feat: 拆单AGV任务

lms/nladmin-system/src/main/java/org/nl/b_lms/sch/tasks/slitter/SendDisassemblyAgvTask.java

@@ -0,0 +1,208 @@
+package org.nl.b_lms.sch.tasks.slitter;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.b_lms.bst.ivt.cutpointivt.service.IBstIvtCutpointivtService;
+import org.nl.b_lms.bst.ivt.cutpointivt.service.dao.BstIvtCutpointivt;
+import org.nl.b_lms.pdm.bi.slittingproductionplan.service.IPdmBiSlittingproductionplanService;
+import org.nl.b_lms.pdm.bi.slittingproductionplan.service.dao.PdmBiSlittingproductionplan;
+import org.nl.b_lms.sch.task.dao.SchBaseTask;
+import org.nl.b_lms.sch.task.service.IschBaseTaskService;
+import org.nl.b_lms.sch.tasks.slitter.constant.SlitterConstant;
+import org.nl.b_lms.storage_manage.ios.enums.IOSEnum;
+import org.nl.common.utils.IdUtil;
+import org.nl.common.utils.SecurityUtils;
+import org.nl.common.utils.TaskUtils;
+import org.nl.modules.wql.WQL;
+import org.nl.modules.wql.core.bean.WQLObject;
+import org.nl.wms.sch.AcsTaskDto;
+import org.nl.wms.sch.manage.AbstractAcsTask;
+import org.nl.wms.sch.manage.TaskStatusEnum;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
+
+/**
+ * 送气胀轴拆单AGV任务
+ * @Author: liyongde
+ * @Date: 2026/4/21 14:47
+ */
+@Slf4j
+@Service
+public class SendDisassemblyAgvTask extends AbstractAcsTask {
+    private final String THIS_CLASS = SendAirShaftAgvTask.class.getName();
+    @Autowired
+    private IschBaseTaskService taskService;
+    @Autowired
+    private IPdmBiSlittingproductionplanService slittingproductionplanService;
+    @Autowired
+    private IBstIvtCutpointivtService bcutpointivtService;
+
+    @Override
+    public List<AcsTaskDto> addTask() {
+        /*
+         * 下发给ACS时需要特殊处理
+         */
+        ArrayList<AcsTaskDto> resultList = new ArrayList<>();
+        String agv_system_type = "2";
+        List<SchBaseTask> taskList = taskService.getIssueTasks(THIS_CLASS);
+        for (SchBaseTask task : taskList) {
+            AcsTaskDto dto = AcsTaskDto.builder()
+                    .ext_task_id(task.getTask_id())
+                    .task_code(task.getTask_code())
+                    .task_type(task.getAcs_task_type())
+                    .start_device_code(task.getPoint_code1())
+                    .next_device_code(task.getPoint_code2())
+                    .start_device_code2(task.getPoint_code3())
+                    .next_device_code2(task.getPoint_code4())
+                    .vehicle_code(task.getVehicle_code())
+                    .agv_system_type(agv_system_type)
+                    .priority(task.getPriority())
+                    .remark(task.getRemark())
+                    .product_area(task.getProduct_area())
+                    .build();
+            resultList.add(dto);
+        }
+        return resultList;
+    }
+
+    /**
+     * 单任务下发，业务逻辑与无参 addTask 保持一致
+     */
+    @Override
+    public List<AcsTaskDto> addTask(SchBaseTask task) {
+        ArrayList<AcsTaskDto> resultList = new ArrayList<>();
+        String agv_system_type = "2";
+        if (task != null) {
+            AcsTaskDto dto = AcsTaskDto.builder()
+                    .ext_task_id(task.getTask_id())
+                    .task_code(task.getTask_code())
+                    .task_type(task.getAcs_task_type())
+                    .start_device_code(task.getPoint_code1())
+                    .next_device_code(task.getPoint_code2())
+                    .start_device_code2(task.getPoint_code3())
+                    .next_device_code2(task.getPoint_code4())
+                    .vehicle_code(task.getVehicle_code())
+                    .agv_system_type(agv_system_type)
+                    .priority(task.getPriority())
+                    .remark(task.getRemark())
+                    .product_area(task.getProduct_area())
+                    .build();
+            resultList.add(dto);
+        }
+        return resultList;
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void updateTaskStatus(JSONObject taskObj, String status) {
+        SchBaseTask task = taskService.getById(taskObj.getString("task_id"));
+        if (TaskStatusEnum.EXECUTING.getCode().equals(status)) {
+            // 更新任务状态为执行中
+            task.setTask_status(TaskStatusEnum.EXECUTING.getCode());
+        }
+
+        if (StrUtil.equals(status, TaskStatusEnum.FINISHED.getCode())) {
+            task.setTask_status(TaskStatusEnum.FINISHED.getCode());
+            // 互换资源
+            // update: 在acs请求取货完成就已经清空点位信息
+            String endPoint = task.getPoint_code2();
