綍琚崰鐢ㄤ换鍔＄殑璇︾粏淇℃伅
+ StringBuilder taskDetailInfo = new StringBuilder();
+ for (Task t : validTransportingTasks) {
+ if (taskDetailInfo.length() > 0) {
+ taskDetailInfo.append("; ");
+ }
+ String tDisplayTaskId = (t.getWrkNo() != null) ? String.valueOf(t.getWrkNo()) : String.valueOf(t.getId());
+ taskDetailInfo.append("浠诲姟").append(tDisplayTaskId)
+ .append("(wrk_no=").append(t.getWrkNo())
+ .append(",纭鏃堕棿=").append(t.getPlcStrTime() != null ? t.getPlcStrTime().toString() : "鏈‘璁�")
+ .append(",鍒涘缓鏃堕棿=").append(t.getAppeTime() != null ? t.getAppeTime().toString() : "鏈煡")
+ .append(")");
+ }
+ log.info("瀹氭椂浠诲姟锛氱珯鐐箋}鏈墈}涓鍦ㄦ惉杩愮殑{}AGV浠诲姟锛堝伐浣滃彿锛歿}锛夛紝璺宠繃褰撳墠浠诲姟ID锛歿}锛屼笅娆″皢閲嶆柊灏濊瘯銆備换鍔¤鎯咃細{}",
+ staNo, validTransportingTasks.size(), taskType, transportingTaskIds, displayTaskId, taskDetailInfo.toString());
+ return false; // 杩斿洖false锛岃〃绀烘湭鎴愬姛澶勭悊锛屼笅娆′細閲嶆柊灏濊瘯
+ } else if (completedCount > 0) {
+ // 鎵�鏈夊崰鐢ㄤ换鍔￠兘宸茬粨鏉燂紝绔欑偣宸查噴鏀撅紝鍙互缁х画澶勭悊褰撳墠浠诲姟
+ log.info("瀹氭椂浠诲姟锛氱珯鐐箋}鐨勬墍鏈夊崰鐢ㄤ换鍔″凡鑷姩缁撴潫锛岀珯鐐瑰凡閲婃斁锛屽彲浠ュ垎閰嶇粰褰撳墠浠诲姟ID锛歿}", staNo, task.getId());
+ }
+ }
+
+ log.info("瀹氭椂浠诲姟锛氫换鍔D锛歿}锛岀珯鐐箋}妫�鏌ラ�氳繃锛屽噯澶囧彂閫丄GV鍛戒护", displayTaskId, staNo);
+
+ // 鍛煎彨agv
+ String response = "";
+ boolean success = false;
+ String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CREATE_TASK_PATH;
+ String namespace = "";
+ switch (task.getIoType()) {
+ case 1:
+ case 10:
+ case 53:
+ case 57:
+ namespace = "鍏ュ簱";
+ break;
+ case 3:
+ namespace = "杞Щ";
+ break;
+ case 101:
+ case 110:
+ case 103:
+ case 107:
+ namespace = "鍑哄簱";
+ break;
+ default:
+ }
+ String body = getRequest(task, namespace);
+
+ // 鑾峰彇褰撳墠閲嶈瘯娆℃暟
+ int currentRetryCount = getRetryCount(task);
+ int maxRetryCount = agvProperties.getCallRetry().getMaxRetryCount();
+ boolean retryEnabled = agvProperties.getCallRetry().isEnabled();
+
+ // 濡傛灉閲嶈瘯娆℃暟宸茶揪鍒版渶澶у�硷紝璺宠繃鏈鍙戦��
+ if (retryEnabled && currentRetryCount >= maxRetryCount) {
+ // log.warn("{}鍛煎彨agv鎼繍 - 浠诲姟ID锛歿}宸茶揪鍒版渶澶ч噸璇曟鏁帮紙{}锛夛紝鍋滄閲嶈瘯",
+ // namespace, task.getId(), maxRetryCount);
+ // 璁板綍鏈�缁堝け璐ヤ俊鎭�
+ task.setErrorTime(new Date());
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛屽凡杈惧埌鏈�澶ч噸璇曟鏁帮紙%d娆★級", maxRetryCount));
+ taskService.updateById(task);
+ return true; // 宸茶揪鍒版渶澶ч噸璇曟鏁帮紝涓嶅啀閲嶈瘯锛岃繑鍥瀟rue琛ㄧず宸插鐞嗭紙铏界劧澶辫触锛�
+ }
+
+ boolean result = false; // 榛樿杩斿洖false锛岃〃绀烘湭鎴愬姛澶勭悊
+ try {
+ // 浣跨敤浠欏伐M4鎺ュ彛
+ response = new HttpHandler.Builder()
+ .setUri(ApiInterfaceConstant.AGV_IP)
+ .setPath(ApiInterfaceConstant.AGV_CREATE_TASK_PATH)
+ .setJson(body)
+ .build()
+ .doPost();
+ // 鎵撳嵃杩斿洖鍙傛暟
+ log.info("浠欏伐-{}鍛煎彨agv鎼繍锛岃姹傚弬鏁般�寋}銆� - 杩斿洖鍙傛暟锛歿}", namespace, body, response);
+
+ // 妫�鏌ュ搷搴旀槸鍚︿负绌�
+ if (response == null || response.trim().isEmpty()) {
+ String errorMsg = "AGV鎺ュ彛杩斿洖涓虹┖";
+ log.warn("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛寋}", namespace, displayTaskId, errorMsg);
+ task.setWrkSts(10L);
+ task.setErrorTime(new Date());
+ task.setErrorMemo(String.format("AGV鎺ュ彛杩斿洖涓虹┖"));
+ taskService.updateById(task);
+ } else {
+ // 灏濊瘯瑙ｆ瀽JSON鍝嶅簲锛屾崟鑾稪SON瑙ｆ瀽寮傚父
+ JSONObject jsonObject = null;
try {
- // 淇濆瓨鎺ュ彛鏃ュ織
- apiLogService.save(
- namespace + "鍛煎彨agv鎼繍",
- url,
- null,
- "127.0.0.1",
- body,
- response,
- success
- );
- } catch (Exception e) {
