From d4fc949106c9dc68b48e4e1941aaef3e8e283b33 Mon Sep 17 00:00:00 2001
From: liweidong-hj <liweidong-hj@huafang.com>
Date: Tue, 10 Mar 2026 11:35:32 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9A=82=E5=AD=98?=
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---
 .../impl/TaskExecuteRecordServiceImpl.java    | 196 +++++++++++++-----
 1 file changed, 148 insertions(+), 48 deletions(-)

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 8752e271..6c7e90e0 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
@@ -275,48 +275,104 @@ public class  TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRe
         return insert > 0;
     }
 
+
     @Override
     public boolean containerToCtu(String taskCode) {
+        log.info("开始执行containerToCtu，taskCode：{}", taskCode);
 
-        TaskExecuteRecord taskExecuteRecord = taskExecuteRecordMapper.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;
-        }
+        try {
+            // 1. 查询任务执行记录
+            TaskExecuteRecord taskExecuteRecord = taskExecuteRecordMapper.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;
+            }
 
-        Task task = taskService.getById(taskExecuteRecord.getTaskId());
-        if(null == task){
-            log.error("查询不到Task数据，请求参数：{}", taskExecuteRecord.getTaskId());
-            return false;
-        }
-        if(null == task.getLocationId()){
-            //证明不需要送到库位
-            //更新task状态 根据taskCode查询
-            task.setTaskStatus(Task.STATUS_FINISHED);
-            boolean taskUpdate = taskService.updateById(task);
-            if(!taskUpdate){
-                log.error("Task状态修改失败");
+            // 2. 查询任务
+            Task task = taskService.getById(taskExecuteRecord.getTaskId());
+            if(null == task){
+                log.error("查询不到Task数据，请求参数：{}", taskExecuteRecord.getTaskId());
+                return false;
             }
-            return true;
-        }
 
-        Location location = locationService.getById(task.getLocationId());
+            // 3. 检查是否需要送到库位
+            if(null == task.getLocationId()){
+                log.info("任务{}不需要送到库位，直接完成", taskCode);
+
+                // 直接更新任务状态为完成
+                task.setTaskStatus(Task.STATUS_FINISHED);
+                boolean taskUpdate = taskService.updateById(task);
+
+                if(taskUpdate){
+                    log.info("Task状态修改成功，taskCode：{}", taskCode);
+                    return true;
+                } else {
+                    log.error("Task状态修改失败，taskCode：{}", taskCode);
+                    return false;
+                }
+            }
 
-        AgvSchedulingTaskVO ctuSchedulingTask = genCtuSchedulingTask
-                (AgvConstant.CTU_TASK_TYP, AgvConstant.CTU_CTNR_TYP, task.getBoxBarcode(), taskExecuteRecord.getEndPos(), location.getLocationCode(), AgvConstant.EQUIPMENT_TYPE_CTU);
+            // 4. 查询目标库位信息
+            Location location = locationService.getById(task.getLocationId());
+            if(null == location){
+                log.error("根据locationId未查询到位置信息，locationId：{}", task.getLocationId());
+                return false;
+            }
+
+            // 5. 校验必要参数
+            if(StringUtils.isEmpty(task.getBoxBarcode())){
+                log.error("任务箱码为空，taskCode：{}", taskCode);
+                return false;
+            }
+
+            if(StringUtils.isEmpty(taskExecuteRecord.getEndPos())){
+                log.error("任务执行记录的终点位置为空，taskCode：{}", taskCode);
+                return false;
+            }
+
+            // 6. 生成CTU调度任务
+            AgvSchedulingTaskVO ctuSchedulingTask = genCtuSchedulingTask(
+                    AgvConstant.CTU_TASK_TYP,
+                    AgvConstant.CTU_CTNR_TYP,
+                    task.getBoxBarcode(),
+                    taskExecuteRecord.getEndPos(),
+                    location.getLocationCode(),
+                    AgvConstant.EQUIPMENT_TYPE_CTU
+            );
 
-        if(null != ctuSchedulingTask){
+            if(null == ctuSchedulingTask){
+                log.error("生成CTU调度任务失败，taskCode：{}", taskCode);
+                return false;
+            }
+
+            // 7. 添加入库记录
+            boolean record = inboundRecord(ctuSchedulingTask, task);
+            if(!record){
+                log.error("添加入库记录失败，taskCode：{}", taskCode);
+                return false;
+            }
+
+            // 8. 所有操作成功后，更新任务状态
             task.setTaskStatus(Task.STATUS_FINISHED);
             boolean taskUpdate = taskService.updateById(task);
+
             if(!taskUpdate){
-                log.error("Task状态修改失败");
+                log.error("Task状态修改失败，但CTU调度已成功，taskCode：{}", taskCode);
             }
-            // 添加任务
-            boolean record = inboundRecord(ctuSchedulingTask, task);
+
+            log.info("CTU调度成功，taskCode：{}，from：{}，to：{}",
+                    taskCode, taskExecuteRecord.getEndPos(), location.getLocationCode());
+
+            return true;
+
+        } catch (Exception e) {
+            log.error("containerToCtu执行异常，taskCode：{}", taskCode, e);
+            return false;
         }
-        return true;
     }
 
