opt:1.添加多任务 2.修复自动取货、自动放货 无法发送升降叉问题。

nladmin-system/src/main/java/org/nl/agv/entity/TaskInfo.java

@@ -0,0 +1,83 @@
+package org.nl.agv.entity;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+/**
+ * @author liejiu
+ */
+@Data
+@TableName("st_task_info")
+public class TaskInfo implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+    @TableId("task_uuid")
+    private String taskUuid;
+
+    @TableField("task_code")
+    private String taskCode;
+
+    @TableField("task_type")
+    private String taskType;
+
+    @TableField("task_type_name")
+    private String taskTypeName;
+
+    @TableField("en_task_type_name")
+    private String enTaskTypeName;
+
+    @TableField("zh_task_type_name")
+    private String zhTaskTypeName;
+
+    @TableField("task_status")
+    private String taskStatus;
+
+    @TableField("task_status_name")
+    private String taskStatusName;
+
+    @TableField("en_task_status_name")
+    private String enTaskStatusName;
+
+    @TableField("zh_task_status_name")
+    private String zhTaskStatusName;
+
+    @TableField("next_point_code")
+    private String nextPointCode;
+
+    @TableField("next_point_code2")
+    private String nextPointCode2;
+
+    @TableField("is_delete")
+    private String isDelete;
+
+    @TableField("seq_num")
+    private BigDecimal seqNum;
+
+    @TableField("date")
+    private String date;
+
+    @TableField("create_by")
+    private String createBy;
+
+    @TableField("create_time")
+    private String createTime;
+
+    @TableField("is_manualfinished")
+    private String isManualfinished;
+
+    @TableField("update_by")
+    private String updateBy;
+
+    @TableField("update_time")
+    private String updateTime;
+
+    @TableField("step")
+    private String step;
+
+}

nladmin-system/src/main/java/org/nl/agv/rest/TaskController.java

@@ -88,4 +88,11 @@ public class TaskController {
     public ResponseEntity<Object> check(@RequestBody Map<String, String> whereJson) {
         return new ResponseEntity<>(taskService.check(whereJson), HttpStatus.OK);
     }
+
+    @PostMapping("/queryTaskStatus")
+    @Log("根据任务编号查询任务状态")
+    @ApiOperation("根据任务编号查询任务状态")
+    public ResponseEntity<Object> findTaskStatusByCode(@RequestBody Map<String, String> whereJson) {
+        return new ResponseEntity<>(taskService.findTaskStatusByCode(whereJson), HttpStatus.OK);
+    }
 }

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

@@ -2,6 +2,9 @@
 package org.nl.agv.service;
 
 
+import com.baomidou.mybatisplus.extension.service.IService;
+import org.nl.agv.entity.TaskInfo;
+
 import java.util.Map;
 
 /**
@@ -9,7 +12,7 @@ import java.util.Map;
  * @description 服务接口
  * @date 2021-09-02
  **/
-public interface TaskService {
+public interface TaskService extends IService<TaskInfo> {
     /**
      * 查询头部agv状态
      *
@@ -76,4 +79,12 @@ public interface TaskService {
      */
     Map<String, Object> check( Map<String, String> jsonObject);
 
+    /**
+     * 根据任务编号查询任务状态
+     *
+     * @param
+     * @return Map<String, Object>
+     */
+    Map<String, Object> findTaskStatusByCode(Map<String, String> jsonObject);
+
 }

