Merge remote-tracking branch 'origin/master'

servo/src/main/java/com/galaxis/rcs/RCSService.java

@@ -28,6 +28,8 @@ import org.clever.data.jdbc.DaoFactory;
 import org.clever.data.jdbc.QueryDSL;
 import org.clever.data.jdbc.querydsl.utils.QueryDslUtils;
 
+import java.lang.management.ManagementFactory;
+import java.net.InetAddress;
 import java.util.Map;
 
 import static com.galaxis.rcs.common.query.QLccEnvInfo.lccEnvInfo;
@@ -52,6 +54,7 @@ public class RCSService {
      * 加载所有自动启动的环境和楼层数据
      * 并启动对应的环境
      */
+    @SneakyThrows
     private void createAutoStartEnv() {
         QueryDSL queryDSL = DaoFactory.getQueryDSL();
         var list = queryDSL.select(QueryDslUtils.linkedMap(
@@ -98,6 +101,7 @@ public class RCSService {
             param.setTimeRate(1);
             param.setVirtual(false);
             param.setEnvPayload(envPayload);
+            param.setClientId(InetAddress.getLocalHost().getHostName());
             runtime.start(param);
         }
 

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java

@@ -27,11 +27,10 @@ public class Cl2DeviceConnector {
     }
 
     public void sendTask(String vehicleId, RcsTaskMessage rcsTaskMessage) throws MqttException, JsonProcessingException {
-        var list = Splitter.on("\n").splitToList(JsonWrapper.toJsonPretty(rcsTaskMessage));
+        // var list = Splitter.on("\n").splitToList(JsonWrapper.toJsonPretty(rcsTaskMessage));
-        String[] ar = new String[list.size()];
+        // String[] ar = new String[list.size()];
-        list.toArray(ar);
+        // list.toArray(ar);
-        BannerUtils.printConfig(log, "CL2 发送报文", ar);
+        // BannerUtils.printConfig(log, "CL2 发送报文", ar);
-
         amrMessageHandler.sendCmdTask(vehicleId, rcsTaskMessage);
     }
 

servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java

@@ -5,8 +5,12 @@ import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.common.enums.PlanTaskStatus;
 import com.galaxis.rcs.common.enums.PlanTaskType;
+import com.google.common.base.Splitter;
 import com.google.common.collect.Lists;
 import com.yvan.logisticsModel.LogisticsRuntime;
+import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.BannerUtils;
 import org.clever.core.id.SnowFlake;
 import org.clever.core.json.JsonWrapper;
 
@@ -15,6 +19,7 @@ import java.util.Date;
 import java.util.List;
 import java.util.Map;
 
+@Slf4j
 public class PlanTaskSequence {
     @JsonIgnore
     public static final SnowFlake snowFlake = new SnowFlake();
@@ -27,7 +32,6 @@ public class PlanTaskSequence {
 
     public String lastWayPointId;
     public Float lastRotationAngle = null;
-    public boolean isFinished = false;
     public String lastLoadLpn = "";
 
     public PlanTaskSequence(String executorId, LogisticsRuntime logisticsRuntime, RcsTaskBiz bizTask, String createBy) {
@@ -103,7 +107,6 @@ public class PlanTaskSequence {
     // 添加完成动作
     public RcsTaskPlan addFinish() {
         RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.FINISH.toString());
-        this.isFinished = true;
         return task;
     }
 
@@ -139,10 +142,59 @@ public class PlanTaskSequence {
                     taskStr = "FINISH";
                     break;
             }
+            taskStr = taskStr + " STATE:" + task.getPlanTaskStatus();
 
