选定好车辆后，在检查车辆位置是否冲突阶段检查车辆是否在线，不在线则不检测冲突。

添加单步骤任务和多步骤任务相关bug修改。
增加定时任务检查车辆在线并且空闲，置车辆状态为空闲。
一个订单对应多张标识卡，首页当前任务客户名称改为以表示卡号差对应订单获取。

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

@@ -119,6 +119,7 @@ public class CurrTaskController extends BaseController {
         if (processSheet.getData().getSuccess())
         {
             //apms创建成功后写入数据库
+            param.setAutoTaskType(0);
             R<IdVo> mainTask = currTaskService.createProcessTask(param);
             currTaskDetService.createProcessTaskDet(param.getDetParams(), mainTask.getData().getId());
             String sheetNo = processSheet.getData().getSheetNo();
@@ -127,7 +128,7 @@ public class CurrTaskController extends BaseController {
             currTaskById.setSheetNo(sheetNo);
             currTaskService.updateCurrTaskById(currTaskById);
             //生成详细任务中的检验结果数据在apms推送生产单结果时创建
-            return successful("创建成功，任务添加至等待执行队列。");
+            return successful(0,"创建成功，任务添加至等待执行队列。","");
         }
         else
         {
@@ -237,6 +238,7 @@ public class CurrTaskController extends BaseController {
                 //将返回的生产单号写入到主任务中。
                 CurrTask currTaskById = currTaskService.getCurrTaskById(mainTask.getData().getId());
                 currTaskById.setSheetNo(sheetNo);
+                currTaskById.setAutoExeTaskId(autoExeTask.getId());
                 currTaskService.updateCurrTaskById(currTaskById);
                 //生成详细任务中的检验结果数据在apms推送生产单结果时创建
                 //return successful("创建成功，任务添加至等待执行队列。");
@@ -248,7 +250,7 @@ public class CurrTaskController extends BaseController {
             }
             i++;
         }
-        return null;
+        return successful(0,"操作成功,任务加入待执行队列","");
     }
 
     @PostMapping(value = "mainCurrentTaskNow")

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

@@ -78,6 +78,8 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
     AutoExeTaskServiceBiz autoExeTaskServiceBiz;
     @Autowired
     KilnInfoServiceBiz kilnInfoServiceBiz;
+    @Autowired
+    LocationServiceBiz locationServiceBiz;
 
     @Override
     public CurrTaskVo getCurrTask(IdParam idParam) {
@@ -104,6 +106,9 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
         BeanUtils.copyProperties(param, currTask);
         currTask.setTaskType(TaskTypeEnum.WTK.getValue());
         KilnInfo kilnInfo = kilnInfoServiceBiz.getById(currTask.getKilnId());
+        if (param.getAutoTaskType()!=0){
+            currTask.setIsAuto(1);
+        }
 
         //根据工艺号查询工艺id以及工艺plc值
         CraftInfo one = craftInfoServiceBiz.getOne(new QueryWrapper<CraftInfo>().eq(CraftInfo.CRAFT_CODE, param.getCraftCode()));
@@ -151,34 +156,76 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
 
     @Override
     public R<String> deleteBySheetNo(String sheetNo) {
-        CurrTask byId = currTaskServiceBiz.getOne(new QueryWrapper<CurrTask>().eq(CurrTask.SHEET_NO, sheetNo));
+        //一个生产单可能对应多个currTask,删除的时候查询是否对应多个，如果对应多个，自动循环删除所有currTask,当删除最后一条currTask时上报apms
-        //如果尚未执行（状态 0）
+        List<CurrTask> currTaskList = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.SHEET_NO, sheetNo));
-        if (byId.getStatus() == 0)
+        if (currTaskList.size()>1){
-        {
+            int i=0;
+            for (CurrTask currTask:currTaskList
+                 ) {
+                i++;
+                if(currTask.getStatus()==0){
+                    if (i==currTaskList.size()){
+                        R<ApmsEndProcessVo> apmsStartProcessR = apmsControl.deleteBySheetNo(sheetNo);
+                        if (!apmsStartProcessR.getData().getSuccess()){
+                            return failed(apmsStartProcessR.getData().getMsg());
+                        }
+                    }
+                    Long currTaskId = currTask.getId();
+                    if (currTask.getIsAuto()==1){
+                        List<CurrTask> currTaskList2 = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, currTask.getAutoExeTaskId()));
+                        if (currTaskList2.size()==1){
+                            autoExeTaskServiceBiz.removeById(currTask.getAutoExeTaskId());
+                        }
+                    }
+                    currTaskServiceBiz.removeById(currTaskId);
+                    currTaskDetService.deleteByCurrTaskId(currTaskId);
 
