Load / Unload 记库存

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

@@ -10,7 +10,7 @@ import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.LogisticsRuntimeService;
 import com.yvan.logisticsModel.StaticItem;
 import com.yvan.workbench.SpringContext;
-import com.yvan.workbench.model.entity.LccProject;
+import com.yvan.entity.LccProject;
 import com.yvan.workbench.service.LccMapService;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;

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

@@ -2,6 +2,7 @@ package com.galaxis.rcs.inv;
 
 import com.galaxis.rcs.common.entity.LccInvLpn;
 import com.querydsl.core.util.StringUtils;
+import org.clever.core.id.SnowFlake;
 import org.clever.data.jdbc.DaoFactory;
 import org.clever.data.jdbc.QueryDSL;
 
@@ -15,6 +16,7 @@ public class InvManager {
 
     /**
      * 记录库存
+     *
      * @param envId      环境ID
      * @param lpn        容器号
      * @param locCode    库位号
@@ -23,7 +25,7 @@ public class InvManager {
      * @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) {
+    public static void invSave(Long envId, Long bizTaskId, 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")
@@ -73,20 +75,23 @@ public class InvManager {
             }
         }
 
-        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, )
+                .set(lccInvLpn.updateAt, new Date(System.currentTimeMillis()))
+                .set(lccInvLpn.updateBy, "system")
                 .where(lccInvLpn.envId.eq(envId).and(lccInvLpn.locCode.eq(locCode)).and(lccInvLpn.lpn.eq(lpn)))
                 .execute();
             // 记录账页
             queryDSL.insert(lccInvLedger)
+                .set(lccInvLedger.ledgerId, SnowFlake.SNOW_FLAKE.nextId())
                 .set(lccInvLedger.envId, envId)
                 .set(lccInvLedger.lpn, lpn)
+                .set(lccInvLedger.bizTaskId, bizTaskId)
                 .set(lccInvLedger.locCode, locCode)
                 .set(lccInvLedger.layerIndex, layerIndex)
                 .set(lccInvLedger.qtyChange, qty)
@@ -97,6 +102,10 @@ public class InvManager {
                 .set(lccInvLedger.qtyOut, lccInvLpnData.getQtyOut() + qtyOut)
                 .set(lccInvLedger.ledgerType, "记账")
                 .set(lccInvLedger.ledgerRemark, "N/A")
+                .set(lccInvLedger.createAt, new Date(System.currentTimeMillis()))
+                .set(lccInvLedger.createBy, "system")
+                .set(lccInvLedger.updateAt, new Date(System.currentTimeMillis()))
+                .set(lccInvLedger.updateBy, "system")
                 .execute();
         } else {
             queryDSL.insert(lccInvLpn)
@@ -107,11 +116,17 @@ public class InvManager {
                 .set(lccInvLpn.qty, qty)
                 .set(lccInvLpn.qtyIn, qtyIn)
                 .set(lccInvLpn.qtyOut, qtyOut)
+                .set(lccInvLpn.createAt, new Date(System.currentTimeMillis()))
+                .set(lccInvLpn.createBy, "system")
+                .set(lccInvLpn.updateAt, new Date(System.currentTimeMillis()))
+                .set(lccInvLpn.updateBy, "system")
                 .execute();
             // 记录账页
             queryDSL.insert(lccInvLedger)
+                .set(lccInvLedger.ledgerId, SnowFlake.SNOW_FLAKE.nextId())
                 .set(lccInvLedger.envId, envId)
                 .set(lccInvLedger.lpn, lpn)
+                .set(lccInvLedger.bizTaskId, bizTaskId)
                 .set(lccInvLedger.locCode, locCode)
                 .set(lccInvLedger.layerIndex, layerIndex)
                 .set(lccInvLedger.qtyChange, qty)
@@ -122,17 +137,21 @@ public class InvManager {
                 .set(lccInvLedger.qtyOut, qtyOut)
                 .set(lccInvLedger.ledgerType, "记账")
                 .set(lccInvLedger.ledgerRemark, "N/A")
+                .set(lccInvLedger.createAt, new Date(System.currentTimeMillis()))
+                .set(lccInvLedger.createBy, "system")
+                .set(lccInvLedger.updateAt, new Date(System.currentTimeMillis()))
+                .set(lccInvLedger.updateBy, "system")
                 .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
@@ -140,31 +159,33 @@ public class InvManager {
      * @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) {
+    public static void invSave(Long envId, Long bizTaskId, String lpn, String locCode, int qty, int qtyIn, int qtyOut) {
-        invSave(envId, lpn, locCode, 0, qty, qtyIn, qtyOut);
+        invSave(envId, bizTaskId, 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) {
+    public static void invSave(Long envId, Long bizTaskId, String lpn, String locCode, int layerIndex, int qty) {
-        invSave(envId, lpn, locCode, layerIndex, qty, 0, 0);
+        invSave(envId, bizTaskId, 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) {
+    public static void invSave(Long envId, Long bizTaskId, String lpn, String locCode, int qty) {
-        invSave(envId, lpn, locCode, 0, qty, 0, 0);
+        invSave(envId, bizTaskId, lpn, locCode, 0, qty, 0, 0);
     }
 
