自动任务

6.program/wms-empty/src/main/java/com/mt/wms/empty/service/impl/AutoTaskServiceImpl.java

@@ -6,18 +6,24 @@ import com.mt.wms.core.api.Assert;
 import com.mt.wms.core.base.BaseService;
 import com.mt.wms.core.dal.entity.AutoExeTask;
 import com.mt.wms.core.dal.entity.AutoExeTaskHis;
+import com.mt.wms.core.dal.entity.CurrTask;
 import com.mt.wms.core.dal.service.AutoExeTaskHisServiceBiz;
 import com.mt.wms.core.dal.service.AutoExeTaskServiceBiz;
+import com.mt.wms.core.dal.service.CurrTaskServiceBiz;
 import com.mt.wms.core.errorcode.ApiErrorCode;
 import com.mt.wms.core.params.IdParam;
 import com.mt.wms.core.vo.IdVo;
 import com.mt.wms.core.vo.PageVo;
 import com.mt.wms.core.vo.R;
+import com.mt.wms.empty.controller.ApmsController;
 import com.mt.wms.empty.params.AutoTaskParam;
 import com.mt.wms.empty.params.AutoTaskQueryParam;
 import com.mt.wms.empty.service.AutoTaskService;
+import com.mt.wms.empty.vo.ApmsEndProcessVo;
 import com.mt.wms.empty.vo.AutoTaskVo;
 import org.apache.commons.lang.StringUtils;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.beans.BeanUtils;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -33,10 +39,16 @@ import java.util.List;
 @Service
 @Transactional
 public class AutoTaskServiceImpl extends BaseService implements AutoTaskService {
+
+    private final static Logger logger = LoggerFactory.getLogger(AutoTaskServiceImpl.class);
     @Resource
     private AutoExeTaskServiceBiz autoExeTaskServiceBiz;
     @Resource
     private AutoExeTaskHisServiceBiz autoExeTaskHisServiceBiz;
+    @Resource
+    private CurrTaskServiceBiz currTaskServiceBiz;
+    @Resource
+    private ApmsController apmsController;
     @Override
     public R<AutoTaskVo> get(IdParam idParam) {
         Assert.notNull(ApiErrorCode.INVALID_PARAMETER,idParam.getId());
@@ -55,12 +67,14 @@ public class AutoTaskServiceImpl extends BaseService implements AutoTaskService
     public R<PageVo<AutoTaskVo>> page(AutoTaskQueryParam autoTaskQueryParam) {
         QueryWrapper<AutoExeTask> wrapper=new QueryWrapper<>();
         wrapper.eq((autoTaskQueryParam.getStatus()!=null&&("").equals(autoTaskQueryParam.getStatus())),AutoExeTask.STATUS,autoTaskQueryParam.getStatus());
+        wrapper.in(AutoExeTask.STATUS,0,1);
         Page<AutoExeTask> page = autoExeTaskServiceBiz.page(new Page<>(autoTaskQueryParam.getCurrent(), autoTaskQueryParam.getSize()), wrapper);
         return successful(new PageVo<>(page,AutoTaskVo.class));
     }
 
     @Override
     public R<IdVo> stop(IdParam idParam) {
+
         AutoExeTask autoExeTask = autoExeTaskServiceBiz.getById(idParam.getId());
         //状态置为终止
         autoExeTask.setStatus(3);
@@ -71,7 +85,19 @@ public class AutoTaskServiceImpl extends BaseService implements AutoTaskService
         autoExeTaskHisServiceBiz.save(autoExeTaskHis);
         //释放后续步骤
         // TODO: 2022/3/3
+            //删除对应的几条currtask(未执行的),通知apms生产单作废
+            List<CurrTask> currTaskList = currTaskServiceBiz.list(new QueryWrapper<CurrTask>()
+                    .eq(CurrTask.AUTO_EXE_TASK_ID, autoExeTask.getId()).eq(CurrTask.STATUS,0));
+            for (CurrTask currTask:currTaskList
+                 ) {
+                R<ApmsEndProcessVo> apmsEndProcessVoR = apmsController.deleteBySheetNo(currTask.getSheetNo());
+                if (!apmsEndProcessVoR.getData().getSuccess()){
+                    logger.info("Apms作废生产单接口错误");
+                    return R.failed("Apms作废生产单接口错误");
+                }
+                currTaskServiceBiz.removeById(currTask);
+            }
         autoExeTaskServiceBiz.removeById(autoExeTask);
-        return null;
+        return successful(IdVo.builder().id(idParam.getId()).build());
     }
 }