- log.error(namespace + "鍛煎彨agv淇濆瓨鎺ュ彛鏃ュ織寮傚父:", e);
+ jsonObject = JSON.parseObject(response);
+ } catch (com.alibaba.fastjson.JSONException e) {
+ // JSON瑙ｆ瀽澶辫触锛屽搷搴斿彲鑳戒笉鏄湁鏁堢殑JSON鏍煎紡锛堝"Server Error"绛夛級
+ String errorMsg = String.format("AGV鎺ュ彛杩斿洖闈濲SON鏍煎紡鍝嶅簲锛屽搷搴斿唴瀹癸細%s锛岃В鏋愰敊璇細%s", response, e.getMessage());
+ log.error("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛寋}", namespace, displayTaskId, errorMsg);
+ task.setWrkSts(10L);
+ task.setErrorTime(new Date());
+ task.setErrorMemo(errorMsg);
+ taskService.updateById(task);
+ }
+
+ // 濡傛灉JSON瑙ｆ瀽鎴愬姛锛岀户缁鐞�
+ if (jsonObject != null) {
+ Integer code = jsonObject.getInteger("code");
+ if (code != null && code.equals(200)) {
+ // 鍛煎彨鎴愬姛锛屾竻闄ら噸璇曟鏁板拰閿欒淇℃伅
+ success = true;
+ // 濡傛灉褰撳墠鐘舵�佷笉鏄�8锛屾洿鏂颁负8锛涘鏋滃凡缁忔槸8锛屼繚鎸佷笉鍙橈紙鍙兘鏄噸璇曟垚鍔燂級
+ Long currentStatus = task.getWrkSts();
+ if (currentStatus == null || currentStatus != 8L) {
+ task.setWrkSts(8L);
+
+ log.info("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍鎴愬姛 - 浠诲姟ID锛歿}锛岀姸鎬佷粠{}鏇存柊涓�8", namespace, displayTaskId, currentStatus);
+ } else {
+ log.info("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍鎴愬姛锛堥噸璇曪級 - 浠诲姟ID锛歿}锛岀姸鎬佷繚鎸佷负8", namespace, displayTaskId);
+ }
+ task.setLocNo(task.getStaNo());
+ task.setMemo(clearRetryInfo(task.getMemo())); // 娓呴櫎閲嶈瘯淇℃伅
+ task.setErrorTime(new Date());
+ task.setErrorMemo(jsonObject.toJSONString());
+ taskService.updateById(task);
+ log.info("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍鎴愬姛 - 浠诲姟ID锛歿}", namespace, displayTaskId);
+ result = true; // 杩斿洖true锛岃〃绀烘垚鍔熷鐞�
+ } else {
+ String message = jsonObject.getString("message");
+ String errorMsg = String.format("閿欒鐮侊細%s锛岄敊璇俊鎭細%s", code, message);
+ log.warn("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛寋}", namespace, displayTaskId, errorMsg);
+
+ task.setWrkSts(10L);
+ task.setLocNo(task.getStaNo());
+ task.setErrorTime(new Date());
+ task.setErrorMemo(jsonObject.toJSONString());
+ taskService.updateById(task);
+
+ }
}
}
+ } catch (Exception e) {
+ String errorMsg = "寮傚父淇℃伅锛�" + e.getMessage();
+ log.error("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍寮傚父 - 浠诲姟ID锛歿}锛岃姹傚湴鍧�锛歿}锛岃姹傚弬鏁帮細{}锛寋}",
+ namespace, displayTaskId, url, body, errorMsg, e);
+ if (errorMsg.contains("connect timed out")) {
+ log.error("瀹氭椂浠诲姟锛歿}鍛煎彨agv鎼繍寮傚父 - 浠诲姟ID锛歿}锛岀綉缁滆姹傝秴鏃�",
+ namespace, displayTaskId);
+ } else {
+ task.setWrkSts(10L);
+ task.setLocNo(task.getStaNo());
+ task.setErrorTime(new Date());
+ task.setErrorMemo(errorMsg);
+ taskService.updateById(task);
+ }
+ } finally {
+ try {
+ // 淇濆瓨鎺ュ彛鏃ュ織
+ apiLogService.save(
+ namespace + "鍛煎彨agv鎼繍",
+ url,
+ null,
+ "127.0.0.1",
+ body,
+ response,
+ success
+ );
+ } catch (Exception e) {
+ // log.error(namespace + "鍛煎彨agv淇濆瓨鎺ュ彛鏃ュ織寮傚父:", e);
+ }
}
+ return result;
+ }
+
+ /**
+ * 澶勭悊AGV鍛煎彨澶辫触鐨勬儏鍐�
+ *
+ * @param task 浠诲姟瀵硅薄
+ * @param namespace 鍛藉悕绌洪棿锛堝叆搴�/鍑哄簱/杞Щ锛�
+ * @param errorMsg 閿欒淇℃伅
+ * @param retryEnabled 鏄惁鍚敤閲嶈瘯
+ * @param maxRetryCount 鏈�澶ч噸璇曟鏁�
+ * @param currentRetryCount 褰撳墠閲嶈瘯娆℃暟
+ */
+ private void handleCallFailure(Task task, String namespace, String errorMsg,
+ boolean retryEnabled, int maxRetryCount, int currentRetryCount) {
