库存的添加、删除

- 在库存查询页面添加删除按钮和相关逻辑
- 实现删除库存的后端接口
- 添加删除库存的请求模型类

.lingma/rules/project_rule.md

@@ -0,0 +1,2 @@
+**添加规则文件可帮助模型精准理解你的编码偏好，如框架、代码风格等**
+**规则文件只对当前工程生效，单文件限制10000字符。如果无需将该文件提交到远程 Git 仓库，请将其添加到 .gitignore**

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

@@ -3,7 +3,8 @@ package com.galaxis.rcs;
 import com.galaxis.rcs.common.entity.AddTaskRequest;
 import com.galaxis.rcs.common.entity.AddTaskResult;
 import com.galaxis.rcs.common.enums.LCCDirection;
-import com.galaxis.rcs.connector.cl2.Cl2Item;
+import com.galaxis.rcs.connector.amr.cl2.Cl2Item;
+import com.galaxis.rcs.connector.amr.fm600.Fm600Item;
 import com.galaxis.rcs.plan.path.PathUtils;
 import com.google.common.base.Strings;
 import com.yvan.logisticsModel.LogisticsRuntime;
@@ -157,6 +158,9 @@ public class RCSService {
             switch (jwPayload.asStr("t")) {
                 case "cl2":
                 case "clx":
+                case "cs1":
+                case "cc5":
+                case "cl3": {
                     // 处理 CL2 或 CLX 类型的执行器
                     // 车所在的标记位置，及方向 11_4:RIGHT
                     var eitem = new Cl2Item(runtime, (Map<String, Object>) jwPayload.getInnerMap());
@@ -173,6 +177,26 @@ public class RCSService {
                     }
                     runtime.executorItemMap.put(eitem.getId(), eitem);
                     break;
+                }
+
+                case "fm600": {
+                    // 处理 CL2 或 CLX 类型的执行器
+                    // 车所在的标记位置，及方向 11_4:RIGHT
+                    var fm600Itemitem = new Fm600Item(runtime, (Map<String, Object>) jwPayload.getInnerMap());
+
+                    // 找到地标位置
+                    StaticItem staticItem = runtime.getStaticItemById(wayPointId);
+                    if (staticItem != null) {
+                        fm600Itemitem.logicX = staticItem.logicX;
+                        fm600Itemitem.logicY = staticItem.logicY;
+                        fm600Itemitem.direction = PathUtils.convertDirectionToPtrDiretion(LCCDirection.fromString(direction));
+
+                    } else {
+                        log.warn("Static item not found for wayPointId: {}", wayPointId);
+                    }
+                    runtime.executorItemMap.put(fm600Itemitem.getId(), fm600Itemitem);
+                    break;
+                }
 
                 default:
                     log.warn("Unknown executor type: {}", jwPayload.asStr("t"));

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java → servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java

@@ -1,25 +1,23 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.common.enums.*;
-import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
+import com.galaxis.rcs.connector.amr.AmrDeviceConnector;
 import com.galaxis.rcs.plan.PlanTaskSequence;
 import com.galaxis.rcs.plan.path.PathUtils;
-import com.galaxis.rcs.ptr.receiveEntity.AmrHeartbeatMessage;
-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.galaxis.rcs.amr.receiveEntity.AmrHeartbeatMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.CurBatteryData;
+import com.galaxis.rcs.amr.sendEntity.RcsConfigMessage;
+import com.galaxis.rcs.amr.sendEntity.RcsSRMessage;
+import com.galaxis.rcs.amr.sendEntity.RcsSetLocationMessage;
 import com.google.common.collect.Queues;
 import com.yvan.entity.AgvStatusVo;
-import com.yvan.entity.BasLocationVo;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.StaticItem;
 import lombok.Getter;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.clever.core.Conv;
 import org.clever.core.json.JsonWrapper;
 import org.clever.data.redis.Redis;
 import org.clever.data.redis.RedisAdmin;
@@ -28,11 +26,8 @@ import java.util.*;
 import java.util.concurrent.BlockingQueue;
 import java.util.concurrent.locks.LockSupport;
 
-/**
- * 侧叉式AGV执行器
- */
 @Slf4j
-public abstract class PtrAgvItem extends ExecutorItem {
+public abstract class AmrAgvItem extends ExecutorItem {
     private static final int BLOCKING_QUEUE_CAPACITY = 100;
     private static final Redis redis = RedisAdmin.getRedis();
 
@@ -73,7 +68,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
 
     // 执行中的任务
-    public List<PtrAgvDeviceTask> runningDeviceTaskList = new ArrayList<>();
+    public List<AmrDeviceTask> runningDeviceTaskList = new ArrayList<>();
 
     /**
      * 当前执行的任务规划列表
@@ -83,20 +78,20 @@ public abstract class PtrAgvItem extends ExecutorItem {
     /**
      * 当前执行的设备任务列表
      */
-    final BlockingQueue<PtrAgvDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
+    public final BlockingQueue<AmrDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
 
-    final Cl2DeviceConnector cl2DeviceConnector = new Cl2DeviceConnector(this.runtime);
+    final AmrDeviceConnector amrDeviceConnector = new AmrDeviceConnector(this.runtime);
 
     public final AmrMessageHandler amrMessageHandler;
 
     /**
      * 连接器线程
      */
-    private final PtrAgvConnectorThread connectorThread;
+    public AmrConnectorThread connectorThread;
 
-    public PtrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
+    public AmrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
         super(logisticsRuntime, raw);
-        this.connectorThread = new PtrAgvConnectorThread(this, this.cl2DeviceConnector, logisticsRuntime);
+        this.connectorThread = new AmrConnectorThread(this, this.amrDeviceConnector, logisticsRuntime);
         this.amrMessageHandler = logisticsRuntime.amrMessageHandler;
     }
 
@@ -261,7 +256,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
         updatePosition(logicX, logicY, direction);
         // 查找当前分组任务
-        for (PtrAgvDeviceTask task : runningDeviceTaskList) {
+        for (AmrDeviceTask task : runningDeviceTaskList) {
             task.taskGroupStatus = taskStatus;
             if (taskStatus == 4) {
                 if (task.taskStatus != 4) {
@@ -325,7 +320,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
             this.planTaskSequence != null && !this.planTaskSequence.isEmpty()) {
 
             for (int i = 0; i < runningDeviceTaskList.size(); i++) {
-                PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
+                AmrDeviceTask task = runningDeviceTaskList.get(i);
                 if (task.checkLogicX == logicX && task.checkLogicY == logicY && task.direction == this.direction) {
                     if (task.taskStatus < 4) {
                         finishTargetIndex = i;
@@ -338,7 +333,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 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);
+                    AmrDeviceTask task = runningDeviceTaskList.get(i);
                     task.taskStatus = 4; // 标记为完成
                     this.runtime.eventManager.fireDeviceTaskCompleteEvent(this, task);
 
@@ -371,7 +366,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
         if (needCompute && this.runningDeviceTaskList.size() > 0) {
             int index = this.runningDeviceTaskList.size() - 1;
-            PtrAgvDeviceTask task = this.runningDeviceTaskList.get(index);
+            AmrDeviceTask task = this.runningDeviceTaskList.get(index);
             if (task.groupEndPoint != task.endPoint) {
                 LockSupport.unpark(connectorThread);
             }
@@ -466,7 +461,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
      * 停止连接器线程
      */
     public void stopConnector() {
-        connectorThread.stop();
+        connectorThread.interrupt();
     }
 
     private static final int speed = 1000;
@@ -490,7 +485,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
         Set<Long> rotationPlanTaskIdSet = new HashSet<>();
 
         // 生成移动报文
-        List<PtrAgvDeviceTask> deviceTaskList = new ArrayList<>();
+        List<AmrDeviceTask> deviceTaskList = new ArrayList<>();
         List<Map<String, Object>> linkStore = null;
         // 检查 planList 是不是全都是我的任务
         for (int i = 0; i < sequence.taskList.size(); i++) {
@@ -503,14 +498,14 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 linkStore = (List<Map<String, Object>>) pointItem.dt.get("linkStore");
                 int d = -1;
                 if (startPoint.logicX == pointItem.logicX && startPoint.logicY != pointItem.logicY) {
-                    d = pointItem.logicY >= startPoint.logicY ? CDirection.db : CDirection.dt;
-                    if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
+                    d = pointItem.logicY >= startPoint.logicY ? AmrAgvItem.CDirection.db : AmrAgvItem.CDirection.dt;
+                    if ((d > direction && d - AmrAgvItem.CDirection.dl != direction) || (d < direction && d + AmrAgvItem.CDirection.dl != direction)) {
                         throw new RuntimeException("方向错误");
                     }
 
                 } else if (startPoint.logicY == pointItem.logicY && startPoint.logicX != pointItem.logicX) {
-                    d = pointItem.logicX >= startPoint.logicX ? CDirection.dr : CDirection.dl;
-                    if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
+                    d = pointItem.logicX >= startPoint.logicX ? AmrAgvItem.CDirection.dr : AmrAgvItem.CDirection.dl;
+                    if ((d > direction && d - AmrAgvItem.CDirection.dl != direction) || (d < direction && d + AmrAgvItem.CDirection.dl != direction)) {
                         throw new RuntimeException("方向错误");
                     }
                     // distance += Math.abs(pointItem.getTransformationX() - startPoint.getTransformationX());
@@ -522,7 +517,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 } else {
                     throw new RuntimeException("无法识别的点位关系");
                 }
-                PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
+                AmrDeviceTask deviceTask = new AmrDeviceTask();
                 deviceTask.x = pointItem.logicX;
                 deviceTask.y = pointItem.logicY;
                 deviceTask.speed = d == direction ? (speed) : (-speed);
@@ -552,23 +547,23 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 }
 
                 if (r >= 315 || r < 45) {
-                    direction = CDirection.dr;
+                    direction = AmrAgvItem.CDirection.dr;
 
                 } else if (r >= 45 && r < 135) {
-                    direction = CDirection.dt;
+                    direction = AmrAgvItem.CDirection.dt;
 
                 } else if (r >= 135 && r < 225) {
-                    direction = CDirection.dl;
+                    direction = AmrAgvItem.CDirection.dl;
 
                 } else if (r >= 225 && r < 315) {
-                    direction = CDirection.db;
+                    direction = AmrAgvItem.CDirection.db;
                 }
                 rotationPlanTaskIdSet.add(plan.getPlanTaskId());
 
