cl2 基于设备状态和任务状态分步生成设备任务消息

servo/src/main/java/com/galaxis/rcs/inv/InvManager.java

@@ -1,4 +1,154 @@
 package com.galaxis.rcs.inv;
 
+import com.galaxis.rcs.common.entity.LccInvLpn;
+import com.querydsl.core.util.StringUtils;
+import org.clever.data.jdbc.DaoFactory;
+import org.clever.data.jdbc.QueryDSL;
+
+import java.sql.Date;
+
+import static com.galaxis.rcs.common.query.QLccInvLpn.lccInvLpn;
+import static com.galaxis.rcs.common.query.QLccInvLedger.lccInvLedger;
+
 public class InvManager {
+    private static final QueryDSL queryDSL = DaoFactory.getQueryDSL();
+
+    /**
+     * 记录库存
+     * @param envId 环境ID
+     * @param lpn 容器号
+     * @param locCode 库位号
+     * @param layerIndex 堆叠层
+     * @param qty 数量 >0 增加数量 <0 减数量
+     * @param qtyIn 入库数量 >0 减数量 <0 减数量
+     * @param qtyOut 出库数量 >0 减数量 <0 减数量
+     */
+    public static void invSave(Long envId, String lpn, String locCode, Integer layerIndex, int qty, int qtyIn, int qtyOut) {
+        if (envId == null || envId <= 0
+            || lpn == null || StringUtils.isNullOrEmpty(lpn) || lpn.equals("N/A")
+            || locCode == null || StringUtils.isNullOrEmpty(locCode) || locCode.equals("N/A")
+            || layerIndex == null || layerIndex < 0) {
+            throw new RuntimeException("库存记录时，关键参数值不对");
+        }
+        if (qty == 0 && qtyIn == 0 && qtyOut == 0) {
+            throw new RuntimeException("库存记录时，变化数量不能都为0");
+        }
+        if (qtyIn != 0 && qtyOut != 0) {
+            throw new RuntimeException("库存记录时，不能同时为入库和出库");
+        }
+        if (qty > 1 || qty < -1) {
+            throw new RuntimeException("库存记录时，数量变化值只能为0、1、-1");
+        }
+        if (qtyIn > 1 || qtyIn < -1) {
+            throw new RuntimeException("库存记录时，预占数量变化值只能为0、1、-1");
+        }
+        if (qtyOut > 1 || qtyOut < -1) {
+            throw new RuntimeException("库存记录时，预扣数量变化值只能为0、1、-1");
+        }
+        if (qty == 1 && qtyIn == 1) {
+            throw new RuntimeException("库存记录时，数量增加时不能增加预占数量");
+        }
+        if (qty == -1 && qtyOut == 1) {
+            throw new RuntimeException("库存记录时，数量扣减时不能对其增加预扣");
+        }
+
+        LccInvLpn lccInvLpnData = queryDSL.select(lccInvLpn)
+            .from(lccInvLpn)
+            .where(lccInvLpn.envId.eq(envId).and(lccInvLpn.locCode.eq(locCode)).and(lccInvLpn.lpn.eq(lpn)))
+            .fetchFirst();
+
+        if (lccInvLpnData != null) {
+            if ((lccInvLpnData.getQty() == 1 && qtyIn > 0) || (lccInvLpnData.getQty() == 1 && qty > 0)) {
+                throw new RuntimeException("库存记录时，当前货位有货, 不能放货或者准备放货");
+            } else if ((lccInvLpnData.getQty() == 0 && qtyOut > 0) || (lccInvLpnData.getQty() == 0 && qty < 0)) {
+                throw new RuntimeException("库存记录时，当前货位无货, 不能取货或者准备取货");
+            } else if (lccInvLpnData.getQtyIn() > 0 && qtyIn > 0) {
+                throw new RuntimeException("库存记录时，当前货位有预占, 不能准备放货");
+            } else if (lccInvLpnData.getQtyOut() > 0 && qtyOut > 0) {
+                throw new RuntimeException("库存记录时，当前货位有预扣, 不能准备取货");
+            }
+        } else {
+            if (qty < 0 || qtyIn < 0 || qtyOut < 0) {
+                throw new RuntimeException("没有找到原始库存，不能扣减数量");
+            }
+        }
+
+        queryDSL.beginTX(status -> {
+            if (lccInvLpnData != null) {
+                queryDSL.update(lccInvLpn)
+                    .set(lccInvLpn.qty, lccInvLpn.qty.add(qty))
+                    .set(lccInvLpn.qtyIn, lccInvLpn.qtyIn.add(qtyIn))
+                    .set(lccInvLpn.qtyOut, lccInvLpn.qtyOut.add(qtyOut))
+                    .set(lccInvLpn.layerIndex, layerIndex)
+//                    .set(lccInvLpn.updateAt, )
+                    .where(lccInvLpn.envId.eq(envId).and(lccInvLpn.locCode.eq(locCode)).and(lccInvLpn.lpn.eq(lpn)))
+                    .execute();
+            } else {
+                queryDSL.insert(lccInvLpn)
+                    .set(lccInvLpn.envId, envId)
+                    .set(lccInvLpn.lpn, lpn)
+                    .set(lccInvLpn.locCode, locCode)
+                    .set(lccInvLpn.layerIndex, layerIndex)
+                    .set(lccInvLpn.qty, qty)
+                    .set(lccInvLpn.qtyIn, qtyIn)
+                    .set(lccInvLpn.qtyOut, qtyOut)
+                    .execute();
+            }
+
+            // 记录账页
+            queryDSL.insert(lccInvLedger)
+                .set(lccInvLedger.envId, envId)
+                .set(lccInvLedger.lpn, lpn)
+                .set(lccInvLedger.locCode, locCode)
+                .set(lccInvLedger.layerIndex, layerIndex)
+                .set(lccInvLedger.qtyChange, qty)
+                .set(lccInvLedger.qtyInChange, qtyIn)
+                .set(lccInvLedger.qtyOutChange, qtyOut)
+                .set(lccInvLedger.ledgerType, "记账")
+                .set(lccInvLedger.ledgerRemark, "N/A")
+                .execute();
+
+            // 删除所有数量预占预扣都为0的库存
+            queryDSL.delete(lccInvLpn).where(lccInvLpn.qty.eq(0).and(lccInvLpn.qtyIn.eq(0)).and(lccInvLpn.qtyOut.eq(0))).execute();
+        });
+
+    }
+
+
+    /**
+     * 记录库存
+     * @param envId 环境ID
+     * @param lpn 容器号
+     * @param locCode 库位号
+     * @param qty  数量 >0 减数量 <0 减数量
+     * @param qtyIn 入库数量 >0 减数量 <0 减数量
+     * @param qtyOut 出库数量 >0 减数量 <0 减数量
+     */
+    public static void invSave(Long envId, String lpn, String locCode, int qty, int qtyIn, int qtyOut) {
+        invSave(envId, lpn, locCode, 0, qty, qtyIn, qtyOut);
+    }
+
+    /**
+     * 保存库存
+     * @param envId 环境ID
+     * @param lpn 容器号
+     * @param locCode 库位号
+     * @param layerIndex 堆叠层
+     * @param qty 数量 >0 减数量 <0 减数量
+     */
+    public static void invSave(Long envId, String lpn, String locCode, int layerIndex, int qty) {
+        invSave(envId, lpn, locCode, layerIndex, qty, 0, 0);
+    }
+
+    /**
+     * 保存库存
+     * @param envId 环境ID
+     * @param lpn 容器号
+     * @param locCode 库位号
+     * @param qty 数量 >0 减数量 <0 减数量
+     */
+    public static void invSave(Long envId, String lpn, String locCode, int qty) {
+        invSave(envId, lpn, locCode, 0, qty, 0, 0);
+    }
+
 }

