From 0046df08ec7259598818074e59f8ad2075e6fcc7 Mon Sep 17 00:00:00 2001
From: liweidong-hj <liweidong-hj@huafang.com>
Date: Wed, 8 Apr 2026 19:16:48 +0800
Subject: [PATCH] =?UTF-8?q?=E7=89=A9=E6=B5=81=E4=BC=98=E5=8C=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../controller/PipelineController.java        |  10 +-
 .../service/ITaskExecuteRecordService.java    |   5 +
 .../service/impl/IOrderBoxServiceImpl.java    |  20 +-
 .../impl/TaskExecuteRecordServiceImpl.java    | 202 +++++++++++++-----
 .../service/impl/TaskServiceImpl.java         |   1 +
 5 files changed, 170 insertions(+), 68 deletions(-)

diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java
index d35326e2..fa5f0596 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java
@@ -40,6 +40,7 @@ import org.springblade.desk.logistics.pojo.entity.Station;
 import org.springblade.desk.logistics.service.IOrderBindService;
 import org.springblade.desk.logistics.service.IOrderBoxService;
 import org.springblade.desk.logistics.service.IPipelineService;
+import org.springblade.desk.logistics.service.ITaskExecuteRecordService;
 import org.springblade.desk.logistics.utils.AgvTaskTypeUtil;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
@@ -169,6 +170,9 @@ public class PipelineController extends BladeController {
 	@Autowired
 	AgvTaskTypeUtil agvTaskTypeUtil;
 
+	@Autowired
+	ITaskExecuteRecordService taskExecuteRecordService;
+
 	/**
 	 * 接收空物料箱到输送线通知
 	 */
@@ -190,10 +194,10 @@ public class PipelineController extends BladeController {
 	@GetMapping("/test")
 	@ApiOperationSupport(order = 4)
 	@Operation(summary = "接收物料箱", description  = "传入箱条码")
-	public R test(@RequestParam String test1,@RequestParam String test2) {
-		String taskTypeByPositions = agvTaskTypeUtil.getTaskTypeByPositions(test1, test2);
+	public R test(@RequestParam String taskCode) {
+		boolean b = taskExecuteRecordService.releaseSite(taskCode);
 
-		return R.data(taskTypeByPositions);
+		return R.data(b);
 	}
 
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java
index b078067b..b271b92d 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java
@@ -107,4 +107,9 @@ public interface ITaskExecuteRecordService extends BaseService<TaskExecuteRecord
      * @return
      */
     boolean genAgvSchedulingTask(String taskType, String startPos, String endPos, String type, Task task);
+
+
+    boolean releaseSite(String taskCode);
+
+
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java
index b5024bfc..5a838b80 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java
@@ -358,11 +358,11 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         List<Station> stationList =null;
         if (returnToWarehouseDto.getEndStationCode() != null && !returnToWarehouseDto.getEndStationCode().isEmpty()) {
             stationList=stationService.list(new LambdaQueryWrapper<Station>()
-//                    .ne(Station::getStatus, CONVEYOR_LINE_RECEIVE_ONLY)
+                    .ne(Station::getStatus, CONVEYOR_LINE_RECEIVE_ONLY)
                     .eq(Station::getStationStatus, STATUS_FREE)
                     .eq(Station::getStationCode, returnToWarehouseDto.getEndStationCode()));
             if (stationList==null||stationList.size()==0) {
-                return R.fail("当前结束站点码被占用");
+                return R.fail("当前结束站点码被占用/输送线站点不支持配送");
             }
             List<StationCenter> stationCenterList = stationCenterService.list(new LambdaQueryWrapper<StationCenter>().select(StationCenter::getWcId).eq(StationCenter::getStationId, stationList.get(0).getId()));
             if (stationCenterList==null||stationCenterList.size()==0) {
@@ -372,12 +372,12 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
             if (bsWorkCenterEntityList==null||bsWorkCenterEntityList.size()==0) {
                 return R.fail("当前结束站点码没有对应的作业中心");
             }
-            if (!bsWorkCenterEntityList.get(0).getWcName().equals("镀后检验作业中心")) {
-                stationList=stationList.stream().filter(s->!s.getStatus().equals(CONVEYOR_LINE_RECEIVE_ONLY)).toList();
-                if (stationList==null||stationList.size()==0) {
-                    return R.fail("当前结束站点码被占用");
-                }
-            }
+//            if (!bsWorkCenterEntityList.get(0).getWcName().equals("镀后检验作业中心")) {
+//                stationList=stationList.stream().filter(s->!s.getStatus().equals(CONVEYOR_LINE_RECEIVE_ONLY)).toList();
+//                if (stationList==null||stationList.size()==0) {
+//                    return R.fail("当前结束站点码被占用");
+//                }
+//            }
         }
         agvSend = Objects.nonNull(agvSend) ? agvSend : false; // 默认不发送AGV
 