             } else if (plan.getPlanType().equals(PlanTaskType.LOAD.toString())) {
 
                 if (deviceTaskList.isEmpty()) {
-                    PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
+                    AmrDeviceTask deviceTask = new AmrDeviceTask();
                     deviceTask.x = startPoint.logicX;
                     deviceTask.y = startPoint.logicY;
                     deviceTask.speed = speed;
@@ -586,9 +581,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
                     deviceTaskList.add(deviceTask);
                     linkStore = (List<Map<String, Object>>) startPoint.dt.get("linkStore");
                 }
-                PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
-                deviceTask.operationType = COperationType.transplantLoadAndUnload;
-                deviceTask.pickMode = CPickMode.load;
+                AmrDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
+                deviceTask.operationType = AmrAgvItem.COperationType.transplantLoadAndUnload;
+                deviceTask.pickMode = AmrAgvItem.CPickMode.load;
                 deviceTask.planTaskIdSet.add(plan.getPlanTaskId());
                 //处理取货高度
                 StaticItem storeItem = runtime.getStaticItemById(endPointId);
@@ -601,6 +596,10 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 } else {
                     deviceTask.goodsSlotHeight = 1;
                 }
+                if (sequence.getLoadHeight() > 0d) {
+                    deviceTask.goodsSlotHeight = (int) Math.round(sequence.getLoadHeight() * 1000);
+                    log.info("option.loadHeight = {}", deviceTask.goodsSlotHeight);
+                }
                 if (linkStore != null) {
                     for (Map<String, Object> store : linkStore) {
                         if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) {
@@ -632,7 +631,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
             } else if (plan.getPlanType().equals(PlanTaskType.UNLOAD.toString())) {
                 if (deviceTaskList.isEmpty()) {
-                    PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
+                    AmrDeviceTask deviceTask = new AmrDeviceTask();
                     deviceTask.x = startPoint.logicX;
                     deviceTask.y = startPoint.logicY;
                     deviceTask.speed = speed;
@@ -650,9 +649,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
                     deviceTaskList.add(deviceTask);
                     linkStore = (List<Map<String, Object>>) startPoint.dt.get("linkStore");
                 }
-                PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
-                deviceTask.operationType = COperationType.transplantLoadAndUnload;
-                deviceTask.pickMode = CPickMode.unload;
+                AmrDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
+                deviceTask.operationType = AmrAgvItem.COperationType.transplantLoadAndUnload;
+                deviceTask.pickMode = AmrAgvItem.CPickMode.unload;
                 deviceTask.planTaskIdSet.add(plan.getPlanTaskId());
                 // 处理卸货高度
                 StaticItem storeItem = runtime.getStaticItemById(endPointId);
@@ -665,22 +664,26 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 } else {
                     deviceTask.goodsSlotHeight = 1;
                 }
+                if (sequence.getUnloadHeight() > 0d) {
+                    deviceTask.goodsSlotHeight = (int) Math.round(sequence.getUnloadHeight() * 1000);
+                    log.info("option.unloadHeight = {}", deviceTask.goodsSlotHeight);
+                }
                 if (linkStore != null) {
                     for (Map<String, Object> store : linkStore) {
                         if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) {
                             short d = 0;
                             switch (store.get("direction").toString()) {
                                 case "up":
-                                    d = 3;
+                                    d = 1;
                                     break;
                                 case "right":
-                                    d = 0;
+                                    d = 2;
                                     break;
                                 case "down":
-                                    d = 1;
+                                    d = 3;
                                     break;
                                 case "left":
-                                    d = 2;
+                                    d = 0;
                                     break;
                             }
                             deviceTask.goodsSlotDirection = d;
@@ -695,7 +698,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
             } else if (plan.getPlanType().equals(PlanTaskType.CHARGE.toString())) {
                 if (deviceTaskList.isEmpty()) {
-                    PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
+                    AmrDeviceTask deviceTask = new AmrDeviceTask();
                     deviceTask.x = startPoint.logicX;
                     deviceTask.y = startPoint.logicY;
                     deviceTask.speed = speed;
@@ -712,8 +715,8 @@ public abstract class PtrAgvItem extends ExecutorItem {
                     deviceTask.checkLogicY = startPoint.logicY;
                     deviceTaskList.add(deviceTask);
                 }
-                PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
-                deviceTask.operationType = COperationType.charge;
+                AmrDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
+                deviceTask.operationType = AmrAgvItem.COperationType.charge;
                 deviceTask.planTaskIdSet.add(plan.getPlanTaskId());
                 // 处理充电距离(车的充电口到充电器被压下后的距离、一般被压下20mm)
                 deviceTask.chargeDirection = 2;
@@ -732,7 +735,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
         }
 
         if (deviceTaskList.isEmpty()) {
-            PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
+            AmrDeviceTask deviceTask = new AmrDeviceTask();
             deviceTask.x = startPoint.logicX;
             deviceTask.y = startPoint.logicY;
             deviceTask.speed = speed;
@@ -747,14 +750,16 @@ public abstract class PtrAgvItem extends ExecutorItem {
         }
 
         // 标记任务分组结束
-        PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
+        AmrDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
         deviceTask.groupEndPoint = deviceTask.endPoint;
         deviceTask.groupStartPoint = groupStartPoint;
         deviceTask.isGroupEnd = true;
         // 最后一个规划任务为旋转时需要添加一个endDirection
         if (rotationPlanTaskIdSet.size() > 0) {
-            deviceTask.operationType = COperationType.move;
-            deviceTask.pickMode = CPickMode.normal;
+            if (deviceTask.operationType <= AmrAgvItem.COperationType.move) {
+                deviceTask.operationType = AmrAgvItem.COperationType.move;
+                deviceTask.pickMode = AmrAgvItem.CPickMode.normal;
+            }
             deviceTask.endDirection = direction;
             deviceTask.planTaskIdSet.addAll(rotationPlanTaskIdSet);
             if (deviceTask.movePlanTaskId == null) {
@@ -765,9 +770,19 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
         // 反向标记任务组
         int lastIndex = deviceTaskList.size() - 1;
+
+        for (int i = deviceTaskList.size() - 1; i >= 0; i--) {
+            AmrDeviceTask d = deviceTaskList.get(i);
+            if (d.operationType > 0) {
+                lastIndex = i;
+                break;
+            }
+        }
+
+
         for (int i = deviceTaskList.size() - 1; i >= 0; i--) {
-            PtrAgvDeviceTask d = deviceTaskList.get(i);
-            if (d.isGroupEnd) {
+            AmrDeviceTask d = deviceTaskList.get(i);
+            if (d.isGroupEnd && d.operationType > AmrAgvItem.COperationType.move) {
                 lastIndex = i;
             } else {
                 d.operationType = deviceTaskList.get(lastIndex).operationType;
@@ -780,12 +795,11 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 d.chargeLocation = deviceTaskList.get(lastIndex).chargeLocation;
             }
         }
-
-        deviceTaskQueue.addAll(deviceTaskList);
-        String json = JsonWrapper.toJson(deviceTaskList);
-        log.info("deviceTaskList: {}", json);
+        handelDeviceTask(deviceTaskList);
     }
 
+    abstract public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList);
+
     public boolean isSamePosition(PosDirection startPos) {
         return this.logicX == startPos.logicX() && this.logicY == startPos.logicY() &&
             PathUtils.getDirectionByArmDirection(this.direction) == startPos.direction();
@@ -799,21 +813,33 @@ public abstract class PtrAgvItem extends ExecutorItem {
     }
 
 
-    private static class COperationType {
+    public static class COperationType {
+        // 移动
         public static final short move = 0;
+        // 载货
         public static final short load = 1;
-        public static final short unpick = 2;
+        // 卸货
+        public static final short unload = 2;
+        // 充电
         public static final short charge = 3;
+        // 移载取放货
         public static final short transplantLoadAndUnload = 4;
+        // 滚轮取放货
         public static final short rollerLoadAndUnload = 5;
     }
 
-    private static class CPickMode {
+    public static class CPickMode {
+        // 无动作
         public static final short normal = 0;
+        // 载货
         public static final short load = 1;
+        // 卸货
         public static final short unload = 2;
+        // 调高
         public static final short adjustHeight = 3;
+        // 调高准备取货
         public static final short adjustHeightToLoad = 5;
+        // 调高准备卸货
         public static final short adjustHeightToUnload = 6;
     }
 

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java → servo/src/main/java/com/galaxis/rcs/amr/AmrConnectorThread.java

@@ -1,8 +1,9 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
-import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
-import com.galaxis.rcs.ptr.sendEntity.RcsTaskMessage;
+import com.galaxis.rcs.amr.sendEntity.RcsTaskMessage;
+import com.galaxis.rcs.connector.amr.AmrDeviceConnector;
+import com.querydsl.core.util.StringUtils;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.mqttv5.common.MqttException;
@@ -13,21 +14,21 @@ import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.locks.LockSupport;
 
 @Slf4j
-public class PtrAgvConnectorThread extends Thread {
+public class AmrConnectorThread extends Thread {
     private final AtomicBoolean running = new AtomicBoolean(false);
     private final AtomicBoolean paused = new AtomicBoolean(false);
     private final Object pauseLock = new Object();
 
-    private final Cl2DeviceConnector cl2DeviceConnector;
-    private final PtrAgvItem ptrAgvItem;
+    public final AmrDeviceConnector amrDeviceConnector;
+    private final AmrAgvItem ptrAgvItem;
     private final LogisticsRuntime logisticsRuntime;
     private volatile int __currentTaskSeqNo = 0;
-    volatile PtrAgvDeviceTask __currentTask;
+    volatile AmrDeviceTask __currentTask;
 
-    public PtrAgvConnectorThread(PtrAgvItem ptrAgvItem, Cl2DeviceConnector cl2DeviceConnector, LogisticsRuntime logisticsRuntime) {
-        super("ExecutorConnector-" + ptrAgvItem.getId());
-        this.cl2DeviceConnector = cl2DeviceConnector;
-        this.ptrAgvItem = ptrAgvItem;
+    public AmrConnectorThread(AmrAgvItem amrAgvItem, AmrDeviceConnector amrDeviceConnector, LogisticsRuntime logisticsRuntime) {
+        super("ExecutorConnector-" + amrAgvItem.getId());
+        this.amrDeviceConnector = amrDeviceConnector;
+        this.ptrAgvItem = amrAgvItem;
         this.logisticsRuntime = logisticsRuntime;
     }
 
@@ -40,12 +41,13 @@ public class PtrAgvConnectorThread extends Thread {
             float distance = 0;
             int taskCount = 0;
 
-            PtrAgvDeviceTask startTask = null;
+            AmrDeviceTask startTask = null;
             RcsTaskMessage taskMessage = null;
 
             // 计算中的任务
-            List<PtrAgvDeviceTask> computingTaskList = new ArrayList<>();
+            List<AmrDeviceTask> computingTaskList = new ArrayList<>();
             while (running.get()) {
+                Thread.sleep(1);
                 if (paused.get()) {
                     synchronized (pauseLock) {
                         while (paused.get()) {
@@ -54,7 +56,7 @@ public class PtrAgvConnectorThread extends Thread {
                     }
                 }
 
-                PtrAgvDeviceTask currentTask = this.ptrAgvItem.deviceTaskQueue.take();
+                AmrDeviceTask currentTask = this.ptrAgvItem.deviceTaskQueue.take();
                 if (startTask == null) {
                     startTask = currentTask;
                     taskMessage = new RcsTaskMessage(this.logisticsRuntime);
@@ -73,7 +75,7 @@ public class PtrAgvConnectorThread extends Thread {
                 computingTaskList.add(currentTask);
 