-            R<ApmsEndProcessVo> apmsStartProcessR = apmsControl.deleteBySheetNo(sheetNo);
+                }
-            if (apmsStartProcessR.getData().getSuccess())
+                if (currTask.getStatus()==2){
-            {
+                    return failed("无法删除，任务已加工完成。");
-                Long currTaskId = byId.getId();
+                }if (currTask.getStatus()==1){
-                currTaskServiceBiz.removeById(currTaskId);
+                    return failed("无法删除，任务正在执行中。");
-                currTaskDetService.deleteByCurrTaskId(currTaskId);
+                }
-                if (byId.getIsAuto()==1){
+            }
-                    List<CurrTask> currTaskList = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, byId.getAutoExeTaskId()));
+            return successful(0,"APMS生产单删除成功。","");
-                    if (currTaskList.size()==0){
+        }else {
-                        autoExeTaskServiceBiz.removeById(byId.getAutoExeTaskId());
+            for (CurrTask currTask:currTaskList
+                 ) {
+                if (currTask.getStatus()==0){
+                    R<ApmsEndProcessVo> apmsStartProcessR = apmsControl.deleteBySheetNo(sheetNo);
+                    if (apmsStartProcessR.getData().getSuccess())
+                    {
+                        Long currTaskId = currTask.getId();
+                        if (currTask.getIsAuto()==1){
+                            List<CurrTask> currTaskList2 = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, currTask.getAutoExeTaskId()));
+                            if (currTaskList2.size()==1){
+                                autoExeTaskServiceBiz.removeById(currTask.getAutoExeTaskId());
+                            }
+                        }
+                        currTaskServiceBiz.removeById(currTaskId);
+                        currTaskDetService.deleteByCurrTaskId(currTaskId);
+                        if (currTask.getIsAuto()==1){
+                            List<CurrTask> currTaskList2 = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, currTask.getAutoExeTaskId()));
+                            if (currTaskList2.size()==0){
+                                autoExeTaskServiceBiz.removeById(currTask.getAutoExeTaskId());
+                            }
+                        }
+                        return successful(0,"APMS生产单删除成功。","");
+                    }
+                    else
+                    {
+                        return failed(apmsStartProcessR.getData().getMsg());
                     }
                 }
-                return successful("APMS生产单删除成功。");
+                if (currTask.getStatus()==2){
-            }
+                    return failed("无法删除，任务已加工完成。");
-            else
+                }if (currTask.getStatus()==1){
-            {
+                    return failed("无法删除，任务正在执行中。");
-                return failed(apmsStartProcessR.getData().getMsg());
+                }
+
             }
         }
-        if (byId.getStatus()==2){
+        return failed("根据生产单号删除任务失败！");
-            return failed("无法删除，任务已加工完成。");
-        }
-        return failed("无法删除，任务正在执行中。");
 
     }
 
@@ -211,6 +258,8 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
                     }
             );
             e.setCustomers(customers);
+            e.setKilnName(e.getTargetPosition());
+            e.setLocationName(locationServiceBiz.getById(e.getLocationId()).getLocationName());
         });
         return successful(pageVo);
     }

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

@@ -47,7 +47,7 @@ public class StockInfoServiceImpl extends BaseService implements StockInfoServic
         List<CurrTaskDetVo> currTaskDetVoList = com.mt.wms.core.utils.BeanUtils.copyList(currTaskDetList, CurrTaskDetVo.class);
         for (CurrTaskDetVo currTaskDetVo:currTaskDetVoList
              ) {
-            String costomerName = orderInfoServiceBiz.getOne(new QueryWrapper<OrderInfo>().eq("order_no", currTaskDetVo.getOrderNo())).getCustomerName();
+            String costomerName = orderInfoServiceBiz.getOne(new QueryWrapper<OrderInfo>().eq(OrderInfo.IDEN_CARD_NUM, currTaskDetVo.getIdenCardNum())).getCustomerName();
             currTaskDetVo.setCustomer(costomerName);
         }
         return successful(currTaskDetVoList);