             list.add(taskStr);
         }
         jw.set("items", list);
         return jw.getInnerMap();
     }
+
+    /**
+     * 是不是所有的任务都完成了
+     */
+    public boolean isAllCompleted() {
+        boolean isAllComplete = true;
+        for (RcsTaskPlan task : taskList) {
+            if (PlanTaskType.valueOf(task.getPlanType()) != PlanTaskType.FINISH) {
+                if (!PlanTaskStatus.FINISHED.toString().equals(task.getPlanTaskStatus())) {
+                    isAllComplete = false;
+                    break;
+                }
+            }
+        }
+        return isAllComplete;
+    }
+
+    public RcsTaskPlan getByPlanTaskId(Long planTaskId) {
+        for (RcsTaskPlan task : taskList) {
+            if (task.getPlanTaskId().equals(planTaskId)) {
+                return task;
+            }
+        }
+        return null;
+    }
+
+    @SneakyThrows
+    public void savePlanTask(RcsTaskPlan planTask) {
+        //TODO: 保存数据库
+        var jw = new JsonWrapper(planTask);
+        jw.set("isAllCompleted", this.isAllCompleted());
+
+        var list = Splitter.on("\n").splitToList(jw.toString());
+        String[] ar = new String[list.size()];
+        list.toArray(ar);
+
+
+        // log.info("3-Received message: " + json);
+        BannerUtils.printConfig(log, "保存业务任务 planTask", ar);
+    }
+
+    public boolean isEmpty() {
+        return this.taskList.isEmpty();
+    }
+
+    public int size() {
+        return this.taskList.size();
+    }
 }

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

@@ -14,17 +14,15 @@ import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.PtrAgvItem;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.clever.core.AppContextHolder;
 import org.clever.core.BannerUtils;
 import org.clever.core.json.JsonWrapper;
 import org.clever.core.mapper.BeanCopyUtils;
 import org.clever.data.redis.Redis;
-import org.eclipse.paho.mqttv5.client.MqttClient;
+import org.clever.data.redis.RedisAdmin;
 import org.eclipse.paho.mqttv5.common.MqttException;
 import org.eclipse.paho.mqttv5.common.MqttMessage;
 
 import java.nio.charset.StandardCharsets;
-import java.util.HashSet;
 import java.util.Map;
 import java.util.Set;
 import java.util.concurrent.Executors;
@@ -65,10 +63,10 @@ public class AmrMessageHandler {
     private static final TypeReference<AmrMessage<AmrExceptionMessage>> typeRef20250Message = new TypeReference<AmrMessage<AmrExceptionMessage>>() {
     };
 
-    private static final Redis redis = AppContextHolder.getBean("defaultRedis", Redis.class, true);
+    private static final Redis redis = RedisAdmin.getRedis();
 
     public final LogisticsRuntime runtime;
-    public volatile PtrMqttClient ptrMqttClient;
+    private volatile PtrMqttClient ptrMqttClient;
 
     public int getNewSeqNo() {
         String redisKey = "lcc:rcs:" + runtime.projectUUID + ":" + runtime.envId + ":seqNo";
@@ -84,8 +82,8 @@ public class AmrMessageHandler {
         this.runtime = runtime;
     }
 
-    public void start(EnvPayload.MqttConfig mqttConfig) {
+    public void start(EnvPayload.MqttConfig mqttConfig, String clientId) {
-        this.ptrMqttClient = new PtrMqttClient(this, mqttConfig);
+        this.ptrMqttClient = new PtrMqttClient(this, mqttConfig, clientId);
     }
 
     public void stop() {
@@ -162,7 +160,7 @@ public class AmrMessageHandler {
                 break;
             case AMR_HEARTBEAT:
                 AmrMessage<AmrHeartbeatMessage> heartbeatMessage = JacksonUtils.parse(json, typeRef20100Message);
-                sendCmdHeartBeat(heartbeatMessage.content.VehicleId + "");
+                // sendCmdHeartBeat(heartbeatMessage.content.VehicleId + "");
                 handleHeartbeatMessage(agvItem, heartbeatMessage.content);
                 break;
             case AMR_BOOT:
@@ -209,7 +207,7 @@ public class AmrMessageHandler {
             BannerUtils.printConfig(log, "MQTT 发送报文 [" + id + "] RcsMessageType." + RcsMessageType.fromValue(id) + " - " + RcsMessageType.fromValue(id).description, ar);
         }
 
-        ptrMqttClient.client.publish(topic, payload.getBytes(StandardCharsets.UTF_8), 0, false);
+        ptrMqttClient.publish(topic, payload);
     }
 
     /**
@@ -229,7 +227,7 @@ public class AmrMessageHandler {
         baseMessage.content = rcsTaskMessage;
         String json = JacksonUtils.toJson(baseMessage);
 