 }

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

@@ -6,12 +6,10 @@ 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.Joiner;
-import com.google.common.base.Splitter;
 import com.google.common.collect.Lists;
+import com.yvan.entity.BasLocationVo;
 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;
 
@@ -33,7 +31,12 @@ public class PlanTaskSequence {
 
     public String lastWayPointId;
     public Float lastRotationAngle = null;
-    public String lastLoadLpn = "";
+
+    public String carryLpn;
+    public BasLocationVo loadBasLocationVo;
+    public BasLocationVo unloadBasLocationVo;
+    public BasLocationVo executorVo;
+    public int carryQty;
 
     public PlanTaskSequence(String executorId, LogisticsRuntime logisticsRuntime, RcsTaskBiz bizTask, String createBy) {
         this.executorId = executorId;
@@ -90,13 +93,12 @@ public class PlanTaskSequence {
     }
 
     // 添加取货动作
-    public RcsTaskPlan addLoad(String lpn, String rackId, int bay, int level, int cell) {
+    public RcsTaskPlan addLoad( String rackId, int bay, int level, int cell) {
         RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.LOAD.toString());
         task.setTargetId(rackId);
         task.setTargetBay(bay);
         task.setTargetLevel(level);
         task.setTargetCell(cell);
-        this.lastLoadLpn = lpn;
         return task;
     }
 
@@ -107,7 +109,6 @@ public class PlanTaskSequence {
         task.setTargetBay(bay);
         task.setTargetLevel(level);
         task.setTargetCell(cell);
-        this.lastLoadLpn = "";
         return task;
     }
 

servo/src/main/java/com/galaxis/rcs/plan/path/PtrPathPlanner.java

@@ -123,7 +123,7 @@ public class PtrPathPlanner {
 
         // 生成指令序列
         generateMoves(plan, toLoadPath);
-        plan.addLoad(task.lpn(), loadRackId, pickupBay, task.from().level(), task.from().cell());
+        plan.addLoad(loadRackId, pickupBay, task.from().level(), task.from().cell());
 
         generateMoves(plan, toUnloadPath);
         plan.addUnload(unloadRackId, task.to().level(), task.to().bay(), task.to().cell());
@@ -218,7 +218,7 @@ public class PtrPathPlanner {
 
         // 生成指令序列
         generateMoves(plan, toLoadPath);
-        plan.addLoad("N/A", loadRackId, task.to().level(), task.to().bay(), task.to().cell());
+        plan.addLoad(loadRackId, task.to().level(), task.to().bay(), task.to().cell());
 
         plan.addFinish();
     }

servo/src/main/java/com/galaxis/rcs/plan/task/CarryTask.java

@@ -26,7 +26,6 @@ import com.galaxis.rcs.common.entity.StoreLocation;
  */
 public record CarryTask(
     String agv,
-    String lpn,
     int priority,
     StoreLocation from,
     StoreLocation to

