agv小车调用

blade-service-api/blade-desk-api/src/main/java/org/springblade/desk/logistics/pojo/entity/Station.java

@@ -37,6 +37,16 @@ public class Station extends BaseEntity {
      */
     public static final Integer PRE_STATUS_OCCUPIED = 2;
 
+    /**
+     * 取货输送线 站点类型常量
+     */
+    public static final String PICKUP_CONVEYOR_LINE = "1002";
+
+    /**
+     * 放货输送线 站点类型常量
+     */
+    public static final String DROPOFF_CONVEYOR_LINE = "1001";
+
 
     /**
      * 站点名称

blade-service-api/blade-desk-api/src/main/java/org/springblade/desk/logistics/pojo/entity/TaskExecuteRecord.java

@@ -75,6 +75,12 @@ public class TaskExecuteRecord extends BaseEntity {
     @Schema(description = "任务的ID")
     private Long taskId;
 
+    /**
+     * 当前任务单号
+     */
+    @Schema(description = "当前任务单号")
+    private String taskCode;
+
     /**
      * 默认使用方式: start:任务开始 outbin:走出储位 end:任务结束 cancel:任务单取消 apply:CTU料箱取放申请
      */

blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/constant/AgvConstant.java

@@ -0,0 +1,19 @@
+package org.springblade.desk.logistics.constant;
+
+/**
+ * @author: liweidong
+ * @create: 2026-03-06
+ */
+public interface AgvConstant {
+
+    /**
+     * 设备类型：AGV (00)
+     */
+    public static final String EQUIPMENT_TYPE_AGV = "00";
+
+    /**
+     * 设备类型：CTU (05)
+     */
+    public static final String EQUIPMENT_TYPE_CTU = "05";
+
+}

blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IPipelineService.java

@@ -26,6 +26,8 @@
 package org.springblade.desk.logistics.service;
 
 import org.springblade.core.tool.api.R;
+import org.springblade.desk.logistics.pojo.entity.Station;
+import org.springblade.desk.logistics.pojo.entity.Task;
 
 import java.math.BigDecimal;
 
@@ -60,4 +62,16 @@ public interface IPipelineService {
 	 * @return
 	 */
 	boolean receiveBoxArriveConveyorEnd(String boxBarcode);
+
+
+	/**
+	 *  调用AGV 小车 CTU 封装
+	 * @param taskType 任务类型 (QM3,QM5,QM6,QM7)
+	 * @param startPos 开始位置
+	 * @param endPos 结束位置
+	 * @param type 位置类型（00：AGV 05：CTU）
+	 * @param task 任务对象
+	 * @return
+	 */
+	boolean genAgvSchedulingTask(String taskType, String startPos, String endPos, String type, Task task);
 }

blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java

@@ -29,6 +29,7 @@ import org.springblade.core.mp.base.BaseService;
 import org.springblade.core.tool.api.R;
 import org.springblade.desk.logistics.pojo.dto.AGVCallBackDto;
 
+import org.springblade.desk.logistics.pojo.entity.Task;
 import org.springblade.desk.logistics.pojo.entity.TaskExecuteRecord;
 import org.springblade.desk.logistics.pojo.vo.AgvSchedulingTaskVO;
 
@@ -60,4 +61,11 @@ public interface ITaskExecuteRecordService extends BaseService<TaskExecuteRecord
      */
     AgvSchedulingTaskVO genAgvSchedulingTask(String taskTyp, String startPos, String endPos, String type);
 
+    /**
+     * agv ctu 小车调用成功 做记录
+     * @param agvSchedulingTaskVO agv组装返回参数
+     * @param task 任务对象
+     * @return
+     */
+    boolean inboundRecord(AgvSchedulingTaskVO agvSchedulingTaskVO, Task task);
 }

blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java

@@ -26,7 +26,9 @@
 package org.springblade.desk.logistics.service.impl;
 import lombok.extern.slf4j.Slf4j;
 import org.springblade.core.tool.api.R;
+import org.springblade.desk.logistics.constant.AgvConstant;
 import org.springblade.desk.logistics.pojo.entity.*;
+import org.springblade.desk.logistics.pojo.vo.AgvSchedulingTaskVO;
 import org.springblade.desk.logistics.service.*;
 import org.springblade.desk.logistics.utils.AgvTaskTypeUtil;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -128,6 +130,52 @@ public class PipelineServiceImpl implements IPipelineService {
 		}
 	}
 