-        log.info("sendCmd10010: {}", json);
+        // log.info("sendCmd10010: {}", json);
         // log.debug("Sending task to {}: {}", vehicleId, json);
 
         publish("/wcs_server/" + vehicleId, json, baseMessage.id);
@@ -425,6 +423,7 @@ public class AmrMessageHandler {
         // 这是源逻辑，CurLogicX / CurLogicY / CurDirection 需要到 PtrAgvItem 中更新, 因为要触发事件
         agvItem.x = message.X;
         agvItem.y = message.Y;
+        agvItem.orientation = message.CurOrientation;
 
         agvItem.updatePosition(message.CurLogicX, message.CurLogicY, message.CurDirection);
     }
@@ -479,6 +478,7 @@ public class AmrMessageHandler {
                 AmrMessage<AmrTaskStatusMessage<TaskModeChangeData>> taskModeChange = JacksonUtils.parse(json, typeRef20011_1Message);
                 AmrTaskStatusMessage<TaskModeChangeData> modeMessage = taskModeChange.content;
                 agvItem.updateDeviceTaskStatus((int) modeMessage.SeqNo, 0, 0, modeMessage.EventId);
+                agvItem.updateTaskMode(modeMessage.Info.TaskMode);
                 break;
             case 4:
                 AmrMessage<AmrTaskStatusMessage<TaskCompletedData>> taskCompleted = JacksonUtils.parse(json, typeRef20011_4Message);

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

@@ -0,0 +1,82 @@
+package com.galaxis.rcs.ptr;
+
+import com.google.common.collect.Maps;
+
+import java.util.Collections;
+import java.util.Map;
+
+/**
+ * AMR 任务模式
+ */
+public enum AmrTaskMode {
+    /**
+     * 空闲模式
+     */
+    AMR_FREE_MODE(0, "空闲模式"),
+    /**
+     * 初始化模式
+     */
+    AMR_INIT_MODE(1, "初始化模式"),
+    /**
+     * 任务模式
+     */
+    AMR_TASK_MODE(2, "任务模式"),
+    /**
+     * 单动作模式
+     */
+    AMR_SINGLE_ACTION_MODE(3, "单动作模式"),
+    /**
+     * 手动模式
+     */
+    AMR_MANUAL_MODE(4, "手动模式"),
+    /**
+     * 遥控器模式
+     */
+    AMR_HANDSET_MODE(5, "遥控器模式"),
+    /**
+     * 充电模式
+     */
+    AMR_CHARGE_MODE(6, "充电模式"),
+    /**
+     * 任务被中断模式
+     */
+    AMR_TASK_INTERRUPT_MODE (7, "任务被中断模式"),
+    /**
+     * 自定义模式
+     */
+    AMR_CUSTOMIZE_MODE(8, "自定义模式"),
+    /**
+     * 主程序退出（关机或关服务）时会进入这个模式
+     */
+    AMR_SHUTDOWN_MODE(8, "主程序退出");
+
+    // 枚举值映射
+    private static final Map<Integer, AmrTaskMode> VALUE_MAP;
+
+    static {
+        Map<Integer, AmrTaskMode> map = Maps.newHashMap();
+        for (AmrTaskMode message : values()) {
+            map.put(message.value, message);
+        }
+        VALUE_MAP = Collections.unmodifiableMap(map);
+    }
+
+    public final int value;
+    public final String description;
+
+    AmrTaskMode(int value, String description) {
+        this.value = value;
+        this.description = description;
+    }
+
+    /**
+     * 从整数值获取对应的枚举
+     *
+     * @param value 整数值
+     * @return 对应的枚举，如果找不到则返回 null
+     */
+    public static AmrTaskMode fromValue(int value) {
+        return VALUE_MAP.get(value);
+    }
+
+}

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

@@ -1,45 +1,92 @@
 package com.galaxis.rcs.ptr;
 
-import com.google.common.base.Splitter;
 import com.yvan.logisticsEnv.EnvPayload;
-import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
 import org.clever.core.BannerUtils;
-import org.clever.core.json.JsonWrapper;
 import org.eclipse.paho.mqttv5.client.*;
 import org.eclipse.paho.mqttv5.common.MqttException;
 import org.eclipse.paho.mqttv5.common.MqttMessage;
 import org.eclipse.paho.mqttv5.common.packet.MqttProperties;
 
+import java.net.InetAddress;
+import java.nio.charset.StandardCharsets;
+import java.util.concurrent.CountDownLatch;
+
 @Slf4j
 public class PtrMqttClient implements MqttCallback {
     public final AmrMessageHandler amrMessageHandler;
     public final EnvPayload.MqttConfig mqttConfig;
-    public final MqttClient client;
+    private final MqttClient clientForSend;
+    private final MqttClient client;
+    private final String clientId;
+    private CountDownLatch connectLatch = new CountDownLatch(1);
+
 