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

@@ -136,6 +136,19 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
     public synchronized void dispatchTask(PlanTaskSequence taskSequence) {
         if (!isFree()) {
+            if (!this.runtime.isRunning()) {
+                throw new IllegalStateException("runtime is not running!");
+            }
+            if (planTaskSequence != null && !planTaskSequence.isAllCompleted()) {
+                throw new IllegalStateException("AGV is busy with an existing task sequence");
+            }
+            if (!deviceTaskQueue.isEmpty()) {
+                throw new IllegalStateException("AGV has pending device tasks in the queue");
+            }
+            if (!isOnline) {
+                throw new IllegalStateException("AGV is not online and cannot accept new tasks");
+            }
+
             throw new IllegalStateException("AGV is not free to accept new tasks");
         }
 

servo/src/main/java/com/yvan/entity/BasLocationVo.java

@@ -0,0 +1,60 @@
+package com.yvan.entity;
+
+import com.galaxis.rcs.common.entity.LccBasLocation;
+import com.yvan.logisticsModel.ExecutorItem;
+import lombok.Data;
+
+/**
+ * 用于表示货位的值对象
+ */
+@Data
+public class BasLocationVo {
+    /**
+     * 位置编码
+     */
+    String locCode;
+
+    /**
+     * 货位类型
+     */
+    String locType;
+
+    /**
+     * 货位
+     */
+    String rack;
+
+    /**
+     * 列
+     */
+    int bay;
+
+    /**
+     * 层
+     */
+    int level;
+
+    /**
+     * 格
+     */
+    int cell;
+
+    public BasLocationVo(LccBasLocation basLocation) {
+        this.locCode = basLocation.getLocCode();
+        this.locType = basLocation.getLocType();
+        this.rack = basLocation.getRack();
+        this.bay = basLocation.getBay();
+        this.level = basLocation.getLevel();
+        this.cell = basLocation.getCell();
+    }
+
+    public BasLocationVo(ExecutorItem executorItem) {
+        // 从 ExecutorItem 中提取信息并赋值给 BasLocationVo
+        this.locCode = "AGV_" + executorItem.getId();
+        this.locType = executorItem.getT();
+        this.rack = "N/A";
+        this.bay = 0;
+        this.level = 0;
+        this.cell = 0;
+    }
+}

servo/src/main/java/com/yvan/workbench/model/entity/LccProject.java → servo/src/main/java/com/yvan/entity/LccProject.java

@@ -1,4 +1,4 @@
-package com.yvan.workbench.model.entity;
+package com.yvan.entity;
 
 import lombok.Data;
 

servo/src/main/java/com/yvan/workbench/model/entity/LccProjectEnv.java → servo/src/main/java/com/yvan/entity/LccProjectEnv.java

@@ -1,4 +1,4 @@
-package com.yvan.workbench.model.entity;
+package com.yvan.entity;
 
 import com.yvan.logisticsEnv.EnvConfig;
 import lombok.Data;

servo/src/main/java/com/yvan/workbench/model/entity/Vector2.java → servo/src/main/java/com/yvan/entity/Vector2.java

@@ -1,4 +1,4 @@
-package com.yvan.workbench.model.entity;
+package com.yvan.entity;
 
 public record Vector2(
     /**

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

@@ -1,14 +1,8 @@
 package com.yvan.logisticsModel;
 
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.plan.PlanTaskSequence;
-import com.google.common.collect.Queues;
-import com.yvan.workbench.model.entity.Vector2;
 
 import java.util.Map;
-import java.util.Queue;
-import java.util.concurrent.BlockingQueue;
 
 /**
  * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等)

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

@@ -1,6 +1,10 @@
 package com.yvan.logisticsModel;
 
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.galaxis.rcs.common.enums.PlanTaskType;
 import com.galaxis.rcs.connector.cl2.Cl2Item;
+import com.galaxis.rcs.inv.InvManager;
+import com.galaxis.rcs.plan.PlanTaskSequence;
 import com.galaxis.rcs.plan.path.NavigationGraph;
 import com.galaxis.rcs.plan.path.PtrPathPlanner;
 import com.galaxis.rcs.ptr.AmrMessageHandler;
@@ -12,26 +16,27 @@ import com.google.common.collect.Maps;
 import com.google.common.collect.Sets;
 import com.yvan.event.AgvEventManager;
 import com.yvan.event.AgvEventType;
-import com.yvan.mqtt.FrontendMessagePushService;
+import com.yvan.pusher.FrontendMessagePushService;
 import com.yvan.redis.LccRedisService;
-import com.yvan.workbench.model.entity.LccProject;
+import com.yvan.entity.LccProject;
-import com.yvan.workbench.model.entity.LccProjectEnv;
+import com.yvan.entity.LccProjectEnv;
 import lombok.extern.slf4j.Slf4j;
 import org.clever.core.BannerUtils;
 import org.clever.core.Conv;
+import org.clever.data.jdbc.DaoFactory;
+import org.clever.data.jdbc.QueryDSL;
 import org.clever.data.redis.Redis;
 import org.clever.data.redis.RedisAdmin;
 
