From a97b7f3b552f6e6398ab61e7fa6bb9453bb43025 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=BB=ABUmbrella?= <2539020564@qq.com>
Date: Sat, 7 Mar 2026 11:36:44 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BA=92=E7=9B=B8=E5=BE=AA=E7=8E=AF=E4=BB=A3?=
 =?UTF-8?q?=E7=A0=81bug=E4=BF=AE=E5=A4=8D?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../logistics/service/IPipelineService.java   | 11 +---
 .../service/ITaskExecuteRecordService.java    | 11 ++++
 .../service/impl/IOrderBoxServiceImpl.java    | 11 ++--
 .../service/impl/PipelineServiceImpl.java     | 58 ++---------------
 .../impl/TaskExecuteRecordServiceImpl.java    | 64 +++++++++++++++----
 5 files changed, 77 insertions(+), 78 deletions(-)

diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IPipelineService.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IPipelineService.java
index 8f3cb9ae..6f89dbdc 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IPipelineService.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IPipelineService.java
@@ -64,14 +64,5 @@ public interface IPipelineService {
 	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);
+
 }
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 b4fdc6c1..91d2d513 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
@@ -95,4 +95,15 @@ public interface ITaskExecuteRecordService extends BaseService<TaskExecuteRecord
      * @return
      */
     boolean containerToAgv(String taskCode);
+
+    /**
+     *  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);
 }
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 f6b71116..9b648c6b 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
@@ -59,7 +59,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
 
     private final AgvTaskTypeUtil agvTaskTypeUtil;
     private final IBsWorkCenterService bsWorkCenterService;
-    private final IPipelineService pipelineService;
+    private final ITaskExecuteRecordService iTaskExecuteRecordService;
 
     /**
      * 任务运行中状态集合：包含任务从启动到待入库的所有中间状态
@@ -79,7 +79,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         RUNNING_STATUSES.add(Task.STATUS_BACK_TO_STORAGE);// 返库状态
     }
 
-    public IOrderBoxServiceImpl(IYieldOrderService iYieldOrderService, ITaskService iTaskService, IOrderBindService iOrderBindService, IStationService iStationService, ILocationService iLocationService, AgvTaskTypeUtil agvTaskTypeUtil, IBsWorkCenterService bsWorkCenterService, IPipelineService iPipelineOrderBoxService, IPipelineService pipelineService) {
+    public IOrderBoxServiceImpl(IYieldOrderService iYieldOrderService, ITaskService iTaskService, IOrderBindService iOrderBindService, IStationService iStationService, ILocationService iLocationService, AgvTaskTypeUtil agvTaskTypeUtil, IBsWorkCenterService bsWorkCenterService, ITaskExecuteRecordService iTaskExecuteRecordService) {
         this.iYieldOrderService = iYieldOrderService;
         this.iTaskService = iTaskService;
         this.iOrderBindService = iOrderBindService;
@@ -87,7 +87,8 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         this.iLocationService = iLocationService;
         this.agvTaskTypeUtil = agvTaskTypeUtil;
         this.bsWorkCenterService = bsWorkCenterService;
-        this.pipelineService = pipelineService;
+        this.iTaskExecuteRecordService = iTaskExecuteRecordService;
+
     }
 
     /**
@@ -324,7 +325,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         try {
             // 2. 获取AGV任务类型并调用调度接口
             String taskType = agvTaskTypeUtil.getTaskType(Integer.valueOf(targetStation.getStationPosition()), true);
-            boolean agvResult = pipelineService.genAgvSchedulingTask(
+            boolean agvResult = iTaskExecuteRecordService.genAgvSchedulingTask(
                     taskType, stationCode, DROPOFF_CONVEYOR_LINE, EQUIPMENT_TYPE_AGV, taskList.get(0)
             );
 
@@ -358,7 +359,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         try {
             // 3. 获取AGV任务类型并调用调度接口
             String taskType = agvTaskTypeUtil.getTaskType(Integer.valueOf(targetStation.getStationPosition()), false);
-            boolean agvResult = pipelineService.genAgvSchedulingTask(
+            boolean agvResult = iTaskExecuteRecordService.genAgvSchedulingTask(
                     taskType, sourceStationCode, endStation.getStationCode(), EQUIPMENT_TYPE_AGV, taskList.get(0)
             );
 
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java
index 6150ec3b..b1405d39 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java
@@ -64,14 +64,13 @@ public class PipelineServiceImpl implements IPipelineService {
 	IPipelineOrderBoxService iPipelineOrderBoxService;
 //	IOrderBoxService orderBoxService;
 
-	@Autowired
-	ITaskExecuteRecordService taskExecuteRecordService;
 
 	@Autowired
 	AgvTaskTypeUtil agvTaskTypeUtil;
-
 	@Autowired
-	IVirtualShelvesService virtualShelvesService;
+	ITaskExecuteRecordService iTaskExecuteRecordService;
+
+
 
 	@Override
 	public boolean verifyConveyorBoxWeighing(String boxBarcode, BigDecimal actualWeight, BigDecimal ratedWeight, Integer returnStatus) {
@@ -132,52 +131,7 @@ 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,
-				virtualShelves.getVirtualShelvesCode()
-		);
-		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
@@ -204,7 +158,7 @@ public class PipelineServiceImpl implements IPipelineService {
 		// 入库记录
 		Task task = taskService.getBoxBarcode(boxBarcode);
 