 
-                PtrAgvDeviceTask nextTask = this.ptrAgvItem.deviceTaskQueue.peek();
+                AmrDeviceTask nextTask = this.ptrAgvItem.deviceTaskQueue.peek();
                 if (currentTask.isGroupEnd
                     || (taskMessage.Link.size() > 0 && nextTask != null && ((startTask.speed > 0) != (nextTask.speed > 0) || startTask.direction != nextTask.direction)) // 下一个任务和开始任务方向不一致
                     // 单向移动距离大于2m时并且点位数量大于1 如果碰到当前点位与任务结束点位相同且当前任务还有后续，则继续添加步骤（link）错开，避免任务发生歧义
@@ -88,13 +90,14 @@ public class PtrAgvConnectorThread extends Thread {
                     taskMessage.ChargeDirection = currentTask.chargeDirection;
                     taskMessage.ChargeLocation = currentTask.chargeLocation;
                     taskMessage.EndDirection = currentTask.endDirection;
+                    taskMessage.StorageRacksNo = currentTask.storageRacksNo;
                     try {
                         // 发送任务
                         this.__currentTaskSeqNo = taskMessage.SeqNo;
                         this.__currentTask = currentTask;
-                        cl2DeviceConnector.sendTask(ptrAgvItem.getId(), taskMessage);
+                        amrDeviceConnector.sendTask(ptrAgvItem.getId(), taskMessage);
                         this.ptrAgvItem.runningDeviceTaskList.addAll(computingTaskList);
-                        for (PtrAgvDeviceTask task : computingTaskList) {
+                        for (AmrDeviceTask task : computingTaskList) {
                             task.taskStatus = 1;
                             task.taskGroupStatus = 1;
                         }
@@ -111,7 +114,7 @@ public class PtrAgvConnectorThread extends Thread {
                         // 当一组任务结束时，阻塞当前线程，等当前任务执组行完毕后在外部线程中唤醒
                         LockSupport.park(); // 阻塞当前线程
                     } else {
-                        for (PtrAgvDeviceTask task : this.ptrAgvItem.runningDeviceTaskList) {
+                        for (AmrDeviceTask task : this.ptrAgvItem.runningDeviceTaskList) {
                             if (task.taskGroupStatus < 4) {
                                 LockSupport.park(); // 阻塞当前线程
                                 break;
@@ -122,9 +125,9 @@ public class PtrAgvConnectorThread extends Thread {
 
             }
         } catch (InterruptedException e) {
-            System.out.println("Connector thread interrupted for executor: " + this.ptrAgvItem.getId());
+            log.error("Connector thread interrupted for executor: " + this.ptrAgvItem.getId(), e);
         } finally {
-            System.out.println("Connector thread stopped for executor: " + this.ptrAgvItem.getId());
+            log.info("Connector thread stopped for executor: " + this.ptrAgvItem.getId());
         }
     }
 

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvDeviceTask.java → servo/src/main/java/com/galaxis/rcs/amr/AmrDeviceTask.java

@@ -1,11 +1,11 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.yvan.logisticsModel.StaticItem;
 
 import java.util.HashSet;
 import java.util.Set;
 
-public class PtrAgvDeviceTask {
+public class AmrDeviceTask {
     //该段目标点X坐标	UInt16 逻辑单位，乘以一定系数才是物理距离
     public int x;
     //该段目标点Y坐标	UInt16 逻辑单位，乘以一定系数才是物理距离
@@ -25,13 +25,13 @@ public class PtrAgvDeviceTask {
     // 作业类型 UInt8 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业）
     public short operationType;
     // 提升移栽货物拣货模式	UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
-    public short pickMode;
+    public Short pickMode;
 
     // 目标货位朝向
-    public short goodsSlotDirection;
+    public Short goodsSlotDirection;
 
     // 目标货位相对于地面的绝对高度
-    public int goodsSlotHeight;
+    public Integer goodsSlotHeight;
 
     //充电桩朝向UseBriefLocation	UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
     public Short chargeDirection;

servo/src/main/java/com/galaxis/rcs/ptr/AmrMessage.java → servo/src/main/java/com/galaxis/rcs/amr/AmrMessage.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import lombok.Data;
 

servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java → servo/src/main/java/com/galaxis/rcs/amr/AmrMessageHandler.java

@@ -1,12 +1,12 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.core.type.TypeReference;
 import com.galaxis.rcs.plan.path.PathUtils;
-import com.galaxis.rcs.ptr.receiveEntity.*;
-import com.galaxis.rcs.ptr.receiveEntity.base.*;
-import com.galaxis.rcs.ptr.sendEntity.*;
+import com.galaxis.rcs.amr.receiveEntity.*;
+import com.galaxis.rcs.amr.receiveEntity.base.*;
+import com.galaxis.rcs.amr.sendEntity.*;
 import com.google.common.base.Splitter;
 import com.google.common.collect.Maps;
 import com.google.common.collect.Sets;
@@ -102,7 +102,7 @@ public class AmrMessageHandler {
         int id = jw.asInt("id");
         String agvId = jw.asInt("content", "VehicleId") + "";
         int seqNo = jw.asInt("content", "SeqNo");
-        PtrAgvItem agvItem = getPtrAgvItem(agvId);
+        AmrAgvItem agvItem = getPtrAgvItem(agvId);
         if (agvItem == null) {
             return;
         }
@@ -199,9 +199,9 @@ public class AmrMessageHandler {
         }
     }
 
-    public PtrAgvItem getPtrAgvItem(String vehicleId) {
+    public AmrAgvItem getPtrAgvItem(String vehicleId) {
         var executorItem = runtime.executorItemMap.get(vehicleId);
-        return (PtrAgvItem) executorItem;
+        return (AmrAgvItem) executorItem;
     }
 
     @SneakyThrows
@@ -416,7 +416,7 @@ public class AmrMessageHandler {
     private final Map<String, Long> lastMessageTimeMap = Maps.newConcurrentMap();
     private final ScheduledExecutorService delayCalculator = Executors.newScheduledThreadPool(4);
 
-    private void handleHeartbeatMessage(PtrAgvItem agvItem, AmrHeartbeatMessage message) {
+    private void handleHeartbeatMessage(AmrAgvItem agvItem, AmrHeartbeatMessage message) {
         agvItem.handleHeartbeat(message);
 
         // 计算延迟
@@ -425,19 +425,19 @@ public class AmrMessageHandler {
         updateRedisNetDelay(agvItem.getId(), netDelay);
     }
 
-    private void handleAmrOnlineMessage(PtrAgvItem agvItem, AmrOnlineMessage message) {
+    private void handleAmrOnlineMessage(AmrAgvItem agvItem, AmrOnlineMessage message) {
         agvItem.handleOnlineEvent();
     }
 
-    private void handleAmrOfflineMessage(PtrAgvItem agvItem, AmrOfflineMessage message) {
+    private void handleAmrOfflineMessage(AmrAgvItem agvItem, AmrOfflineMessage message) {
         agvItem.handleOfflineEvent();
     }
 
-    private void handleTaskCompletedMessage(PtrAgvItem agvItem, AmrTaskCompletedMessage message) {
+    private void handleTaskCompletedMessage(AmrAgvItem agvItem, AmrTaskCompletedMessage message) {
         agvItem.taskCompleted(message.CurX, message.CurY, message.CurDirection, 4);
     }
 
-    private void handleLandmarkMessage(PtrAgvItem agvItem, AmrLandmarkMessage message) {
+    private void handleLandmarkMessage(AmrAgvItem agvItem, AmrLandmarkMessage message) {
         // 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;
@@ -446,7 +446,7 @@ public class AmrMessageHandler {
         agvItem.updatePosition(message.CurLogicX, message.CurLogicY, message.CurDirection);
     }
 
-    private void handleStatusMessage(PtrAgvItem agvItem, AmrStatusMessage message) {
+    private void handleStatusMessage(AmrAgvItem agvItem, AmrStatusMessage message) {
         // 更新位置. TODO 貌似不包含 direction 信息
         agvItem.updatePosition(message.CurLogicX, message.CurLogicY, agvItem.direction);
 
@@ -463,7 +463,7 @@ public class AmrMessageHandler {
         agvItem.updateRedisStatus();
     }
 
-    private void handleTaskStatusMessage(PtrAgvItem agvItem, JsonWrapper jw, String json) throws MqttException, JsonProcessingException {
+    private void handleTaskStatusMessage(AmrAgvItem agvItem, JsonWrapper jw, String json) throws MqttException, JsonProcessingException {
 
         int EventId = jw.asInt("content", "EventId");
         // log.info("1-Received message: " + json);
@@ -517,14 +517,14 @@ public class AmrMessageHandler {
     /**
      * 注册心跳单元
      */
-    public void registeHeartBeatSet(PtrAgvItem ptrAgvItem) {
+    public void registeHeartBeatSet(AmrAgvItem ptrAgvItem) {
         this.heartBeatSet.add(ptrAgvItem.getId());
     }
 
     /**
      * 注销心跳单元
      */
-    public void unregisteHeartBeatSet(PtrAgvItem ptrAgvItem) {
+    public void unregisteHeartBeatSet(AmrAgvItem ptrAgvItem) {
         this.heartBeatSet.remove(ptrAgvItem.getId());
     }
 

servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java → servo/src/main/java/com/galaxis/rcs/amr/AmrTaskMode.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.google.common.collect.Maps;
 

servo/src/main/java/com/galaxis/rcs/ptr/ArmMessageType.java → servo/src/main/java/com/galaxis/rcs/amr/ArmMessageType.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.google.common.collect.Maps;
 

servo/src/main/java/com/galaxis/rcs/ptr/ControlMode.java → servo/src/main/java/com/galaxis/rcs/amr/ControlMode.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 public enum ControlMode {
     FULL_AUTO,

servo/src/main/java/com/galaxis/rcs/amr/FM600AgvItem.java

@@ -0,0 +1,18 @@
+package com.galaxis.rcs.amr;
+
+import com.yvan.logisticsModel.LogisticsRuntime;
+import lombok.extern.slf4j.Slf4j;
+
+import java.util.*;
+
+/**
+ * 侧叉式AGV执行器
+ */
+@Slf4j
+public abstract class FM600AgvItem extends AmrAgvItem {
+
+    public FM600AgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
+        super(logisticsRuntime, raw);
+    }
+
+}

servo/src/main/java/com/galaxis/rcs/ptr/JacksonUtils.java → servo/src/main/java/com/galaxis/rcs/amr/JacksonUtils.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.fasterxml.jackson.annotation.JsonInclude;
 import com.fasterxml.jackson.core.JsonProcessingException;

servo/src/main/java/com/galaxis/rcs/ptr/PosDirection.java → servo/src/main/java/com/galaxis/rcs/amr/PosDirection.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.galaxis.rcs.common.enums.LCCDirection;
 

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

@@ -0,0 +1,38 @@
+package com.galaxis.rcs.amr;
+
+import com.galaxis.rcs.amr.sendEntity.RcsConfigMessage;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.json.JsonWrapper;
+
+import java.util.*;
+
+/**
+ * 侧叉式AGV执行器
+ */
+@Slf4j
+public abstract class PtrAgvItem extends AmrAgvItem {
+
+    public PtrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
+        super(logisticsRuntime, raw);
+    }
+
+    @Override
+    public RcsConfigMessage getConfig() {
+        var content = new RcsConfigMessage(this.runtime);
+        content.SeqNo = this.amrMessageHandler.getNewSeqNo();
+        content.XLength = 1000;
+        content.YLength = 1000;
+        content.Gap = 1000;
+        content.HeartBeat = 60;
+        content.MqRetryTime = 3;
+        return content;
+    }
+
+    @Override
+    public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList) {
+        deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("ptr-deviceTaskList: {}", json);
+    }
+}

servo/src/main/java/com/galaxis/rcs/ptr/PtrMqttClient.java → servo/src/main/java/com/galaxis/rcs/amr/PtrMqttClient.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.yvan.logisticsEnv.EnvConfig;
 import lombok.SneakyThrows;
@@ -39,9 +39,9 @@ public class PtrMqttClient implements MqttCallback {
         options.setAutomaticReconnect(true);
         options.setUserName(username);
         options.setPassword(password.getBytes());
-        options.setConnectionTimeout(1);
+        options.setConnectionTimeout(5000);
         options.setKeepAliveInterval(20);
-        options.setExecutorServiceTimeout(1);
+        options.setExecutorServiceTimeout(5000);
 
         client.setCallback(this);
         client.connect(options);

servo/src/main/java/com/galaxis/rcs/ptr/RcsMessageType.java → servo/src/main/java/com/galaxis/rcs/amr/RcsMessageType.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr;
+package com.galaxis.rcs.amr;
 
 import com.google.common.collect.Maps;
 

