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mt-qj-wms-hd
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update: 

上报apms炉号
master
李广豪 1 년 전
부모
59f008f19e
커밋
592d27b858
1개의 변경된 파일과 91개의 추가작업 그리고 75개의 파일을 삭제
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  1. +91
    -75
      6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java

+ 91
- 75
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java 파일 보기

@@ -91,7 +91,7 @@ public class AsynRunTaskService extends BaseService {
VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
List<CurrTaskDet> currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper<CurrTaskDet>().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<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
PointInfo pointInfo = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().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<AutoExeTask>().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<AutoExeTask>().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<AutoExeTask>().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<AutoExeTask>().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<CurrTaskDet> currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper<CurrTaskDet>().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<AutoExeTask>().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<AutoExeTask>().eq(AutoExeTask.T_TASK_ID, currTaskId));
@@ -252,7 +252,7 @@ public class AsynRunTaskService extends BaseService {
apmsStartProcess(currTask);
}
int threeSetp = autoExeTaskServiceBiz.count(new QueryWrapper<AutoExeTask>().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<AutoExeTask>().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<AutoExeTask>().eq(AutoExeTask.F_TASK_ID, currTaskId));
if (count==0){
if (count == 0) {
int secondCount = autoExeTaskServiceBiz.count(new QueryWrapper<AutoExeTask>().eq(AutoExeTask.T_TASK_ID, currTaskId));
if (secondCount==1){
if (secondCount == 1) {
AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper<AutoExeTask>().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<AutoExeTask>().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<Location>().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<AutoExeTask>().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<AutoExeTask>().eq(AutoExeTask.T_TASK_ID, currTaskId));
if (secondSetp>0){
if (secondSetp > 0) {
AutoExeTask autoExeTask = autoExeTaskServiceBiz.getOne(new QueryWrapper<AutoExeTask>().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<AutoExeTask>().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<ApmsCreateProcessSheetVo> 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<ApmsStartProcess> 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<String, Object> 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<AutoExeTask>().eq(AutoExeTask.F_TASK_ID, currTask.getId()));
return count>0;
}else {
return count > 0;
} else {
return true;
}
}


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