+ if (retryEnabled && currentRetryCount < maxRetryCount) {
+ // 澧炲姞閲嶈瘯娆℃暟
+ int newRetryCount = currentRetryCount + 1;
+ task.setMemo(updateRetryCount(task.getMemo(), newRetryCount));
+ task.setErrorTime(new Date());
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛堢%d娆￠噸璇曪級锛�%s", newRetryCount, errorMsg));
+ taskService.updateById(task);
+ // log.info("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛屽凡閲嶈瘯{}娆★紝灏嗗湪涓嬫瀹氭椂浠诲姟鏃剁户缁噸璇曪紙鏈�澶歿}娆★級",
+ // namespace, task.getId(), newRetryCount, maxRetryCount);
+ } else {
+ // 涓嶅惎鐢ㄩ噸璇曟垨宸茶揪鍒版渶澶ч噸璇曟鏁帮紝鍋滄閲嶈瘯
+ task.setErrorTime(new Date());
+ if (retryEnabled) {
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛屽凡杈惧埌鏈�澶ч噸璇曟鏁帮紙%d娆★級锛�%s", maxRetryCount, errorMsg));
+ } else {
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛堥噸璇曟湭鍚敤锛夛細%s", errorMsg));
+ }
+ taskService.updateById(task);
+ // log.warn("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛屽仠姝㈤噸璇曘�傞敊璇俊鎭細{}",
+ // namespace, task.getId(), errorMsg);
+ }
+ }
+
+ /**
+ * 妫�鏌ュ苟鑷姩缁撴潫宸插畬鎴愬伐浣滄。鐨凙GV浠诲姟
+ * 濡傛灉浠诲姟瀵瑰簲鐨勫伐浣滄。宸茬粡瀹屾垚锛堝叆搴撴垚鍔燂級锛屽垯鑷姩缁撴潫璇GV浠诲姟
+ *
+ * @param transportingTasks 姝ｅ湪鎼繍鐨勪换鍔″垪琛�
+ * @param taskTypeName 浠诲姟绫诲瀷鍚嶇О锛堢敤浜庢棩蹇楋級
+ * @return 浠嶇劧鏈夋晥鐨勬鍦ㄦ惉杩愮殑浠诲姟鍒楄〃锛堝凡瀹屾垚鐨勫凡琚Щ闄わ級
+ */
+ @Transactional(rollbackFor = Exception.class)
+ public List<Task> checkAndCompleteFinishedTasks(List<Task> transportingTasks, String taskTypeName) {
+ if (transportingTasks == null || transportingTasks.isEmpty()) {
+ return transportingTasks;
+ }
+
+ List<Task> validTasks = new ArrayList<>();
+ Date now = new Date();
+
+ for (Task agvTask : transportingTasks) {
+ 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
+ WrkMastLog wrkMastLog = null;
+ 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);
+ }
+ }
+
+ // 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�佷负瀹屾垚
+ if (isCompleted) {
+ agvTask.setWrkSts(9L);
+ agvTask.setModiTime(now);
+ if (taskService.updateById(agvTask)) {
+ // 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("{}锛岃嚜鍔ㄧ粨鏉烝GV浠诲姟锛宼askId锛歿}锛寃rkNo锛歿}锛宐arcode锛歿}锛岀珯鐐癸細{}锛岄噴鏀剧珯鐐逛緵鏂颁换鍔′娇鐢�",
+ reason, displayTaskId, agvTask.getWrkNo(), agvTask.getBarcode(), agvTask.getStaNo());
+ // 杞Щ鍒板巻鍙茶〃锛堜細鑷姩鍑忓皯绔欑偣鐨刬n_qty锛�
+ try {
+ moveTaskToHistory(Collections.singletonList(agvTask));
+ log.info("鑷姩缁撴潫AGV浠诲姟鍚庡凡杞Щ鍒板巻鍙茶〃锛宼askId锛歿}锛岀珯鐐癸細{}宸查噴鏀�", displayTaskId, agvTask.getStaNo());
+ } catch (Exception e) {
+ log.error("鑷姩缁撴潫AGV浠诲姟鍚庤浆绉诲巻鍙茶〃澶辫触锛宼askId锛歿}", displayTaskId, e);
+ }
+ } else {
+ log.error("鑷姩缁撴潫AGV浠诲姟澶辫触锛屾洿鏂颁换鍔＄姸鎬佸け璐ワ紝taskId锛歿}",
+ (agvTask.getWrkNo() != null) ? String.valueOf(agvTask.getWrkNo()) : String.valueOf(agvTask.getId()));
+ }
+ } else {
+ // 浠诲姟浠嶇劧鏈夋晥锛屼繚鐣欏湪鍒楄〃涓�
+ // 璁板綍浠诲姟浠嶇劧鏈夋晥鐨勫師鍥狅紙鐢ㄤ簬璋冭瘯锛�
+ String displayTaskId = (agvTask.getWrkNo() != null) ? String.valueOf(agvTask.getWrkNo()) : String.valueOf(agvTask.getId());
+ if (wrkMast == null && wrkMastLog == null) {
+ log.debug("浠诲姟ID锛歿}锛堢珯鐐癸細{}锛変粛鐒舵湁鏁堬細宸ヤ綔妗ｅ拰鍘嗗彶妗ｉ兘涓嶅瓨鍦紝鍙兘宸ヤ綔妗ｈ繕鏈垱寤�", displayTaskId, agvTask.getStaNo());
+ } else if (wrkMast != null) {
+ log.debug("浠诲姟ID锛歿}锛堢珯鐐癸細{}锛変粛鐒舵湁鏁堬細宸ヤ綔妗ｇ姸鎬�={}锛屼换鍔＄被鍨�={}锛屾湭杈惧埌瀹屾垚鏉′欢",
+ displayTaskId, agvTask.getStaNo(), wrkMast.getWrkSts(), agvTask.getIoType());
+ }
+ validTasks.add(agvTask);
+ }
+ }
+
+ return validTasks;