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrAckMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrAckMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 消息应答 20050
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrAppStartMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrAppStartMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 小车主程序启动 20149
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrBootMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrBootMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 开机上报 20147 在开机后上报一次，此后AMR程序重启不会重新上报（与ID#20149的差异），除非人为清除内部记录已上报的标志。
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrExceptionMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrExceptionMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 import java.util.Map;
 

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrHeartbeatMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrHeartbeatMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 //心跳 20100
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrLandmarkMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrLandmarkMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 地标报告 20020
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrModuleTaskStatusMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrModuleTaskStatusMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 小车子模块任务状态 20012
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrOfflineMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrOfflineMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 小车离线 20200 注意：目前未实现此报文
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrOnlineMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrOnlineMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 小车上线 20150  代表车已经完成初始化，可以接收任务了。
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrShutdownMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrShutdownMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 // 关机上报 20148 在收到关机信号后上报此消息。
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrStatusMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrStatusMessage.java

@@ -1,9 +1,9 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
-import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
-import com.galaxis.rcs.ptr.receiveEntity.base.LocationData;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.CurBatteryData;
+import com.galaxis.rcs.amr.receiveEntity.base.LocationData;
 
 // 状态上报 20060
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrTaskCompletedMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrTaskCompletedMessage.java

@@ -1,9 +1,9 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
-import com.galaxis.rcs.ptr.receiveEntity.base.LocationData;
-import com.galaxis.rcs.ptr.receiveEntity.base.SummaryData;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.LocationData;
+import com.galaxis.rcs.amr.receiveEntity.base.SummaryData;
 
 // 小车作业完成 20010
 //@Data

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrTaskStatusMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/AmrTaskStatusMessage.java

@@ -1,7 +1,7 @@
-package com.galaxis.rcs.ptr.receiveEntity;
+package com.galaxis.rcs.amr.receiveEntity;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.galaxis.rcs.ptr.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.amr.receiveEntity.base.AmrCommonMessage;
 
 //@Data
 @JsonIgnoreProperties(ignoreUnknown = true)

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/AmrCommonMessage.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/AmrCommonMessage.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import lombok.Data;
 

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/CurBatteryData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/CurBatteryData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/GoodsData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/GoodsData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import lombok.Data;
 

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/LocationData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/LocationData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/OffsetPosition.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/OffsetPosition.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/SummaryData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/SummaryData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/TaskCompletedData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/TaskCompletedData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/TaskModeChangeData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/TaskModeChangeData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/TaskStatusChangeData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/TaskStatusChangeData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;

servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/base/TaskTypeChangeData.java → servo/src/main/java/com/galaxis/rcs/amr/receiveEntity/base/TaskTypeChangeData.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.receiveEntity.base;
+package com.galaxis.rcs.amr.receiveEntity.base;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/BaseMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/BaseMessage.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
 public class BaseMessage {
     public int id;

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsAckMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsAckMessage.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
 // 电文应答 10050
 public class RcsAckMessage {

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsCancelTaskMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsCancelTaskMessage.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
 // 取消已下发小车任务 10120
 public class RcsCancelTaskMessage {

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsConfigMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsConfigMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 
 //配置信息 10060

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsControlDoorMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsControlDoorMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 
 // 控制卷帘门 10082

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsHeartBeatMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsHeartBeatMessage.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
 // 心跳 10100
 public class RcsHeartBeatMessage {

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsQueryStatusMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsQueryStatusMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 
 //状态查询 10110

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsRotateBodyMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsRotateBodyMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 
 //旋转车身 10081

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsRotateRackMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsRotateRackMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 
 //旋转货架 10080

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsSRMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsSRMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 
 // 停止/解除 10040

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsSetLocationMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsSetLocationMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 
 // 设置小车坐标 10200
 public class RcsSetLocationMessage {

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsTaskMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsTaskMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.AllArgsConstructor;
 

servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsWaitMessage.java → servo/src/main/java/com/galaxis/rcs/amr/sendEntity/RcsWaitMessage.java

@@ -1,6 +1,6 @@
-package com.galaxis.rcs.ptr.sendEntity;
+package com.galaxis.rcs.amr.sendEntity;
 
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
 import com.yvan.logisticsModel.LogisticsRuntime;
 
 public class RcsWaitMessage {

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java → servo/src/main/java/com/galaxis/rcs/connector/amr/AmrDeviceConnector.java

@@ -1,29 +1,23 @@
-package com.galaxis.rcs.connector.cl2;
+package com.galaxis.rcs.connector.amr;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
-import com.galaxis.rcs.ptr.sendEntity.RcsTaskMessage;
-import com.galaxis.rcs.ptr.AmrMessageHandler;
+import com.galaxis.rcs.amr.AmrMessageHandler;
+import com.galaxis.rcs.amr.sendEntity.RcsTaskMessage;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.mqttv5.common.MqttException;
 
-/**
- * CL2 车型报文推送
- */
 @Slf4j
-public class Cl2DeviceConnector {
-    private final AmrMessageHandler amrMessageHandler;
-
-    public Cl2DeviceConnector(LogisticsRuntime runtime) {
+public class AmrDeviceConnector {
+    public final AmrMessageHandler amrMessageHandler;
+    public AmrDeviceConnector(LogisticsRuntime runtime) {
         this.amrMessageHandler = runtime.amrMessageHandler;
     }
-
     public void sendTask(String vehicleId, RcsTaskMessage rcsTaskMessage) throws MqttException, JsonProcessingException {
         // var list = Splitter.on("\n").splitToList(JsonWrapper.toJsonPretty(rcsTaskMessage));
         // String[] ar = new String[list.size()];
         // list.toArray(ar);
-        // BannerUtils.printConfig(log, "CL2 发送报文", ar);
+        // BannerUtils.printConfig(log, "Amr 发送报文", ar);
         amrMessageHandler.sendCmdTask(vehicleId, rcsTaskMessage);
     }
-
 }

servo/src/main/java/com/galaxis/rcs/connector/amr/PtrDeviceConnector.java

@@ -0,0 +1,22 @@
+package com.galaxis.rcs.connector.amr;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.galaxis.rcs.amr.AmrMessageHandler;
+import com.galaxis.rcs.amr.sendEntity.RcsTaskMessage;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.mqttv5.common.MqttException;
+
+@Slf4j
+public class PtrDeviceConnector extends AmrDeviceConnector {
+    public PtrDeviceConnector(LogisticsRuntime runtime) {
+        super(runtime);
+    }
+    public void sendTask(String vehicleId, RcsTaskMessage rcsTaskMessage) throws MqttException, JsonProcessingException {
+        // var list = Splitter.on("\n").splitToList(JsonWrapper.toJsonPretty(rcsTaskMessage));
+        // String[] ar = new String[list.size()];
+        // list.toArray(ar);
+        // BannerUtils.printConfig(log, "Amr 发送报文", ar);
+        amrMessageHandler.sendCmdTask(vehicleId, rcsTaskMessage);
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/amr/cl2/Cl2DeviceConnector.java

@@ -0,0 +1,19 @@
+package com.galaxis.rcs.connector.amr.cl2;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.galaxis.rcs.amr.sendEntity.RcsTaskMessage;
+import com.galaxis.rcs.amr.AmrMessageHandler;
+import com.galaxis.rcs.connector.amr.AmrDeviceConnector;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.mqttv5.common.MqttException;
+
+/**
+ * CL2 车型报文推送
+ */
+@Slf4j
+public class Cl2DeviceConnector extends AmrDeviceConnector {
+    public Cl2DeviceConnector(LogisticsRuntime runtime) {
+        super(runtime);
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2Item.java → servo/src/main/java/com/galaxis/rcs/connector/amr/cl2/Cl2Item.java

@@ -1,11 +1,16 @@
-package com.galaxis.rcs.connector.cl2;
+package com.galaxis.rcs.connector.amr.cl2;
 
-import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
+import com.galaxis.rcs.amr.AmrDeviceTask;
+import com.galaxis.rcs.amr.sendEntity.RcsConfigMessage;
 import com.yvan.logisticsModel.LogisticsRuntime;
-import com.galaxis.rcs.ptr.PtrAgvItem;
+import com.galaxis.rcs.amr.PtrAgvItem;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.json.JsonWrapper;
 
+import java.util.List;
 import java.util.Map;
 
+@Slf4j
 public class Cl2Item extends PtrAgvItem {
 
     public Cl2Item(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
@@ -23,4 +28,11 @@ public class Cl2Item extends PtrAgvItem {
         content.MqRetryTime = 3;
         return content;
     }
+
+    @Override
+    public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList) {
+        deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("cl-deviceTaskList: {}", json);
+    }
 }

servo/src/main/java/com/galaxis/rcs/connector/amr/cl2/Cl2TaskManger.java

@@ -0,0 +1,4 @@
+package com.galaxis.rcs.connector.amr.cl2;
+
+public class Cl2TaskManger {
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/VirtualCl2Connector.java → servo/src/main/java/com/galaxis/rcs/connector/amr/cl2/VirtualCl2Connector.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.connector.cl2;
+package com.galaxis.rcs.connector.amr.cl2;
 
 import lombok.extern.slf4j.Slf4j;
 

servo/src/main/java/com/galaxis/rcs/connector/amr/clx/ClxConnector.java

@@ -0,0 +1,4 @@
+package com.galaxis.rcs.connector.amr.clx;
+
+public interface ClxConnector {
+}

servo/src/main/java/com/galaxis/rcs/connector/amr/clx/ClxConnectorImp.java

@@ -0,0 +1,4 @@
+package com.galaxis.rcs.connector.amr.clx;
+
+public class ClxConnectorImp {
+}

servo/src/main/java/com/galaxis/rcs/connector/clx/VirtualClxConnector.java → servo/src/main/java/com/galaxis/rcs/connector/amr/clx/VirtualClxConnector.java

@@ -1,4 +1,4 @@
-package com.galaxis.rcs.connector.clx;
+package com.galaxis.rcs.connector.amr.clx;
 
 /**
  * @author cwj

servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600DeviceConnector.java

@@ -0,0 +1,20 @@
+package com.galaxis.rcs.connector.amr.fm600;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.galaxis.rcs.amr.sendEntity.RcsTaskMessage;
+import com.galaxis.rcs.amr.AmrMessageHandler;
+import com.galaxis.rcs.connector.amr.AmrDeviceConnector;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.mqttv5.common.MqttException;
+
+/**
+ * CL2 车型报文推送
+ */
+@Slf4j
+public class Fm600DeviceConnector  extends AmrDeviceConnector {
+
+    public Fm600DeviceConnector(LogisticsRuntime runtime) {
+        super(runtime);
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java