+            BstIvtCutpointivt endPointObj = bcutpointivtService.getPintByAgvCode(endPoint, false);
+            TaskUtils.pointMaintenanceInventory(task, endPointObj, "2");
+            bcutpointivtService.updateById(endPointObj);
+            // 创建桁架任务
+            if (ObjectUtil.isNotEmpty(task.getVehicle_code()) && ObjectUtil.isNotEmpty(task.getVehicle_code2())) {
+
+            }
+//            // 分切计划状态修改02->03
+//            List<String> collect = Stream.of(task.getVehicle_code(), task.getVehicle_code2())
+//                    .filter(value -> value != null && !value.isEmpty()).collect(Collectors.toList());
+//            PdmBiSlittingproductionplan p = new PdmBiSlittingproductionplan();
+//            p.setStatus("03");
+//            TaskUtils.updateOptMessageBySlitterPlan(p);
+//            slittingproductionplanService.update(p, new LambdaQueryWrapper<PdmBiSlittingproductionplan>()
+//                    .in(PdmBiSlittingproductionplan::getQzzno, collect));
+        }
+
+        // 取消
+        if (status.equals(IOSEnum.IS_NOTANDYES.code("否"))) {
+            task.setTask_status(TaskStatusEnum.FINISHED.getCode());
+            // 分切计划是否需要回退 状态 02->01
+            List<String> collect = Stream.of(task.getVehicle_code(), task.getVehicle_code2())
+                    .filter(value -> value != null && !value.isEmpty()).collect(Collectors.toList());
+            PdmBiSlittingproductionplan p = new PdmBiSlittingproductionplan();
+            p.setStatus("01");
+            TaskUtils.updateOptMessageBySlitterPlan(p);
+            slittingproductionplanService.update(p, new LambdaQueryWrapper<PdmBiSlittingproductionplan>()
+                    .in(PdmBiSlittingproductionplan::getQzzno, collect));
+        }
+        task.setUpdate_time(DateUtil.now());
+        taskService.updateById(task);
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public String createTask(JSONObject form) {
+        String currentUserId = SecurityUtils.getCurrentUserId();
+        String currentUsername = SecurityUtils.getCurrentUsername();
+
+        SchBaseTask task = new SchBaseTask();
+        task.setTask_id(IdUtil.getStringId());
+        task.setTask_code(IdUtil.getStringId());
+        task.setTask_status(TaskStatusEnum.START_AND_POINT.getCode());
+        task.setPoint_code1(form.getString("point_code1"));
+        task.setPoint_code2(form.getString("point_code2"));
+        task.setVehicle_code(form.getString("vehicle_code1"));
+        task.setVehicle_code2(form.getString("vehicle_code2"));
+        task.setAcs_task_type("3");
+        task.setIs_delete(SlitterConstant.SLITTER_NO);
+        task.setRequest_param(form.toJSONString());
+        task.setTask_type(form.getString("task_type"));
+        task.setProduct_area(form.getString("product_area"));
+        task.setCreate_id(currentUserId);
+        task.setCreate_name(currentUsername);
+        task.setCreate_time(DateUtil.now());
+        task.setHandle_class(THIS_CLASS);
+        //根据类型获取对应的任务优先级
+        JSONObject priority_jo = WQL.getWO("PDA_COOLIN").addParam("flag", "3").addParam("task_type", task.getTask_type()).process().uniqueResult(0);
+        if (ObjectUtil.isEmpty(priority_jo)) {
+            task.setPriority("1");
+        } else {
+            task.setPriority(priority_jo.getString("value"));
+        }
+        taskService.save(task);
+        // 分切计划(最多四个)修改状态 01->02
+        List<String> collect = Stream.of(task.getVehicle_code(), task.getVehicle_code2())
+                .filter(value -> value != null && !value.isEmpty()).collect(Collectors.toList());
+        PdmBiSlittingproductionplan p = new PdmBiSlittingproductionplan();
+        p.setStatus("02");
+        TaskUtils.updateOptMessageBySlitterPlan(p);
+        slittingproductionplanService.update(p, new LambdaQueryWrapper<PdmBiSlittingproductionplan>()
+                .in(PdmBiSlittingproductionplan::getQzzno, collect));
+        this.immediateTaskNotifyAcs(task);
+        return task.getTask_id();
+    }
+
+    @Override
+    public void forceFinish(String task_id) {
+        JSONObject taskObj = WQLObject.getWQLObject("SCH_BASE_Task").query("task_id = '" + task_id + "'").uniqueResult(0);
+        this.updateTaskStatus(taskObj, TaskStatusEnum.FINISHED.getCode());
+    }
+
+
+    @Override
+    public void cancel(String task_id) {
+        JSONObject taskObj = WQLObject.getWQLObject("SCH_BASE_Task").query("task_id = '" + task_id + "'").uniqueResult(0);
+        this.updateTaskStatus(taskObj, "0");
+    }
+}