@@ -1451,7 +1451,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
                 } else {
                     List<CenterTeam> list = iCenterTeamService.list(new LambdaQueryWrapper<CenterTeam>()
                             .select(CenterTeam::getWcId, CenterTeam::getTsId)
-                            .eq(workPlan.getSubsidiaryTeam()!=null&&!workPlan.getSubsidiaryTeam().equals(""),CenterTeam::getTsId, (workPlan.getMakeTeam()))
+                            .eq(workPlan.getSubsidiaryTeam()!=null&&!workPlan.getSubsidiaryTeam().equals(""),CenterTeam::getTsId, (workPlan.getSubsidiaryTeam()))
                             .eq(workPlan.getSubsidiaryTeam()==null||workPlan.getSubsidiaryTeam().equals(""),CenterTeam::getTsId, (workPlan.getMakeTeam())));
                     if (list == null || list.size() == 0) {
                         return R.fail(orderCardNo + "车间订单班次查询作业中心异常");
@@ -1474,7 +1474,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
                 } else {
                     List<CenterTeam> list = iCenterTeamService.list(new LambdaQueryWrapper<CenterTeam>()
                             .select(CenterTeam::getWcId, CenterTeam::getTsId)
-                            .eq(workPlan.getSubsidiaryTeam()!=null&&!workPlan.getSubsidiaryTeam().equals(""),CenterTeam::getTsId, (workPlan.getMakeTeam()))
+                            .eq(workPlan.getSubsidiaryTeam()!=null&&!workPlan.getSubsidiaryTeam().equals(""),CenterTeam::getTsId, (workPlan.getSubsidiaryTeam()))
                             .eq(workPlan.getSubsidiaryTeam()==null||workPlan.getSubsidiaryTeam().equals(""),CenterTeam::getTsId, (workPlan.getMakeTeam())));
                     if (list == null || list.size() == 0) {
                         return R.fail(orderCardNo + "车间订单班次查询作业中心异常");
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java
index 45663d80..26eab6c7 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java
@@ -22,6 +22,7 @@ import org.springblade.desk.logistics.service.*;
 import org.springblade.desk.logistics.utils.AgvTaskTypeUtil;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 import org.springframework.util.StringUtils;
 
 import java.util.ArrayList;
@@ -191,6 +192,15 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
 
         }
 
+        // 6. 任务走出储位状态，将站点设置为空闲
+        if (method.equals(TaskExecuteRecord.STATUS_OUTBIN)){
+            boolean conCtuReturn = releaseSite(agvCallBack.getTaskCode());
+            if (!conCtuReturn) {
+                return R.fail("站点释放失败");
+            }
+        }
+
+
         // 回调处理成功
         log.info("AGV回调成功：任务单号{}的执行记录已更新，状态为{}", agvCallBack.getTaskCode(), method);
         R r = new R();
@@ -199,6 +209,41 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         return r;
     }
 
+    @Override
+    public boolean releaseSite(String taskCode) {
+        try {
+            TaskExecuteRecord taskExecuteRecord = baseMapper.selectByTaskCode(taskCode);
+            if (null == taskExecuteRecord) {
+                log.error("未根据taskCode查询到有效数据，请求参数：{}", taskCode);
+                return false;
+            }
+
+            Station startStation = stationService.getByStationCode(taskExecuteRecord.getStartPos());
+            Station endStation = stationService.getByStationCode(taskExecuteRecord.getEndPos());
+            log.info("走出储位,开始位置:{},结束位置:{}", taskExecuteRecord.getStartPos(), taskExecuteRecord.getEndPos());
+
+            // 业务规则：起点必须是站点，且终点是传送线(1001)或有效站点时，才释放起点站点
+            if (null != startStation && (DROPOFF_CONVEYOR_LINE.equals(taskExecuteRecord.getEndPos()) || null != endStation)) {
+
+                startStation.setStationStatus(Station.STATUS_FREE);
+                boolean update = stationService.updateById(startStation);
+                if (update) {
+                    log.info("站点释放成功：{}", startStation.getStationCode());
+                    return true;
+                } else {
+                    log.error("站点释放失败：{}", startStation.getStationCode());
+                    return false;
+                }
+            }
+
+            return true;
+
+        } catch (Exception e) {
+            log.error("releaseSite执行异常，taskCode：{}", taskCode, e);
+            return false;
+        }
+    }
+
     private boolean updateMesCtuLocation(String taskCode) {
         log.info("开始执行updateMesCtuLocation，taskCode：{}", taskCode);
 