@@ -0,0 +1,57 @@
+package com.galaxis.rcs.connector.amr.fm600;
+
+import com.galaxis.rcs.amr.AmrAgvItem;
+import com.galaxis.rcs.amr.AmrDeviceTask;
+import com.galaxis.rcs.amr.sendEntity.RcsConfigMessage;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import com.galaxis.rcs.amr.PtrAgvItem;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.json.JsonWrapper;
+
+import java.util.List;
+import java.util.Map;
+
+@Slf4j
+public class Fm600Item extends AmrAgvItem {
+
+    public Fm600Item(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
+        super(logisticsRuntime, raw);
+    }
+
+    @Override
+    public RcsConfigMessage getConfig() {
+        var content = new RcsConfigMessage(this.runtime);
+        content.SeqNo = this.amrMessageHandler.getNewSeqNo();
+        content.XLength = 1000;
+        content.YLength = 1000;
+        content.Gap = 1000;
+        content.HeartBeat = 60;
+        content.MqRetryTime = 3;
+        return content;
+    }
+
+    @Override
+    public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList) {
+
+        // 将移载任务转换为装载任务
+        for (int i = deviceTaskList.size() - 1; i >= 0; i--) {
+            AmrDeviceTask d = deviceTaskList.get(i);
+            if (d.operationType == COperationType.transplantLoadAndUnload) {
+                if (d.pickMode == CPickMode.load) {
+                    d.operationType = COperationType.load;
+                } else if (d.pickMode == CPickMode.unload) {
+                    d.operationType = COperationType.unload;
+                }
+                d.goodsSlotDirection = null;
+                d.pickMode = null;
+                d.goodsSlotHeight = null;
+                // 临时处理方案
+                d.storageRacksNo = "any";
+            }
+        }
+
+        deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("fm600-deviceTaskList: {}", json);
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600TaskManger.java

@@ -0,0 +1,4 @@
+package com.galaxis.rcs.connector.amr.fm600;
+
+public class Fm600TaskManger {
+}

servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/VirtualFm600Connector.java

@@ -0,0 +1,8 @@
+package com.galaxis.rcs.connector.amr.fm600;
+
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class VirtualFm600Connector {
+
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2TaskManger.java

@@ -1,4 +0,0 @@
-package com.galaxis.rcs.connector.cl2;
-
-public class Cl2TaskManger {
-}

servo/src/main/java/com/galaxis/rcs/connector/clx/ClxConnector.java

@@ -1,4 +0,0 @@
-package com.galaxis.rcs.connector.clx;
-
-public interface ClxConnector {
-}

servo/src/main/java/com/galaxis/rcs/connector/clx/ClxConnectorImp.java

@@ -1,4 +0,0 @@
-package com.galaxis.rcs.connector.clx;
-
-public class ClxConnectorImp {
-}

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

@@ -8,8 +8,11 @@ import com.galaxis.rcs.common.enums.PlanTaskType;
 import com.google.common.base.Joiner;
 import com.google.common.collect.Lists;
 import com.yvan.entity.BasLocationVo;
+import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
+import com.yvan.logisticsModel.LogisticsRuntimeService;
 import lombok.extern.slf4j.Slf4j;
+import org.clever.core.Conv;
 import org.clever.core.id.SnowFlake;
 import org.clever.core.json.JsonWrapper;
 
@@ -37,6 +40,7 @@ public class PlanTaskSequence {
     public BasLocationVo unloadBasLocationVo;
     public BasLocationVo executorVo;
     public int carryQty;
+    public RcsTaskOption option;
 
     public PlanTaskSequence(String executorId, LogisticsRuntime logisticsRuntime, RcsTaskBiz bizTask, String createBy) {
         this.executorId = executorId;
@@ -63,6 +67,10 @@ public class PlanTaskSequence {
         return planTask;
     }
 
+    public ExecutorItem getAgv() {
+        return this.logisticsRuntime.executorItemMap.get(this.executorId);
+    }
+
     // 添加移动到指定路标点的动作
     public RcsTaskPlan addMoveTo(String waypointId) {
         RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.MOVE.toString());
@@ -203,6 +211,18 @@ public class PlanTaskSequence {
         return this.taskList.size();
     }
 
+    public double getLoadHeight() {
+        return this.option.loadHeight;
+    }
+
+    public double getUnloadHeight() {
+        return this.option.unloadHeight;
+    }
+
+    public boolean noInv() {
+        return this.option.noInv;
+    }
+
     public int completedCount() {
         int count = 0;
         for (RcsTaskPlan task : taskList) {

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

@@ -0,0 +1,33 @@
+package com.galaxis.rcs.plan;
+
+public class RcsTaskOption {
+    /**
+     * 任务优先级
+     */
+    public int priority = 1;
+
+    /**
+     * 强制开始路径点
+     */
+    public String forceStartWayPointId;
+
+    /**
+     * 强制开始方向，必须使用 LCCDirection.fromString 可以转换
+     */
+    public String forceStartDirection;
+
+    /**
+     * 搬运高度
+     */
+    public double loadHeight = 0d;
+
+    /**
+     * 卸货高度
+     */
+    public double unloadHeight = 0d;
+
+    /**
+     * 禁止记录库存
+     */
+    public boolean noInv = false;
+}

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

@@ -1,6 +1,7 @@
 package com.galaxis.rcs.plan.path;
 
 import com.galaxis.rcs.common.enums.LCCDirection;
+import com.galaxis.rcs.plan.PlanTaskSequence;
 
 import java.util.*;
 
@@ -150,8 +151,12 @@ public class PathUtils {
     /**
      * 转换货位方向到AGV所需方向
      */
-    public static LCCDirection convertStoreDirection(LCCDirection storeDirection) {
+    public static LCCDirection convertStoreDirection(PlanTaskSequence plan, LCCDirection storeDirection) {
         // 转换规则: 货位在路径点的方位 -> AGV所需方向
+        if (plan.getAgv().t.toLowerCase().startsWith("fm") || plan.getAgv().t.toLowerCase().startsWith("fit")) {
+            // if qianfu AGV
+            return storeDirection;
+        }
         return switch (storeDirection) {
             case UP -> LCCDirection.RIGHT;    // 货位在上方 → 车头向右
             case DOWN -> LCCDirection.LEFT;    // 货位在下方 → 车头向左

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(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(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(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(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);
         }
@@ -230,17 +231,36 @@ public class PtrPathPlanner {
         plan.addFinish();
     }
 
-    private List<NodeDirection> findNodeForStore(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) {
-                    LCCDirection agvDirection = convertStoreDirection(link.direction());
+                    LCCDirection agvDirection = convertStoreDirection(plan, link.direction());
                     results.add(new NodeDirection(node, agvDirection));
                 }
             }
         }
+
+        // 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/galaxis/rcs/ptr/PtrAgvConnector.java

@@ -1,5 +0,0 @@
-package com.galaxis.rcs.ptr;
-
-public abstract class PtrAgvConnector {
-
-}

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

@@ -3,7 +3,7 @@ package com.yvan.entity;
 import com.galaxis.rcs.common.enums.BizTaskStatus;
 import com.galaxis.rcs.common.enums.BizTaskType;
 import com.galaxis.rcs.common.enums.LCCDirection;
-import com.galaxis.rcs.ptr.AmrTaskMode;
+import com.galaxis.rcs.amr.AmrTaskMode;
 import lombok.Data;
 
 @Data

servo/src/main/java/com/yvan/event/AgvEventManager.java

@@ -3,9 +3,9 @@ package com.yvan.event;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.common.enums.LCCDirection;
 import com.galaxis.rcs.plan.PlanTaskSequence;
-import com.galaxis.rcs.ptr.AmrTaskMode;
-import com.galaxis.rcs.ptr.PosDirection;
-import com.galaxis.rcs.ptr.PtrAgvDeviceTask;
+import com.galaxis.rcs.amr.AmrTaskMode;
+import com.galaxis.rcs.amr.PosDirection;
+import com.galaxis.rcs.amr.AmrDeviceTask;
 import com.yvan.logisticsModel.ExecutorItem;
 
 import java.util.Set;
@@ -78,11 +78,11 @@ public class AgvEventManager {
         fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_RESUME, sender, taskSequence);
     }
 
-    public void fireDeviceTaskCompleteEvent(ExecutorItem sender, PtrAgvDeviceTask deviceTask) {
+    public void fireDeviceTaskCompleteEvent(ExecutorItem sender, AmrDeviceTask deviceTask) {
         fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, sender, deviceTask);
     }
 
-    public void fireDeviceTaskExceptionEvent(ExecutorItem sender, PtrAgvDeviceTask deviceTask, Object exception) {
+    public void fireDeviceTaskExceptionEvent(ExecutorItem sender, AmrDeviceTask deviceTask, Object exception) {
         fireEvent(AgvEventType.DEVICE_TASK_EXCEPTION, sender, deviceTask, exception);
     }
 

servo/src/main/java/com/yvan/event/AgvEventType.java

@@ -63,12 +63,12 @@ public enum AgvEventType {
     PLAN_TASK_SEQUENCE_RESUME,
     /**
      * 设备任务已完成
-     * (ExecutorItem sender, PtrAgvDeviceTask deviceTask)
+     * (ExecutorItem sender, AmrDeviceTask deviceTask)
      */
     DEVICE_TASK_COMPLETE,
     /**
      * 设备任务异常
-     * (ExecutorItem sender, PtrAgvDeviceTask deviceTask, Object exception)
+     * (ExecutorItem sender, AmrDeviceTask deviceTask, Object exception)
      */
     DEVICE_TASK_EXCEPTION,
     /**

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

@@ -1,14 +1,16 @@
 package com.yvan.logisticsModel;
 
+import com.galaxis.rcs.amr.AmrAgvItem;
 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.connector.amr.cl2.Cl2Item;
+import com.galaxis.rcs.connector.amr.fm600.Fm600Item;
 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;
-import com.galaxis.rcs.ptr.PtrAgvItem;
+import com.galaxis.rcs.amr.AmrMessageHandler;
+import com.galaxis.rcs.amr.PtrAgvItem;
 import com.galaxis.rcs.task.TaskDispatchFactory;
 import com.galaxis.rcs.task.TaskService;
 import com.google.common.base.Joiner;
@@ -26,7 +28,6 @@ import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.time.DateFormatUtils;
 import org.clever.core.BannerUtils;
 import org.clever.core.Conv;
-import org.clever.core.DateUtils;
 import org.clever.data.jdbc.DaoFactory;
 import org.clever.data.jdbc.QueryDSL;
 import org.clever.data.redis.Redis;
@@ -201,12 +202,12 @@ public class LogisticsRuntime {
                         FrontendMessagePushService.INSTANCE.pushDeviceAlive(this, sender.id, sender.getT(), true);
                     }
                     // 设备状态变化
-                    if (sender instanceof PtrAgvItem) {
-                        var ptr = (PtrAgvItem) sender;
+                    if (sender instanceof AmrAgvItem) {
+                        var ptr = (AmrAgvItem) sender;
                         FrontendMessagePushService.INSTANCE.pushDeviceStatus(this, sender.id, ptr.getState());
 