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java

@@ -723,8 +723,21 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
         }
 
-        if (deviceTaskList.size() <= 0) {
+        if (deviceTaskList.isEmpty()) {
-            return;
+            PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
+            deviceTask.x = startPoint.logicX;
+            deviceTask.y = startPoint.logicY;
+            deviceTask.speed = speed;
+            deviceTask.direction = direction;
+            deviceTask.pickMode = 0;
+            deviceTask.startPoint = startPoint;
+            deviceTask.endPoint = startPoint;
+            deviceTask.planTaskIdSet.addAll(rotationPlanTaskIdSet);
+            rotationPlanTaskIdSet.clear();
+            // 行走任务完成后，检查用的字段
+            deviceTask.checkLogicX = startPoint.logicX;
+            deviceTask.checkLogicY = startPoint.logicY;
+            deviceTaskList.add(deviceTask);
         }
 
         // 标记任务分组结束
@@ -734,8 +747,13 @@ public abstract class PtrAgvItem extends ExecutorItem {
         deviceTask.isGroupEnd = true;
         // 最后一个规划任务为旋转时需要添加一个endDirection
         if (rotationPlanTaskIdSet.size() > 0) {
+            deviceTask.operationType = COperationType.move;
+            deviceTask.pickMode = CPickMode.normal;
             deviceTask.endDirection = direction;
             deviceTask.planTaskIdSet.addAll(rotationPlanTaskIdSet);
+            if (deviceTask.movePlanTaskId == null) {
+                deviceTask.movePlanTaskId = 0L;
+            }
             rotationPlanTaskIdSet.clear();
         }