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

@@ -25,6 +25,7 @@ import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpUtil;
 import com.mchange.lang.LongUtils;
 import edu.wpi.rail.jrosbridge.services.ServiceResponse;
+import javafx.concurrent.Task;
 import lombok.RequiredArgsConstructor;
 import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
@@ -41,6 +42,7 @@ import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.common.utils.RedisUtils;
 import org.nl.modules.system.util.CodeUtil;
 import org.nl.modules.wql.core.bean.WQLObject;
+import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Qualifier;
 import org.springframework.beans.factory.annotation.Value;
@@ -586,7 +588,7 @@ public class HomeServiceImpl implements HomeService {
             JSONObject currentTask = (JSONObject)redisUtils.get("currentTask");
             boolean bo = false;
             if (TaskTypeEnum.TAKE.getCode().equals(currentTask.getString("task_type")) || TaskTypeEnum.PUT.getCode().equals(currentTask.getString("task_type"))){
-                if ("0".equals(debugInfoJson.get("PathFollow_Enable")) && debugInfoJson.get("CurNodeID").equals(currentTask.getString("next_point_code2")) && taskjo.getString("step") != null){
+                if ("0".equals(debugInfoJson.get("PathFollow_Enable")) && debugInfoJson.get("CurNodeID").equals(currentTask.getString("next_point_code2")) && StringUtils.isNotBlank(taskjo.getString("step"))){
                     bo = true;
                 }
             }else{

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

@@ -22,15 +22,19 @@ import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import edu.wpi.rail.jrosbridge.services.ServiceResponse;
 import lombok.RequiredArgsConstructor;
 import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.StringUtils;
+import org.nl.agv.entity.TaskInfo;
 import org.nl.agv.enu.TaskSendBackStatusEnum;
 import org.nl.agv.enu.TaskStatusEnum;
 import org.nl.agv.enu.TaskTypeEnum;
 import org.nl.agv.service.TaskService;
+import org.nl.agv.service.mapper.TaskInfoMapper;
 import org.nl.agv.unit.sendToAgvUtil;
 import org.nl.common.utils.LangUtils;
 import org.nl.common.utils.SecurityUtils;
@@ -41,6 +45,7 @@ import org.nl.modules.wql.WQL;
 import org.nl.modules.wql.core.bean.WQLObject;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
+import org.springframework.http.HttpStatus;
 import org.springframework.scheduling.annotation.Async;
 import org.springframework.scheduling.annotation.EnableScheduling;
 import org.springframework.scheduling.annotation.Scheduled;
@@ -61,13 +66,16 @@ import static org.nl.common.utils.LangUtils.getLanguage;
 @Service
 @RequiredArgsConstructor
 @EnableScheduling
-public class TaskServiceServiceImpl implements TaskService {
+public class TaskServiceServiceImpl extends ServiceImpl<TaskInfoMapper, TaskInfo> implements TaskService {
 
     @Autowired
     private RedisUtils redisUtils;
     @Value("${spring.profiles.active}")
     private String isProd;
 
+    @Autowired
+    private TaskInfoMapper taskInfoMapper;
+
     public static JSONObject pointJson = new JSONObject();
 
     /**
@@ -281,9 +289,11 @@ public class TaskServiceServiceImpl implements TaskService {
      * 下发任务
      */
     @Override
-    public Map<String, Object> confirmSinglePoint(Map<String, String> jsonObject) {
+    @Transactional(rollbackFor = Exception.class)
+    public synchronized Map<String, Object> confirmSinglePoint(Map<String, String> jsonObject) {
         String point_code = jsonObject.get("point_code");
         String type = jsonObject.get("type");
+        String taskName = jsonObject.get("taskName");
         JSONObject returnjo = new JSONObject();
         JSONObject taskjo = new JSONObject();
         if (StringUtils.isBlank(point_code) || StringUtils.isBlank((type))) {
@@ -356,7 +366,7 @@ public class TaskServiceServiceImpl implements TaskService {
             taskjo.put("task_type", type);
             taskjo.put("seq_num", type.equals(TaskTypeEnum.RETURN.getCode()) ? getSeqNum() : seq_num);
             taskjo.put("task_uuid", IdUtil.simpleUUID());
-            taskjo.put("task_code", CodeUtil.getNewCode("TASK_NO"));
+            taskjo.put("task_code", StringUtils.isNotBlank(taskName) ? taskName : CodeUtil.getNewCode("TASK_NO"));
             taskjo.put("next_point_code", point_code);
             taskjo.put("is_delete", "0");
             taskjo.put("date", DateUtil.today());
@@ -401,11 +411,13 @@ public class TaskServiceServiceImpl implements TaskService {
             returnjo.put("code", "1");
             returnjo.put("desc", LangUtils.getMsgLanguage("OperationSuccess", null));
             redisUtils.set("currentTask",taskjo);
-            return returnjo;
         } catch (Exception e) {
             log.error("confirmPoint-下发任务失败:{}", e.getMessage());
-            throw new BadRequestException(e.getMessage() == null ? "confirmPoint:" + LangUtils.getMsgLanguage("CommunicationFail", null) : "confirmPoint:" + e.getMessage());
+            returnjo.put("code", "0");
+            returnjo.put("desc", LangUtils.getMsgLanguage("CommunicationFail", null));
+//            throw new BadRequestException(HttpStatus.OK,e.getMessage() == null ? "confirmPoint:" + LangUtils.getMsgLanguage("CommunicationFail", null) : "confirmPoint:" + e.getMessage());
         }
+        return returnjo;
     }
 