+ }
+
+
+ /**
+ * 浠巑emo瀛楁涓幏鍙栭噸璇曟鏁�
+ * memo鏍煎紡锛氬鏋滃寘鍚�"retryCount:鏁板瓧"锛屽垯杩斿洖璇ユ暟瀛楋紝鍚﹀垯杩斿洖0
+ *
+ * @param task 浠诲姟瀵硅薄
+ * @return 閲嶈瘯娆℃暟
+ */
+ private int getRetryCount(Task task) {
+ String memo = task.getMemo();
+ if (memo == null || memo.trim().isEmpty()) {
+ return 0;
+ }
+ try {
+ // 鏌ユ壘 "retryCount:鏁板瓧" 鏍煎紡
+ String prefix = "retryCount:";
+ int index = memo.indexOf(prefix);
+ if (index >= 0) {
+ int startIndex = index + prefix.length();
+ int endIndex = memo.indexOf(",", startIndex);
+ if (endIndex < 0) {
+ endIndex = memo.length();
+ }
+ String countStr = memo.substring(startIndex, endIndex).trim();
+ return Integer.parseInt(countStr);
+ }
+ } catch (Exception e) {
+ log.warn("瑙ｆ瀽浠诲姟ID锛歿}鐨勯噸璇曟鏁板け璐ワ紝memo锛歿}", task.getId(), memo, e);
+ }
+ return 0;
+ }
+
+ /**
+ * 鏇存柊memo瀛楁涓殑閲嶈瘯娆℃暟
+ *
+ * @param memo 鍘熷memo鍐呭
+ * @param retryCount 鏂扮殑閲嶈瘯娆℃暟
+ * @return 鏇存柊鍚庣殑memo鍐呭
+ */
+ private String updateRetryCount(String memo, int retryCount) {
+ if (memo == null) {
+ memo = "";
+ }
+ // 绉婚櫎鏃х殑retryCount淇℃伅
+ String cleanedMemo = clearRetryInfo(memo);
+ // 娣诲姞鏂扮殑retryCount淇℃伅
+ if (cleanedMemo.isEmpty()) {
+ return "retryCount:" + retryCount;
+ } else {
+ return cleanedMemo + ",retryCount:" + retryCount;
+ }
+ }
+
+ /**
+ * 娓呴櫎memo瀛楁涓殑閲嶈瘯淇℃伅
+ *
+ * @param memo 鍘熷memo鍐呭
+ * @return 娓呴櫎鍚庣殑memo鍐呭
+ */
+ private String clearRetryInfo(String memo) {
+ if (memo == null || memo.trim().isEmpty()) {
+ return "";
+ }
+ // 绉婚櫎 "retryCount:鏁板瓧" 鏍煎紡鐨勫唴瀹�
+ String result = memo.replaceAll("retryCount:\\d+", "").trim();
+ // 娓呯悊澶氫綑鐨勯�楀彿
+ result = result.replaceAll("^,|,$", "").replaceAll(",,+", ",");
+ return result;
}
/**
* 鏋勯�犺姹傚唴瀹癸紙浠欏伐M4鏍煎紡锛�
*/
- private String getRequest(Task task, String nameSpace) {
+ public String getRequest(Task task, String nameSpace) {
JSONObject object = new JSONObject();
- // taskId浣跨敤浠诲姟ID锛屾牸寮忥細T + 浠诲姟ID
- object.put("taskId", "T" + task.getId());
- object.put("fromBin", task.getSourceStaNo());
+ // taskId浣跨敤宸ヤ綔鍙凤紙wrk_no锛夛紝鏍煎紡锛歍 + 宸ヤ綔鍙�
+ // 濡傛灉宸ヤ綔鍙蜂负绌猴紝鍒欎娇鐢ㄤ换鍔D浣滀负澶囬��
+ String taskIdValue = (task.getWrkNo() != null) ? "T" + task.getWrkNo() : "T" + task.getId();
+ object.put("taskId", taskIdValue);
+ // fromBin浣跨敤婧愬簱浣嶇紪鍙凤紙sourceLocNo锛夛紝濡傛灉涓虹┖鍒欎娇鐢ㄦ簮绔欑偣缂栧彿锛坰ourceStaNo锛変綔涓哄閫�
+ String fromBin = task.getSourceLocNo();
+ if (fromBin == null || fromBin.isEmpty()) {
+ fromBin = task.getSourceStaNo();
+ }
+ if (fromBin == null || fromBin.isEmpty() || "0".equals(fromBin)) {
+ // log.warn("浠诲姟{}鐨勬簮搴撲綅鍜屾簮绔欑偣閮戒负绌猴紝浣跨敤榛樿鍊�", task.getId());
+ fromBin = "0";
+ }
+ object.put("fromBin", fromBin);
+ // toBin浣跨敤鐩爣绔欑偣缂栧彿
object.put("toBin", task.getStaNo());
- // robotGroup浠巌nvWh瀛楁鑾峰彇锛屽鏋滄病鏈夊垯浣跨敤榛樿鍊�
+ // robotGroup浠巌nvWh瀛楁鑾峰彇锛屽鏋滄病鏈夊垯鏍规嵁绔欑偣缂栧彿鍒ゆ柇
String robotGroup = task.getInvWh();
if (robotGroup == null || robotGroup.isEmpty()) {
- robotGroup = "Group-001"; // 榛樿鏈哄櫒浜虹粍
+ robotGroup = determineRobotGroupByStation(task.getStaNo());
}
object.put("robotGroup", robotGroup);
// kind鏍规嵁浠诲姟绫诲瀷鏄犲皠
String kind = "";
switch (nameSpace) {
case "鍏ュ簱":
- kind = "瀹炴墭鍏ュ簱";
+ // 鍒ゆ柇鏄惁涓虹┖鎵樺叆搴擄細ioType=10 鎴� emptyMk="Y"
+ if (task.getIoType() == 10 || "Y".equals(task.getEmptyMk())) {
+ kind = "绌烘墭鍏ュ簱";
+ } else {
+ kind = "瀹炴墭鍏ュ簱";