     @SneakyThrows
-    public PtrMqttClient(AmrMessageHandler handler, EnvPayload.MqttConfig mqttConfig) {
+    public PtrMqttClient(AmrMessageHandler handler, EnvPayload.MqttConfig mqttConfig, String clientId) {
         this.amrMessageHandler = handler;
         this.mqttConfig = mqttConfig;
+        this.clientId = clientId;
 
-        String brokerUrl = mqttConfig.getBrokerUrl();
+        String brokerUrl = mqttConfig.getBrokerUrl(); // "tcp://10.10.203.239:1885"
-        String username = mqttConfig.getUsername();
+        String username = mqttConfig.getUsername(); // admin
-        String password = mqttConfig.getPassword();
+        String password = mqttConfig.getPassword(); // admin
-
-        client = new MqttClient(brokerUrl, mqttConfig.getClientId());
-        client.setCallback(this);
 
+        clientForSend = new MqttClient(brokerUrl, clientId + "_send"); // String clientId = "LUOYIFAN-PC_send"
+        client = new MqttClient(brokerUrl, clientId); // String clientId = "LUOYIFAN-PC"
         MqttConnectionOptions options = new MqttConnectionOptions();
         options.setServerURIs(new String[]{brokerUrl});
-        options.setAutomaticReconnect(true);  // 启用自动重连
+        options.setAutomaticReconnect(true);
         options.setUserName(username);
         options.setPassword(password.getBytes());
+        options.setConnectionTimeout(1);
+        options.setKeepAliveInterval(20);
+        options.setExecutorServiceTimeout(1);
 
+        client.setCallback(this);
         client.connect(options);
+
+        clientForSend.connect(options);
+        connectLatch.await();
+
+        BannerUtils.printConfig(log, "MQTT 开启监听成功", new String[]{
+            "brokerUrl: " + brokerUrl,
+            "userName: " + username,
+            "clientId: " + clientId,
+            "topic: /agv_robot/status"});
+
         client.subscribe("/agv_robot/status", 0);
     }
 
+    @SneakyThrows
+    public void publish(String topic, String payloadString) {
+        MqttMessage message = new MqttMessage(payloadString.getBytes(StandardCharsets.UTF_8));
+        message.setQos(0);
+        message.setRetained(false);
+
+        if (this.clientForSend.isConnected()) {
+            this.clientForSend.publish(topic, message);
+        } else {
+            throw new RuntimeException("MQTT client is not connected, cannot publish message.");
+        }
+        log.info("Message published to topic {}: finish", topic);
+    }
+
+    @SneakyThrows
+    public static void main(String[] args) {
+        var config = new EnvPayload.MqttConfig();
+        config.setBrokerUrl("tcp://10.10.203.239:1885");
+        config.setUsername("admin");
+        config.setPassword("admin");
+
+        PtrMqttClient mqttClient = new PtrMqttClient(null, config, "LUOYIFAN-PC");
+        for (int i = 0; i < 100; i++) {
+            mqttClient.publish("/agv_robot/status", "Hello from Java " + i);
+        }
+        log.info("Message published successfully.");
+    }
+
     @Override
     public void disconnected(MqttDisconnectResponse disconnectResponse) {
         log.info("mqtt disconnected");
@@ -55,7 +102,11 @@ public class PtrMqttClient implements MqttCallback {
         switch (topic) {
             case "/agv_robot/status":
                 try {
-                    amrMessageHandler.handleAgvRobotStatusMessage(message);
+                    if (this.amrMessageHandler == null) {
+                        log.info("amrMessageHandler is null, skipping message handling {}", new String(message.getPayload(), StandardCharsets.UTF_8));
+                        return;
+                    }
+                    this.amrMessageHandler.handleAgvRobotStatusMessage(message);
 
                 } catch (Exception e) {
                     log.error("amrMessageHandler.handleAgvRobotStatusMessage 异常", e);
@@ -68,11 +119,14 @@ public class PtrMqttClient implements MqttCallback {
 
     @Override
     public void deliveryComplete(IMqttToken token) {
+        log.info("Message delivery complete: {}", token);
     }
 