                     } else {
-                        log.error("AGV事件类型 {} 仅支持 PtrAgvItem 类型的执行器", type);
+                        log.error("AGV事件类型 {} 仅支持 AmrAgvItem 类型的执行器", type);
                     }
                     break;
             }
@@ -229,6 +230,9 @@ public class LogisticsRuntime {
      * 库存转移 AGV->货架
      */
     private void changeInvOfUnload(PlanTaskSequence taskSequence, RcsTaskPlan taskPlan) {
+        if (taskSequence.option.noInv) {
+            return;
+        }
         String lpn = taskSequence.carryLpn;
         queryDSL.beginTX(status -> {
             InvManager.invSave(this.envId, taskSequence.bizTask.getBizTaskId(), lpn, taskSequence.executorVo.getLocCode(), -taskSequence.carryQty);
@@ -241,6 +245,9 @@ public class LogisticsRuntime {
      * 库存转移 货架->AGV
      */
     private void changeInvOfLoad(PlanTaskSequence taskSequence, RcsTaskPlan taskPlan) {
+        if (taskSequence.option.noInv) {
+            return;
+        }
         String lpn = taskSequence.carryLpn;
         queryDSL.beginTX(status -> {
             InvManager.invSave(this.envId, taskSequence.bizTask.getBizTaskId(), lpn, taskSequence.loadBasLocationVo.getLocCode(), -taskSequence.carryQty);
@@ -328,10 +335,18 @@ public class LogisticsRuntime {
                     break;
 
                 case "cl2":
+                case "cl3":
                 case "clx":
+                case "cc5":
+                case "cs1":
                     item = new Cl2Item(this, itemObject);
                     this.executorItemMap.put(item.getId(), (ExecutorItem) item);
                     break;
+
+                case "fm600":
+                    item = new Fm600Item(this, itemObject);
+                    this.executorItemMap.put(item.getId(), (ExecutorItem) item);
+                    break;
             }
         }
 

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

@@ -76,9 +76,9 @@ public class FrontendMessagePushService implements MqttCallback {
             options.setUserName(mqttConfig.getUsername());
             options.setPassword(mqttConfig.getPassword().getBytes());
             options.setAutomaticReconnect(true);
-            options.setConnectionTimeout(10);
+            options.setConnectionTimeout(5000);
             options.setKeepAliveInterval(60);
-            options.setExecutorServiceTimeout(1);
+            options.setExecutorServiceTimeout(5000);
 
             // 尝试连接
             int attempts = 0;
@@ -276,7 +276,7 @@ public class FrontendMessagePushService implements MqttCallback {
      */
     private void publishJson(String topic, Object data) {
         String json = JacksonMapper.getInstance().toJson(data);
-        log.info("Publishing to topic: {}, data: {}", topic, json);
+        // log.info("Publishing to topic: {}, data: {}", topic, json);
         publish(topic, json);
     }
 
@@ -296,7 +296,7 @@ public class FrontendMessagePushService implements MqttCallback {
 
             mqttClient.publish(topic, message);
 
-            log.debug("Published to {}: {}", topic, payload);
+            log.info("Published to [{}] {}", topic, payload);
         } catch (MqttException e) {
             log.error("Failed to publish to topic: " + topic, e);
         }

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

@@ -3,6 +3,7 @@ package com.yvan.workbench.controller;
 import com.galaxis.rcs.common.entity.ApiTask;
 import com.galaxis.rcs.common.entity.LccBasLocation;
 import com.galaxis.rcs.inv.InvManager;
+import com.google.common.collect.Sets;
 import com.querydsl.core.util.StringUtils;
 import com.yvan.entity.BasLocationVo;
 import com.yvan.logisticsModel.LogisticsRuntime;
@@ -42,13 +43,25 @@ public class ApiController {
     private final static String projectUUID = "tw_zh";
 
     private final static long envId = 13;
-    private final static String inPos = "504_506_0_0_0";
-    private final static String outPos = "504_503_0_0_0";
+    private final static String inPos = "150_0_0_0";
+    private final static String outPos = "148_0_0_0";
 
     // 礼品托盘
     private final static String giftLpn = "GLPN";
     // 礼品托盘位
-    private final static String gifPos = "500_500_0_0_0";
+    private final static String gifPos = "82_0_0_0";
+
+    private final static String cl2_gstore = "146_0_0_0";
+    private final static String cl2_agvId = "2";
+    private final static String cl2_agvLocCode = "AGV_2";
+    private final static Set<String> cl2_demoLocSet = Sets.newHashSet(
+        "155_0_1_0", "157_0_1_0", "159_0_1_0");
+
+    private final static String clx_gstore = "84_0_0_0";
+    private final static String clx_agvId = "3";
+    private final static String clx_agvLocCode = "AGV_3";
+    private final static Set<String> clx_demoLocSet = Sets.newHashSet(
+        "89_0_2_0", "162_0_2_0", "91_0_2_0", "93_0_2_0");
 
     static final QueryDSL queryDSL = DaoFactory.getQueryDSL();
 
@@ -59,20 +72,17 @@ public class ApiController {
     private static void createCl2DemoTask() {
         if (cl2DemoTask != null) {
             if (cl2DemoTask.isAlive()) {
+                log.error("cl2 error 1");
                 return;
             }
         }
         cl2DemoTask = new Thread(() -> {
 
-            String gstore = "504_501_0_0_0";
-            String agvId = "1";
-            String agvLocCode = "AGV_1";
-            Set<String> demoLocSet = new HashSet<>();
-            demoLocSet.add("rack1_0_1_0");
-            demoLocSet.add("rack1_1_1_0");
-            demoLocSet.add("rack1_2_1_0");
-            demoLocSet.add("rack1_3_1_0");
-
+            String gstore = cl2_gstore;
+            String agvId = cl2_agvId;
+            String agvLocCode = cl2_agvLocCode;
+            Set<String> demoLocSet = cl2_demoLocSet;
+            long loopCnt = 0;
 
             while (true) {
                 // 查询是否有出库任务
@@ -88,6 +98,7 @@ public class ApiController {
                     .fetchFirst();
 
                 if (!(cl2Running.get() || outTask != null || inTask != null)) {
+                    log.error("cl2 error 2");
                     return;
                 }
 
@@ -110,6 +121,11 @@ public class ApiController {
                             .where(lccInvLpn.qty.gt(0).and(lccInvLpn.envId.eq(envId))
                             ))).distinct().fetch();
 
+                if(emptyLocList.size() <= 0){
+                    log.error("cl2 error 99, no empty pallet");
+                    return;
+                }
+
                 Set<String> emptyLocSet = new HashSet<>(emptyLocList);
 
 //            if (gInvCount <= 0) {
@@ -135,6 +151,7 @@ public class ApiController {
                         params.put("targetStoreLoc", locCodeToLoc(locCode));
                         R re = RcsController.agvUnload(params);
                         if (!re.isSuccess()) {
+                            log.error("cl2 error 3");
                             return;
                         }
                         if (outTask != null) {
@@ -147,6 +164,7 @@ public class ApiController {
 
                         re = RcsController.waitTaskFinish(params);
                         if (!re.isSuccess()) {
+                            log.error("cl2 error 4");
                             return;
                         }
                         if (outTask != null) {
@@ -169,6 +187,7 @@ public class ApiController {
 
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 5");
                                 return;
                             }
                             if (inTask != null) {
@@ -179,6 +198,7 @@ public class ApiController {
 
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 6");
                                 return;
                             }
                             if (inTask != null) {
@@ -200,6 +220,7 @@ public class ApiController {
                             params.put("targetStoreLoc", locCodeToLoc(outPos));
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 7");
                                 return;
                             }
                             queryDSL.update(apiTask)
@@ -210,6 +231,7 @@ public class ApiController {
                             outTask.setLpn(lpn);
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 8");
                                 return;
                             }
                             completeTask(outTask);
@@ -223,10 +245,12 @@ public class ApiController {
 
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 9");
                                 return;
                             }
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 10");
                                 return;
                             }
                         } else {
@@ -238,10 +262,12 @@ public class ApiController {
                             params.put("targetStoreLoc", locCodeToLoc(gstore));
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 11");
                                 return;
                             }
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("cl2 error 12");
                                 return;
                             }
 
@@ -249,6 +275,9 @@ public class ApiController {
                     }
 
                     Thread.sleep(1000);
+                    loopCnt++;
+                    log.info("cl2 loop cnt: {}", loopCnt);
+
                 } catch (InterruptedException e) {
                     throw new RuntimeException(e);
                 }
@@ -264,19 +293,18 @@ public class ApiController {
     private static void createClxDemoTask() {
         if (clxDemoTask != null) {
             if (clxDemoTask.isAlive()) {
+                log.error("clx error 0");
                 return;
             }
         }
         clxDemoTask = new Thread(() -> {
 
-            String gstore = "502_500_0_0_0";
-            String agvId = "2";
-            String agvLocCode = "AGV_2";
-            Set<String> demoLocSet = new HashSet<>();
-            demoLocSet.add("rack1_0_2_0");
-            demoLocSet.add("rack1_1_2_0");
-            demoLocSet.add("rack1_2_2_0");
-            demoLocSet.add("rack1_3_2_0");
+            String gstore = clx_gstore;
+            String agvId = clx_agvId;
+            String agvLocCode = clx_agvLocCode;
+            Set<String> demoLocSet = clx_demoLocSet;
+            long loopCnt = 0;
+
             while (true) {
                 // 查询是否有礼品出库任务
                 ApiTask outTask = queryDSL.select(apiTask).from(apiTask)
@@ -290,6 +318,7 @@ public class ApiController {
                         .and(apiTask.taskType.eq(3)).and(apiTask.taskStatus.in(0, 1)))
                     .fetchFirst();
                 if (!(clxRunning.get() || outTask != null || inTask != null)) {
+                    log.info("clx not running");
                     return;
                 }
 
@@ -341,6 +370,7 @@ public class ApiController {
                         params.put("targetStoreLoc", locCodeToLoc(locCode));
                         R re = RcsController.agvUnload(params);
                         if (!re.isSuccess()) {
+                            log.error("clx error 3");
                             return;
                         }
                         if (outTask != null && aInvLpn.equals(giftLpn)) {
@@ -351,6 +381,7 @@ public class ApiController {
 
                         re = RcsController.waitTaskFinish(params);
                         if (!re.isSuccess()) {
+                            log.error("clx error 1");
                             return;
                         }
                         if (outTask != null && aInvLpn.equals(giftLpn)) {
@@ -373,6 +404,7 @@ public class ApiController {
 
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 2");
                                 return;
                             }
                             queryDSL.update(apiTask)
@@ -381,6 +413,7 @@ public class ApiController {
 
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 4");
                                 return;
                             }
                             completeTask(inTask);
@@ -397,6 +430,7 @@ public class ApiController {
                             params.put("targetStoreLoc", locCodeToLoc(gifPos));
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 5");
                                 return;
                             }
                             queryDSL.update(apiTask)
@@ -405,6 +439,7 @@ public class ApiController {
 
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 6");
                                 return;
                             }
                             completeTask(outTask);
@@ -418,10 +453,12 @@ public class ApiController {
 
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 10");
                                 return;
                             }
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 9");
                                 return;
                             }
                         } else {
@@ -434,10 +471,12 @@ public class ApiController {
                             params.put("targetStoreLoc", locCodeToLoc(gstore));
                             R re = RcsController.agvCarry(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 8");
                                 return;
                             }
                             re = RcsController.waitTaskFinish(params);
                             if (!re.isSuccess()) {
+                                log.error("clx error 7");
                                 return;
                             }
 
