pda入库

src/main/java/com/gaotao/modules/api/service/impl/AgvMessageServiceImpl.java

@@ -81,25 +81,26 @@ public class AgvMessageServiceImpl implements AgvMessageService {
             }
             String statusDesc="";
             if(inData.getTargetPoint().equals(checkTask.getToLocation())){
-                // 5. 更新栈板calling_flag为N
-                String username = "AGV_SYSTEM";
-                wcsIntegrationMapper.updatePalletCallingFlag(transportTask.getSite(), palletId, "N", username);
-                log.info("栈板{}的calling_flag已更新为N", palletId);
-
-                // 6. 更新运输任务状态为已完成
-                updateTransportTaskStatus(inData.getTaskId(), "已完成");
-                log.info("运输任务{}状态已更新为已完成", inData.getTaskId());
-
-                // 7. 检查栈板是否有明细，如果有则执行移库操作
-                List<PalletDetailData> palletDetails = getPalletDetailsByPalletId(transportTask.getSite(), palletId);
-                if (palletDetails != null && !palletDetails.isEmpty()) {
-                    log.info("栈板{}存在明细，开始执行移库操作", palletId);
-                    executeWarehouseTransfer(transportTask);
-                } else {
-                    log.info("栈板{}无明细，跳过移库操作，但需要更新栈板位置", palletId);
-                    // 即使没有明细，也要更新栈板位置到目标站点
-                    updatePalletLocationOnly(transportTask, username);
-                }
+                //业务逻辑转移到定时任务
+                // // 5. 更新栈板calling_flag为N
+                // String username = "AGV_SYSTEM";
+                // wcsIntegrationMapper.updatePalletCallingFlag(transportTask.getSite(), palletId, "N", username);
+                // log.info("栈板{}的calling_flag已更新为N", palletId);
+                //
+                // // 6. 更新运输任务状态为已完成
+                // updateTransportTaskStatus(inData.getTaskId(), "已完成");
+                // log.info("运输任务{}状态已更新为已完成", inData.getTaskId());
+                //
+                // // 7. 检查栈板是否有明细，如果有则执行移库操作
+                // List<PalletDetailData> palletDetails = getPalletDetailsByPalletId(transportTask.getSite(), palletId);
+                // if (palletDetails != null && !palletDetails.isEmpty()) {
+                //     log.info("栈板{}存在明细，开始执行移库操作", palletId);
+                //     executeWarehouseTransfer(transportTask);
+                // } else {
+                //     log.info("栈板{}无明细，跳过移库操作，但需要更新栈板位置", palletId);
+                //     // 即使没有明细，也要更新栈板位置到目标站点
+                //     updatePalletLocationOnly(transportTask, username);
+                // }
                 statusDesc="送货完成";
             }else {
                 statusDesc="取货完成";
@@ -110,7 +111,8 @@ public class AgvMessageServiceImpl implements AgvMessageService {
             detail.setItemNo(1);
             detail.setSeqNo(wcsIntegrationMapper.getMaxSeqNoForTaskDetail("55",inData.getTaskId()));
             detail.setActionType(statusDesc);
-            detail.setStatus("成功");
+            detail.setToLocation(inData.getTargetPoint());
+            detail.setStatus("已录入");
             wcsIntegrationMapper.insertWmsTransportTaskDetail(detail);
 
             // 8. 更新接口日志为成功

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

@@ -167,4 +167,7 @@ public interface WcsIntegrationMapper {
     Integer getMaxSeqNoForTaskDetail(@Param("site") String site, @Param("taskNo") String taskNo);
 
     void updateTransportTaskStatusForSiteAndNo(@Param("site") String site, @Param("taskNo") String taskNo,@Param("status") String status);
+    void updateTransportTaskDetailStatusForId(@Param("id") Long id,@Param("status") String status);
+
+    List<WmsTransportTaskDetail>  getTransportTaskDetailListWithStatus(@Param("site") String site);
 }