     private static Integer getSeqNum() {
@@ -477,8 +489,10 @@ public class TaskServiceServiceImpl implements TaskService {
         if (redisUtils.hasKey("currentTask")){
             JSONObject currentTask = (JSONObject)redisUtils.get("currentTask");
             WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO");
-            String sqlWhere = "task_code in (" + currentTask.getString("task_code") + ")";
+            JSONObject taskjo = taskTable.query("task_code='" + currentTask.getString("task_code") + "'").uniqueResult(0);
-            taskTable.delete(sqlWhere);
+            taskjo.put("is_delete", "1");
+            taskjo.put("update_by", SecurityUtils.getCurrentNickName());
+            taskTable.update(taskjo);
             //清除车辆上的任务
             ServiceResponse response = sendToAgvUtil.send("HMIRebornInitNow");
 //            String code = "0".equals(response.toJsonObject().get("result").toString()) ? "1" : "0";
@@ -564,6 +578,28 @@ public class TaskServiceServiceImpl implements TaskService {
         return returnjo;
     }
 
+    @Override
+    public Map<String, Object> findTaskStatusByCode(Map<String, String> jsonObject) {
+        JSONObject returnjo = new JSONObject();
+        String taskCode = jsonObject.get("taskName");
+        if (StringUtils.isBlank(taskCode)) {
+            returnjo.put("result", "任务号不能为空");
+            returnjo.put("code", "0");
+            return returnjo;
+        }
+        TaskInfo taskInfo = taskInfoMapper.selectOne( new LambdaQueryWrapper<>(TaskInfo.class)
+                .eq(TaskInfo::getTaskCode, taskCode)
+        );
+        if (ObjectUtil.isEmpty(taskInfo)){
+            returnjo.put("result", "未找到任务号对应的任务");
+            returnjo.put("code", "0");
+            return returnjo;
+        }
+        returnjo.put("result", taskInfo);
+        returnjo.put("code", "200");
+        return returnjo;
+    }
+
 //    @Override
 //    public Map<String, Object> confirmPoint1(Map<String, String> jsonObject) {
 //        String pointCode = jsonObject.get("point_code");

nladmin-system/src/main/java/org/nl/agv/service/mapper/TaskInfoMapper.java

@@ -0,0 +1,12 @@
+package org.nl.agv.service.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.nl.agv.entity.TaskInfo;
+
+/**
+ * @author liejiu
+ */
+@Mapper
+public interface TaskInfoMapper extends BaseMapper<TaskInfo> {
+}

nladmin-system/src/main/resources/config/application.yml

@@ -89,7 +89,7 @@ security:
     - /api/users
 mybatis-plus:
   configuration:
-    map-underscore-to-camel-case: true
+    map-underscore-to-camel-case: false
     log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
   mapper-locations:
     - classpath:org.nl.**.mapper/*.xml