update:
bug修改
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1dd028a202
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039f791c97
@ -68,6 +68,8 @@ public class CurrTaskController extends BaseController {
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private CurrTaskServiceBiz currTaskServiceBiz;
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@Autowired
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private AutoExeTaskServiceBiz autoExeTaskServiceBiz;
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@Autowired
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private TaskDistanceUtils taskDistanceUtils;
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@PostMapping(value = "createProcessTask")
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@ -306,9 +308,10 @@ public class CurrTaskController extends BaseController {
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}
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@PostMapping(value = "testRgv")
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@ApiOperation(value = "测试rgv避让逻辑")
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private Boolean testRgv(@RequestBody TestRgv testRgv) throws IOException {
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TaskDistanceUtils taskDistanceUtils=new TaskDistanceUtils();
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return taskDistanceUtils.conflictForVehicle(testRgv.getVehicleId(),testRgv.getStartPoint(),testRgv.getEndPoint(),testRgv.getOtherVehicle());
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private String testRgv(@RequestBody TestRgv testRgv) throws IOException {
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Long aLong = taskDistanceUtils.chooseVehicle(testRgv.getStartPoint(), testRgv.getEndPoint());
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Boolean aBoolean = taskDistanceUtils.conflictForVehicle(testRgv.getVehicleId(), testRgv.getStartPoint(), testRgv.getEndPoint(), testRgv.getOtherVehicle());
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return String.valueOf(aLong)+String.valueOf(aBoolean);
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}
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private Integer sendTaskToRgv(Integer taskType,Long vehicleId, Long currTaskId, Long startPoint, Long endPoint, Integer processNumber) {
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Map<String, Object> json = new HashMap();
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@ -91,7 +91,7 @@ public class AsynRunTaskService extends BaseService {
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VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
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List<CurrTaskDet> currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper<CurrTaskDet>().eq(CurrTaskDet.CURR_TASK_ID, currTask));
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//检查车辆是否冲突,冲突则避让
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rgvStatus(vehicleId, currTask);
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rgvStatus(vehicleId, currTask,currTask.getStartPosition(),currTask.getTargetPosition());
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//新建一条执行任务的关系表存放任务执行信息
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RunTask runTask = new RunTask();
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runTask.setTaskId(currTask.getId());
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@ -180,7 +180,7 @@ public class AsynRunTaskService extends BaseService {
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CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
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VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);List<CurrTaskDet> currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper<CurrTaskDet>().eq(CurrTaskDet.CURR_TASK_ID, currTask));
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//检查车辆是否冲突,冲突则避让
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rgvStatus(vehicleId, currTask);
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rgvStatus(vehicleId, currTask,location.getCode(),currTask.getTargetPosition());
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//新建一条执行任务的关系表存放任务执行信息
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RunTask runTask = new RunTask();
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runTask.setTaskId(currTask.getId());
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@ -280,7 +280,7 @@ public class AsynRunTaskService extends BaseService {
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//Location location = locationServiceBiz.getById(currTask.getLocationId());
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VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
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//检查车辆是否冲突,冲突则避让
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rgvStatus(vehicleId, currTask);
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rgvStatus(vehicleId, currTask,currTask.getStartPosition(),location.getCode());
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//新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
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RunTask runTask = new RunTask();
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runTask.setTaskId(currTask.getId());
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@ -367,8 +367,9 @@ public class AsynRunTaskService extends BaseService {
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public void asynRunTaskForKilnToWarehouse(Long currTaskId, Long vehicleId) throws IOException {
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CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
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VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
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Location location = locationServiceBiz.getOne(new QueryWrapper<Location>().eq(Location.CODE, currTask.getOutTargetPosition()));
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//检查车辆是否冲突,冲突则避让
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rgvStatus(vehicleId, currTask);
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rgvStatus(vehicleId, currTask,currTask.getStartPosition(),location.getCode());
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//新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
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RunTask runTask = new RunTask();
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runTask.setTaskId(currTask.getId());
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@ -379,7 +380,7 @@ public class AsynRunTaskService extends BaseService {
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runTask.setEndPosition(currTask.getOutTargetPosition());
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runTaskServiceBiz.save(runTask);
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//更新 location 表对应库位状态为占用
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Location location = locationServiceBiz.getOne(new QueryWrapper<Location>().eq(Location.CODE, currTask.getOutTargetPosition()));
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location.setStatus(1);
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location.setUpdateTime(LocalDateTime.now());
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locationServiceBiz.updateById(location);
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@ -1337,7 +1338,7 @@ public class AsynRunTaskService extends BaseService {
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* @param currTask
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* @throws IOException
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*/
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private void rgvStatus(Long vehicleId,CurrTask currTask) throws IOException {
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private void rgvStatus(Long vehicleId,CurrTask currTask,String startPosition,String targetPosition) throws IOException {
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Long currTaskId = currTask.getId();
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if (vehicleId==1){
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Long anotherVehicleId=2L;
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@ -1346,7 +1347,7 @@ public class AsynRunTaskService extends BaseService {
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//获取RGV2当前位置
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Double rgv2CurrPosition = RGVCurrPosition(2);
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//两辆小车是否冲突
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Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv2CurrPosition);
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Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, startPosition, targetPosition, rgv2CurrPosition);
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if (conflictBoolean){
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Integer status = moveRgv(2, currTaskId, 2,0);
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if (status!=1){
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