     @Override
     public void connectComplete(boolean reconnect, String serverURI) {
-        BannerUtils.printConfig(log, "MQTT 开启监听", new String[]{serverURI + " topic: /agv_robot/status"});
+        // BannerUtils.printConfig(log, "MQTT 开启监听", new String[]{serverURI + " topic: /agv_robot/status"});
+        log.info("MQTT client connected to server: {}", serverURI);
+        connectLatch.countDown(); // 放行
     }
 
     @Override
@@ -81,10 +135,13 @@ public class PtrMqttClient implements MqttCallback {
 
     @SneakyThrows
     public void stop() {
-        if (client.isConnected()) {
+        if (client != null && client.isConnected()) {
             client.disconnect();
-        }
             client.close();
-        log.info("MQTT client stopped");
+            log.info("MQTT client disconnected and closed.");
+        } else {
+            log.warn("MQTT client is not connected, no action taken.");
         }
+    }
+
 }

servo/src/main/java/com/yvan/logisticsEnv/EnvPayload.java

@@ -12,7 +12,6 @@ public class EnvPayload implements Serializable {
     @Data
     public static class MqttConfig {
         private String brokerUrl;
-        private String clientId;
         private String username;
         private String password;
     }

servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java

@@ -10,6 +10,8 @@ import lombok.Setter;
 @Setter
 public class EnvStartParam {
 
+    public String clientId;
+
     /**
      * 是否虚拟仿真环境
      */

servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

@@ -176,7 +176,7 @@ public class LogisticsRuntime {
         this.logisticsEnv.start(param);
 
         // 启动 MQTT 监听
-        this.amrMessageHandler.start(param.getEnvPayload().getMqtt());
+        this.amrMessageHandler.start(param.getEnvPayload().getMqtt(), param.clientId);
 
         // 开启所有机器人的任务处理
         Set<String> executorTypes = Sets.newHashSet();

servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java

@@ -38,4 +38,6 @@ public class PtrAgvDeviceTask {
 
     // 是否最后任务
     public boolean isLastTask = false;
+    public int checkLogicX;
+    public int checkLogicY;
 }

servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java

@@ -4,21 +4,21 @@ import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.common.enums.AgvEventType;
 import com.galaxis.rcs.common.enums.LCCDirection;
+import com.galaxis.rcs.common.enums.PlanTaskStatus;
 import com.galaxis.rcs.common.enums.PlanTaskType;
 import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
 import com.galaxis.rcs.plan.PlanTaskSequence;
-import com.galaxis.rcs.ptr.AgvEventListener;
+import com.galaxis.rcs.ptr.*;
-import com.galaxis.rcs.ptr.AmrMessageHandler;
-import com.galaxis.rcs.ptr.ControlMode;
-import com.galaxis.rcs.ptr.PosDirection;
 import com.galaxis.rcs.ptr.receiveEntity.AmrHeartbeatMessage;
 import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
 import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
+import com.google.common.base.Joiner;
 import com.google.common.collect.Queues;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
+import org.clever.core.BannerUtils;
 import org.clever.core.json.JsonWrapper;
 import org.clever.data.redis.Redis;
 import org.clever.data.redis.RedisAdmin;
@@ -63,6 +63,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
     // agv当前转动角度值
     public double orientation;
 
+    // 任务模式
+    public AmrTaskMode taskMode;
+
     private volatile boolean isManualMode = false;
     private volatile boolean isPaused = false;
     private volatile PosDirection lastPausedPosition;
@@ -221,7 +224,19 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
     public boolean isFree() {
         // return (this.logisticsRuntime.isRunning() && this.deviceTaskQueue.isEmpty() && this.connectorThread.isRunning());
-        return this.runtime.isRunning() && planTaskSequence == null && deviceTaskQueue.isEmpty() && !isPaused;
+        if (!this.runtime.isRunning()) {
+            return false;
+        }
+        if (planTaskSequence != null && !planTaskSequence.isAllCompleted()) {
+            return false;
+        }
+        if (!deviceTaskQueue.isEmpty()) {
+            return false;
+        }
+        if (this.isPaused) {
+            return false;
+        }
+        return true;
     }
 
