diff --git a/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java b/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java index 43375bc..20f6f5a 100644 --- a/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java +++ b/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java @@ -91,7 +91,7 @@ public class AsynRunTaskService extends BaseService { VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId); List currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper().eq(CurrTaskDet.CURR_TASK_ID, currTask)); //检查车辆是否冲突，冲突则避让 - rgvStatus(vehicleId, currTask,currTask.getStartPosition(),currTask.getTargetPosition()); + rgvStatus(vehicleId, currTask, currTask.getStartPosition(), currTask.getTargetPosition()); //新建一条执行任务的关系表存放任务执行信息 RunTask runTask = new RunTask(); runTask.setTaskId(currTask.getId()); @@ -105,7 +105,7 @@ public class AsynRunTaskService extends BaseService { Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode(); PointInfo pointInfo = pointInfoServiceBiz.getOne(new QueryWrapper().eq(PointInfo.NOTE, runTask.getEndPosition())); Long endPoint = pointInfo.getCode(); - logger.info("加工炉: "+pointInfo.getName()+"可用未满,调用车辆: "+vehicleId+" 起点为提升台终点为工业炉"); + logger.info("加工炉: " + pointInfo.getName() + "可用未满,调用车辆: " + vehicleId + " 起点为提升台终点为工业炉"); Integer status = sendTaskToRgv(vehicleId, currTaskId, startPoint, endPoint, currTask.getPlcValue()); logger.info(String.valueOf(status)); //执行成功,托盘进炉 @@ -136,7 +136,7 @@ public class AsynRunTaskService extends BaseService { apmsCreateProcess(currTask); } else { int secondSetp = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); - if (secondSetp>0){ + if (secondSetp > 0) { //当前任务为自动任务里的第二步，先上报第一步的apms-endProcess AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); CurrTask firstCurrTask = currTaskServiceBiz.getById(autoExeTask.getFTaskId()); @@ -148,7 +148,7 @@ public class AsynRunTaskService extends BaseService { apmsStartProcess(currTask); } int threeSetp = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.TH_TASK_ID, currTaskId)); - if (threeSetp>0){ + if (threeSetp > 0) { //当前任务为自动任务里的第三步，先上报第二步的apms处理endProcess AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper().eq(AutoExeTask.TH_TASK_ID, currTaskId)); CurrTask secondCurrTask = currTaskServiceBiz.getById(autoExeTask.getTTaskId()); @@ -171,8 +171,8 @@ public class AsynRunTaskService extends BaseService { vehicleInfoServiceBiz.updateById(vehicle); 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 + "任务执行失败==="); - logger.info("任务 " + currTask.getTaskCode() + " 车辆从起点"+startPoint+"台到加工炉过程中失败。"); - webSocketServer.sendtoAll("任务 " + currTask.getTaskCode() + " 车辆从起点"+startPoint+"台到加工炉过程中失败。"); + logger.info("任务 " + currTask.getTaskCode() + " 车辆从起点" + startPoint + "台到加工炉过程中失败。"); + webSocketServer.sendtoAll("任务 " + currTask.getTaskCode() + " 车辆从起点" + startPoint + "台到加工炉过程中失败。"); } } @@ -185,7 +185,7 @@ public class AsynRunTaskService extends BaseService { VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId); List currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper().eq(CurrTaskDet.CURR_TASK_ID, currTask)); //检查车辆是否冲突，冲突则避让 - rgvStatus(vehicleId, currTask,location.getCode(),currTask.getTargetPosition()); + rgvStatus(vehicleId, currTask, location.getCode(), currTask.getTargetPosition()); //新建一条执行任务的关系表存放任务执行信息 RunTask runTask = new RunTask(); runTask.setTaskId(currTask.getId()); @@ -240,7 +240,7 @@ public class AsynRunTaskService extends BaseService { apmsCreateProcess(currTask); } else { int secondSetp = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); - if (secondSetp>0){ + if (secondSetp > 0) { //从缓存区到加工炉的任务,其上一步已经报告了apmsend //当前任务为自动任务里的第二步，先上报第一步的apms-endProcess //AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); @@ -252,7 +252,7 @@ public class AsynRunTaskService extends BaseService { apmsStartProcess(currTask); } int threeSetp = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.TH_TASK_ID, currTaskId)); - if (threeSetp>0){ + if (threeSetp > 0) { //当前任务为自动任务里的第三步，先上报第二步的apms处理endProcess //AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper().eq(AutoExeTask.TH_TASK_ID, currTaskId)); //CurrTask secondCurrTask = currTaskServiceBiz.getById(autoExeTask.getTTaskId()); @@ -286,13 +286,13 @@ public class AsynRunTaskService extends BaseService { //工业炉已满，调用车辆起点为提升台，终点为缓存区 @Async("asyncServiceExecutor") - public void asynRunTaskToWarehouse(Long currTaskId, Long vehicleId,Location location) throws IOException { + public void asynRunTaskToWarehouse(Long currTaskId, Long vehicleId, Location location) throws IOException { CurrTask currTask = currTaskServiceBiz.getById(currTaskId); //Location location = locationServiceBiz.getById(currTask.getLocationId()); VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId); KilnInfo kilnInfo = kilnInfoServiceBiz.getById(currTask.getKilnId()); //检查车辆是否冲突，冲突则避让 - rgvStatus(vehicleId, currTask,currTask.getStartPosition(),location.getCode()); + rgvStatus(vehicleId, currTask, currTask.getStartPosition(), 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 RunTask runTask = new RunTask(); runTask.setTaskId(currTask.getId()); @@ -343,17 +343,17 @@ public class AsynRunTaskService extends BaseService { vehicle.setStatus(0); vehicleInfoServiceBiz.updateById(vehicle); //如果任务为多步骤任务的非第一步，置前置任务isIn为2 - if (currTask.getIsAuto()==1){ + if (currTask.getIsAuto() == 1) { int count = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.F_TASK_ID, currTaskId)); - if (count==0){ + if (count == 0) { int secondCount = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); - if (secondCount==1){ + if (secondCount == 1) { AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); CurrTask firstCurrTask = currTaskServiceBiz.getById(autoExeTask.getFTaskId()); firstCurrTask.setIsIn(2); firstCurrTask.setStatus(2); currTaskServiceBiz.updateById(firstCurrTask); - }else { + } else { AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper().eq(AutoExeTask.TH_TASK_ID, currTaskId)); CurrTask secondCurrTask = currTaskServiceBiz.getById(autoExeTask.getTTaskId()); secondCurrTask.setIsIn(2); @@ -387,7 +387,7 @@ public class AsynRunTaskService extends BaseService { VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId); Location location = locationServiceBiz.getOne(new QueryWrapper().eq(Location.CODE, currTask.getOutTargetPosition())); //检查车辆是否冲突，冲突则避让 - rgvStatus(vehicleId, currTask,currTask.getStartPosition(),location.getCode()); + rgvStatus(vehicleId, currTask, currTask.getStartPosition(), 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 RunTask runTask = new RunTask(); runTask.setTaskId(currTask.getId()); @@ -444,33 +444,33 @@ public class AsynRunTaskService extends BaseService { vehicle.setStatus(0); vehicleInfoServiceBiz.updateById(vehicle); //任务为非自动任务上报apms-end-finish - if (currTask.getIsAuto()==0) { + if (currTask.getIsAuto() == 0) { //上报apms完成处理 logger.info("此任务为单步骤任务，任务结束，上报apms-end-finish"); apmsEndProcess(currTask); apmsFinishProcess(currTask); } else { int firstSetp = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.F_TASK_ID, currTaskId)); - if (firstSetp>0){ + if (firstSetp > 0) { //当前任务为自动任务的第一步 apmsEndProcess(currTask); } int secondSetp = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); - if (secondSetp>0){ + if (secondSetp > 0) { AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper().eq(AutoExeTask.T_TASK_ID, currTaskId)); - if (autoExeTask.getProcessFlowType()==1){ + if (autoExeTask.getProcessFlowType() == 1) { logger.info("此任务为为自动任务里的第二步且一共只有两步，任务结束，上报apms-end-finish"); //当前任务为自动任务里的第三步且一共只有两步，先上报apms处理endProcess apmsEndProcess(currTask); //再上报apms-finishProcess apmsFinishProcess(currTask); - }else { + } else { //当前任务为三步中的第二步 apmsEndProcess(currTask); } } int threeSetp = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.TH_TASK_ID, currTaskId)); - if (threeSetp>0){ + if (threeSetp > 0) { logger.info("此任务为为自动任务里的第三步，任务结束，上报apms-end-finish"); //当前任务为自动任务里的第三步，先上报apms处理endProcess apmsEndProcess(currTask); @@ -491,6 +491,7 @@ public class AsynRunTaskService extends BaseService { webSocketServer.sendtoAll("任务 " + currTask.getTaskCode() + " 车辆从工业炉到缓存区过程中失败。"); } } + //出库。起点为加工炉，终点为提升台 @Async("asyncServiceExecutor") public void asynRunOutStockForKilnToYYT(Long currTaskId, String yeyaTaiCode, Long vehicleId) throws IOException { @@ -512,7 +513,7 @@ public class AsynRunTaskService extends BaseService { logger.info("===执行出库任务时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位2，执行失败==="); // 2022/3/6 websocket通知页面 webSocketServer.sendtoAll(LocalDateTime.now() + "执行出库任务时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位2，执行失败"); - }else { + } else { logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位2，执行成功==="); } @@ -535,7 +536,7 @@ public class AsynRunTaskService extends BaseService { logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆" + 1 + "移动到点位12，执行失败==="); // 2022/3/6 websocket通知页面 webSocketServer.sendtoAll(LocalDateTime.now() + "执行出库任务时车辆位置冲突，执行车辆位移任务，车辆" + 1 + "移动到点位12，执行失败"); - }else { + } else { logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆" + 1 + "移动到点位12，执行成功==="); } } @@ -589,6 +590,7 @@ public class AsynRunTaskService extends BaseService { webSocketServer.sendtoAll("出库任务车辆从加工炉到提升平台过程中失败。"); } } + //出库。起点为缓存区库位，终点为提升台 @Async("asyncServiceExecutor") public void asynRunOutStock(Long locationId, String yeyaTaiCode, Long vehicleId) throws IOException { @@ -1215,16 +1217,17 @@ public class AsynRunTaskService extends BaseService { * 多步骤任务除了第一步为清洗炉外,每步都生成炉号 * 单步骤任务都生成炉号 */ - private void createStoveCode(CurrTask currTask){ - if (!(isFirstTask(currTask)&&currTask.getKilnId()==3)) { - //String stoveCode = CodeGeneratorHelper.getStoveCode(currTask.getTargetPosition(), currTask.getPlcValue().toString()); - String stoveCode =StoveCodeUtils.getStoveCode(currTask.getTargetPosition(),currTask.getPlcValue()); - currTask.setStoveCode(stoveCode); - currTaskServiceBiz.updateById(currTask); - }else { - logger.info(currTask.getId()+"任务为多步骤任务且第一步为清洗,不生成洗炉炉号."); - } + private void createStoveCode(CurrTask currTask) { + if (!(isFirstTask(currTask) && currTask.getKilnId() == 3)) { + //String stoveCode = CodeGeneratorHelper.getStoveCode(currTask.getTargetPosition(), currTask.getPlcValue().toString()); + String stoveCode = StoveCodeUtils.getStoveCode(currTask.getTargetPosition(), currTask.getPlcValue()); + currTask.setStoveCode(stoveCode); + currTaskServiceBiz.updateById(currTask); + } else { + logger.info(currTask.getId() + "任务为多步骤任务且第一步为清洗,不生成洗炉炉号."); + } } + /** * 上报apms创建生产单并开始处理 * @@ -1250,7 +1253,10 @@ public class AsynRunTaskService extends BaseService { createItem.setWeight(e.getWeight().doubleValue()); createItems.add(createItem); }); - apmsCreateSheet.setStoveCode(code); + //apmsCreateSheet.setStoveCode(code); + if (currTask.getStoveCode() != null) { + apmsCreateSheet.setStoveCode(currTask.getStoveCode()); + } apmsCreateSheet.setItems(createItems); logger.info(currTask.getId() + "开始创建apms生产单号"); R processSheet = apmsController.createProcessSheet(apmsCreateSheet); @@ -1263,13 +1269,13 @@ public class AsynRunTaskService extends BaseService { currTask.setSheetNo(processSheet.getData().getSheetNo()); currTaskServiceBiz.updateById(currTask); //多步骤任务除了第一步写入sheetNo - if (currTask.getIsAuto()==1){ + if (currTask.getIsAuto() == 1) { AutoExeTask autoExeTask = autoExeTaskServiceBiz.getById(currTask.getAutoExeTaskId()); CurrTask secondCurrTask = currTaskServiceBiz.getById(autoExeTask.getTTaskId()); secondCurrTask.setSheetNo(currTask.getSheetNo()); currTaskServiceBiz.updateById(secondCurrTask); //三步任务 - if (autoExeTask.getProcessFlowType()==2){ + if (autoExeTask.getProcessFlowType() == 2) { CurrTask threeCurrTask = currTaskServiceBiz.getById(autoExeTask.getThTaskId()); threeCurrTask.setSheetNo(currTask.getSheetNo()); currTaskServiceBiz.updateById(threeCurrTask); @@ -1281,17 +1287,21 @@ public class AsynRunTaskService extends BaseService { /** * 上报apms开始加工 + * * @param currTask * @return */ private Boolean apmsStartProcess(CurrTask currTask) { String code = kilnInfoServiceBiz.getById(currTask.getKilnId()).getCode(); - ApmsStartProcess apmsStartProcess=new ApmsStartProcess(); + ApmsStartProcess apmsStartProcess = new ApmsStartProcess(); apmsStartProcess.setStartUser("QJJP03"); apmsStartProcess.setStartTime(LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))); apmsStartProcess.setTechName(currTask.getCraftCodeId().toString()); apmsStartProcess.setSheetNo(currTask.getSheetNo()); - apmsStartProcess.setStoveCode(code); + if (currTask.getStoveCode() != null) { + apmsStartProcess.setStoveCode(currTask.getStoveCode()); + } + R apmsStartProcessR = apmsController.startProcess(apmsStartProcess); if (apmsStartProcessR.getCode() != 0) { logger.info("任务号" + currTask.getTaskCode() + "生产单号：" + currTask.getSheetNo() + "生产单开始生产上报apms失败"); @@ -1303,10 +1313,11 @@ public class AsynRunTaskService extends BaseService { /** * 上报apms-end + * * @param currTask * @return */ - private Boolean apmsEndProcess(CurrTask currTask){ + private Boolean apmsEndProcess(CurrTask currTask) { ApmsEndProcess apmsEndProcess = new ApmsEndProcess(); apmsEndProcess.setEndTime(currTask.getEndTime().format(DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))); apmsEndProcess.setEndUser("QJJP03"); @@ -1322,10 +1333,11 @@ public class AsynRunTaskService extends BaseService { /** * 上报apms-finish + * * @param currTask * @return */ - private Boolean apmsFinishProcess(CurrTask currTask){ + private Boolean apmsFinishProcess(CurrTask currTask) { logger.info("任务：" + currTask.getTaskCode() + "开始上报apms完成生产单！"); ApmsFinishProcessSheet apmsFinishProcessSheet = new ApmsFinishProcessSheet(); apmsFinishProcessSheet.setSheetNo(currTask.getSheetNo()); @@ -1350,30 +1362,32 @@ public class AsynRunTaskService extends BaseService { } return true; } + /** * 车辆是否在线 + * * @param vehicleId 车辆id * @return true/false - * @throws IOException plc访问失败 + * @throws IOException plc访问失败 */ private Boolean rgvOnline(Long vehicleId) throws IOException { - String identifier=null; - if (vehicleId==1){ - identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online"; + String identifier = null; + if (vehicleId == 1) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online"; } - if (vehicleId==2){ - identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online"; + if (vehicleId == 2) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online"; } Map json = new HashMap(); json.put("nameSpace", 6); json.put("plcName", "plc1"); - json.put("identifier",identifier); + json.put("identifier", identifier); String result = null; try { result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); } catch (IOException e) { e.printStackTrace(); - logger.info("获取车辆"+vehicleId+"当前是否在线失败"); + logger.info("获取车辆" + vehicleId + "当前是否在线失败"); } Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString()); return online; @@ -1381,55 +1395,56 @@ public class AsynRunTaskService extends BaseService { /** * 传入车辆ID,检查另一辆车是否在线，如果在线，检查是否位置冲突，冲突则避让。