最后一步加工炉完成后直接出库到一号液压台

6.program/wms-empty/src/main/java/com/mt/wms/empty/controller/EnergyController.java

@@ -84,7 +84,7 @@ public class EnergyController extends BaseController {
     private TaskHisServiceBiz taskHisServiceBiz;
 
     @PostMapping(value = "eletric")
-    @ApiOperation(value = "根据工业炉id获取消耗情况")
+    @ApiOperation(value = "根据任务id获取消耗情况")
     public R<String> list(@Validated({Default.class}) @RequestBody ElectricQueryParam electricQueryParam) {
         Long kiln = electricQueryParam.getKilnId();
         //工业炉id为0代表全部，存储的时候计算全部

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

@@ -457,7 +457,98 @@ 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 {
+        CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
+        KilnInfo kilnInfo = kilnInfoServiceBiz.getById(currTask.getKilnId());
+        if (vehicleId == 1) {
+            Long anotherVehicleId = 2L;
+            Boolean rgv2Online = rgvOnline(anotherVehicleId);
+            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, kilnInfo.getCode(), yeyaTaiCode, rgv2CurrPosition);
+                if (conflictBoolean) {
+                    Integer status = moveRgv(2, 1L, 2, 0);
+                    if (status != 1) {
+                        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" + vehicleId + "移动到点位39，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" + vehicleId + "移动到点位39，执行失败");
+                        return;
+                    }
+                    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" + vehicleId + "移动到点位39，执行成功===");
+                }
+            } else {
+                logger.info("RGV2不在线，跳过检测是否避让。");
+            }
 
+        } else {
+            Boolean rgv1Online = rgvOnline(1L);
+            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, kilnInfo.getCode(), yeyaTaiCode, rgv1CurrPosition);
+                if (conflictBoolean) {
+                    Integer status = moveRgv(1, 1L, 12, 0);
+                    if (status != 1) {
+                        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" + vehicleId + "移动到点位1，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" + vehicleId + "移动到点位1，执行失败");
+                        return;
+                    }
+                    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" + vehicleId + "移动到点位1，执行成功===");
+                }
+            } else {
+                logger.info("RGV1不在线，跳过检测是否避让。");
+            }
+        }
+        RunTask runTask = new RunTask();
+        // setCommonField(runTask);
+        runTask.setVehicleId(vehicleId);
+        runTask.setBeginTime(LocalDateTime.now());
+        runTask.setStartPosition(kilnInfo.getCode());
+        runTask.setEndPosition(yeyaTaiCode);
+        runTaskServiceBiz.save(runTask);
+        //  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（出库任务，任务号为0）
+        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();
+        Integer status = sendTaskToRgv(vehicleId, 0L, startPoint, endPoint, 0);
+        if (status == 1) {
+            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());
+            runTask.setStatus(2);
+            runTask.setEndTime(LocalDateTime.now());
+            runTaskServiceBiz.updateById(runTask);
+            //更新车辆状态
+            VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
+            vehicleInfo.setStatus(0);
+            vehicleInfoServiceBiz.updateById(vehicleInfo);
+            //更新currTask表
+            currTask.setIsOut(2);
+            currTask.setUpdateTime(LocalDateTime.now());
+            currTask.setStatus(2);
+            currTask.setIsIn(2);
+            currTask.setUpdateTime(LocalDateTime.now());
+            logger.info("修改currTask任务状态");
+            currTaskServiceBiz.updateById(currTask);
+            //上报apms
+            apmsEndProcess(currTask);
+            apmsFinishProcess(currTask);
+        } else {
+            runTask.setStatus(3);
+            runTask.setUpdateTime(LocalDateTime.now());
+            runTaskServiceBiz.updateById(runTask);
+            logger.info("任务 " + runTask.getTaskCode() + " 车辆从加工炉到提升平台过程中失败。");
+            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 + "任务执行失败===");
+            System.out.println("===执行任务出库任务，车辆搬运任务，车辆：" + vehicleId + " ，起点：" + startPoint + " ,终点：" + endPoint + "任务执行失败===");
+            //  2021/12/14 websocket推送到前端
+            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 {

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

@@ -241,6 +241,31 @@ public class RunTaskUtils {
                 }
             }
         }
+        //液压台允许放货
+        if (true) {
+            //是否有小车在运行
+            List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 1));
+            if (vehicleInfoList.size() > 0) {
+                //有小车在运行，提示当前有车辆在运行，请稍后
+                logger.info("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！");
+                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！");
+            }
+            //计算出路径最短的车辆id
+            KilnInfo kilnInfo = kilnInfoServiceBiz.getById(kilnId);
+            //工业炉为起点,缓存区为一号液压台
+            Long vehicleId = taskDistanceUtils.chooseVehicle(kilnInfo.getCode(), "YYT001");
+            if (vehicleId == 0) {
+                logger.info("两辆车都不在线，请检查后重试！");
+                return R.failed("两辆车都不在线，请检查后重试！");
+            }
+            //占用车辆
+            VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
+            vehicleInfo.setStatus(1);
+            vehicleInfo.setUpdateTime(LocalDateTime.now());
+            vehicleInfoServiceBiz.updateById(vehicleInfo);
+            asynRunTaskService.asynRunOutStockForKilnToYYT(currTask.getId(),"YYT001",vehicleId);
+            return R.ok("操作成功！托盘即将出库到一号液压台。");
+        } else {
             //查询缓存区库位是否已满
             int count = locationServiceBiz.count(new QueryWrapper<Location>()
                     .eq(Location.STATUS, 0)
@@ -285,6 +310,7 @@ public class RunTaskUtils {
                 return R.ok("当前缓存区已满，无法从加工炉出炉到缓存区。");
             }
         }
+    }
 
     /**
      * 从缓存区出库