+ }
break;
case "鍑哄簱":
kind = "瀹炴墭鍑哄簱";
@@ -158,26 +720,266 @@
return object.toJSONString();
}
+
+ /**
+ * 涓轰换鍔″垎閰嶇珯鐐癸紙瀹氭椂浠诲姟涓皟鐢級
+ * 娉ㄦ剰锛氬彧浼氬垎閰嶄竴涓珯鐐癸紝鎵惧埌绗竴涓鍚堟潯浠剁殑绔欑偣灏卞垎閰嶅苟閫�鍑�
+ *
+ * @param task 浠诲姟瀵硅薄
+ * @return 濡傛灉鏃犳硶鍒嗛厤绔欑偣锛岃繑鍥為敊璇俊鎭紱濡傛灉鍒嗛厤鎴愬姛锛岃繑鍥瀗ull骞舵洿鏂皌ask鐨剆taNo
+ */
+ @Transactional(rollbackFor = Exception.class)
+ public String allocateSiteForTask(Task task) {
+ // 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 = (task.getWrkNo() != null) ? String.valueOf(task.getWrkNo()) : String.valueOf(task.getId());
+ log.debug("寮�濮嬩负浠诲姟ID锛歿}鍒嗛厤绔欑偣锛屼换鍔＄被鍨嬶細{}锛屾満鍣ㄤ汉缁勶細{}",
+ displayTaskId, task.getIoType(), task.getInvWh());
+ // 鏍规嵁浠诲姟鐨刬nvWh锛堟満鍣ㄤ汉缁勶級鍒ゆ柇鏄笢渚ц繕鏄タ渚�
+ String robotGroup = task.getInvWh();
+ List<String> targetStations;
+ String groupKey;
+
+ if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupEast())) {
+ // 涓滀晶绔欑偣
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ } else if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupWest())) {
+ // 瑗夸晶绔欑偣
+ targetStations = agvProperties.getWestStations();
+ groupKey = "west";
+ } else {
+ // 榛樿浣跨敤涓滀晶
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ log.warn("浠诲姟ID锛歿}鐨勬満鍣ㄤ汉缁剓}鏈瘑鍒紝浣跨敤榛樿涓滀晶绔欑偣", displayTaskId, robotGroup);
+ }
+
+ if (targetStations.isEmpty()) {
+ String errorMsg = "娌℃湁鍙敤鐨勭洰鏍囩珯鐐归厤缃�";
+ log.warn("浠诲姟ID锛歿}锛寋}", displayTaskId, errorMsg);
+ return errorMsg;
+ }
+
+ // 灏嗙珯鐐瑰瓧绗︿覆鍒楄〃杞崲涓烘暣鏁板垪琛�
+ List<Integer> siteIntList = targetStations.stream()
+ .map(Integer::parseInt)
+ .collect(Collectors.toList());
+
+ log.info("浠诲姟ID锛歿}锛寋}绔欑偣缁勯厤缃殑绔欑偣锛歿}锛屽叡{}涓珯鐐�",
+ displayTaskId, groupKey.equals("east") ? agvProperties.getEastDisplayName() : agvProperties.getWestDisplayName(),
+ targetStations, targetStations.size());
+
+
+ // 鍏堟鏌ョ珯鐐归厤缃紙canining="Y"鍙叆锛夛紝鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ List<BasDevp> devListWithConfig = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", siteIntList)
+ .eq("in_enable", "Y")
+ .eq("canining", "Y")
+ .eq("loading", "N")
+ .ne("dev_no", 0) // 鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ );
+
+ if (devListWithConfig == null || devListWithConfig.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙叆绔欑偣锛堢珯鐐规湭寮�閫氬彲鍏ュ厑璁革細canining='Y'锛夛紝鏆備笉鍒嗛厤绔欑偣锛岀瓑寰呴厤缃紑閫氥�傜珯鐐瑰垪琛細{}",
+ displayTaskId, targetStations);
+ return null;
+ }
+
+ // 鍏堟寜瑙勫垯鎺掑簭锛堝叆搴撲换鍔℃暟鎺掑簭锛�
+ devListWithConfig.sort(Comparator.comparing(BasDevp::getInQty));
+ // 鏍规嵁浠诲姟绫诲瀷纭畾瑕佹鏌ョ殑io_type鍒楄〃
+ Integer taskIoType = task.getIoType();
+ List<Integer> checkIoTypes = null;
+ String taskTypeName = "";
+ if (taskIoType != null) {
+ if (taskIoType < 100) {
+ // 鍏ュ簱浠诲姟锛氬彧妫�鏌ュ叆搴撶被鍨嬶紙1, 10, 53, 57锛�
+ checkIoTypes = Arrays.asList(1, 10, 53, 57);
+ taskTypeName = "鍏ュ簱";
+ } else {
+ // 鍑哄簱浠诲姟锛氬彧妫�鏌ュ嚭搴撶被鍨嬶紙101, 110, 103, 107锛�
+ checkIoTypes = Arrays.asList(101, 110, 103, 107);
+ taskTypeName = "鍑哄簱";
+ }
+ }
+
+ // 鍏堟煡璇gv宸ヤ綔妗ｄ腑鏈鍒嗛厤绔欑偣鐨勭珯鐐�
+ // 鏌ヨagv宸ヤ綔妗ｄ腑鎵�鏈夊凡鍒嗛厤绔欑偣鐨勪换鍔★紙sta_no涓嶄负绌恒�佷笉涓虹┖瀛楃涓层�佷笉涓�0锛�
+ final List<String> allocatedSiteNos;
+ if (checkIoTypes != null && !checkIoTypes.isEmpty()) {
+ List<Task> allocatedTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("task_type", "agv")
+ .in("wrk_sts", 7L, 8L) // 寰呭懠鍙獳GV鍜屾鍦ㄦ惉杩愮殑浠诲姟