若另一辆车不在线，则不检查是否冲突。 + * * @param vehicleId * @param currTask * @throws IOException */ - private void rgvStatus(Long vehicleId,CurrTask currTask,String startPosition,String targetPosition) throws IOException { + private void rgvStatus(Long vehicleId, CurrTask currTask, String startPosition, String targetPosition) throws IOException { Long currTaskId = currTask.getId(); - if (vehicleId==1){ - Long anotherVehicleId=2L; + if (vehicleId == 1) { + Long anotherVehicleId = 2L; Boolean rgv2Online = rgvOnline(anotherVehicleId); - if (rgv2Online){ + if (rgv2Online) { //获取RGV2当前位置 Double rgv2CurrPosition = RGVCurrPosition(2); //两辆小车是否冲突 Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, startPosition, targetPosition, rgv2CurrPosition); - if (conflictBoolean){ - Integer status = moveRgv(2, currTaskId, 2,0); + if (conflictBoolean) { + Integer status = moveRgv(2, currTaskId, 2, 0); logger.info(status.toString()); - if (status!=1){ - logger.info("===执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位2，执行失败==="); - webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位2，执行失败"); - }else { - logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位2，执行成功==="); + if (status != 1) { + logger.info("===执行任务：" + currTask.getTaskCode() + " 时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位2，执行失败==="); + webSocketServer.sendtoAll(LocalDateTime.now() + "执行任务：" + currTask.getTaskCode() + " 时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位2，执行失败"); + } else { + logger.info("===执行任务：" + currTaskId + " 时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位2，执行成功==="); } } - }else { + } else { logger.info("RGV2不在线，跳过检测是否避让。"); } - }else { - Long anotherVehicleId=1L; + } else { + Long anotherVehicleId = 1L; Boolean rgv1Online = rgvOnline(anotherVehicleId); - if (rgv1Online){ + if (rgv1Online) { //获取RGV1当前位置 Double rgv1CurrPosition = RGVCurrPosition(1); //两辆小车是否冲突 Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, startPosition, targetPosition, rgv1CurrPosition); - if (conflictBoolean){ - Integer status = moveRgv(1, currTaskId, 12,0); + if (conflictBoolean) { + Integer status = moveRgv(1, currTaskId, 12, 0); logger.info(status.toString()); - if (status!=1){ - logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位12，执行失败==="); - webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位12，执行失败"); - }else { - logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位12，执行成功==="); + if (status != 1) { + logger.info("===执行任务：" + currTaskId + " 时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位12，执行失败==="); + webSocketServer.sendtoAll(LocalDateTime.now() + "执行任务：" + currTask.getTaskCode() + " 时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位12，执行失败"); + } else { + logger.info("===执行任务：" + currTaskId + " 时车辆位置冲突，执行车辆位移任务，车辆" + anotherVehicleId + "移动到点位12，执行成功==="); } } - }else { + } else { logger.info("RGV1不在线，跳过检测是否避让。"); } } @@ -1437,14 +1452,15 @@ public class AsynRunTaskService extends BaseService { /** * 判断任务是否为单步骤任务，多步骤任务第一步 + * * @param currTask 任务 * @return 单步骤任务true，多步骤任务第一步true,其他false */ - public Boolean isFirstTask(CurrTask currTask){ - if (currTask.getIsAuto()==1){ + public Boolean isFirstTask(CurrTask currTask) { + if (currTask.getIsAuto() == 1) { int count = autoExeTaskServiceBiz.count(new QueryWrapper().eq(AutoExeTask.F_TASK_ID, currTask.getId())); - return count>0; - }else { + return count > 0; + } else { return true; } }