6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java

@@ -73,7 +73,7 @@ public class AsynRunTaskService extends BaseService {
             otherNowPoint=1;
             //两辆小车是否冲突
             Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
-            while (conflictBoolean){
+            if (conflictBoolean){
                 //若冲突
                 // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
                 Map<String, Integer> json = new HashMap();
@@ -87,6 +87,8 @@ public class AsynRunTaskService extends BaseService {
                 } catch (IOException e) {
                     e.printStackTrace();
                     logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
                 }
             }
         }else {
@@ -94,7 +96,7 @@ public class AsynRunTaskService extends BaseService {
             otherNowPoint=2;
             //两辆小车是否冲突
             Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
-            while (conflictBoolean){
+            if (conflictBoolean){
                 //若冲突
                 // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
                 Map<String, Integer> json = new HashMap();
@@ -107,6 +109,8 @@ public class AsynRunTaskService extends BaseService {
                 } catch (IOException e) {
                     e.printStackTrace();
                     logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
                 }
             }
         }
@@ -182,16 +186,55 @@ public class AsynRunTaskService extends BaseService {
         if (vehicleId==1){
             // TODO: 2022/2/26 获取RGV2当前位置
             otherNowPoint=1;
+            //两辆小车是否冲突
+            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
+            if (conflictBoolean){
+                //若冲突
+                // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
+                Map<String, Integer> json = new HashMap();
+                //type=1为 入
+                // taskType 4 单移动
+                json.put("taskType", 4);
+                json.put("sendRow", 39);
+                String taskJson = JSON.toJSONString(json);
+                try {
+                    HttpClient.httpPost("http://localhost:8009/rgv2/sendTask",taskJson);
+                } catch (IOException e) {
+                    e.printStackTrace();
+                    logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
+                }
+            }
         }else {
             //获取RGV1当前位置
             otherNowPoint=2;
-        }
             //两辆小车是否冲突
-        Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), currTask.getTargetPosition(), otherNowPoint);
+            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
-        while (conflictBoolean){
+            if (conflictBoolean){
                 //若冲突
                 // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
+                Map<String, Integer> json = new HashMap();
+                // taskType 4 单移动
+                json.put("taskType", 4);
+                json.put("sendRow", 1);
+                String taskJson = JSON.toJSONString(json);
+                try {
+                    HttpClient.httpPost("http://localhost:8009/rgv1/sendTask",taskJson);
+                } catch (IOException e) {
+                    e.printStackTrace();
+                    logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
                 }
+            }
+        }
+/*        //两辆小车是否冲突
+        Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), currTask.getTargetPosition(), otherNowPoint);
+        if (conflictBoolean){
+            //若冲突
+            // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
+        }*/
 