@@ -424,17 +469,17 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
                 log.info("任务{}不需要送到库位，直接完成", taskCode);
                 log.info("终点位置为站点信息:{}，直接完成", taskExecuteRecord.getEndPos());
 
-                Station startStation = stationService.getByStationCode(taskExecuteRecord.getStartPos());
-                // 起点位置为站点 将站点状态改为空闲
-                if(null != startStation){
-                    startStation.setStationStatus(Station.STATUS_FREE);
-                    boolean update = stationService.updateById(startStation);
-                    if (update) {
-                        log.info("站点释放成功：{}", startStation.getStationCode());
-                    } else {
-                        log.error("站点释放失败：{}", startStation.getStationCode());
-                    }
-                }
+//                Station startStation = stationService.getByStationCode(taskExecuteRecord.getStartPos());
+//                // 起点位置为站点 将站点状态改为空闲
+//                if(null != startStation){
+//                    startStation.setStationStatus(Station.STATUS_FREE);
+//                    boolean update = stationService.updateById(startStation);
+//                    if (update) {
+//                        log.info("站点释放成功：{}", startStation.getStationCode());
+//                    } else {
+//                        log.error("站点释放失败：{}", startStation.getStationCode());
+//                    }
+//                }
 
                 // 终点位置为站点将状态修改为占用
                 if(null != endStation){
@@ -719,65 +764,112 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public boolean genAgvSchedulingTask(String taskType, String startPos, String endPos, String type, Task task) {
 
-        // 获取虚拟货架
-        VirtualShelves virtualShelves = virtualShelvesService.getVirtualShelvesCode();
-        if (null == virtualShelves) {
-            throw new ServiceException("获取虚拟货架失败");
-        }
+        VirtualShelves virtualShelves = null;
+        String boundShelvesCode = null;
 
-        // 站点绑定虚拟货架
-        JSONObject response = boundVirtualShelves(
-                virtualShelves.getVirtualShelvesCode(),
-                startPos
-        );
-        String code = response.getString("code");
-        String message = response.getString("message");
+        try {
+            // 1. 获取虚拟货架
+            virtualShelves = virtualShelvesService.getVirtualShelvesCode();
+            if (null == virtualShelves) {
+                log.error("获取虚拟货架失败");
+                return false;
+            }
+
+            // 2. 绑定虚拟货架
+            JSONObject response = boundVirtualShelves(
+                    virtualShelves.getVirtualShelvesCode(),
+                    startPos
+            );
+            String code = response.getString("code");
+            String message = response.getString("message");
 
-        if ("0".equals(code)) {
-            log.info("绑定虚拟货架成功，虚拟货架：{}，站点：{}", virtualShelves.getVirtualShelvesCode(), startPos);
+            if ("0".equals(code)) {
+                // 绑定成功，记录绑定的货架号
+                boundShelvesCode = virtualShelves.getVirtualShelvesCode();
+                log.info("绑定虚拟货架成功，虚拟货架：{}，站点：{}", boundShelvesCode, startPos);
+            } else {
+                // 绑定失败，尝试使用错误消息中的货架号
+                log.warn("首次绑定失败，响应：{}", response);
 
-            virtualShelves.setIsBound(VirtualShelves.BOUND_YES);
-            virtualShelvesService.updateById(virtualShelves);
+                // 提取货架号
+                String number = extractShelfCodeFromMessage(message);
+                if (number == null) {
+                    log.error("绑定失败且无法解析货架号：" + message);
+                    return false;
+                }
 