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

@@ -1,8 +1,16 @@
 package com.gaotao.modules.automatedWarehouse.task;
 
 import com.gaotao.common.utils.AgvClientUtil;
+import com.gaotao.modules.api.entity.WareHouseTransferRequest;
+import com.gaotao.modules.api.service.AgvMessageService;
+import com.gaotao.modules.api.service.WmsMessageService;
+import com.gaotao.modules.automatedWarehouse.entity.PalletDetailData;
 import com.gaotao.modules.automatedWarehouse.entity.WmsTransportTask;
+import com.gaotao.modules.automatedWarehouse.entity.WmsTransportTaskDetail;
+import com.gaotao.modules.automatedWarehouse.mapper.WcsIntegrationMapper;
 import com.gaotao.modules.automatedWarehouse.service.AgvTaskService;
+import com.gaotao.modules.warehouse.entity.Pallet;
+import com.gaotao.modules.warehouse.service.PalletService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.scheduling.annotation.Scheduled;
@@ -11,6 +19,7 @@ import org.springframework.stereotype.Component;
 import java.util.Arrays;
 import java.util.Date;
 import java.util.List;
+import java.util.Map;
 
 /**
  * AGV任务优先级调度定时任务
@@ -22,14 +31,17 @@ public class AgvTaskScheduler {
 
     @Autowired
     private AgvTaskService agvTaskService;
-
+    @Autowired
+    private PalletService palletService;
     @Autowired
     private AgvClientUtil agvClientUtil;
-
+    @Autowired
+    private WcsIntegrationMapper wcsIntegrationMapper;
+    @Autowired
+    private WmsMessageService wmsMessageService;
     /**
      * 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
@@ -100,6 +112,54 @@ public class AgvTaskScheduler {
         log.info("=== AGV任务优先级调度定时任务执行完成 ===");
     }
 