         //新建一条执行任务的关系表存放任务执行信息
         RunTask runTask=new RunTask();
@@ -208,9 +251,33 @@ public class AsynRunTaskService extends BaseService {
         inStockInfo.setStatus(1);
         inStockInfoServiceBiz.updateById(inStockInfo);
         // TODO: 2021/12/14  调用车辆填入起终点,得到车辆执行结果
-
+        Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
+        Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
+        Map<String, Object> json = new HashMap();
+        // taskType 1 搬运
+        json.put("taskType", 1);
+        json.put("sendRow", endPoint);
+        json.put("pickRow",startPoint);
+        json.put("taskNo",currTaskId);
+        json.put("ideNumber",1);
+        json.put("processNumber",currTask.getPlcValue());
+        String taskJson = JSON.toJSONString(json);
+        String result =null;
+        try {
+            if (vehicleId==1){
+                result = HttpClient.httpPost("http://localhost:8009/rgv1/sendTask", taskJson);
+            }
+            if (vehicleId==2){
+                result = HttpClient.httpPost("http://localhost:8009/rgv2/sendTask", taskJson);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+            logger.error(new Date() + "WCS接口超时未响应！");
+        }
+        JSONObject jsonObject = JSON.parseObject(result);
+        int status = Integer.parseInt(String.valueOf(jsonObject.get("msg")));
         //执行成功,托盘进炉
-        if (true){
+        if (status==1){
             //更新调度表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());
             runTask.setEndTime(LocalDateTime.now());
@@ -246,15 +313,48 @@ public class AsynRunTaskService extends BaseService {
         if (vehicleId==1){
             // TODO: 2022/2/26 获取RGV2当前位置
             otherNowPoint=1;
+            //两辆小车是否冲突
+            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
+            if (conflictBoolean){
+                //若冲突
+                // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
+                Map<String, Integer> json = new HashMap();
+                //type=1为 入
+                // taskType 4 单移动
+                json.put("taskType", 4);
+                json.put("sendRow", 39);
+                String taskJson = JSON.toJSONString(json);
+                try {
+                    HttpClient.httpPost("http://localhost:8009/rgv2/sendTask",taskJson);
+                } catch (IOException e) {
+                    e.printStackTrace();
+                    logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
+                }
+            }
         }else {
             //获取RGV1当前位置
             otherNowPoint=2;
-        }
             //两辆小车是否冲突
             Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
-        while (conflictBoolean){
+            if (conflictBoolean){
                 //若冲突
                 // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
+                Map<String, Integer> json = new HashMap();
+                // taskType 4 单移动
+                json.put("taskType", 4);
+                json.put("sendRow", 1);
+                String taskJson = JSON.toJSONString(json);
+                try {
+                    HttpClient.httpPost("http://localhost:8009/rgv1/sendTask",taskJson);
+                } catch (IOException e) {
+                    e.printStackTrace();
+                    logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
+                }
+            }
         }
         PointInfo pointOfLocation = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, location.getCode()));
         //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
@@ -282,8 +382,32 @@ public class AsynRunTaskService extends BaseService {
         setCommonField(inStockInfo);
         inStockInfoServiceBiz.save(inStockInfo);
         // TODO: 2021/12/14  调用车辆填入起终点,得到车辆执行结果,填入任务号（待确认）
-
+        Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
-        if (true){
+        Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
+        Map<String, Object> json = new HashMap();
+        // taskType 1 搬运
+        json.put("taskType", 1);
+        json.put("sendRow", endPoint);
+        json.put("pickRow",startPoint);
+        json.put("taskNo",currTaskId);
+        json.put("ideNumber",1);
+        json.put("processNumber",currTask.getPlcValue());
+        String taskJson = JSON.toJSONString(json);
+        String result =null;
+        try {
+            if (vehicleId==1){
+                result = HttpClient.httpPost("http://localhost:8009/rgv1/sendTask", taskJson);
+            }
+            if (vehicleId==2){
+                result = HttpClient.httpPost("http://localhost:8009/rgv2/sendTask", taskJson);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+            logger.error(new Date() + "WCS接口超时未响应！");
