Merge remote-tracking branch 'origin/master'

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

@@ -76,8 +76,8 @@ public class PtrAgvConnectorThread extends Thread {
                 PtrAgvDeviceTask nextTask = this.ptrAgvItem.deviceTaskQueue.peek();
                 if (currentTask.isGroupEnd
                     || (taskMessage.Link.size() > 0 && nextTask != null && ((startTask.speed > 0) != (nextTask.speed > 0) || startTask.direction != nextTask.direction)) // 下一个任务和开始任务方向不一致
-                    // 单向移动距离大于2m时并且点位数量大于1
-                    || (distance > 2 && taskCount > 1)) {
+                    // 单向移动距离大于2m时并且点位数量大于1 如果碰到当前点位与任务结束点位相同且当前任务还有后续，则继续添加步骤（link）错开，避免任务发生歧义
+                    || (distance > 2 && taskCount > 1 && nextTask != null && currentTask.endPoint != currentTask.groupEndPoint)) {
                     taskMessage.OperationType = currentTask.operationType;
                     taskMessage.PickMode = currentTask.pickMode;
                     taskMessage.EndX = currentTask.groupEndPoint.logicX;

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

@@ -214,7 +214,10 @@ public abstract class PtrAgvItem extends ExecutorItem {
         if (!deviceTaskQueue.isEmpty()) {
             deviceTaskQueue.clear();
         }
-
+        // todo 取消运行中的设备任务
+        runningDeviceTaskList.clear();
+        // 唤醒连接器线程
+        LockSupport.unpark(connectorThread);
         this.runtime.eventManager.firePlanTaskSequenceCancelEvent(this, planTaskSequence);
     }
 
@@ -776,6 +779,8 @@ public abstract class PtrAgvItem extends ExecutorItem {
         }
 
         deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("deviceTaskList: {}", json);
     }
 
     public boolean isSamePosition(PosDirection startPos) {

servo/src/main/java/com/yvan/workbench/controller/RcsController.java

@@ -218,7 +218,7 @@ public class RcsController {
         // ==================== 布置任务 ====================
         ps.bizTask.setLpn(lpn);
         ps.bizTask.setBizType(BizTaskType.CARRY.toString());
-        ps.bizTask.setTaskFrom(loadBasLocation.getCatalogCode());
+        ps.bizTask.setTaskFrom(loadBasLocation.getLocCode());
         ps.bizTask.setTaskTo(unloadBasLocation.getLocCode());
 
         CarryTask carryTask = new CarryTask(