业务状态问题

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

@@ -5,8 +5,14 @@ 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.galaxis.rcs.ptr.ArmMessageType;
+import com.google.common.base.Splitter;
 import com.google.common.collect.Lists;
 import com.yvan.logisticsModel.LogisticsRuntime;
+import com.yvan.logisticsModel.PtrAgvDeviceTask;
+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 +21,7 @@ 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 +34,6 @@ 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 +109,6 @@ public class PlanTaskSequence {
     // 添加完成动作
     public RcsTaskPlan addFinish() {
         RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.FINISH.toString());
-        this.isFinished = true;
         return task;
     }
 
@@ -145,4 +150,38 @@ public class PlanTaskSequence {
         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 (!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);
+        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);
+    }
 }

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

@@ -4,6 +4,7 @@ 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;
@@ -17,6 +18,7 @@ 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.collect.Queues;
+import com.yvan.logisticsMonitor.task.PlanTask;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
 import org.clever.core.json.JsonWrapper;
@@ -221,7 +223,19 @@ 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) {
@@ -268,9 +282,26 @@ public abstract class PtrAgvItem extends ExecutorItem {
             if (task.seqNo == seqNo) {
                 task.taskGroupStatus = messageStatus;
                 if (task.x == x && task.y == y) {
+                    // 标记任务已完成, 4=完成
                     task.taskStatus = 4;
                 }
+
+                if (messageStatus == 4) {
+                    fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
+                    RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
+                    planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
+                    planTaskSequence.savePlanTask(planTask);
+                    if (planTaskSequence.isAllCompleted()) {
+                        fireEvent(AgvEventType.PLAN_COMPLETE, this);
+                        planTaskSequence = null;
+                    }
+
+                } else {
+                    log.error("messageStatus unkown messageStatus={}", messageStatus);
+                }
+
             }
+            // TODO: 3是什么?
             if (task.taskGroupStatus < 3 /*|| task.taskStatus < 4*/) {
                 needCompute = false;
             }
@@ -278,32 +309,8 @@ public abstract class PtrAgvItem extends ExecutorItem {
         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()) {
-                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() {
         String statusKey = getRedisKey("status");