update:

上报apms炉号

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<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;
         }
     }