update:

安全距离修改；
缓存任务进炉前校验任务状态；

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

@@ -122,16 +122,22 @@ public class CurrTaskDetServiceImpl extends BaseService implements CurrTaskDetSe
         while (iterator.hasNext()){
             CurrTaskDet currTaskDet = iterator.next();
             CurrTaskVo byId = currTaskService.getCurrTask(IdParam.builder().id(currTaskDet.getCurrTaskId()).build());
+            if (byId.getStatus()==2){
+                iterator.remove();
+                continue;
+            }
             //如果加工类型是复加工，或者任务作废。移除对象
             if (byId.getProcessType().equals(2) || byId.getValid() != 1)
             {
                 iterator.remove();
+                continue;
             }
             //如果是多步骤任务且不是第一步,移除对象
             if (byId.getIsAuto()==1){
                 AutoExeTask autoExeTask = autoExeTaskServiceBiz.getById(byId.getAutoExeTaskId());
                 if (!byId.getId().equals(autoExeTask.getFTaskId())){
                     iterator.remove();
+                    continue;
                 }
             }
         }

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

@@ -203,7 +203,7 @@ public class AsynRunTaskService extends BaseService {
         Integer status = sendTaskToRgv(vehicleId, currTaskId, startPoint, endPoint, currTask.getPlcValue());
         //执行成功,托盘进炉
         if (status == 1) {
-
+            logger.info(String.valueOf(status));
             logger.info("===执行任务：" + currTaskId + " ，车辆搬运任务，车辆：" + vehicleId + " ，起点：" + startPoint + " ,终点：" + endPoint + "任务执行成功===");
             //更新调度表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());
@@ -317,6 +317,7 @@ public class AsynRunTaskService extends BaseService {
         Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
         Integer status = sendTaskToRgv(vehicleId, currTaskId, startPoint, endPoint, currTask.getPlcValue());
         if (status == 1) {
+            logger.info(String.valueOf(status));
             logger.info("===执行任务：" + currTaskId + " ，车辆搬运任务，车辆：" + vehicleId + " ，起点：" + startPoint + " ,终点：" + endPoint + "任务执行成功===");
             //更新关系表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());
@@ -416,6 +417,7 @@ public class AsynRunTaskService extends BaseService {
         Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
         Integer status = sendTaskToRgv(vehicleId, currTaskId, startPoint, endPoint, currTask.getPlcValue());
         if (status == 1) {
+            logger.info(String.valueOf(status));
             logger.info("===执行任务：" + currTaskId + " ，车辆搬运任务，车辆：" + vehicleId + " ，起点：" + startPoint + " ,终点：" + endPoint + "任务执行成功===");
             //更新关系表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());
@@ -550,6 +552,7 @@ public class AsynRunTaskService extends BaseService {
         Integer status = sendTaskToRgv(vehicleId, 0L, startPoint, endPoint, 0);
         logger.info(status.toString());
         if (status == 1) {
+            logger.info(String.valueOf(status));
             logger.info("===执行任务出库任务，车辆搬运任务，车辆：" + vehicleId + " ，起点：" + startPoint + " ,终点：" + endPoint + "任务执行成功===");
             //更新调度任务表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());
@@ -649,6 +652,7 @@ public class AsynRunTaskService extends BaseService {
         Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
         Integer status = sendTaskToRgv(vehicleId, 0L, startPoint, endPoint, 0);
         if (status == 1) {
+            logger.info(String.valueOf(status));
             logger.info("===执行任务出库任务，车辆搬运任务，车辆：" + vehicleId + " ，起点：" + startPoint + " ,终点：" + endPoint + "任务执行成功===");
             //更新调度任务表状态为完成
             runTask.setUpdateTime(LocalDateTime.now());

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

@@ -582,6 +582,10 @@ public class ScheduledTask extends BaseService {
                         logger.info("加工炉"+kilnInfo.getCode()+"readyIn为"+kilnReadyIn.toString()+" allowIn为"+kilnAllowIn.toString());
                         logger.info("缓存区等待队列第一位："+inStockInfo.toString());
                         CurrTask currTask = currTaskServiceBiz.getById(inStockInfo.getTaskId());
+                        if (currTask.getStatus()!=0){
+                            logger.info(inStockInfo.toString()+"该缓存对应的任务状态为："+currTask.getStatus()+"不能发起任务。");
+                            webSocketServer.sendtoUser(inStockInfo.getLocationName()+"对应的缓存加工任务状态不为未加工，不能发起任务，请先确认任务状态！","1");
+                        }
                         Location location = locationServiceBiz.getById(inStockInfo.getLocationId());
                         //是否有小车在运行
                         List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 1));

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

@@ -121,10 +121,10 @@ public class TaskDistanceUtils {
         if (otherNowPosition>=minDistance&&otherNowPosition<=maxDistance){
             return true;
         }else {
-            if (Math.abs(otherNowPosition-maxDistance)<2){
+            if (Math.abs(otherNowPosition-maxDistance)<3.5){
                 return true;
             }
-            if (Math.abs(otherNowPosition-minDistance)<2){
+            if (Math.abs(otherNowPosition-minDistance)<3.5){
                 return true;
             }
             return false;