From d024f793acbccea4cb6d951a222a2703d871f848 Mon Sep 17 00:00:00 2001
From: yvan <luoyifan@qq.com>
Date: Fri, 27 Jun 2025 17:00:45 +0800
Subject: [PATCH] =?UTF-8?q?updatePosition=20=E6=97=A5=E5=BF=97?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../com/galaxis/rcs/plan/PlanTaskSequence.java     |  1 +
 .../java/com/yvan/logisticsModel/PtrAgvItem.java   | 22 +++++++++++++---------
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java b/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
index f1b720c..e17c822 100644
--- a/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
+++ b/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
@@ -142,6 +142,7 @@ public class PlanTaskSequence {
                     taskStr = "FINISH";
                     break;
             }
+            taskStr = taskStr + " STATE:" + task.getPlanTaskStatus();
 
             list.add(taskStr);
         }
diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
index ba66134..98354aa 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
@@ -14,6 +14,7 @@ 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;
@@ -262,22 +263,14 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 oldDirection, direction);
         }
 
-        BannerUtils.printConfig(log, "updatePosition", new String[]{
-            "logicX: " + logicX,
-            "logicY: " + logicY,
-            "direction: " + direction,
-            "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
-            "planTaskSize:" + (this.planTaskSequence == null ? "null" : this.planTaskSequence.size())
-        });
-
         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()) {
 
-            int finishTargetIndex = -1;
             for (int i = 0; i < runningDeviceTaskList.size(); i++) {
                 PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
                 if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
@@ -311,6 +304,17 @@ public abstract class PtrAgvItem extends ExecutorItem {
             }
         }
 
+        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);
         }