+	@Override
+	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) {
+			log.error("获取虚拟货架失败");
+			return false;
+		}
+
+		// 站点绑定虚拟货架
+		boolean shelves = taskExecuteRecordService.boundVirtualShelves(
+				virtualShelves.getVirtualShelvesCode(),
+				startPos
+		);
+		if (!shelves) {
+			log.error("站点绑定虚拟货架失败");
+			return false;
+		}
+
+		// 调用AGV
+		AgvSchedulingTaskVO agvSchedulingTaskVO = taskExecuteRecordService.genAgvSchedulingTask(
+				taskType,
+				startPos,
+				endPos,
+				type
+		);
+		if (null == agvSchedulingTaskVO || !"0".equals(agvSchedulingTaskVO.getCode())) {
+			log.error("调用AGV调度失败");
+			return false;
+		}
+
+		// 入库记录
+		if (null == task) {
+			return false;
+		}
+
+		boolean record = taskExecuteRecordService.inboundRecord(agvSchedulingTaskVO, task);
+		if (!record) {
+			log.error("入库记录保存失败");
+			return false;
+		}
+
+		return true;
+	}
+
 	/**
 	 * 处理有预占的情况（站点没满）- 直接送往指定站点
 	 */
@@ -144,27 +192,19 @@ public class PipelineServiceImpl implements IPipelineService {
 			return false;
 		}
 
+
 		log.info("站点有预占，将物料箱送往指定站点：{}", station.getStationCode());
 
 		String stationPosition = station.getStationPosition();
 		String taskType = agvTaskTypeUtil.getTaskType(Integer.parseInt(stationPosition));
 
-		// 获取虚拟货架
-		VirtualShelves virtualShelves = virtualShelvesService.getVirtualShelvesCode();
-		if(null == virtualShelves){
-			return false;
-		}
-
-		// 站点绑定虚拟货架
-		boolean shelves = taskExecuteRecordService.boundVirtualShelves(virtualShelves.getVirtualShelvesCode(),"1002");
-		if(!shelves){
-			return false;
-		}
+		// 入库记录
+		Task task = taskService.getBoxBarcode(boxBarcode);
 
-		// 调用AGV
-		taskExecuteRecordService.genAgvSchedulingTask(taskType,"1002",station.getStationCode(),"00");
+		boolean agvSchedulingTask = genAgvSchedulingTask
+				(taskType, Station.PICKUP_CONVEYOR_LINE, station.getStationCode(), AgvConstant.EQUIPMENT_TYPE_AGV, task);
 
-		return true;
+		return agvSchedulingTask;
 	}
 
 	/**

blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/StorageMonitoringServiceImpl.java

@@ -85,7 +85,7 @@ public class StorageMonitoringServiceImpl implements IStorageMonitoringService {
      * - 库位ID/任务/库位信息空值校验，跳过异常数据
      * - 状态未变化时跳过更新，减少数据库IO
      */
-    @Scheduled(cron = "*/5 * * * * ?") // Spring定时任务注解，cron表达式控制执行频率
+//    @Scheduled(cron = "*/5 * * * * ?") // Spring定时任务注解，cron表达式控制执行频率
     @Override // 实现IStorageMonitoringService接口的抽象方法
     public void monitoringStation() {
         // ========== 步骤1：查询所有空闲状态的站点 ==========

blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java

@@ -11,10 +11,11 @@ import org.springblade.core.mp.base.BaseServiceImpl;
 import org.springblade.core.tool.api.R;
 import org.springblade.desk.logistics.mapper.TaskExecuteRecordMapper;
 import org.springblade.desk.logistics.pojo.dto.AGVCallBackDto;
+import org.springblade.desk.logistics.pojo.entity.Task;
 import org.springblade.desk.logistics.pojo.entity.TaskExecuteRecord;
 import org.springblade.desk.logistics.pojo.vo.AgvSchedulingTaskVO;
-import org.springblade.desk.logistics.service.IOrderBindService;
 import org.springblade.desk.logistics.service.ITaskExecuteRecordService;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.StringUtils;
 import java.util.ArrayList;
@@ -37,6 +38,9 @@ import java.util.Map;
 @Slf4j
 public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRecordMapper, TaskExecuteRecord> implements ITaskExecuteRecordService {
 
+    @Autowired
+    TaskExecuteRecordMapper taskExecuteRecordMapper;
+
     /**
      * AGV小车任务状态回调接口
      * <p>
@@ -224,6 +228,24 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         }
     }
 
+    @Override
+    public boolean inboundRecord(AgvSchedulingTaskVO agvSchedulingTaskVO, Task task) {
+        if(null == agvSchedulingTaskVO ){
+            return false;
+        }
+        if(null == task){
+            return false;
+        }
+
+        TaskExecuteRecord taskExecuteRecord = new TaskExecuteRecord();
+        taskExecuteRecord.setTaskId(task.getId());
+        taskExecuteRecord.setTaskCode(agvSchedulingTaskVO.getTaskCode());
+        taskExecuteRecord.setStartPos(agvSchedulingTaskVO.getStartPos());
+        taskExecuteRecord.setEndPos(agvSchedulingTaskVO.getEndPos());
+        int insert = taskExecuteRecordMapper.insert(taskExecuteRecord);
+        return insert > 0;
+    }
+
     /**
      * 生成请求唯一标识
      * @param prefix 前缀