+
+
     @Override
     public AgvSchedulingTaskVO genCtuSchedulingTask(String taskTyp, String ctnrTyp, String ctnrCode,
                                         String startPos, String endPos, String type) {
@@ -391,49 +447,93 @@ public class  TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRe
         }
     }
 
+
     @Override
     public boolean containerToAgv(String taskCode) {
+        log.info("开始执行containerToAgv，taskCode：{}", taskCode);
+
+        // 1. 查询任务执行记录
         TaskExecuteRecord taskExecuteRecord = taskExecuteRecordMapper.selectByTaskCode(taskCode);
-        if(null == taskExecuteRecord){
+        if (null == taskExecuteRecord) {
             log.error("未根据taskCode查询到有效数据，请求参数：{}", taskCode);
             return false;
         }
 
+//        // 2. 校验任务状态
+//        if (!"WAITING".equals(taskExecuteRecord.getStatus())) {
+//            log.error("任务状态不正确，期望状态：WAITING，当前状态：{}，taskCode：{}",
+//                    taskExecuteRecord.getStatus(), taskCode);
+//            return false;
+//        }
+
+        // 3. 查询任务
         Task task = taskService.getById(taskExecuteRecord.getTaskId());
-        if(null == task){
+        if (null == task) {
             log.error("查询不到Task数据，请求参数：{}", taskExecuteRecord.getTaskId());
             return false;
         }
 
+        // 4. 获取并校验终点位置（梳齿架）
         String endPos = taskExecuteRecord.getEndPos();
+        if (StringUtils.isEmpty(endPos)) {
+            log.error("任务执行记录的终点位置为空，taskCode：{}", taskCode);
+            return false;
+        }
 
-        Location location = locationService.selectByLocationCode(endPos,1);
-        if(null != location){
-            //拿到站点
-            Long stationId = task.getStationId();
-            if(null == stationId){
-                log.error("查询不到Task的站点数据，请求参数：{}", taskCode);
-                return false;
-            }
-            Station station = stationService.getById(task.getStationId());
-            if(null == station){
-                log.error("查询不到站点数据，请求参数：{}", task.getStationId());
-                return false;
-            }
+        // 5. 查询位置信息
+        Location location = locationService.selectByLocationCode(endPos, 1);
+        if (null == location) {
+            log.error("根据终点位置未查询到位置信息，endPos：{}", endPos);
+            return false;
+        }
+
+
+        // 7. 查询站点信息
+        Long stationId = task.getStationId();
+        if (null == stationId) {
+            log.error("查询不到Task的站点数据，请求参数：{}", taskCode);
+            return false;
+        }
 
-            //调用agv小车
-            // 调用AGV
-            String taskType = agvTaskTypeUtil.getTaskTypeByPositions(location.getLocationCode(),station.getStationCode());
+        Station station = stationService.getById(stationId);
+        if (null == station) {
+            log.error("查询不到站点数据，请求参数：{}", stationId);
+            return false;
+        }
+
+
+        // 9. 调用AGV
+        try {
+            String taskType = agvTaskTypeUtil.getTaskTypeByPositions(
+                    location.getLocationCode(),
+                    station.getStationCode()
+            );
 
             boolean agvResult = genAgvSchedulingTask(
-                    taskType, location.getLocationCode(),station.getStationCode() , EQUIPMENT_TYPE_AGV, task
+                    taskType,
+                    location.getLocationCode(),
+                    station.getStationCode(),
+                    EQUIPMENT_TYPE_AGV,
+                    task
             );
 
+            if (agvResult) {
+                log.info("AGV调度成功，taskCode：{}，from：{}，to：{}",
+                        taskCode, location.getLocationCode(), station.getStationCode());
+
+                // 10. 可选：更新任务状态
+                // taskExecuteRecord.setStatus("AGV_DISPATCHED");
+                // taskExecuteRecordMapper.updateById(taskExecuteRecord);
+            } else {
+                log.error("AGV调度失败，taskCode：{}", taskCode);
+            }
+
             return agvResult;
 
+        } catch (Exception e) {
+            log.error("调用AGV时发生异常，taskCode：{}", taskCode, e);
+            return false;
         }
-
-        return false;
     }