-import java.util.Date;
+import java.util.*;
-import java.util.List;
-import java.util.Map;
-import java.util.Set;
 
 /**
  * 物流运行时
  */
 @Slf4j
 public class LogisticsRuntime {
+    public final QueryDSL queryDSL = DaoFactory.getQueryDSL();
+
     /**
      * 项目UUID
      */
@@ -134,12 +139,53 @@ public class LogisticsRuntime {
             for (int i = 1; i < args.length; i++) {
                 eventArgs[i - 1] = Conv.asString(args[i]);
             }
+            if (type == AgvEventType.PLAN_TASK_COMPLETE) {
+                PlanTaskSequence taskSequence = (PlanTaskSequence) args[1];
+                RcsTaskPlan taskPlan = (RcsTaskPlan) args[2];
+                PlanTaskType planType = PlanTaskType.valueOf(taskPlan.getPlanType());
+                if (planType == PlanTaskType.LOAD) {
+                    // 处理库存变化  rack-> agv
+                    changeInvOfLoad(taskSequence, taskPlan);
+                } else if (planType == PlanTaskType.UNLOAD) {
+                    // 处理库存变化 agv -> rack
+                    changeInvOfUnload(taskSequence, taskPlan);
+                }
+
+            }
 
             BannerUtils.printConfig(log, this.projectUuid + "(" + this.envId + ") " + type + " AGV:" + sender.getId(), eventArgs);
         });
     }
 
     /**
+     * 库存转移 AGV->货架
+     */
+    private void changeInvOfUnload(PlanTaskSequence taskSequence, RcsTaskPlan taskPlan) {
+        queryDSL.beginTX(status -> {
+            String lpn = taskSequence.carryLpn;
+
+            InvManager.invSave(this.envId, taskSequence.bizTask.getBizTaskId(), lpn, taskSequence.executorVo.getLocCode(), -taskSequence.carryQty);
+            InvManager.invSave(this.envId, taskSequence.bizTask.getBizTaskId(), lpn, taskSequence.unloadBasLocationVo.getLocCode(), taskSequence.carryQty);
+
+            this.frontendMessagePushService.pushInventoryUpdate(lpn, taskSequence.executorVo, taskSequence.unloadBasLocationVo, taskSequence.carryQty);
+        });
+    }
+
+    /**
+     * 库存转移 货架->AGV
+     */
+    private void changeInvOfLoad(PlanTaskSequence taskSequence, RcsTaskPlan taskPlan) {
+        queryDSL.beginTX(status -> {
+            String lpn = taskSequence.carryLpn;
+
+            InvManager.invSave(this.envId, taskSequence.bizTask.getBizTaskId(), lpn, taskSequence.loadBasLocationVo.getLocCode(), -taskSequence.carryQty);
+            InvManager.invSave(this.envId, taskSequence.bizTask.getBizTaskId(), lpn, taskSequence.executorVo.getLocCode(), taskSequence.carryQty);
+
+            this.frontendMessagePushService.pushInventoryUpdate(lpn, taskSequence.loadBasLocationVo, taskSequence.executorVo, taskSequence.carryQty);
+        });
+    }
+
+    /**
      * 获取当前空闲的执行器列表
      */
     public List<ExecutorItem> getFreeExecutorList() {

