From cdb9d471ad03d089f0209a07d6807bd618975c86 Mon Sep 17 00:00:00 2001
From: luoyifan <luoyifan@qq.com>
Date: Fri, 27 Jun 2025 15:55:54 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BB=8E=20updatePosition=20=E6=A3=80=E6=9F=A5?=
 =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E5=AE=8C=E6=88=90=E6=83=85=E5=86=B5?=
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---
 .../com/galaxis/rcs/ptr/AmrMessageHandler.java     |  1 +
 .../com/yvan/logisticsModel/PtrAgvDeviceTask.java  |  2 +
 .../java/com/yvan/logisticsModel/PtrAgvItem.java   | 87 ++++++++++++++--------
 3 files changed, 58 insertions(+), 32 deletions(-)

diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java b/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
index 2777562..19ba758 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
@@ -426,6 +426,7 @@ 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);
     }
diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java
index 0eb806f..79a93ac 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java
+++ b/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;
 }
diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
index 76b8d84..883e3af 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
@@ -261,6 +261,47 @@ public abstract class PtrAgvItem extends ExecutorItem {
             fireEvent(AgvEventType.DIRECTION_CHANGED, this,
                 oldDirection, direction);
         }
+
+        // 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;
+        for (int i = 0; i < runningDeviceTaskList.size(); i++) {
+            PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
+            if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
+                finishTargetIndex = i;
+                break;
+            }
+        }
+
+        boolean needCompute = false;
+
+        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;
+            }
+        }
+
+        if (needCompute) {
+            LockSupport.unpark(connectorThread);
+        }
     }
 
     /**
@@ -277,38 +318,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
             return;
         }
 
-        boolean needCompute = true;
-        for (PtrAgvDeviceTask task : runningDeviceTaskList) {
-            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;
-            }
-        }
-        if (needCompute) {
-            LockSupport.unpark(connectorThread);
-        }
+        // 任务完成逻辑，在地标检查里
     }
 
 
@@ -458,6 +468,9 @@ 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;
@@ -633,6 +646,16 @@ 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());