     public void updatePosition(int logicX, int logicY, short direction) {
@@ -247,6 +262,62 @@ public abstract class PtrAgvItem extends ExecutorItem {
             fireEvent(AgvEventType.DIRECTION_CHANGED, this,
                 oldDirection, direction);
         }
+
+        boolean needCompute = false;
+
+        // 从 runningDeviceTaskList 里面，找到完成到什么阶段
+        // 比如 (1,2) -> (2,2) -> (3,2) ,  如果 updatePosition=3,2 ，那么前2个任务都要完成
+        int finishTargetIndex = -1;
+        if (this.runningDeviceTaskList != null && !this.runningDeviceTaskList.isEmpty() &&
+            this.planTaskSequence != null && !this.planTaskSequence.isEmpty()) {
+
+            for (int i = 0; i < runningDeviceTaskList.size(); i++) {
+                PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
+                if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
+                    finishTargetIndex = i;
+                    break;
+                }
+            }
+
+            if (finishTargetIndex >= 0) {
+                needCompute = true;
+                // 标记前面的任务都完成了
+                for (int i = 0; i <= finishTargetIndex; i++) {
+                    PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
+
+                    task.taskStatus = 4; // 标记为完成
+                    task.taskGroupStatus = 4; // 标记为任务组完成
+                    fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
+
+                    // 更新计划任务
+                    RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
+                    if (planTask != null) {
+                        planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
+                        planTaskSequence.savePlanTask(planTask);
+                    }
+                }
+
+                if (planTaskSequence.isAllCompleted()) {
+                    fireEvent(AgvEventType.PLAN_COMPLETE, this);
+                    planTaskSequence = null;
+                }
+            }
+        }
+
+        BannerUtils.printConfig(log, "updatePosition", new String[]{
+            "logicX: " + logicX,
+            "logicY: " + logicY,
+            "direction: " + direction,
+            "finishTargetIndex: " + finishTargetIndex,
+            "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
+            "planTask:" + (this.planTaskSequence == null ? "null" :
+                ("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
+            )
+        });
+
+        if (needCompute) {
+            LockSupport.unpark(connectorThread);
+        }
     }
 
     /**
@@ -263,46 +334,11 @@ public abstract class PtrAgvItem extends ExecutorItem {
             return;
         }
 
-        boolean needCompute = true;
+        // 任务完成逻辑，在地标检查里
-        for (PtrAgvDeviceTask task : runningDeviceTaskList) {
-            if (task.seqNo == seqNo) {
-                task.taskGroupStatus = messageStatus;
-                if (task.x == x && task.y == y) {
-                    task.taskStatus = 4;
-                }
-            }
-            if (task.taskGroupStatus < 3 /*|| task.taskStatus < 4*/) {
-                needCompute = false;
-            }
     }
-        if (needCompute) {
-            LockSupport.unpark(connectorThread);
-        }
-
-        // 如果是任务完成事件
-        if (messageStatus == 4) {
-            fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, this.connectorThread.__currentTask);
 
-            if (isTaskSequenceComplete()) {
+    public void updateTaskMode(int taskMode) {
-                fireEvent(AgvEventType.PLAN_COMPLETE, this);
-                planTaskSequence = null;
-            }
-        }
-    }
 
-    /**
-     * 检查当前任务序列是否完成
-     */
-    public boolean isTaskSequenceComplete() {
-        if (planTaskSequence == null) {
-            return false;
-        }
-        for (PtrAgvDeviceTask task : runningDeviceTaskList) {
-            if (task.taskGroupStatus < 3 /*|| task.taskStatus < 4*/) {
-                return false;
-            }
-        }
-        return true;
     }
 
     public void updateRedisStatus() {
@@ -451,6 +487,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 deviceTask.endPoint = pointItem;
                 deviceTask.bizTaskId = plan.getBizTaskId();
                 deviceTask.planTaskId = plan.getPlanTaskId();
+                // 行走任务完成后，检查用的字段
+                deviceTask.checkLogicX = pointItem.logicX;
+                deviceTask.checkLogicY = pointItem.logicY;
                 deviceTaskList.add(deviceTask);
                 // 设置新的起点
                 startPoint = pointItem;
@@ -626,6 +665,16 @@ public abstract class PtrAgvItem extends ExecutorItem {
         };
     }
 
+    public short getAmrDirection(LCCDirection lccDirection) {
+        return switch (lccDirection) {
+            case RIGHT -> 0;
+            case DOWN -> 1;
+            case LEFT -> 2;
+            case UP -> 3;
+            default -> -1; // 未知方向
+        };
+    }
+
     private String getRedisKey(String type) {
         return String.format("lcc:%s:%s:rcs:%s_%s",
             runtime.projectUUID, runtime.envId, type, this.getId());