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

@@ -1,8 +1,8 @@
 package com.yvan.logisticsModel;
 
 import com.google.common.collect.Maps;
-import com.yvan.workbench.model.entity.LccProject;
+import com.yvan.entity.LccProject;
-import com.yvan.workbench.model.entity.LccProjectEnv;
+import com.yvan.entity.LccProjectEnv;
 import lombok.SneakyThrows;
 
 import java.net.InetAddress;

servo/src/main/java/com/yvan/mqtt/FrontendMessagePushService.java → servo/src/main/java/com/yvan/pusher/FrontendMessagePushService.java

@@ -1,5 +1,6 @@
-package com.yvan.mqtt;
+package com.yvan.pusher;
 
+import com.yvan.entity.BasLocationVo;
 import com.yvan.logisticsEnv.EnvConfig;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.Getter;
@@ -165,18 +166,20 @@ public class FrontendMessagePushService implements MqttCallback {
 
     /**
      * 推送库存更新
-     * /lcc/{proj_id}/{env_id}/inv/{catalogCode}
+     * /lcc/{proj_id}/{env_id}/inv
      *
-     * @param catalogCode 货位目录编码
+     * @param lpn    容器号
      * @param before 更新前库存
      * @param after  更新后库存
      */
-    public void pushInventoryUpdate(String catalogCode, Object before, Object after) {
+    public void pushInventoryUpdate(String lpn, BasLocationVo before, BasLocationVo after, int qty) {
-        String topic = buildTopic("inv/" + catalogCode);
+        String topic = buildTopic("inv");
 
         Map<String, Object> data = new HashMap<>();
+        data.put("lpn", lpn);
         data.put("before", before);
         data.put("after", after);
+        data.put("qty", qty);
 
         publishJson(topic, data);
     }

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

@@ -4,7 +4,7 @@ import com.galaxis.rcs.common.entity.LccBasLocation;
 import com.galaxis.rcs.common.entity.StoreLocation;
 import com.galaxis.rcs.ptr.JacksonUtils;
 import com.yvan.workbench.SpringContext;
-import com.yvan.workbench.model.entity.LccProject;
+import com.yvan.entity.LccProject;
 import com.yvan.workbench.service.LccMapService;
 import jakarta.servlet.http.HttpServletResponse;
 import lombok.SneakyThrows;

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

@@ -1,6 +1,6 @@
 package com.yvan.workbench.controller;
 
-import com.galaxis.rcs.RCSService;
+import com.galaxis.rcs.common.entity.LccBasLocation;
 import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.StoreLocation;
 import com.galaxis.rcs.common.enums.BizTaskStatus;
@@ -11,6 +11,7 @@ import com.galaxis.rcs.plan.task.*;
 import com.galaxis.rcs.ptr.PtrAgvItem;
 import com.google.common.base.Strings;
 import com.google.common.collect.Maps;
+import com.yvan.entity.BasLocationVo;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.LogisticsRuntimeService;
@@ -22,6 +23,9 @@ import org.clever.web.mvc.annotation.RequestBody;
 
 import java.util.Map;
 
+import static com.galaxis.rcs.common.query.QLccBasLocation.lccBasLocation;
+import static com.galaxis.rcs.common.query.QLccInvLpn.lccInvLpn;
+
 public class RcsController {
     static final SnowFlake snowFlake = new SnowFlake();
 
@@ -130,6 +134,101 @@ public class RcsController {
         return R.success(executorItem);
     }
 