+        }
+        JSONObject jsonObject = JSON.parseObject(result);
+        int status = Integer.parseInt(String.valueOf(jsonObject.get("msg")));
+        if (status==1){
             //更新关系表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());
             runTask.setStatus(2);
@@ -317,15 +441,48 @@ public class AsynRunTaskService extends BaseService {
         if (vehicleId==1){
             // TODO: 2022/2/26 获取RGV2当前位置
             otherNowPoint=1;
+            //两辆小车是否冲突
+            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
+            if (conflictBoolean){
+                //若冲突
+                // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
+                Map<String, Integer> json = new HashMap();
+                //type=1为 入
+                // taskType 4 单移动
+                json.put("taskType", 4);
+                json.put("sendRow", 39);
+                String taskJson = JSON.toJSONString(json);
+                try {
+                    HttpClient.httpPost("http://localhost:8009/rgv2/sendTask",taskJson);
+                } catch (IOException e) {
+                    e.printStackTrace();
+                    logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
+                }
+            }
         }else {
             //获取RGV1当前位置
             otherNowPoint=2;
-        }
             //两辆小车是否冲突
             Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
-        while (conflictBoolean){
+            if (conflictBoolean){
                 //若冲突
                 // TODO: 2022/2/26  执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
+                Map<String, Integer> json = new HashMap();
+                // taskType 4 单移动
+                json.put("taskType", 4);
+                json.put("sendRow", 1);
+                String taskJson = JSON.toJSONString(json);
+                try {
+                    HttpClient.httpPost("http://localhost:8009/rgv1/sendTask",taskJson);
+                } catch (IOException e) {
+                    e.printStackTrace();
+                    logger.error(new Date() + "WCS接口超时未响应！");
+                    //wocket推送到页面
+                    return;
+                }
+            }
         }
         // TODO: 2021/12/28 location排序
         Location location = locationServiceBiz.list(new QueryWrapper<Location>()
@@ -366,7 +523,32 @@ public class AsynRunTaskService extends BaseService {
         setCommonField(inStockInfo);
         inStockInfoServiceBiz.save(inStockInfo);
         // TODO: 2021/12/14  调用车辆填入起终点,得到车辆执行结果,填入任务号（待确认）
-        if (true){
+        Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
+        Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
+        Map<String, Object> json = new HashMap();
+        // taskType 1 搬运
+        json.put("taskType", 1);
+        json.put("sendRow", endPoint);
+        json.put("pickRow",startPoint);
+        json.put("taskNo",currTaskId);
+        json.put("ideNumber",1);
+        json.put("processNumber",currTask.getPlcValue());
+        String taskJson = JSON.toJSONString(json);
+        String result =null;
+        try {
+            if (vehicleId==1){
+                result = HttpClient.httpPost("http://localhost:8009/rgv1/sendTask", taskJson);
+            }
+            if (vehicleId==2){
+                result = HttpClient.httpPost("http://localhost:8009/rgv2/sendTask", taskJson);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+            logger.error(new Date() + "WCS接口超时未响应！");
+        }
+        JSONObject jsonObject = JSON.parseObject(result);
+        int status = Integer.parseInt(String.valueOf(jsonObject.get("msg")));
+        if (status==1){
             //更新关系表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());
             runTask.setStatus(2);
@@ -394,9 +576,14 @@ public class AsynRunTaskService extends BaseService {
     }
     //出库。起点为缓存区库位，终点为提升台
     @Async("asyncServiceExecutor")
-    public void asynRunOutStock(Long runTaskId,Long locationId){
+    public void asynRunOutStock(Long locationId){
-        //修改调度任务状态
+        RunTask runTask=new RunTask();
-        RunTask runTask = runTaskServiceBiz.getById(runTaskId);
+        setCommonField(runTask);
+        //runTask.setVehicleId(vehicleId);
+        runTask.setBeginTime(LocalDateTime.now());
+        //runTask.setStartPosition(currTask.getOutStartPosition());
+        //runTask.setEndPosition(currTask.getOutTargetPosition());
+        runTaskServiceBiz.save(runTask);
         //修改缓存区状态
         InStockInfo inStockInfo = inStockInfoServiceBiz.getOne(new QueryWrapper<InStockInfo>()
                 .eq("location_id", locationId));