-        } else {
-            log.error("绑定虚拟货架失败，虚拟货架：{}，站点：{}，响应：{}",
-                    virtualShelves.getVirtualShelvesCode(), startPos, response);
+                VirtualShelves existedShelves = virtualShelvesService.selectByVirtualShelvesCode(number);
+                if (existedShelves == null) {
+                    log.error("指定的虚拟货架不存在：" + number);
+                    return false;
+                }
 
-            //修改Task状态
-            task.setTaskStatus(Task.BOUND_VIRTUAL_SHELVES);
-            task.setRemark(message);
-            taskService.updateById(task);
+                // 使用已存在的货架重新绑定
+                JSONObject retryResponse = boundVirtualShelves(number, startPos);
+                String retryCode = retryResponse.getString("code");
+                String retryMessage = retryResponse.getString("message");
+
+                if (!"0".equals(retryCode)) {
+                    // 重试失败，更新任务状态
+                    task.setTaskStatus(Task.BOUND_VIRTUAL_SHELVES);
+                    task.setRemark(retryMessage);
+                    taskService.updateById(task);
+                    log.error("重新绑定虚拟货架失败：" + retryMessage);
+                    return false;
+                }
 
-            return false;
-        }
+                // 重试成功，使用重试的货架
+                boundShelvesCode = number;
+                virtualShelves = existedShelves;
+                log.info("重新绑定虚拟货架成功，虚拟货架：{}，站点：{}", boundShelvesCode, startPos);
+            }
+
+            // 3. 调用AGV调度
+            AgvSchedulingTaskVO agvSchedulingTaskVO = genAgvSchedulingTask(
+                    taskType,
+                    startPos,
+                    endPos,
+                    type,
+                    boundShelvesCode
+            );
+            if (null == agvSchedulingTaskVO || !"0".equals(agvSchedulingTaskVO.getCode())) {
+                throw new ServiceException("调用AGV调度失败");
+            }
 
+            // 4. 入库记录
+            if (null == task) {
+                throw new ServiceException("任务信息为空");
+            }
 
+            boolean record = inboundRecord(agvSchedulingTaskVO, task, boundShelvesCode);
+            if (!record) {
+                throw new ServiceException("入库记录保存失败");
+            }
 
-        // 调用AGV
-        AgvSchedulingTaskVO agvSchedulingTaskVO = genAgvSchedulingTask(
-                taskType,
-                startPos,
-                endPos,
-                type,
-                virtualShelves.getVirtualShelvesCode()
-        );
-        if (null == agvSchedulingTaskVO || !"0".equals(agvSchedulingTaskVO.getCode())) {
-            throw new ServiceException("调用AGV调度失败");
-        }
+            // 5. 所有步骤成功后，更新虚拟货架状态
+            virtualShelves.setIsBound(VirtualShelves.BOUND_YES);
+            virtualShelvesService.updateById(virtualShelves);
 
-        // 入库记录
-        if (null == task) {
-            return false;
-        }
+            return true;
 
-        boolean record = inboundRecord(agvSchedulingTaskVO, task, virtualShelves.getVirtualShelvesCode());
-        if (!record) {
-            throw new ServiceException("入库记录保存失败");
+        } catch (Exception e) {
+            log.error("genAgvSchedulingTask执行异常", e);
+            if (boundShelvesCode != null) {
+                log.warn("流程失败，已绑定的虚拟货架：{} 可能需要手动解绑", boundShelvesCode);
+            }
+            throw e;
         }
+    }
 
-        return true;
+    private String extractShelfCodeFromMessage(String message) {
+        if (message == null || !message.contains(":")) {
+            return null;
+        }
+        return message.substring(message.lastIndexOf(":") + 1).trim();
     }
+
 }
 
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskServiceImpl.java
index d9acb842..ccd719f4 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskServiceImpl.java
@@ -75,6 +75,7 @@ public class TaskServiceImpl extends BaseServiceImpl<TaskMapper, Task> implement
             taskVO.setStatusDesc(Task.getStatusName(taskVO.getTaskStatus()));
             if (taskVO.getWcId()!=null&&taskVO.getWcId()==0) {
                 taskVO.setWcName(DROPOFF_CONVEYOR_LINE_NAME);
+                taskVO.setStationRegion(DROPOFF_CONVEYOR_LINE_NAME);
             }
         }
         return page.setRecords(taskVOList);