+    public static R<?> agvCarry(@RequestBody Map<String, Object> params) {
+        Object ret = getCommonParamAndCreateBizTask(params);
+        if (ret instanceof R) {
+            // 异常
+            return (R<?>) ret;
+        }
+        RcsCommonParam ps = (RcsCommonParam) ret;
+
+
+        // ==================== 查找来源货位 ====================
+        String fromStoreLoc = Conv.asString(params.get("fromStoreLoc"));
+        if (Strings.isNullOrEmpty(fromStoreLoc)) {
+            return R.fail("fromStoreLoc Must not be empty");
+        }
+        StoreLocation sourceLocation = StoreLocation.of(fromStoreLoc, "/");
+        StaticItem sourceItem = ps.runtime.getStaticItemById(sourceLocation.rackId());
+        if (sourceItem == null) {
+            return R.fail("fromStoreLoc storePoint not found!");
+        }
+        // 查找货位基础资料
+        LccBasLocation loadBasLocation = ps.runtime.queryDSL.selectFrom(
+                lccBasLocation
+            )
+            .where(lccBasLocation.envId.eq(ps.envId))
+            .where(lccBasLocation.rack.eq(sourceLocation.rackId()))
+            .where(lccBasLocation.bay.eq(sourceLocation.bay()))
+            .where(lccBasLocation.level.eq(sourceLocation.level()))
+            .where(lccBasLocation.cell.eq(sourceLocation.cell()))
+            .fetchFirst();
+        if (loadBasLocation == null) {
+            return R.fail("fromStoreLoc location not found!");
+        }
+
+
+        // ==================== 查找卸货货位 ====================
+        String targetStoreLoc = Conv.asString(params.get("targetStoreLoc"));
+        if (Strings.isNullOrEmpty(targetStoreLoc)) {
+            return R.fail("targetStoreLoc Must not be empty");
+        }
+        StoreLocation targetLocation = StoreLocation.of(targetStoreLoc, "/");
+        StaticItem targetItem = ps.runtime.getStaticItemById(targetLocation.rackId());
+        if (targetItem == null) {
+            return R.fail("targetStoreLoc storePoint not found!");
+        }
+        // 查找货位基础资料
+        LccBasLocation unloadBasLocation = ps.runtime.queryDSL.selectFrom(
+                lccBasLocation
+            )
+            .where(lccBasLocation.envId.eq(ps.envId))
+            .where(lccBasLocation.rack.eq(targetLocation.rackId()))
+            .where(lccBasLocation.bay.eq(targetLocation.bay()))
+            .where(lccBasLocation.level.eq(targetLocation.level()))
+            .where(lccBasLocation.cell.eq(targetLocation.cell()))
+            .fetchFirst();
+        if (unloadBasLocation == null) {
+            return R.fail("targetStoreLoc location not found!");
+        }
+
+        // ==================== 找到托盘号 ====================
+        String lpn = ps.runtime.queryDSL
+            .select(lccInvLpn.lpn)
+            .from(lccInvLpn)
+            .where(lccInvLpn.envId.eq(ps.envId))
+            .where(lccInvLpn.locCode.eq(loadBasLocation.getLocCode()))
+            .fetchFirst();
+        if (Strings.isNullOrEmpty(lpn)) {
+            return R.fail("LPN not found at fromStoreLoc: " + fromStoreLoc);
+        }
+
+        // ==================== 布置任务 ====================
+        ps.bizTask.setLpn(lpn);
+        ps.bizTask.setTaskFrom(loadBasLocation.getCatalogCode());
+        ps.bizTask.setTaskTo(unloadBasLocation.getLocCode());
+
+        CarryTask carryTask = new CarryTask(
+            ps.agvId, ps.bizTask.getPriority(),
+            sourceLocation,
+            targetLocation
+        );
+        ps.planSequence.executorVo = new BasLocationVo(ps.agv);
+        ps.planSequence.loadBasLocationVo = new BasLocationVo(loadBasLocation);
+        ps.planSequence.unloadBasLocationVo = new BasLocationVo(unloadBasLocation);
+        ps.planSequence.carryLpn = lpn;
+        ps.planSequence.carryQty = 1;
+
+        ps.runtime.pathPlannerMap.get(ps.agv.getT())
+            .planCarryTask(ps.planSequence, ps.fromItem.getId(), ps.fromDirection, carryTask);
+
+        ps.agv.logicX = ps.fromItem.logicX;
+        ps.agv.logicY = ps.fromItem.logicY;
+        ps.agv.dispatchTask(ps.planSequence);
+
+        return R.success(ps.planSequence.toPrettyMap());
+    }
+
     public static R<Object> agvUnload(@RequestBody Map<String, Object> params) {
         Object ret = getCommonParamAndCreateBizTask(params);
         if (ret instanceof R) {
@@ -138,16 +237,52 @@ public class RcsController {
         }
         RcsCommonParam ps = (RcsCommonParam) ret;
 