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

@@ -86,35 +86,8 @@ public class AsynRunTaskService extends BaseService {
     public void asynRunTask(Long currTaskId,Long vehicleId) throws IOException {
         CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
-        if (vehicleId==1){
+        //检查车辆是否冲突，冲突则避让
-            //获取RGV2当前位置
+        rgvStatus(vehicleId,currTask);
-            Double rgv2CurrPosition = RGVCurrPosition(2);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv2CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(2, currTaskId,  2,0);
-                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"+vehicleId+"移动到点位39，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"+vehicleId+"移动到点位39，执行失败");
-                    return;
-                }
-                logger.info("===执行任务："+currTaskId+" 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 {
-            //获取RGV1当前位置
-            Double rgv1CurrPosition = RGVCurrPosition(1);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv1CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(1, currTaskId,  12,0);
-                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"+vehicleId+"移动到点位1，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"+vehicleId+"移动到点位1，执行失败");
-                    return;
-                }
-                logger.info("===执行任务："+currTaskId+" 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===");
-            }
-        }
         //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());
@@ -168,35 +141,8 @@ public class AsynRunTaskService extends BaseService {
         Long currTaskId = inStockInfo.getTaskId();
         CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
-        if (vehicleId==1){
+        //检查车辆是否冲突，冲突则避让
-            //获取RGV2当前位置
+        rgvStatus(vehicleId,currTask);
-            Double rgv2CurrPosition = RGVCurrPosition(2);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(),currTask.getTargetPosition(),  rgv2CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(2, currTaskId,  2,0);
-                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"+vehicleId+"移动到点位39，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"+vehicleId+"移动到点位39，执行失败");
-                    return;
-                }
-                logger.info("===执行任务："+currTaskId+" 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 {
-            //获取RGV1当前位置
-            Double rgv1CurrPosition = RGVCurrPosition(1);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId,location.getCode(),currTask.getTargetPosition(), rgv1CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(1, currTaskId,  12,0);
-                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"+vehicleId+"移动到点位1，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"+vehicleId+"移动到点位1，执行失败");
-                    return;
-                }
-                logger.info("===执行任务："+currTaskId+" 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===");
-            }
-        }
         //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());
@@ -262,35 +208,8 @@ public class AsynRunTaskService extends BaseService {
         CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
         Location location = locationServiceBiz.getById(currTask.getLocationId());
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
-        if (vehicleId==1){
+        //检查车辆是否冲突，冲突则避让
-            //获取RGV2当前位置
+        rgvStatus(vehicleId,currTask);
-            Double rgv2CurrPosition = RGVCurrPosition(2);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), location.getCode(), rgv2CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(2, currTaskId,  2,0);
-                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"+vehicleId+"移动到点位39，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"+vehicleId+"移动到点位39，执行失败");
-                    return;
-                }
-                logger.info("===执行任务："+currTaskId+" 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 {
-            //获取RGV1当前位置
-            Double rgv1CurrPosition = RGVCurrPosition(1);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), location.getCode(), rgv1CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(1, currTaskId,  12,0);
-                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"+vehicleId+"移动到点位1，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"+vehicleId+"移动到点位1，执行失败");
-                    return;
-                }
-                logger.info("===执行任务："+currTaskId+" 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===");
-            }
-        }
         //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());
@@ -327,7 +246,6 @@ public class AsynRunTaskService extends BaseService {
             runTaskServiceBiz.updateById(runTask);
             //更新currTask表
             currTask.setCacheSatatus(2);
-            currTask.setStatus(3);
             currTask.setUpdateTime(LocalDateTime.now());
             currTaskServiceBiz.updateById(currTask);
             //更新in_stock_info表
@@ -351,37 +269,8 @@ public class AsynRunTaskService extends BaseService {
     public void asynRunTaskForKilnToWarehouse(Long currTaskId,Long vehicleId) throws IOException {
         CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
-        if (vehicleId==1){
+        //检查车辆是否冲突，冲突则避让
-            //获取RGV2当前位置
+        rgvStatus(vehicleId,currTask);
-            Double rgv2CurrPosition = RGVCurrPosition(2);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getOutStartPosition(), currTask.getOutTargetPosition(), rgv2CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(2, currTaskId,  2,currTask.getPlcValue());
-                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"+vehicleId+"移动到点位39，执行失败===");
-                    //  2022/3/6  websocket通知页面
