agv任务管理

src/main/java/com/gaotao/modules/automatedWarehouse/controller/AgvTaskController.java

@@ -8,6 +8,7 @@ import com.gaotao.modules.automatedWarehouse.entity.tusk.CreateTaskRequest;
 import com.gaotao.modules.automatedWarehouse.entity.tusk.TuskResponse;
 import com.gaotao.modules.automatedWarehouse.service.AgvTaskService;
 import com.gaotao.modules.automatedWarehouse.service.TuskClientService;
+import com.gaotao.modules.automatedWarehouse.task.AgvTaskScheduler;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
 
@@ -27,6 +28,9 @@ public class AgvTaskController {
     @Autowired
     private TuskClientService tuskClientService;
 
+    @Autowired
+    private AgvTaskScheduler agvTaskScheduler;
+
     /**
      * 获取AGV运输任务列表（分页查询，排除已完成状态）
      * @param data 查询条件
@@ -173,4 +177,52 @@ public class AgvTaskController {
             return R.error().put("msg", "测试TUSK连接异常: " + e.getMessage());
         }
     }
+
+    // ==================== AGV任务调度接口 ====================
+
+    /**
+     * 手动触发AGV任务优先级调度
+     * @return 调度结果
+     */
+    @PostMapping("/manualSchedule")
+    public R manualSchedule() {
+        try {
+            agvTaskScheduler.manualSchedule();
+            return R.ok().put("msg", "AGV任务调度执行成功");
+        } catch (Exception e) {
+            return R.error().put("msg", "AGV任务调度执行失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 获取待下发的AGV任务列表
+     * @return 待下发任务列表
+     */
+    @PostMapping("/getPendingTasks")
+    public R getPendingTasks() {
+        try {
+            List<WmsTransportTask> pendingTasks = agvTaskService.getPendingTasksByPriority();
+            return R.ok().put("tasks", pendingTasks).put("count", pendingTasks.size());
+        } catch (Exception e) {
+            return R.error().put("msg", "获取待下发任务失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 获取当前执行中的任务数量
+     * @return 执行中任务数量
+     */
+    @PostMapping("/getExecutingTaskCount")
+    public R getExecutingTaskCount() {
+        try {
+            int executingCount = agvTaskService.getExecutingTaskCount();
+            int canDispatchCount = Math.max(0, 10 - executingCount);
+            return R.ok()
+                    .put("executingCount", executingCount)
+                    .put("canDispatchCount", canDispatchCount)
+                    .put("maxTaskLimit", 10);
+        } catch (Exception e) {
+            return R.error().put("msg", "获取执行中任务数量失败: " + e.getMessage());
+        }
+    }
 }

src/main/java/com/gaotao/modules/automatedWarehouse/mapper/AgvTaskMapper.java

@@ -30,4 +30,22 @@ public interface AgvTaskMapper extends BaseMapper<WmsTransportTask> {
      * @return 明细列表
      */
     List<WmsTransportTaskDetail> getTransportTaskDetails(@Param("taskNo") String taskNo);
+
+    /**
+     * 获取所有未下发的AGV任务，按优先级降序排列
+     * @return 未下发的任务列表
+     */
+    List<WmsTransportTask> getPendingTasksByPriority();
+
+    /**
+     * 更新任务状态为已下发
+     * @param taskNo 任务号
+     */
+    void updateTaskStatusToDispatched(@Param("taskNo") String taskNo);
+
+    /**
+     * 获取当前正在执行中的任务数量
+     * @return 执行中的任务数量
+     */
+    int getExecutingTaskCount();
 }

src/main/java/com/gaotao/modules/automatedWarehouse/service/AgvTaskService.java

@@ -24,4 +24,22 @@ public interface AgvTaskService {
      * @return 明细列表
      */
     List<WmsTransportTaskDetail> getTransportTaskDetails(String taskNo);
+
+    /**
+     * 获取所有未下发的AGV任务，按优先级降序排列
+     * @return 未下发的任务列表
+     */
+    List<WmsTransportTask> getPendingTasksByPriority();
+
+    /**
+     * 更新任务状态为已下发
+     * @param taskNo 任务号
+     */
+    void updateTaskStatusToDispatched(String taskNo);
+
+    /**
+     * 获取当前正在执行中的任务数量
+     * @return 执行中的任务数量
+     */
+    int getExecutingTaskCount();
 }