6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java

@@ -51,6 +51,8 @@ public class RunTaskUtils {
     private AutoExeTaskServiceBiz autoExeTaskServiceBiz;
     @Resource
     private KilnInfoServiceBiz kilnInfoServiceBiz;
+    @Resource
+    private PlcNameSpaceServiceBiz plcNameSpaceServiceBiz;
 
     /**
      * 进炉加工
@@ -58,7 +60,7 @@ public class RunTaskUtils {
      * @return
      * @throws InterruptedException
      */
-    public R runTaskForInKiln(Long currTaskId) throws InterruptedException       {
+    public R runTaskForInKiln(Long currTaskId) throws InterruptedException{
         CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
         //起点,起点和终点是液压台code、窑炉code、缓存区code
         String startPosition = currTask.getStartPosition();
@@ -90,15 +92,19 @@ public class RunTaskUtils {
             //有小车在运行，提示当前有车辆在运行，请稍后
             return R.failed("当前轨道有RGV车辆在运动，请等待当前RGV车辆执行完毕再执行任务！");
         }
-        // TODO: 2022/2/27  传入任务id,起始点，若终点是窑炉，获取窑炉状态
+        // TODO: 2022/2/27  传入任务id,起始点，若终点是窑炉，获取窑炉状态,能放两坨货的窑炉怎么判定状态？
-        int kilnStatus = 1;
+        KilnInfo kilnInfo = kilnInfoServiceBiz.getById(currTask.getKilnId());
-
+        String kilnNamePlace = plcNameSpaceServiceBiz.getOne(new QueryWrapper<PlcNameSpace>()
+                .eq(PlcNameSpace.EQ_TYPE, 0)
+                .eq(PlcNameSpace.EQ_ID, kilnInfo.getId())).getName();
+        String result = readPlcToString(kilnNamePlace, "AllowIn");
+        Boolean resultBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
         //窑炉状态为不可用
-        if (kilnStatus == 0) {
+        if (kilnInfo.getStatus() == 1) {
             return R.failed("目标窑炉不可用！");
         }
         //窑炉可用未满
-        if (kilnStatus==1){
+        if (resultBoolean){
             //计算出路径最短的车辆id
             Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), currTask.getTargetPosition());
             //占用车辆
@@ -115,7 +121,7 @@ public class RunTaskUtils {
             return R.ok("操作成功，任务已开始执行。");
         }
         //窑炉已满
-        if (kilnStatus==2){
+        if (resultBoolean){
             //查询缓存区库位是否已满
             int count = locationServiceBiz.count(new QueryWrapper<Location>()
                     .eq(Location.STATUS, 0)
@@ -249,4 +255,26 @@ public class RunTaskUtils {
         }
     }
 
+    /**
+     * 获取变量值
+     * @param nameSpace nameSpace前缀
+     * @param variableName 变量名称
+     * @return result字符串
+     */
+    private String readPlcToString(String nameSpace, String variableName){
+        String identifier=nameSpace.concat(variableName);
+        Map<String, Object> json = new HashMap();
+        json.put("nameSpace", 6);
+        json.put("plcName", "plc1");
+        json.put("identifier",identifier);
+        String result = null;
+        try {
+            result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
+        } catch (IOException e) {
+            e.printStackTrace();
+            logger.info("readPLC： "+identifier+" 的值失败");
+        }
+        return result;
+    }
+
 }

6.program/wms-empty/src/main/java/com/mt/wms/empty/task/TaskDistanceUtils.java

@@ -89,9 +89,19 @@ public class TaskDistanceUtils {
         //小车当前位置、起点、终点，找出最大最小值
         int min=(((nowPoint<start)?nowPoint:start)<end)?((nowPoint<start)?nowPoint:start):end;
         int max=(((nowPoint>start)?nowPoint:start)>end)?((nowPoint>start)?nowPoint:start):end;
+        //另一辆小车在在小车路径上比如冲突，不在小车路径上时判定一下安全距离（4米）
         if (otherNowPoint>=min&&otherNowPoint<=max){
             return true;
         }else {
+            Double maxDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, max)).getDistance();
+            Double minDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, min)).getDistance();
+            Double otherVehicleDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, otherNowPoint)).getDistance();
+            if (Math.abs(otherVehicleDistance-maxDistance)<4){
+                return true;
+            }
+            if (Math.abs(otherVehicleDistance-minDistance)<4){
+                return true;
+            }
             return false;
         }
     }

6.program/wms-empty/src/main/java/com/mt/wms/empty/vo/CurrTaskMainQueryVo.java

@@ -56,6 +56,12 @@ public class CurrTaskMainQueryVo extends BaseVo implements PageVo.ConvertVo {
      */
     @ApiModelProperty("任务类型")
     private Integer taskType;
+
+    /**
+     * 是否自动执行：	0手动，1自动，如果是自动任务这里要监控进出和到缓存区的调度任务
+     */
+    @ApiModelProperty("是否自动执行：手动，1自动")
+    private Integer is_auto;
     /**
      * 开始位置
      */