+ .in("io_type", checkIoTypes)
+ .isNotNull("sta_no")
+ .ne("sta_no", "")
+ .ne("sta_no", "0")
+ .andNew("(is_deleted = 0)")
+ );
+ // 鑾峰彇宸插垎閰嶇殑绔欑偣缂栧彿鍒楄〃
+ allocatedSiteNos = allocatedTasks.stream()
+ .map(Task::getStaNo)
+ .filter(staNo -> staNo != null && !staNo.isEmpty() && !staNo.equals("0"))
+ .distinct()
+ .collect(Collectors.toList());
+ } else {
+ allocatedSiteNos = new ArrayList<>();
+ }
+
+ // 浠庡彲鐢ㄧ珯鐐逛腑绛涢�夊嚭鏈鍒嗛厤鐨勭珯鐐�
+ List<BasDevp> unallocatedSites = devListWithConfig.stream()
+ .filter(dev -> {
+ String staNo = String.valueOf(dev.getDevNo());
+ return !allocatedSiteNos.contains(staNo);
+ })
+ .collect(Collectors.toList());
+ List<BasDevp> unallocatedSites2 = new ArrayList<>();
+ for (int i = 0; devListWithConfig.size() > i; i++) {
+ unallocatedSites2.add(devListWithConfig.get(i));
+ }
+// if(unallocatedSites==null || unallocatedSites.isEmpty()){
+// unallocatedSites=unallocatedSites2;
+//
+// }
+ // 鍙娇鐢ㄦ湭鍒嗛厤绔欑偣
+ if (unallocatedSites.isEmpty()) {
+ // 鏈垎閰嶇珯鐐逛负绌猴細涓嶅垎閰嶇珯鐐�
+ StringBuilder allocatedSitesInfo = new StringBuilder();
+ for (String staNo : allocatedSiteNos) {
+ if (allocatedSitesInfo.length() > 0) {
+ allocatedSitesInfo.append("; ");
+ }
+ allocatedSitesInfo.append("绔欑偣").append(staNo).append("宸茶鍒嗛厤");
+ }
+ log.warn("浠诲姟ID锛歿}锛屾墍鏈夊彲鐢ㄧ珯鐐归兘宸茶鍒嗛厤锛屾殏涓嶅垎閰嶇珯鐐癸紝绛夊緟涓嬫瀹氭椂浠诲姟鍐嶅皾璇曘�傚凡鍒嗛厤绔欑偣锛歿}",
+ displayTaskId, allocatedSitesInfo.length() > 0 ? allocatedSitesInfo.toString() : "鏃犺缁嗕俊鎭�");
+ return null; // 杩斿洖null锛岃〃绀烘殏涓嶅垎閰嶏紝绛夊緟涓嬫瀹氭椂浠诲姟鍐嶅皾璇�
+ }
+
+ // 瀛樺湪鏈垎閰嶇珯鐐癸細鏍规嵁閰嶇疆鐨勫垎閰嶇瓥鐣ラ�夋嫨鍏蜂綋绔欑偣
+ // 鍏堟寜瑙勫垯鎺掑簭锛堝叆搴撲换鍔℃暟鎺掑簭锛�
+ unallocatedSites.sort(Comparator.comparing(BasDevp::getInQty));
+
+ // 鏍规嵁閰嶇疆閫夋嫨鍒嗛厤绛栫暐锛岀‘瀹氫紭鍏堝垎閰嶇殑绔欑偣椤哄簭
+ List<BasDevp> orderedSites = new ArrayList<>();
+ String strategy = agvProperties.getSiteAllocation().getStrategy();
+ boolean enableRoundRobin = agvProperties.getSiteAllocation().isEnableRoundRobin();
+
+ // 璁板綍鏄惁浣跨敤杞绛栫暐锛屼互鍙婅疆璇㈣鏁板櫒锛堢敤浜庡湪鎴愬姛鍒嗛厤绔欑偣鍚庨�掑锛�
+ AtomicInteger roundRobinCounter = null;
+ int roundRobinStartIndex = 0;
+ if (unallocatedSites.size() > 1 && enableRoundRobin && "round-robin".equals(strategy)) {
+ // 杞鍒嗛厤锛氬厛鎸夎疆璇㈢瓥鐣ユ帓搴�
+ roundRobinCounter = siteRoundRobinCounters.computeIfAbsent(groupKey, k -> new AtomicInteger(0));
+ roundRobinStartIndex = roundRobinCounter.get() % unallocatedSites.size(); // 鑾峰彇褰撳墠绱㈠紩锛屼絾涓嶉�掑锛堟垚鍔熷垎閰嶅悗鍐嶉�掑锛�
+ // 灏嗚疆璇㈤�変腑鐨勭珯鐐规斁鍦ㄦ渶鍓嶉潰
+ orderedSites.addAll(unallocatedSites.subList(roundRobinStartIndex, unallocatedSites.size()));
+ orderedSites.addAll(unallocatedSites.subList(0, roundRobinStartIndex));
+ log.info("浠诲姟ID锛歿}锛屼娇鐢ㄨ疆璇㈠垎閰嶇瓥鐣ワ紝绔欑偣缁勶細{}锛岃疆璇㈣捣濮嬬储寮曪細{}锛屽�欓�夌珯鐐癸細{}锛堝叡{}涓湭鍒嗛厤绔欑偣锛�",
+ displayTaskId, groupKey, roundRobinStartIndex,
+ unallocatedSites.stream().map(d -> String.valueOf(d.getDevNo())).collect(Collectors.joining(",")),
+ unallocatedSites.size());
+ } else if (unallocatedSites.size() > 1 && enableRoundRobin && "random".equals(strategy)) {
+ // 闅忔満鍒嗛厤锛氬厛闅忔満鎺掑簭鏈垎閰嶇珯鐐�
+ List<BasDevp> shuffledSites = new ArrayList<>(unallocatedSites);
+ Collections.shuffle(shuffledSites);
+ orderedSites.addAll(shuffledSites);
+ log.info("浠诲姟ID锛歿}锛屼娇鐢ㄩ殢鏈哄垎閰嶇瓥鐣ワ紝鍊欓�夌珯鐐癸細{}",
+ displayTaskId, unallocatedSites.stream().map(d -> String.valueOf(d.getDevNo())).collect(Collectors.joining(",")));