src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/AgvTaskServiceImpl.java

@@ -32,4 +32,19 @@ public class AgvTaskServiceImpl implements AgvTaskService {
     public List<WmsTransportTaskDetail> getTransportTaskDetails(String taskNo) {
         return agvTaskMapper.getTransportTaskDetails(taskNo);
     }
+
+    @Override
+    public List<WmsTransportTask> getPendingTasksByPriority() {
+        return agvTaskMapper.getPendingTasksByPriority();
+    }
+
+    @Override
+    public void updateTaskStatusToDispatched(String taskNo) {
+        agvTaskMapper.updateTaskStatusToDispatched(taskNo);
+    }
+
+    @Override
+    public int getExecutingTaskCount() {
+        return agvTaskMapper.getExecutingTaskCount();
+    }
 }

src/main/java/com/gaotao/modules/automatedWarehouse/task/AgvTaskScheduler.java

@@ -0,0 +1,136 @@
+package com.gaotao.modules.automatedWarehouse.task;
+
+import com.gaotao.common.utils.AgvClientUtil;
+import com.gaotao.modules.automatedWarehouse.entity.WmsTransportTask;
+import com.gaotao.modules.automatedWarehouse.service.AgvTaskService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.Arrays;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * AGV任务优先级调度定时任务
+ * 每分钟执行一次，获取所有未下发的AGV任务，按优先级排序后下发优先级最高的任务
+ */
+@Slf4j
+@Component
+public class AgvTaskScheduler {
+
+    @Autowired
+    private AgvTaskService agvTaskService;
+
+    @Autowired
+    private AgvClientUtil agvClientUtil;
+
+    /**
+     * 定时任务：每分钟执行一次AGV任务优先级调度
+     * cron表达式：0 * * * * ? 表示每分钟的第0秒执行
+     * 
+     * 调度策略：
+     * - 如果执行中任务数 >= 10，则不下发新任务
+     * - 如果执行中任务数 < 10，则下发多个优先级高的任务，但总数不超过10
+     */
+    @Scheduled(cron = "0 * * * * ?")
+    public void scheduleAgvTaskByPriority() {
+        log.info("=== 开始执行AGV任务优先级调度定时任务 ===");
+        
+        try {
+            // 1. 检查当前执行中的任务数量
+            int executingCount = agvTaskService.getExecutingTaskCount();
+            log.info("当前执行中的任务数量：{}", executingCount);
+            
+            // 2. 如果执行中任务数 >= 10，则不下发新任务
+            if (executingCount >= 10) {
+                log.info("执行中任务数量已达到上限(10个)，暂不下发新任务");
+                return;
+            }
+            
+            // 3. 计算可以下发的任务数量
+            int canDispatchCount = 10 - executingCount;
+            log.info("可以下发的任务数量：{}", canDispatchCount);
+            
+            // 4. 获取所有未下发的AGV任务，按优先级降序排列
+            List<WmsTransportTask> pendingTasks = agvTaskService.getPendingTasksByPriority();
+            
+            if (pendingTasks == null || pendingTasks.isEmpty()) {
+                log.info("当前没有待下发的AGV任务");
+                return;
+            }
+            
+            log.info("找到 {} 个待下发的AGV任务", pendingTasks.size());
+            
+            // 5. 选择要下发的任务（取优先级最高的几个，数量不超过可下发数量）
+            int actualDispatchCount = Math.min(canDispatchCount, pendingTasks.size());
+            List<WmsTransportTask> tasksToDispatch = pendingTasks.subList(0, actualDispatchCount);
+            
+            log.info("准备下发 {} 个优先级最高的任务", actualDispatchCount);
+            
+            // 6. 批量下发任务
+            int successCount = 0;
+            for (WmsTransportTask task : tasksToDispatch) {
+                try {
+                    log.info("下发任务：taskNo={}, priority={}, fromLocation={}, toLocation={}", 
+                            task.getTaskNo(), task.getPriority(), task.getFromLocation(), task.getToLocation());
+                    
+                    // 下发任务到AGV系统
+                    dispatchTaskToAgv(task);
+                    
+                    // 更新任务状态为已下发
+                    agvTaskService.updateTaskStatusToDispatched(task.getTaskNo());
+                    
+                    successCount++;
+                    log.info("任务下发成功：taskNo={}", task.getTaskNo());
+                    
+                } catch (Exception e) {
+                    log.error("任务下发失败：taskNo={}, error={}", task.getTaskNo(), e.getMessage());
+                    // 继续下发其他任务，不中断整个流程
+                }
+            }
+            
+            log.info("本次调度完成，成功下发 {} 个任务", successCount);
+            
+        } catch (Exception e) {
+            log.error("=== AGV任务优先级调度定时任务执行失败 ===", e);
+        }
+        
+        log.info("=== AGV任务优先级调度定时任务执行完成 ===");
+    }
+
+    /**
+     * 将任务下发到AGV系统
+     * @param task 运输任务
+     */
+    private void dispatchTaskToAgv(WmsTransportTask task) {
+        try {
+            // 构建目标点列表（从起始位置到目标位置）
+            List<String> targets = Arrays.asList(task.getFromLocation(), task.getToLocation());
+            
+            // 调用AGV接口创建任务
+            agvClientUtil.createTask(
+                task.getTaskNo(),           // 任务ID
+                targets,                    // 目标点列表
+                "DEFAULT_CONFIG",           // 配置ID（可根据需要调整）
+                task.getPriority()          // 优先级
+            );
+            
+            log.info("成功调用AGV接口创建任务：taskNo={}, targets={}, priority={}", 
+                    task.getTaskNo(), targets, task.getPriority());
+            
+        } catch (Exception e) {
+            log.error("下发AGV任务失败：taskNo={}, error={}", task.getTaskNo(), e.getMessage());
+            throw new RuntimeException("下发AGV任务失败：" + e.getMessage(), e);
+        }
+    }
+
+    /**
+     * 手动触发AGV任务调度（用于测试或手动执行）
+     */
+    public void manualSchedule() {
+        log.info("手动触发AGV任务优先级调度");
+        scheduleAgvTaskByPriority();
+    }
+}

