opt:增加返回点功能。

nladmin-system/pom.xml

@@ -174,16 +174,13 @@
             <artifactId>commons-io</artifactId>
             <version>2.8.0</version>
         </dependency>
-
+        <!--https://blog.csdn.net/m0_55371060/article/details/135994809-->
-
-        <!--   https://www.jianshu.com/p/e40d111c7bfc?utm_source=oschina-app     热部署 https://zhuanlan.zhihu.com/p/63381268-->
-
-        <!-- Spring boot websocket -->
         <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-websocket</artifactId>
         </dependency>
 
+        <!--   https://www.jianshu.com/p/e40d111c7bfc?utm_source=oschina-app     热部署 https://zhuanlan.zhihu.com/p/63381268-->
         <!-- jwt -->
         <dependency>
             <groupId>io.jsonwebtoken</groupId>

nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java

@@ -590,7 +590,9 @@ public class HomeServiceImpl implements HomeService {
         String resultflag = resjo.getString("result");
         if (StrUtil.equals("0", resultflag)) {
             //返程指令已下发
-            taskjo.put("step", "1");
+            if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type")) || TaskTypeEnum.PUT.getCode().equals(taskjo.getString("task_type"))) {
+                taskjo.put("step", "1");
+            }
             taskjo.put("is_manualfinished", "1");
             updateTaskStatus(taskjo, TaskStatusEnum.END);
         } else {
@@ -689,10 +691,13 @@ public class HomeServiceImpl implements HomeService {
         //stopWatch.start();
         JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0);
         //小车停止，且已到达目标点位
-        if (ObjectUtil.isNotEmpty(taskjo) && StrUtil.equals("0", debugInfoJson.getString("PathFollow_Enable")) && debugInfoJson.getString("CurNodeID").equals(taskjo.getString("next_point_code"))) {
+        if (ObjectUtil.isNotEmpty(taskjo)) {
             //普通任务
             if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) {
                 updateTaskStatus(taskjo, TaskStatusEnum.END);
+                if (StringUtils.isNotBlank(taskjo.getString("next_point_code2"))) {
+                    createReturnTask(taskjo);
+                }
             } else if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type")) || TaskTypeEnum.PUT.getCode().equals(taskjo.getString("task_type"))) {
                 //取货
                 if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type"))) {
@@ -745,7 +750,7 @@ public class HomeServiceImpl implements HomeService {
     }
 
     /**
-     * 定时清空过期任务
+     * 定时清空超过三个月过期任务
      */
     @Async("taskExecutor")
     public void autoDeleteTask() {

nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java

@@ -176,6 +176,9 @@ public class TaskServiceServiceImpl implements TaskService {
             if (ObjectUtil.isNotEmpty(taskrow)) {
                 seq_num = taskrow.getInteger("seq_num") + 1;
             }
+            if(StringUtils.isNotBlank(jsonObject.get("next_point_code"))) {
+                taskjo.put("next_point_code2", jsonObject.get("next_point_code"));
+            }
             taskjo.put("task_type", type);
             taskjo.put("seq_num", type.equals(TaskTypeEnum.RETURN.getCode()) ? getSeqNum() : seq_num);
             taskjo.put("task_uuid", IdUtil.simpleUUID());

nladmin-system/src/main/java/org/nl/agv/websocket/SendHomeWebSocketServer.java

@@ -82,7 +82,7 @@ public class SendHomeWebSocketServer {
      */
     @OnMessage
     public void onMessage(String message, Session session) {
-        System.out.println(webSocketSet.size() + "_接收到消息_" + session.getId());
+        //System.out.println(webSocketSet.size() + "_接收到消息_" + session.getId());
     }
 
     @OnError

nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java

@@ -1,15 +1,10 @@
 package org.nl.utils;
 
-import cn.hutool.core.date.StopWatch;
+import cn.hutool.core.date.StopWatch;;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.agv.service.HomeService;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.scheduling.annotation.EnableScheduling;
-import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
-import org.springframework.transaction.annotation.Transactional;
-
 import javax.annotation.Resource;
 
 /**

nladmin-system/src/main/resources/logback-spring.xml

@@ -31,7 +31,7 @@ https://juejin.cn/post/6844903775631572999
             <!--日志文件输出的文件名-->
             <FileNamePattern>${LOG_HOME}/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
             <!--日志文件保留天数-->
-            <maxHistory>30</maxHistory>
+            <maxHistory>15</maxHistory>
             <!--单个日志最大容量 至少10MB才能看得出来-->
             <maxFileSize>120MB</maxFileSize>
             <!--所有日志最多占多大容量-->