-                    webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 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："+currTaskId+" 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 {
-            //获取RGV1当前位置
-            Double rgv1CurrPosition = RGVCurrPosition(1);
-            //两辆小车是否冲突
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getOutStartPosition(), currTask.getOutTargetPosition(), rgv1CurrPosition);
-            if (conflictBoolean){
-                Integer status = moveRgv(1, currTaskId,  12,currTask.getPlcValue());
-                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"+vehicleId+"移动到点位1，执行失败===");
-                    //  2022/3/6  websocket通知页面
-                    webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 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："+currTaskId+" 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===");
-            }
-        }
         //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());
@@ -495,34 +384,46 @@ public class AsynRunTaskService extends BaseService {
     public void asynRunOutStock(Long locationId,String yeyaTaiCode,Long vehicleId) throws IOException {
         Location location = locationServiceBiz.getById(locationId);
         if (vehicleId==1){
-            //获取RGV2当前位置
+            Long anotherVehicleId=2L;
-            Double rgv2CurrPosition = RGVCurrPosition(2);
+            Boolean rgv2Online = rgvOnline(anotherVehicleId);
-            //两辆小车是否冲突
+            if (rgv2Online){
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv2CurrPosition);
+                //获取RGV2当前位置
-            if (conflictBoolean){
+                Double rgv2CurrPosition = RGVCurrPosition(2);
-                Integer status = moveRgv(2, 1L, 2,0);
+                //两辆小车是否冲突
-                if (status!=1){
+                Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv2CurrPosition);
-                    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===");
+                if (conflictBoolean){
-                    //  2022/3/6  websocket通知页面
+                    Integer status = moveRgv(2, 1L, 2,0);
-                    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");
+                    if (status!=1){
-                    return;
+                        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===");
                 }
-                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 {
-            //获取RGV1当前位置
+            Boolean rgv1Online = rgvOnline(1L);
-            Double rgv1CurrPosition = RGVCurrPosition(1);
+            if (rgv1Online){
-            //两辆小车是否冲突
+                //获取RGV1当前位置
-            Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv1CurrPosition);
+                Double rgv1CurrPosition = RGVCurrPosition(1);
-            if (conflictBoolean){
+                //两辆小车是否冲突
-                Integer status = moveRgv(1, 1L,  12,0);
+                Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv1CurrPosition);
-                if (status!=1){
+                if (conflictBoolean){
-                    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===");
+                    Integer status = moveRgv(1, 1L,  12,0);
-                    //  2022/3/6  websocket通知页面
+                    if (status!=1){
-                    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");
+                        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===");
-                    return;
+                        //  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===");
                 }
-                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();
@@ -1096,4 +997,86 @@ public class AsynRunTaskService extends BaseService {
             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");
         }
     }
+    /**
+     * 车辆是否在线
+     * @param vehicleId 车辆id
+     * @return true/false
+     * @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";
+        }
+        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);
+        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");
+        }
+        Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
+        return online;
+    }
+
+    /**
+     * 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) throws IOException {
+        Long currTaskId = currTask.getId();
+        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, currTask.getStartPosition(), currTask.getTargetPosition(), rgv2CurrPosition);
+                if (conflictBoolean){
+                    Integer status = moveRgv(2, currTaskId,  2,0);
+                    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39，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39，执行失败");
+                        return;
+                    }
+                    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39，执行成功===");
+                }
+            }else {
+                logger.info("RGV2不在线，跳过检测是否避让。");
+            }
+
+        }else {
+            Long anotherVehicleId=1L;
+            Boolean rgv1Online = rgvOnline(anotherVehicleId);
+
+            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, currTask.getStartPosition(), currTask.getTargetPosition(), rgv1CurrPosition);
+                if (conflictBoolean){
+                    Integer status = moveRgv(1, currTaskId,  12,0);
+                    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1，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1，执行失败");
+                        return;
+                    }
+                    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1，执行成功===");
+                }
+            }else {
+                logger.info("RGV1不在线，跳过检测是否避让。");
+            }
+        }
+    }
 }