src/main/resources/mapper/automatedWarehouse/AgvTaskMapper.xml

@@ -86,4 +86,63 @@
         ORDER BY seq_no ASC
     </select>
 
+    <!-- 获取所有未下发的AGV任务，按优先级降序排列 -->
+    <select id="getPendingTasksByPriority" resultType="com.gaotao.modules.automatedWarehouse.entity.WmsTransportTask">
+        SELECT
+            id,
+            site,
+            item_no as itemNo,
+            task_no as taskNo,
+            source_type as sourceType,
+            source_bill_no as sourceBillNo,
+            source_line_id as sourceLineId,
+            part_no as partNo,
+            qty,
+            batch_no as batchNo,
+            serial_no as serialNo,
+            from_location as fromLocation,
+            to_location as toLocation,
+            pallet_id as palletId,
+            agv_code as agvCode,
+            priority,
+            status,
+            wms_send_time as wmsSendTime,
+            wcs_receive_time as wcsReceiveTime,
+            start_time as startTime,
+            complete_time as completeTime,
+            error_code as errorCode,
+            error_msg as errorMsg,
+            created_by as createdBy,
+            created_time as createdTime,
+            updated_time as updatedTime,
+            wcs_task_id as wcsTaskId,
+            finish_qty as finishQty,
+            wms_status as wmsStatus
+        FROM wms_transport_task
+        WHERE status IN ('待下发', '未下发', 'PENDING', 'CREATED')
+            AND from_location IS NOT NULL
+            AND to_location IS NOT NULL
+        ORDER BY 
+            CASE WHEN priority IS NULL THEN 0 ELSE priority END DESC,
+            created_time ASC
+    </select>
+
+    <!-- 更新任务状态为已下发 -->
+    <update id="updateTaskStatusToDispatched">
+        UPDATE wms_transport_task
+        SET 
+            status = '已下发',
+            wms_send_time = NOW(),
+            updated_time = NOW()
+        WHERE task_no = #{taskNo}
+    </update>
+
+    <!-- 获取当前正在执行中的任务数量 -->
+    <select id="getExecutingTaskCount" resultType="int">
+        SELECT COUNT(*)
+        FROM wms_transport_task
+        WHERE status IN ('已下发', '执行中', '运行中', 'DISPATCHED', 'EXECUTING', 'RUNNING')
+            AND (complete_time IS NULL OR complete_time = '')
+    </select>
+
 </mapper>