@@ -445,6 +484,9 @@ public class ApiController {
                     }
 
                     Thread.sleep(1000);
+                    loopCnt++;
+                    log.info("clx loop cnt: {}", loopCnt);
+
                 } catch (InterruptedException e) {
                     throw new RuntimeException(e);
                 }
@@ -457,11 +499,7 @@ public class ApiController {
 
 
     public static String locCodeToLoc(String locCode) {
-        if (locCode.startsWith("rack")) {
-            return locCode.replaceAll("_", "/");
-        } else {
-            return locCode.replaceAll("_0_0_0", "");
-        }
+        return locCode;
     }
 
     public static RR<?> in_bound(@RequestBody Map<String, Object> params) {

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

@@ -4,13 +4,11 @@ import com.galaxis.rcs.common.entity.LccBasExecutor;
 import com.galaxis.rcs.common.entity.LccBasLocation;
 import com.galaxis.rcs.common.entity.LccInvLedger;
 import com.querydsl.sql.SQLQuery;
-import com.yvan.workbench.model.request.QueryExecutorReq;
-import com.yvan.workbench.model.request.QueryInvLedgerReq;
-import com.yvan.workbench.model.request.QueryInvLpnReq;
-import com.yvan.workbench.model.request.QueryLocationReq;
+import com.yvan.workbench.model.request.*;
 import org.apache.commons.lang3.StringUtils;
 import org.clever.core.model.request.QueryByPage;
 import org.clever.core.model.request.page.Page;
+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;
@@ -52,23 +50,26 @@ public class DeviceManager {
 
     public static Page<LinkedHashMap<String, Object>> queryInvLpn(QueryInvLpnReq req) {
         SQLQuery<LinkedHashMap<String, Object>> query = QUERY_DSL.select(QueryDslUtils.linkedMap(lccInvLpn, lccBasLocation, lccBasContainer))
-                .from(lccInvLpn)
-                .innerJoin(lccBasLocation).on(
-                        lccInvLpn.locCode.eq(lccBasLocation.locCode).and(
-                                lccBasLocation.envId.eq(lccBasLocation.envId)
-                        )
+            .from(lccInvLpn)
+            .innerJoin(lccBasLocation).on(
+                lccInvLpn.locCode.eq(lccBasLocation.locCode).and(
+                    lccInvLpn.envId.eq(lccBasLocation.envId)
                 )
-                .innerJoin(lccBasContainer).on(
-                        lccInvLpn.lpn.eq(lccInvLpn.lpn).and(
-                                lccBasContainer.envId.eq(lccInvLpn.envId)
-                        )
-                ).orderBy(lccInvLpn.lpn.asc());
+            )
+            .innerJoin(lccBasContainer).on(
+                lccBasContainer.lpn.eq(lccInvLpn.lpn).and(
+                    lccBasContainer.envId.eq(lccInvLpn.envId)
+                )
+            ).orderBy(lccInvLpn.lpn.asc());
         if (StringUtils.isNotBlank(req.getLpn())) {
             query.where(lccInvLpn.lpn.eq(req.getLpn().trim()));
         }
         if (StringUtils.isNotBlank(req.getLocCode())) {
             query.where(lccInvLpn.locCode.eq(req.getLocCode().trim()));
         }
+        if (req.getEnvId() != null) {
+            query.where(lccInvLpn.envId.eq(req.getEnvId()));
+        }
         return QueryDslUtils.queryByPage(query, QueryByPage.getCurrent());
     }
 
@@ -79,4 +80,13 @@ public class DeviceManager {
         }
         return QueryDslUtils.queryByPage(query, QueryByPage.getCurrent());
     }
+
+    public static R<?> delInvLpn(DelInvLpnReq req) {
+        long count = QUERY_DSL.delete(lccInvLpn)
+            .where(lccInvLpn.envId.eq(req.getEnvId()))
+            .where(lccInvLpn.locCode.eq(req.getLocCode()))
+            .where(lccInvLpn.lpn.eq(req.getLpn()))
+            .execute();
+        return R.success(count);
+    }
 }

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

@@ -1,21 +1,27 @@
 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.ptr.PtrAgvItem;
+import com.galaxis.rcs.amr.PtrAgvItem;
 import com.google.common.base.Strings;
 import com.google.common.collect.Lists;
+import com.google.common.collect.Maps;
 import com.yvan.entity.AgvStatusVo;
 import com.yvan.logisticsModel.LogisticsRuntimeService;
 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;
 
@@ -84,7 +90,7 @@ public class LccController {
             for (var executor : runtime.executorItemMap.values()) {
                 for (var agv : agvStatusList) {
                     if (agv.getId().equals(executor.getId())) {
-                        agv.copyFromExceptVirtual(((PtrAgvItem) executor).getState());
+                        agv.copyFromExceptVirtual(((AmrAgvItem) executor).getState());
                         break;
                     }
                 }
@@ -123,4 +129,72 @@ 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)
+            .execute();
+
+        return R.success(true);
+    }
+
+    public static R<Object> getLpnLocations(@RequestBody Map<String, Object> params) {
+        Long envId = Conv.asLong(params.get("envId"));
+
+        if (envId == null || envId <= 0) {
+            return R.fail("envId Must not be empty");
+        }
+
+        var queryDsl = DaoFactory.getQueryDSL();
+        var lpnList = queryDsl.select(QueryDslUtils.linkedMap(
+                lccBasContainer.lpn
+            ))
+            .from(lccBasContainer)
+            .where(lccBasContainer.envId.eq(envId))
+            .where(lccBasContainer.isActive.eq(true))
+            .fetch();
+
+        var locationList = queryDsl.select(QueryDslUtils.linkedMap(
+                lccBasLocation.locCode,
+                lccBasLocation.rack,
+                lccBasLocation.bay,
+                lccBasLocation.level,
+                lccBasLocation.cell
+            ))
+            .from(lccBasLocation)
+            .where(lccBasLocation.envId.eq(envId))
+            .fetch();
+
+        Map<String, Object> result = Maps.newHashMap();
+        result.put("lpnList", lpnList);
+        result.put("locationList", locationList);
+
+        return R.success(result);
+    }
 }

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

@@ -2,7 +2,7 @@ package com.yvan.workbench.controller;
 
 import com.galaxis.rcs.common.entity.LccBasLocation;
 import com.galaxis.rcs.common.entity.StoreLocation;
-import com.galaxis.rcs.ptr.JacksonUtils;
+import com.galaxis.rcs.amr.JacksonUtils;
 import com.yvan.workbench.SpringContext;
 import com.yvan.entity.LccProject;
 import com.yvan.workbench.service.LccMapService;

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

@@ -1,5 +1,6 @@
 package com.yvan.workbench.controller;
 
+import com.galaxis.rcs.amr.AmrAgvItem;
 import com.galaxis.rcs.common.entity.LccBasLocation;
 import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.StoreLocation;
@@ -7,8 +8,8 @@ import com.galaxis.rcs.common.enums.BizTaskStatus;
 import com.galaxis.rcs.common.enums.BizTaskType;
 import com.galaxis.rcs.common.enums.LCCDirection;
 import com.galaxis.rcs.plan.PlanTaskSequence;
+import com.galaxis.rcs.plan.RcsTaskOption;
 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;
@@ -18,6 +19,8 @@ import com.yvan.logisticsModel.LogisticsRuntimeService;
 import com.yvan.logisticsModel.StaticItem;
 import org.clever.core.Conv;
 import org.clever.core.id.SnowFlake;
+import org.clever.core.json.JsonWrapper;
+import org.clever.core.mapper.JacksonMapper;
 import org.clever.core.model.response.R;
 import org.clever.web.mvc.annotation.RequestBody;
 
@@ -139,8 +142,8 @@ public class RcsController {
         if (executorItem == null) {
             return R.fail("executor not found: " + agvId);
         }
-        if (!(executorItem instanceof PtrAgvItem)) {
-            return R.fail("executor is not a PtrAgvItem id=" + agvId);
+        if (!(executorItem instanceof AmrAgvItem)) {
+            return R.fail("executor is not a AmrAgvItem id=" + agvId);
         }
 
         return R.success(executorItem);
@@ -160,59 +163,55 @@ public class RcsController {
         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()))
+            .where(lccBasLocation.locCode.eq(fromStoreLoc))
             .fetchFirst();
         if (loadBasLocation == null) {
             return R.fail("fromStoreLoc location not found!");
         }
-
+        StoreLocation sourceLocation = new StoreLocation(loadBasLocation.getRack(), loadBasLocation.getBay(), loadBasLocation.getLevel(), loadBasLocation.getCell());
+        StaticItem sourceItem = ps.runtime.getStaticItemById(loadBasLocation.getRack());
+        if (sourceItem == null) {
+            return R.fail("fromStoreLoc storePoint 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()))
+            .where(lccBasLocation.locCode.eq(targetStoreLoc))
             .fetchFirst();
         if (unloadBasLocation == null) {
             return R.fail("targetStoreLoc location not found!");
         }
+        StoreLocation targetLocation = new StoreLocation(unloadBasLocation.getRack(), unloadBasLocation.getBay(), unloadBasLocation.getLevel(), unloadBasLocation.getCell());
+        StaticItem targetItem = ps.runtime.getStaticItemById(unloadBasLocation.getRack());
+        if (targetItem == null) {
+            return R.fail("targetStoreLoc storePoint 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);
+        String lpn = "N/A";
+        if (!ps.option.noInv) {
+            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 ====================
@@ -257,31 +256,31 @@ public class RcsController {
         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()))
+            .where(lccBasLocation.locCode.eq(targetStoreLoc))
             .fetchFirst();
         if (unloadBasLocation == null) {
             return R.fail("targetStoreLoc location not found!");
         }
+        StoreLocation targetLocation = new StoreLocation(unloadBasLocation.getRack(), unloadBasLocation.getBay(), unloadBasLocation.getLevel(), unloadBasLocation.getCell());
 
         // ==================== 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());
+        String lpn = "N/A";
+        if (!ps.option.noInv) {
+            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 ====================
@@ -325,30 +324,30 @@ public class RcsController {
         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()))
+            .where(lccBasLocation.locCode.eq(targetStoreLoc))
             .fetchFirst();
         if (loadBasLocation == null) {
             return R.fail("targetStoreLoc location not found!");
         }
+        StoreLocation targetLocation = new StoreLocation(loadBasLocation.getRack(), loadBasLocation.getBay(), loadBasLocation.getLevel(), loadBasLocation.getCell());
 
         // ==================== 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());
+        String lpn = "N/A";
+        if (!ps.option.noInv) {
+            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 ====================
@@ -422,7 +421,10 @@ public class RcsController {
         String projectUUID = Conv.asString(params.get("projectUUID"));
         Long envId = Conv.asLong(params.get("envId"));
         String agvId = Conv.asString(params.get("agvId"));
-        Map<String, Object> option = (Map<String, Object>) params.get("option");
+        RcsTaskOption option = new JsonWrapper((Map) params.get("option")).asObject(RcsTaskOption.class);
+        if (option == null) {
+            option = new RcsTaskOption();
+        }
 
         if (Strings.isNullOrEmpty(projectUUID)) {
             return R.fail("projectUUID Must not be empty");
@@ -433,9 +435,6 @@ public class RcsController {
         if (Strings.isNullOrEmpty(agvId)) {
             return R.fail("agvId Must not be empty");
         }
-        if (option == null) {
-            option = Maps.newHashMap();
-        }
 
         LogisticsRuntime runtime = LogisticsRuntimeService.INSTANCE.getByProjectEnv(projectUUID, envId);
         if (runtime == null) {
@@ -446,16 +445,16 @@ public class RcsController {
         if (executorItem == null) {
             return R.fail("executor not found: " + agvId);
         }
-        if (!(executorItem instanceof PtrAgvItem agv)) {
-            return R.fail("executor is not a PtrAgvItem id=" + agvId);
+        if (!(executorItem instanceof AmrAgvItem agv)) {
+            return R.fail("executor is not a AmrAgvItem id=" + agvId);
         }
 