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

@@ -114,6 +114,7 @@ public class RunTaskUtils {
             //计算出路径最短的车辆id
             Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), currTask.getTargetPosition());
             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
@@ -407,5 +408,61 @@ public class RunTaskUtils {
         }
         return false;
     }
+    /**
+     * 车辆是否在线
+     * @param vehicleId 车辆id
+     * @return true/false
+     * @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";
+        }
+        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);
+        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");
+        }
+        Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
+        return online;
+    }
 
+    /**
+     * 车辆是否空闲
+     * @param vehicleId 车辆id
+     * @return true/false
+     * @throws IOException  plc访问失败
+     */
+    private Boolean rgvFree(Long vehicleId) throws IOException {
+        String identifier=null;
+        if (vehicleId==1){
+            identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free";
+        }
+        if (vehicleId==2){
+            identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free";
+        }
+        Map<String, Object> json = new HashMap();
+        json.put("nameSpace", 6);
+        json.put("plcName", "plc1");
+        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+"当前是否空闲失败");
+        }
+        Boolean free = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
+        return free;
+    }
 }

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

@@ -580,13 +580,22 @@ public class ScheduledTask extends BaseService {
         logger.info("==结束查询炉子是否有报警==");
     }
 
-    //监听车辆是否在线（暂时不用）
+    //监听车辆是否在线
+    @Scheduled(fixedDelay = 1000*60)
     public void listenVehicleOnline() throws IOException {
-        List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>()
+        List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS,1));
-                .eq(VehicleInfo.STATUS, 0));
         for (VehicleInfo vehicleInfo:vehicleInfoList
              ) {
-
+            Boolean rgvOnline = rgvOnline(vehicleInfo.getId());
+            Boolean rgvFree = rgvFree(vehicleInfo.getId());
+            if (!rgvOnline){
+                webSocketServer.sendtoUser("当前存在车辆不在线，请移动停用的车辆到轨道尽头处或者改车辆为线上模式，如果已经车辆停用，请忽略本提示消息。","1");
+            }
+            if (rgvOnline&&rgvFree){
+                vehicleInfo.setStatus(0);
+                vehicleInfoServiceBiz.updateById(vehicleInfo);
+                logger.info("检测到车辆："+vehicleInfo.getId()+" 显示状态为占用，实际状态为空闲。自动置车辆状态为空闲。");
+            }
         }
     }
     /**
@@ -661,5 +670,61 @@ public class ScheduledTask extends BaseService {
         return Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
     }
 
+    /**
+     * 车辆是否在线
+     * @param vehicleId 车辆id
+     * @return true/false
+     * @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";
+        }
+        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);
+        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");
+        }
+        Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
+        return online;
+    }
 
+    /**
+     * 车辆是否空闲
+     * @param vehicleId 车辆id
+     * @return true/false
+     * @throws IOException  plc访问失败
+     */
+    private Boolean rgvFree(Long vehicleId) throws IOException {
+        String identifier=null;
+        if (vehicleId==1){
+            identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free";
+        }
+        if (vehicleId==2){
+            identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free";
+        }
+        Map<String, Object> json = new HashMap();
+        json.put("nameSpace", 6);
+        json.put("plcName", "plc1");
+        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+"当前是否空闲失败");
+        }
+        Boolean free = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
+        return free;
+    }
 }

6.program/wms-empty/src/main/java/com/mt/wms/empty/vo/CurrTaskMainQueryVo.java

@@ -78,6 +78,11 @@ public class CurrTaskMainQueryVo extends BaseVo implements PageVo.ConvertVo {
      */
     @ApiModelProperty("库位")
     private String locationName;
+    /**
+     * 库位
+     */
+    @ApiModelProperty("库位id")
+    private Long locationId;
     /**
      * 窑炉名称
      */