+ } else {
+ // 榛樿锛氭寜鍏ュ簱浠诲姟鏁版帓搴忥紙宸茬粡鎺掑簭濂戒簡锛�
+ orderedSites = unallocatedSites;
+ }
+
+ // 鏃㈢劧宸茬粡绛涢�夊嚭浜嗘湭鍒嗛厤绔欑偣锛岀洿鎺ユ牴鎹垎閰嶇瓥鐣ラ�夋嫨绗竴涓珯鐐瑰嵆鍙�
+ // 鏈垎閰嶇珯鐐瑰湪AGV宸ヤ綔妗ｄ腑閮芥病鏈夊凡鍒嗛厤鐨勪换鍔★紝鍙互鐩存帴鍒嗛厤
+ BasDevp selectedSite = orderedSites.get(0);
+ Integer endSite = selectedSite.getDevNo();
+ String staNo = String.valueOf(endSite);
+
+ log.info("浠诲姟ID锛歿}锛屼粠{}涓湭鍒嗛厤绔欑偣涓�夋嫨绔欑偣{}锛堝叆搴撲换鍔℃暟锛歿}锛夛紝鍊欓�夌珯鐐癸細{}",
+ displayTaskId, orderedSites.size(), staNo, selectedSite.getInQty(),
+ orderedSites.stream().map(d -> String.valueOf(d.getDevNo())).collect(Collectors.joining(",")));
+
+ // 濡傛灉浣跨敤杞绛栫暐涓旀垚鍔熷垎閰嶇珯鐐癸紝閫掑杞璁℃暟鍣紙纭繚涓嬫浠庝笅涓�涓珯鐐瑰紑濮嬶級
+ if (roundRobinCounter != null && unallocatedSites.size() > 1) {
+ roundRobinCounter.getAndIncrement();
+ log.debug("浠诲姟ID锛歿}鎴愬姛鍒嗛厤鍒扮珯鐐箋}锛岃疆璇㈣鏁板櫒宸查�掑锛屼笅娆″皢浠庝笅涓�涓珯鐐瑰紑濮嬭疆璇�", displayTaskId, staNo);
+ }
+
+ // 妫�鏌ョ珯鐐规槸鍚︽湁鏁堬紙涓嶈兘涓�0鎴杗ull锛�
+ if (endSite == null || endSite == 0) {
+ String errorMsg = String.format("鍒嗛厤鐨勭珯鐐规棤鏁堬紙dev_no=%s锛�", endSite);
+ log.error("浠诲姟ID锛歿}锛寋}", displayTaskId, errorMsg);
+ return errorMsg;
+ }
+
+ // 鍏ュ簱鏆傚瓨+1
+ basDevpMapper.incrementInQty(endSite);
+
+ // 鏇存柊浠诲姟鐨勭珯鐐圭紪鍙凤紝骞剁‘淇濈姸鎬佷负7锛堝緟鍛煎彨AGV锛�
+ task.setStaNo(String.valueOf(endSite));
+ if (task.getWrkSts() == null || task.getWrkSts() != 7L) {
+ task.setWrkSts(7L); // 纭繚鐘舵�佷负7锛堝緟鍛煎彨AGV锛�
+ log.debug("浠诲姟ID锛歿}鍒嗛厤绔欑偣鏃讹紝鐘舵�佷笉鏄�7锛屽凡鏇存柊涓�7锛堝緟鍛煎彨AGV锛�", displayTaskId);
+ }
+ taskService.updateById(task);
+
+ log.info("浠诲姟ID锛歿}宸插垎閰嶇珯鐐癸細{}锛屾満鍣ㄤ汉缁勶細{}锛屼换鍔＄被鍨嬶細{}", displayTaskId, endSite, robotGroup, taskTypeName);
+ return null; // 鍒嗛厤鎴愬姛锛岃繑鍥瀗ull
+ }
+
+ /**
+ * 鏍规嵁绔欑偣缂栧彿鍒ゆ柇鏈哄櫒浜虹粍
+ *
+ * @param staNo 绔欑偣缂栧彿
+ * @return 鏈哄櫒浜虹粍鍚嶇О
+ */
+ private String determineRobotGroupByStation(String staNo) {
+ if (staNo == null || staNo.isEmpty()) {
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
+
+ // 浠庨厤缃腑鑾峰彇绔欑偣鍒楄〃
+ Set<String> eastStations = new HashSet<>(agvProperties.getEastStations());
+ Set<String> westStations = new HashSet<>(agvProperties.getWestStations());
+
+ // 鍒ゆ柇绔欑偣灞炰簬鍝竴渚�
+ if (eastStations.contains(staNo)) {
+ return agvProperties.getRobotGroupEast(); // 涓滀晶鏈哄櫒浜�
+ } else if (westStations.contains(staNo)) {
+ return agvProperties.getRobotGroupWest(); // 瑗夸晶鏈哄櫒浜�
+ } else {
+ log.warn("绔欑偣缂栧彿涓嶅湪閰嶇疆鍒楄〃涓紝浣跨敤榛樿鏈哄櫒浜虹粍锛歿}", staNo);
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
+ }
+
+
/**
* 浠诲姟瀹屾垚杞巻鍙� 閲婃斁鏆傚瓨鐐�
*/
@Transactional(rollbackFor = Exception.class)
public void moveTaskToHistory(List<Task> taskList) {
- // 鍐欏叆鍘嗗彶琛�
+ // 鍐欏叆鍘嗗彶琛紝淇濇寔ID涓�鑷�
for (Task task : taskList) {
TaskLog log = new TaskLog();
BeanUtils.copyProperties(task, log);
+ // 淇濇寔ID涓�鑷达紝涓嶈缃负null
taskLogService.insert(log);
}
// 鎵归噺鍒犻櫎鍘熶换鍔�
List<Long> taskIds = taskList.stream().map(Task::getId).collect(Collectors.toList());
- taskService.delete(new EntityWrapper<Task>().in("id",taskIds));
+ taskService.delete(new EntityWrapper<Task>().in("id", taskIds));
// 鎵归噺鏇存柊鏆傚瓨鐐圭姸鎬�
List<String> locOList = new ArrayList<>();
List<String> locFList = new ArrayList<>();
+ // 鏀堕泦闇�瑕佸噺灏慽n_qty鐨勭珯鐐癸紙鍏ュ簱浠诲姟锛�
+ Set<Integer> sitesToDecrement = new HashSet<>();
for (Task task : taskList) {
String sourceStaNo = task.getSourceStaNo();