-		boolean agvSchedulingTask = genAgvSchedulingTask
+		boolean agvSchedulingTask = iTaskExecuteRecordService.genAgvSchedulingTask
 				(taskType, Station.PICKUP_CONVEYOR_LINE, station.getStationCode(), AgvConstant.EQUIPMENT_TYPE_AGV, task);
 
 		return agvSchedulingTask;
@@ -227,7 +181,7 @@ public class PipelineServiceImpl implements IPipelineService {
 				String stationPosition = station.getStationPosition();
 				String taskType = agvTaskTypeUtil.getTaskType(Integer.parseInt(stationPosition));
 
-				boolean agvSchedulingTask = genAgvSchedulingTask
+				boolean agvSchedulingTask = iTaskExecuteRecordService.genAgvSchedulingTask
 						(taskType, Station.PICKUP_CONVEYOR_LINE, station.getStationCode(), AgvConstant.EQUIPMENT_TYPE_AGV, task);
 
 				return agvSchedulingTask;
@@ -285,7 +239,7 @@ public class PipelineServiceImpl implements IPipelineService {
 		// 3. 两步操作
 		log.info("第一步：AGV将物料箱从输送线放入梳齿架子：{}", combLocationCode);
 		//  调用AGV小车 将输送线物资放入梳齿架子
-		boolean agvSchedulingTask = genAgvSchedulingTask
+		boolean agvSchedulingTask = iTaskExecuteRecordService.genAgvSchedulingTask
 				("QM7", Station.PICKUP_CONVEYOR_LINE, combLocationCode, AgvConstant.EQUIPMENT_TYPE_AGV, task);
 
 		//第二步 需要agv调用完成之后 给到mes通知接口
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 d2f224da..8a0f64c0 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
@@ -6,6 +6,7 @@ import cn.hutool.http.HttpUtil;
 import com.alibaba.fastjson2.JSON;
 import com.alibaba.fastjson2.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import groovy.lang.Lazy;
 import lombok.extern.slf4j.Slf4j;
 import org.redisson.executor.TasksService;
 import org.springblade.core.mp.base.BaseServiceImpl;
@@ -13,10 +14,7 @@ import org.springblade.core.tool.api.R;
 import org.springblade.desk.logistics.constant.AgvConstant;
 import org.springblade.desk.logistics.mapper.TaskExecuteRecordMapper;
 import org.springblade.desk.logistics.pojo.dto.AGVCallBackDto;
-import org.springblade.desk.logistics.pojo.entity.Location;
-import org.springblade.desk.logistics.pojo.entity.Station;
-import org.springblade.desk.logistics.pojo.entity.Task;
-import org.springblade.desk.logistics.pojo.entity.TaskExecuteRecord;
+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;
@@ -44,7 +42,7 @@ import static org.springblade.desk.logistics.pojo.entity.Station.DROPOFF_CONVEYO
  */
 @Service
 @Slf4j
-public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRecordMapper, TaskExecuteRecord> implements ITaskExecuteRecordService {
+public class  TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRecordMapper, TaskExecuteRecord> implements ITaskExecuteRecordService {
 
     @Autowired
     TaskExecuteRecordMapper taskExecuteRecordMapper;
@@ -55,17 +53,15 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
     @Autowired
     ILocationService locationService;
 
-    @Autowired
-    ITaskExecuteRecordService taskExecuteRecordService;
 
     @Autowired
     IStationService stationService;
 
-    @Autowired
-    IPipelineService iPipelineService;
 
     @Autowired
     AgvTaskTypeUtil agvTaskTypeUtil;
+    @Autowired
+    IVirtualShelvesService virtualShelvesService;
 
     /**
      * AGV小车任务状态回调接口
@@ -314,7 +310,7 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
                 log.error("Task状态修改失败");
             }
             // 添加任务
-            boolean record = taskExecuteRecordService.inboundRecord(ctuSchedulingTask, task);
+            boolean record = inboundRecord(ctuSchedulingTask, task);
         }
         return true;
     }
@@ -427,7 +423,7 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
             // 调用AGV
             String taskType = agvTaskTypeUtil.getTaskType(Integer.valueOf(station.getStationPosition()));
 
-            boolean agvResult = iPipelineService.genAgvSchedulingTask(
+            boolean agvResult = genAgvSchedulingTask(
                     taskType, location.getLocationCode(),station.getStationCode() , EQUIPMENT_TYPE_AGV, task
             );
 
@@ -438,6 +434,7 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         return false;
     }
 
+
     /**
      * 生成请求唯一标识
      * @param prefix 前缀
@@ -448,6 +445,51 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         return prefix + IdUtil.fastSimpleUUID();
     }
 
+    @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 = 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 = genAgvSchedulingTask(
+                taskType,
+                startPos,
+                endPos,
+                type,
+                virtualShelves.getVirtualShelvesCode()
+        );
+        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 = inboundRecord(agvSchedulingTaskVO, task);
+        if (!record) {
+            log.error("入库记录保存失败");
+            return false;
+        }
 
+        return true;
+    }
 }