+        // ==================== 查找卸货货位 ====================
         String targetStoreLoc = Conv.asString(params.get("targetStoreLoc"));
         if (Strings.isNullOrEmpty(targetStoreLoc)) {
             return R.fail("targetStoreLoc Must not be empty");
         }
         StoreLocation targetLocation = StoreLocation.of(targetStoreLoc, "/");
+        // 查找货位基础资料
+        LccBasLocation unloadBasLocation = ps.runtime.queryDSL.selectFrom(
+                lccBasLocation
+            )
+            .where(lccBasLocation.envId.eq(ps.envId))
+            .where(lccBasLocation.rack.eq(targetLocation.rackId()))
+            .where(lccBasLocation.bay.eq(targetLocation.bay()))
+            .where(lccBasLocation.level.eq(targetLocation.level()))
+            .where(lccBasLocation.cell.eq(targetLocation.cell()))
+            .fetchFirst();
+        if (unloadBasLocation == null) {
+            return R.fail("targetStoreLoc location not found!");
+        }
+
+        // ==================== 找到托盘号 ====================
+        BasLocationVo  executorVo = new BasLocationVo(ps.agv);
+        String lpn = ps.runtime.queryDSL
+            .select(lccInvLpn.lpn)
+            .from(lccInvLpn)
+            .where(lccInvLpn.envId.eq(ps.envId))
+            .where(lccInvLpn.locCode.eq(executorVo.getLocCode()))
+            .fetchFirst();
+        if (Strings.isNullOrEmpty(lpn)) {
+            return R.fail("LPN not found at StoreLoc: " + executorVo.getLocCode());
+        }
+
+        // ==================== 布置任务 ====================
+        ps.bizTask.setLpn(lpn);
+        ps.bizTask.setTaskFrom(ps.fromItem.getId());
+        ps.bizTask.setTaskTo(unloadBasLocation.getLocCode());
 
         UnloadTask unloadTask = new UnloadTask(
             ps.agvId, ps.bizTask.getPriority(),
             targetLocation
         );
+        ps.planSequence.executorVo = executorVo;
+        ps.planSequence.loadBasLocationVo = null;
+        ps.planSequence.unloadBasLocationVo = new BasLocationVo(unloadBasLocation);
+        ps.planSequence.carryLpn = lpn;
+        ps.planSequence.carryQty = 1;
 
         ps.runtime.pathPlannerMap.get(ps.agv.getT())
             .planUnloadTask(ps.planSequence, ps.fromItem.getId(), ps.fromDirection, unloadTask);
@@ -167,16 +302,51 @@ public class RcsController {
         }
         RcsCommonParam ps = (RcsCommonParam) ret;
 
+        // ==================== 查找来源货位 ====================
         String targetStoreLoc = Conv.asString(params.get("targetStoreLoc"));
         if (Strings.isNullOrEmpty(targetStoreLoc)) {
             return R.fail("targetStoreLoc Must not be empty");
         }
         StoreLocation targetLocation = StoreLocation.of(targetStoreLoc, "/");
+        // 查找货位基础资料
+        LccBasLocation loadBasLocation = ps.runtime.queryDSL.selectFrom(
+                lccBasLocation
+            )
+            .where(lccBasLocation.envId.eq(ps.envId))
+            .where(lccBasLocation.rack.eq(targetLocation.rackId()))
+            .where(lccBasLocation.bay.eq(targetLocation.bay()))
+            .where(lccBasLocation.level.eq(targetLocation.level()))
+            .where(lccBasLocation.cell.eq(targetLocation.cell()))
+            .fetchFirst();
+        if (loadBasLocation == null) {
+            return R.fail("targetStoreLoc location not found!");
+        }
+
+        // ==================== 找到托盘号 ====================
+        String lpn = ps.runtime.queryDSL
+            .select(lccInvLpn.lpn)
+            .from(lccInvLpn)
+            .where(lccInvLpn.envId.eq(ps.envId))
+            .where(lccInvLpn.locCode.eq(loadBasLocation.getLocCode()))
+            .fetchFirst();
+        if (Strings.isNullOrEmpty(lpn)) {
+            return R.fail("LPN not found at targetStoreLoc: " + loadBasLocation.getLocCode());
+        }
+
+        // ==================== 布置任务 ====================
+        ps.bizTask.setLpn(lpn);
+        ps.bizTask.setTaskFrom(ps.fromItem.getId());
+        ps.bizTask.setTaskTo(loadBasLocation.getLocCode());
 