         // 获取机器人当前所在位置, 也可以前端强制指定
         // forceStartWayPointId: '6_2', forceStartDirectior: 'right'
         StaticItem fromItem = null;
         LCCDirection fromDirection = null;
-        if (option.get("forceStartWayPointId") != null) {
-            fromItem = runtime.getStaticItemById(Conv.asString(option.get("forceStartWayPointId")));
+        if (option.forceStartWayPointId != null) {
+            fromItem = runtime.getStaticItemById(option.forceStartWayPointId);
         } else {
             fromItem = runtime.getStaticItemByLogicXY(agv.logicX, agv.logicY);
             if (agv.logicX == 0 && agv.logicY == 0) {
@@ -463,17 +462,17 @@ public class RcsController {
                 return R.fail("AGV position init failed");
             }
         }
-        if (option.get("forceStartDirection") != null) {
-            fromDirection = LCCDirection.fromString(Conv.asString(option.get("forceStartDirection")));
+        if (option.forceStartDirection != null) {
+            fromDirection = LCCDirection.fromString(option.forceStartDirection);
         } else {
             fromDirection = agv.getLCCDirection();
         }
 
         if (fromItem == null) {
-            return R.fail("PtrAgvItem not found at current location: " + agv.logicX + "_" + agv.logicY + ", id=" + agvId);
+            return R.fail("AmrAgvItem not found at current location: " + agv.logicX + "_" + agv.logicY + ", id=" + agvId);
         }
         if (fromDirection == null) {
-            return R.fail("PtrAgvItem unkown direction id=" + agvId);
+            return R.fail("AmrAgvItem unkown direction id=" + agvId);
         }
 
         RcsTaskBiz bizTask = new RcsTaskBiz();
@@ -481,7 +480,7 @@ public class RcsController {
         bizTask.setEnvId(envId);
         bizTask.setBizType(BizTaskType.MOVE.toString());
         bizTask.setLpn("N/A");
-        bizTask.setPriority(Conv.asInteger(option.get("priority"), 1));
+        bizTask.setPriority(option.priority);
         bizTask.setTaskFrom(fromItem.getId());
         bizTask.setAllocatedExecutorId(agvId);
         bizTask.setBizTaskPayload("N/A");
@@ -490,6 +489,7 @@ public class RcsController {
         bizTask.setBizTaskStatus(BizTaskStatus.WAITING_FOR_DISPATCH.toString());
 
         PlanTaskSequence planSequence = new PlanTaskSequence(agvId, runtime, bizTask, "RcsScript");
+        planSequence.option = option;
         return new RcsCommonParam(projectUUID, envId, agvId, option, bizTask, runtime, agv, planSequence, fromItem, fromDirection);
     }
 
@@ -497,10 +497,10 @@ public class RcsController {
         String projectUUID,
         Long envId,
         String agvId,
-        Map<String, Object> option,
+        RcsTaskOption option,
         RcsTaskBiz bizTask,
         LogisticsRuntime runtime,
-        PtrAgvItem agv,
+        AmrAgvItem agv,
         PlanTaskSequence planSequence,
         StaticItem fromItem,
         LCCDirection fromDirection) {

servo/src/main/java/com/yvan/workbench/model/request/DelInvLpnReq.java

@@ -0,0 +1,16 @@
+package com.yvan.workbench.model.request;
+
+import lombok.Data;
+
+/**
+ * 作者：lizw <br/>
+ * 创建时间：2025/07/30 10:20 <br/>
+ */
+@Data
+public class DelInvLpnReq {
+    /** 托盘条码 */
+    private String lpn;
+    /** 库存位置 */
+    private String locCode;
+    private Long envId;
+}

servo/src/main/java/com/yvan/workbench/model/request/QueryInvLpnReq.java

@@ -12,4 +12,5 @@ public class QueryInvLpnReq {
     private String lpn;
     /** 库存位置 */
     private String locCode;
+    private Long envId;
 }

servo/src/main/resources/application-dev.yml

@@ -10,10 +10,14 @@ lcc:
     # - projectUuid: tw_test
     #  envId: 1
   frontend-mqtt:
-    brokerUrl: tcp://127.0.0.1:1883
-    username: user
-    password: user
-    websocket: mqtt://127.0.0.1:7883
+    # brokerUrl: tcp://127.0.0.1:1883
+    # username: user
+    # password: user
+    # websocket: mqtt://127.0.0.1:7883
+    brokerUrl: tcp://10.10.9.58:1885
+    username: admin
+    password: admin
+    websocket: mqtt://10.10.9.58:7885
 
 mybatis:
   enable: true
@@ -32,9 +36,13 @@ jdbc:
   default-name: 'default'
   data-source:
     default:
-      jdbc-url: jdbc:p6spy:mysql://127.0.0.1:3306/rcs2_tw_zhanghui
-      username: rcs2_tw_zhanghui
-      password: Rcs2_tw_zhanghui
+      # jdbc-url: jdbc:p6spy:mysql://127.0.0.1:3306/rcs2_tw_zhanghui
+      # jdbc-url: jdbc:p6spy:mysql://180.100.199.56:8306/rcs2_tw_zhanghui
+      # username: rcs2_tw_zhanghui
+      # password: Rcs2_tw_zhanghui
+      jdbc-url: jdbc:p6spy:mysql://10.10.9.58:3306/rcs2_tw_zhanghui
+      username: admin
+      password: admin123456
       minimum-idle: 2
       maximum-pool-size: 100
       connection-test-query: 'select 1 from dual'
@@ -46,8 +54,9 @@ redis:
     default:
       mode: standalone
       standalone:
-        host: '127.0.0.1'
+        host: '10.10.9.58'
         port: 6379
+        password: 'admin123456'
         database: 0
 
 web:

servo/src/main/resources/application-jx.yml

@@ -0,0 +1,92 @@
+server:
+  port: 7779
+
+app:
+  root-path: './'
+
+lcc:
+  location: './lcc-map'
+  autoStart:
+    # - projectUuid: tw_test
+    #  envId: 1
+  frontend-mqtt:
+    # brokerUrl: tcp://127.0.0.1:1883
+    # username: user
+    # password: user
+    # websocket: mqtt://127.0.0.1:7883
+    brokerUrl: tcp://180.100.199.56:7097
+    username: galaxis
+    password: Admin1234_
+    websocket: mqtt://180.100.199.56:9097
+
+mybatis:
+  enable: true
+  watcher: true
+  interval: 1s
+  locations:
+    - fileType: filesystem
+      location: './servo/src/main/java'
+      filter: '**/*.xml'
+    #- fileType: jar
+    #  location: 'classpath*:com/yvan/workbench/**/*.xml'
+    #  filter: ''
+
+jdbc:
+  enable: true
+  default-name: 'default'
+  data-source:
+    default:
+      # jdbc-url: jdbc:p6spy:mysql://127.0.0.1:3306/rcs2_tw_zhanghui
+      jdbc-url: jdbc:p6spy:mysql://180.100.199.56:8306/rcs2_tw_zhanghui
+      username: rcs2_tw_zhanghui
+      password: Rcs2_tw_zhanghui
+      minimum-idle: 2
+      maximum-pool-size: 100
+      connection-test-query: 'select 1 from dual'
+
+redis:
+  enable: true
+  default-name: 'default'
+  data-source:
+    default:
+      mode: standalone
+      standalone:
+        host: '127.0.0.1'
+        port: 6379
+        database: 0
+
+web:
+  resources:
+    enable: true
+    mappings:
+      - hosted-path: '/'
+        location: './servo/src/main/resources/static'
+  mvc:
+    path: '/api/'
+    http-method: [ 'POST', 'GET' ]
+    package-mapping:
+      - path-prefix: '/workbench'
+        package-prefix: 'com.yvan.workbench.controller'
+    allow-packages:
+      - 'com.yvan.workbench.controller.'
+    transactional-def-datasource: [ ]
+    def-transactional:
+      datasource: [ ]
+      timeout: -1
+      read-only: false
+    hot-reload:
+      enable: false
+      # watchFile: './build/.hotReload'
+      interval: 1s
+      exclude-packages: [ ]
+      exclude-classes: [ ]
+      locations:
+        - './servo/out/production/classes'
+        #- './servo/build/classes/java/main'
+  security:
+    enable: true
+    data-source:
+      jdbc-name: "default"
+      enable-redis: true
+      redis-name: "default"
+      redis-namespace: "yvan-lcc-bench"

servo/src/main/resources/application-prod.yml

@@ -0,0 +1,94 @@
+logging:
+  config: classpath:logback-spring.xml
+  file:
+    name: '${spring.application.name:server}'
+    path: '/home/galaxis/logs/${logging.file.name}'
+
+server:
+  port: 7779
+
+app:
+  root-path: '/home/galaxis/.jenkins/workspace/yvan-lcc-bench'
+
+lcc:
+  location: '/home/galaxis/.jenkins/workspace/yvan-lcc-bench/lcc-map'
+  autoStart:
+    # - projectUuid: tw_test
+    #  envId: 1
+  frontend-mqtt:
+    brokerUrl: tcp://10.10.9.58:1885
+    username: admin
+    password: admin
+    websocket: mqtt://10.10.9.58:7885
+
+mybatis:
+  enable: true
+  watcher: true
+  interval: 1s
+  locations:
+    - fileType: filesystem
+      location: './servo/src/main/java'
+      filter: '**/*.xml'
+    #- fileType: jar
+    #  location: 'classpath*:com/yvan/workbench/**/*.xml'
+    #  filter: ''
+
+jdbc:
+  enable: true
+  default-name: 'default'
+  data-source:
+    default:
+      jdbc-url: jdbc:p6spy:mysql://10.10.9.58:3306/rcs2_tw_zhanghui
+      username: admin
+      password: admin123456
+      minimum-idle: 2
+      maximum-pool-size: 100
+      connection-test-query: 'select 1 from dual'
+
+redis:
+  enable: true
+  default-name: 'default'
+  data-source:
+    default:
+      mode: standalone
+      standalone:
+        host: '10.10.9.58'
+        port: 6379
+        password: 'admin123456'
+        database: 0
+
+web:
+  resources:
+    enable: true
+    mappings:
+      - hosted-path: '/'
+        location: './servo/src/main/resources/static'
+  mvc:
+    path: '/api/'
+    http-method: [ 'POST', 'GET' ]
+    package-mapping:
+      - path-prefix: '/workbench'
+        package-prefix: 'com.yvan.workbench.controller'
+    allow-packages:
+      - 'com.yvan.workbench.controller.'
+    transactional-def-datasource: [ ]
+    def-transactional:
+      datasource: [ ]
+      timeout: -1
+      read-only: false
+    hot-reload:
+      enable: false
+      # watchFile: './build/.hotReload'
+      interval: 1s
+      exclude-packages: [ ]
+      exclude-classes: [ ]
+      locations:
+        - './servo/out/production/classes'
+        #- './servo/build/classes/java/main'
+  security:
+    enable: true
+    data-source:
+      jdbc-name: "default"
+      enable-redis: true
+      redis-name: "default"
+      redis-namespace: "yvan-lcc-bench"

servo/src/main/resources/logback-spring.xml

@@ -93,7 +93,7 @@
     </logger>
 
     <!-- AMR 报文日志 -->
-    <logger name="com.galaxis.rcs.ptr.AmrMessageHandler" level="DEBUG" additivity="false">
+    <logger name="com.galaxis.rcs.amr.AmrMessageHandler" level="DEBUG" additivity="false">
         <appender-ref ref="AMR_FILE"/>
         <appender-ref ref="STDOUT1"/>
     </logger>