+    @Scheduled(cron = "0 * * * * ?")
+    public void scheduleDOFeedback() {
+        log.info("=== 开始处理AGV回调相关业务 ===");
+        //1.查出wms_transport_task_detail中 status为已录入的数据
+        List<WmsTransportTaskDetail> list = wcsIntegrationMapper.getTransportTaskDetailListWithStatus("55");
+        for (int i = 0; i < list.size(); i++) {
+            WmsTransportTaskDetail inData = list.get(i);
+            try {
+                WmsTransportTask checkTask= wcsIntegrationMapper.getTransportTaskByTaskNo(inData.getTaskNo());
+                if(checkTask==null){
+                    throw new RuntimeException("运输任务不存在");
+                }
+                if("送货完成".equals(inData.getStatus())){
+                    // 5. 更新栈板calling_flag为N
+                    String username = "AGV_SYSTEM";
+                    wcsIntegrationMapper.updatePalletCallingFlag(inData.getSite(), checkTask.getPalletId(), "N", username);
+                    log.info("栈板{}的calling_flag已更新为N", checkTask.getPalletId());
+
+                    // 6. 更新运输任务状态为已完成
+                    wcsIntegrationMapper.updateTransportTaskStatusByTaskNo(inData.getTaskNo(), "已完成");
+                    log.info("运输任务{}状态已更新为已完成", inData.getTaskNo());
+
+                    // 7. 检查栈板是否有明细，如果有则执行移库操作
+                    List<PalletDetailData> palletDetails = wcsIntegrationMapper.getPalletDetailsData(inData.getSite(), checkTask.getPalletId());
+                    if (palletDetails != null && !palletDetails.isEmpty()) {
+                        log.info("栈板{}存在明细，开始执行移库操作", checkTask.getPalletId());
+                        executeWarehouseTransfer(checkTask);
+                    } else {
+                        log.info("栈板{}无明细，跳过移库操作，但需要更新栈板位置",  checkTask.getPalletId());
+                        // 即使没有明细，也要更新栈板位置到目标站点
+                        updatePalletLocationOnly(checkTask, username);
+                    }
+                }
+                wcsIntegrationMapper.updateTransportTaskDetailStatusForId(inData.getId(),"已完成");
+            } catch (Exception e) {
+                log.error("处理AGV回调数据失败：error={}", e.getMessage());
+                wcsIntegrationMapper.updateTransportTaskDetailStatusForId(inData.getId(),"回调处理失败");
+               // 继续处理下一个数据
+            }
+
+
+        }
+
+        //2 循环执行 每次执行trycatch  防止中间报错后续数据无法处理，如果报错, 则跳过该数据
+
+
+    }
+
     /**
      * 将任务下发到AGV系统
      * @param task 运输任务
@@ -133,4 +193,80 @@ public class AgvTaskScheduler {
         log.info("手动触发AGV任务优先级调度");
         scheduleAgvTaskByPriority();
     }
+
+
+    private void executeWarehouseTransfer(WmsTransportTask transportTask) {
+        try {
+            // 获取起始站点和目标站点信息
+            Map<String, Object> fromStationInfo = getStationInfo(transportTask.getFromLocation());
+            Map<String, Object> toStationInfo = getStationInfo(transportTask.getToLocation());
+
+            // 检查站点的仓库和库位是否不同
+            String fromWarehouseId = (String) fromStationInfo.get("warehouseCode");
+            String fromLocationId = (String) fromStationInfo.get("locationCode");
+            String toWarehouseId = (String) toStationInfo.get("warehouseCode");
+            String toLocationId = (String) toStationInfo.get("locationCode");
+
+            if (!fromWarehouseId.equals(toWarehouseId) || !fromLocationId.equals(toLocationId)) {
+                log.info("站点仓库或库位不同，执行移库操作：从 {}-{} 到 {}-{}",
+                        fromWarehouseId, fromLocationId, toWarehouseId, toLocationId);
+
+                // 构建移库请求
+                WareHouseTransferRequest transferRequest = new WareHouseTransferRequest();
+                transferRequest.setSite(transportTask.getSite());
+                transferRequest.setTransType("移库");
+                transferRequest.setPalletId(transportTask.getPalletId());
+                transferRequest.setToWarehouseId(toWarehouseId);
+                transferRequest.setToLocationId(toLocationId);
+                transferRequest.setBusinessType("AGV移库");
+                transferRequest.setRemark("AGV任务完成自动移库");
+                transferRequest.setToStation(transportTask.getToLocation());
+                // 调用移库方法
+                wmsMessageService.doWareHouseForPallet(transferRequest);
+                log.info("移库操作执行成功");
+            } else {
+                log.info("站点仓库和库位相同，无需执行移库操作");
+            }
+
+        } catch (Exception e) {
+            log.error("移库操作执行失败：{}", e.getMessage(), e);
+            throw new RuntimeException("移库操作失败：" + e.getMessage());
+        }
+    }
+
+    private Map<String, Object> getStationInfo(String stationCode) {
+        Map<String, Object> stationInfo = wcsIntegrationMapper.getStationInfoByCode(stationCode);
+        if (stationInfo == null) {
+            throw new RuntimeException("未找到站点信息：" + stationCode);
+        }
+        return stationInfo;
+    }
+
+    /**
+     * 仅更新栈板位置（复用现有Pallet service逻辑）
+     */
+    private void updatePalletLocationOnly(WmsTransportTask transportTask, String username) {
+        try {
+            // 查询当前栈板信息
+            Pallet pallet = palletService.lambdaQuery()
+                    .eq(Pallet::getSite, transportTask.getSite())
+                    .eq(Pallet::getPalletId, transportTask.getPalletId())
+                    .one();
+
+            if (pallet == null) {
+                throw new RuntimeException("栈板不存在：" + transportTask.getPalletId());
+            }
+
+
+            // 更新栈板位置信息（复用doWareHouseForPallet中的逻辑）
+            pallet.setLocationCode(transportTask.getToLocation());
+            palletService.updateById(pallet);
+
+            log.info("栈板{}位置已更新到目标站点{}", transportTask.getPalletId(), transportTask.getToLocation());
+
+        } catch (Exception e) {
+            log.error("更新栈板位置失败：{}", e.getMessage(), e);
+            throw new RuntimeException("更新栈板位置失败：" + e.getMessage());
+        }
+    }
 }

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

@@ -394,5 +394,16 @@
     <update id="updateTransportTaskStatusForSiteAndNo">
         update wms_transport_task set [status]=#{status} where site=#{site} and task_no=#{taskNo}
     </update>
+    <update id="updateTransportTaskDetailStatusForId">
+        update wms_transport_task_detail set [status]=#{status} where id=#{id}
+    </update>
+    <select id="getTransportTaskDetailListWithStatus" resultType="WmsTransportTaskDetail">
+        select id,site,task_no as taskNo,item_no as itemNo,seq_no as seqNo,action_type as actionType,[comment],from_location as fromLocation,
+               to_location as toLocation,agv_code as agvCode,[status],start_time as startTime,
+               error_code as errorCode,error_msg as errorMsg
+        from wms_transport_task_detail
+        where site = #{site} and status in ('回调处理失败','已录入')
+
+    </select>
 
 </mapper>