         LoadTask loadTask = new LoadTask(
             ps.agvId, ps.bizTask.getPriority(),
             targetLocation
         );
+        ps.planSequence.executorVo = new BasLocationVo(ps.agv);
+        ps.planSequence.loadBasLocationVo = new BasLocationVo(loadBasLocation);
+        ps.planSequence.unloadBasLocationVo = null;
+        ps.planSequence.carryLpn = lpn;
+        ps.planSequence.carryQty = 1;
 
         ps.runtime.pathPlannerMap.get(ps.agv.getT())
             .planLoadTask(ps.planSequence, ps.fromItem.getId(), ps.fromDirection, loadTask);
@@ -224,56 +394,6 @@ public class RcsController {
         return R.success(cost);
     }
 
-    public static R<?> agvCarry(@RequestBody Map<String, Object> params) {
-        Object ret = getCommonParamAndCreateBizTask(params);
-        if (ret instanceof R) {
-            // 异常
-            return (R<?>) ret;
-        }
-        RcsCommonParam ps = (RcsCommonParam) ret;
-
-        String fromStoreLoc = Conv.asString(params.get("fromStoreLoc"));
-        String targetStoreLoc = Conv.asString(params.get("targetStoreLoc"));
-
-        if (Strings.isNullOrEmpty(fromStoreLoc)) {
-            return R.fail("fromStoreLoc Must not be empty");
-        }
-        if (Strings.isNullOrEmpty(targetStoreLoc)) {
-            return R.fail("targetStoreLoc Must not be empty");
-        }
-
-        StoreLocation sourceLocation = StoreLocation.of(fromStoreLoc, "/");
-        StoreLocation targetLocation = StoreLocation.of(targetStoreLoc, "/");
-
-        StaticItem sourceItem = ps.runtime.getStaticItemById(sourceLocation.rackId());
-        if (sourceItem == null) {
-            return R.fail("fromStoreLoc storePoint not found!");
-        }
-        StaticItem targetItem = ps.runtime.getStaticItemById(targetLocation.rackId());
-        if (targetItem == null) {
-            return R.fail("targetStoreLoc storePoint not found!");
-        }
-
-        ps.bizTask.setTaskFrom(fromStoreLoc);
-        ps.bizTask.setTaskTo(targetStoreLoc);
-
-        CarryTask carryTask = new CarryTask(
-            ps.agvId, "N/A", ps.bizTask.getPriority(),
-            sourceLocation,
-            targetLocation
-        );
-
-        ps.runtime.pathPlannerMap.get(ps.agv.getT())
-            .planCarryTask(ps.planSequence, ps.fromItem.getId(), ps.fromDirection, carryTask);
-
-        ps.agv.logicX = ps.fromItem.logicX;
-        ps.agv.logicY = ps.fromItem.logicY;
-        ps.agv.dispatchTask(ps.planSequence);
-
-        return R.success(ps.planSequence.toPrettyMap());
-    }
-
-
     public static Object getCommonParamAndCreateBizTask(@RequestBody Map<String, Object> params) {
         String projectUUID = Conv.asString(params.get("projectUUID"));
         Long envId = Conv.asLong(params.get("envId"));

servo/src/main/java/com/yvan/workbench/service/LccMapService.java

@@ -1,21 +1,18 @@
 package com.yvan.workbench.service;
 
-import com.google.common.base.Joiner;
 import com.google.common.base.Strings;
 import com.google.common.collect.Lists;
 import com.yvan.LccUtils;
 import com.yvan.workbench.autoconfigure.LccConfigProperties;
-import com.yvan.workbench.model.entity.LccProject;
+import com.yvan.entity.LccProject;
-import com.yvan.workbench.model.entity.LccProjectEnv;
+import com.yvan.entity.LccProjectEnv;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.commons.io.FileUtils;
 import org.apache.commons.io.FilenameUtils;
 import org.clever.core.Conv;
 import org.clever.core.mapper.JacksonMapper;
 
 import java.io.File;
-import java.nio.charset.StandardCharsets;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;