就地取货逻辑，当前车所在的位置，就是能取货的位置，就不要再跑去别的地方取货了

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

@@ -9,6 +9,7 @@ import com.yvan.logisticsModel.StaticItem;
 import org.clever.core.Conv;
 
 import java.util.List;
+import java.util.stream.Collectors;
 
 import static com.galaxis.rcs.plan.path.PathUtils.convertStoreDirection;
 
@@ -77,7 +78,7 @@ public class PtrPathPlanner {
         // 取货点
         String loadRackId = task.from().rackId();
         int pickupBay = task.from().bay();
-        List<NodeDirection> loadNodeDirectionList = findNodeForStore(plan, loadRackId, pickupBay);
+        List<NodeDirection> loadNodeDirectionList = findNodeForStore(plan, loadRackId, pickupBay, startNodeId, startDirection);
         if (loadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Pickup node not found for rackId=" + loadRackId + ", bay=" + pickupBay);
         }
@@ -85,7 +86,7 @@ public class PtrPathPlanner {
         // 放货点
         String unloadRackId = task.to().rackId();
         int unloadBay = task.to().bay();
-        List<NodeDirection> unloadNodeDirectionList = findNodeForStore(plan, unloadRackId, unloadBay);
+        List<NodeDirection> unloadNodeDirectionList = findNodeForStore(plan, unloadRackId, unloadBay, null, null);
         if (unloadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Drop node not found for rackId=" + unloadRackId + ", bay=" + unloadBay);
         }
@@ -143,7 +144,7 @@ public class PtrPathPlanner {
         // 放货点
         String unloadRackId = task.to().rackId();
         int unloadBay = task.to().bay();
-        var unloadNodeDirectionList = findNodeForStore(plan, unloadRackId, unloadBay);
+        var unloadNodeDirectionList = findNodeForStore(plan, unloadRackId, unloadBay, startNodeId, startDirection);
         if (unloadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Drop node not found for rackId=" + unloadRackId + ", bay=" + unloadBay);
         }
@@ -190,7 +191,7 @@ public class PtrPathPlanner {
         // 放货点
         String loadRackId = task.to().rackId();
         int unloadBay = task.to().bay();
-        var loadNodeDirectionList = findNodeForStore(plan, loadRackId, unloadBay);
+        var loadNodeDirectionList = findNodeForStore(plan, loadRackId, unloadBay, startNodeId, startDirection);
         if (loadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Drop node not found for rackId=" + loadRackId + ", bay=" + unloadBay);
         }
@@ -230,9 +231,10 @@ public class PtrPathPlanner {
         plan.addFinish();
     }
 
-    private List<NodeDirection> findNodeForStore(PlanTaskSequence plan, String storeId, int bay) {
+    private List<NodeDirection> findNodeForStore(PlanTaskSequence plan, String storeId, int bay, String startNodeId, LCCDirection startDirection) {
         List<Node> nodes = this.graph.getNodesForStore(storeId);
         List<NodeDirection> results = Lists.newArrayList();
+
         for (Node node : nodes) {
             for (StoreLink link : node.storeLinks()) {
                 if (link.storeId().equals(storeId) && link.bay() == bay) {
@@ -241,6 +243,24 @@ public class PtrPathPlanner {
                 }
             }
         }
+
+        // 就地取货逻辑，当前车所在的位置，就是能取货的位置，就不要再跑去别的地方取货了;
+        // 如果 startNodeId 和 startDirection 有值，并且 results 结果中包含 startNodeId/startDirection ，那么只保留 startNodeId/startDirection 的结果
+        if (startNodeId != null && startDirection != null) {
+            boolean matchSelfOnly = false;
+            for (NodeDirection nd : results) {
+                if (nd.node().id().equals(startNodeId) && nd.direction() == startDirection) {
+                    matchSelfOnly = true;
+                    break;
+                }
+            }
+
+            if (matchSelfOnly) {
+                return results.stream().filter(nd -> nd.node().id().equals(startNodeId) && nd.direction() == startDirection)
+                    .collect(Collectors.toList());
+            }
+        }
+
         return results;
     }
 

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

@@ -1,6 +1,8 @@
 package com.yvan.workbench.controller;
 
 import com.galaxis.rcs.amr.AmrAgvItem;
+import com.galaxis.rcs.amr.JacksonUtils;
+import com.galaxis.rcs.common.entity.LccInvLpn;
 import com.galaxis.rcs.common.enums.LCCDirection;
 import com.galaxis.rcs.amr.PtrAgvItem;
 import com.google.common.base.Strings;
@@ -11,12 +13,14 @@ import com.yvan.workbench.SpringContext;
 import com.yvan.workbench.service.LccMapService;
 import org.clever.core.Conv;
 import org.clever.core.json.JsonWrapper;
+import org.clever.core.mapper.JacksonMapper;
 import org.clever.core.model.response.R;
 import org.clever.data.jdbc.DaoFactory;
 import org.clever.data.jdbc.QueryDSL;
 import org.clever.data.jdbc.querydsl.utils.QueryDslUtils;
 import org.clever.web.mvc.annotation.RequestBody;
 
+import java.util.Date;
 import java.util.List;
 import java.util.Map;
 
@@ -124,4 +128,48 @@ public class LccController {
 
         return R.success(list);
     }
+
+    public static R<Boolean> addInvCommit(@RequestBody Map<String, Object> params) {
+        LccInvLpn inv = JacksonMapper.getInstance().getMapper().convertValue(params, LccInvLpn.class);
+
+        if (inv.getQty() <= 0L) {
+            return R.fail("Qty must be greater than 0");
+        }
+        if (inv.getQty() > 1L) {
+            return R.fail("Qty must be 1");
+        }
+        if (Strings.isNullOrEmpty(inv.getLocCode())) {
+            return R.fail("LocCode Must not be empty");
+        }
+        if (Strings.isNullOrEmpty(inv.getLpn())) {
+            return R.fail("Lpn Must not be empty");
+        }
+        if (inv.getEnvId() == null || inv.getEnvId() <= 0) {
+            return R.fail("EnvId Must not be empty");
+        }
+
+        inv.setQtyIn(0);
+        inv.setQtyOut(0);
+        inv.setCreateAt(new Date());
+        inv.setUpdateAt(new Date());
+        inv.setCreateBy("system");
+        inv.setUpdateBy("system");
+
+        QueryDSL queryDsl = DaoFactory.getQueryDSL();
+        var rowEffect = queryDsl.insert(lccInvLpn)
+            .populate(inv);
+
+        return R.success(true);
+    }
+
+    public static R<Object> getLpnLocations(@RequestBody Map<String, Object> params) {
+        String lpn = Conv.asString(params.get("lpn"));
+        Long envId = Conv.asLong(params.get("envId"));
+
+        if (Strings.isNullOrEmpty(lpn)) {
+            return R.fail("lpn Must not be empty");
+        }
+
+        return R.success(true);
+    }
 }