String staNo = task.getStaNo();
@@ -185,9 +987,30 @@
locOList.add(sourceStaNo);
locFList.add(staNo);
} else if (task.getIoType() < 100) {
+ // 鍏ュ簱浠诲姟锛氬噺灏戠洰鏍囩珯鐐圭殑in_qty
locOList.add(sourceStaNo);
+ if (staNo != null && !staNo.isEmpty()) {
+ try {
+ Integer siteNo = Integer.parseInt(staNo);
+ if (siteNo != null && siteNo > 0) {
+ sitesToDecrement.add(siteNo);
+ }
+ } catch (NumberFormatException e) {
+ log.warn("浠诲姟ID锛歿}鐨勭珯鐐圭紪鍙锋牸寮忛敊璇細{}锛岃烦杩囧噺灏慽n_qty", task.getId(), staNo);
+ }
+ }
} else {
locFList.add(staNo);
+ }
+ }
+
+ // 鍑忓皯绔欑偣鐨勫叆搴撲换鍔℃暟锛坕n_qty锛�
+ for (Integer siteNo : sitesToDecrement) {
+ try {
+ basDevpMapper.decrementInQty(siteNo);
+ log.debug("浠诲姟杞Щ鍒板巻鍙茶〃锛岀珯鐐箋}鐨刬n_qty宸插噺灏�", siteNo);
+ } catch (Exception e) {
+ log.error("浠诲姟杞Щ鍒板巻鍙茶〃锛屽噺灏戠珯鐐箋}鐨刬n_qty澶辫触", siteNo, e);
}
}
@@ -201,15 +1024,21 @@
log.info("agv浠诲姟妗ｈ浆鍘嗗彶鎴愬姛锛歿}", taskIds);
}
+ @Transactional(rollbackFor = Exception.class)
+ public void moveTaskToHistory(Task agvTask) {
+ moveTaskToHistory(Collections.singletonList(agvTask));
+
+ }
+
/**
* 璐х墿鍒拌揪鍑哄簱鍙ｏ紝鐢熸垚agv浠诲姟
*/
public void createAgvOutTasks(List<String> sites) {
// 鑾峰彇鍒板彲鐢ㄥ嚭搴撶珯鐐圭殑浠诲姟
- List<WrkMast> wrkMastList = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("call_agv", 1).in("sta_no",sites));
+ List<WrkMast> wrkMastList = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("call_agv", 1).in("sta_no", sites));
- for(WrkMast wrkMast:wrkMastList) {
+ for (WrkMast wrkMast : wrkMastList) {
// todo 璁＄畻agv鐩爣鏆傚瓨浣�
int endSite = 2004;
@@ -221,17 +1050,18 @@
wrkMastMapper.updateById(wrkMast);
// 鏇存柊鏆傚瓨浣嶇姸鎬� S.鍏ュ簱棰勭害
- basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(endSite)), "S");
+ basStationMapper.updateLocStsBatch(Collections.singletonList(String.valueOf(endSite)), "S");
}
}
/**
* 鍙栨秷AGV浠诲姟锛堜粰宸4鎺ュ彛锛�
+ *
* @param task 浠诲姟瀵硅薄
* @return 鏄惁鎴愬姛
*/
public boolean cancelAgvTask(Task task) {
- if (!agvSendTask) {
+ if (!agvProperties.isSendTask()) {
return false;
}
@@ -245,7 +1075,7 @@
String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CANCEL_TASK_PATH;
String namespace = "";
String kind = "";
-
+
// 鏍规嵁浠诲姟绫诲瀷纭畾kind鍜宯amespace
switch (task.getIoType()) {
case 1:
@@ -272,7 +1102,10 @@
// 鏋勯�犲彇娑堜换鍔¤姹�
JSONObject cancelRequest = new JSONObject();
- cancelRequest.put("taskId", "T" + task.getId());
+ // taskId浣跨敤宸ヤ綔鍙凤紙wrk_no锛夛紝鏍煎紡锛歍 + 宸ヤ綔鍙�
+ // 濡傛灉宸ヤ綔鍙蜂负绌猴紝鍒欎娇鐢ㄤ换鍔D浣滀负澶囬��
+ String taskIdValue = (task.getWrkNo() != null) ? "T" + task.getWrkNo() : "T" + task.getId();
+ cancelRequest.put("taskId", taskIdValue);
cancelRequest.put("kind", kind);
String body = cancelRequest.toJSONString();
@@ -283,11 +1116,13 @@
.setJson(body)
.build()
.doPost();
-
+
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code") != null && jsonObject.getInteger("code").equals(200)) {
success = true;
- log.info(namespace + "鍙栨秷AGV浠诲姟鎴愬姛锛歿}", task.getId());
+ // 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 = (task.getWrkNo() != null) ? String.valueOf(task.getWrkNo()) : String.valueOf(task.getId());
+ log.info(namespace + "鍙栨秷AGV浠诲姟鎴愬姛锛歿}", displayTaskId);
} else {
log.error(namespace + "鍙栨秷AGV浠诲姟澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
}
--
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