lms/nladmin-system/src/main/java/org/nl/b_lms/sch/tasks/slitter/TrussSendAirShaftTask.java

@@ -124,6 +124,7 @@ public class TrussSendAirShaftTask extends AbstractAcsTask {
             task.setTask_status(TaskStatusEnum.FINISHED.getCode());
             String startPoint = task.getPoint_code1();
             String endPoint = task.getPoint_code2();
+            JSONObject parseObject = JSONObject.parseObject(task.getRequest_param());
             BstIvtShafttubeivt startPointObj = shafttubeivtService.getByPointCode(startPoint, false);
             BstIvtCutpointivt endPointObj = bcutpointivtService.getPintByTrussCode(endPoint, false);
             // 设置点位信息
@@ -134,6 +135,10 @@ public class TrussSendAirShaftTask extends AbstractAcsTask {
                 // 下轴
                 endPointObj.setQzz_no2(task.getVehicle_code2());
             }
+            // 如果parseObject为空或flag为空，设置为"0"
+            String flag = (parseObject != null && StrUtil.isNotBlank(parseObject.getString("flag"))) 
+                    ? parseObject.getString("flag") : "0";
+            endPointObj.setPlan(flag);
             endPointObj.setPoint_status("2");
             TaskUtils.updateOptMessageByBCutPoint(endPointObj);
             bcutpointivtService.updateById(endPointObj);

lms/nladmin-system/src/main/java/org/nl/b_lms/sch/tasks/slitter/auto/AutoSendAirShaftAgvTask.java

@@ -14,12 +14,15 @@ import org.nl.b_lms.pdm.bi.slittingproductionplan.service.dao.PdmBiSlittingprodu
 import org.nl.b_lms.sch.point.dao.StIvtCutpointivt;
 import org.nl.b_lms.sch.point.service.IstIvtCutpointivtService;
 import org.nl.b_lms.sch.tasks.slitter.SendAirShaftAgvTask;
+import org.nl.b_lms.sch.tasks.slitter.SendDisassemblyAgvTask;
 import org.nl.b_lms.sch.tasks.slitter.SendNBJExceptionPointTask;
 import org.nl.b_lms.sch.tasks.slitter.constant.SlitterConstant;
 import org.nl.b_lms.sch.tasks.slitter.constant.SlitterEnum;
 import org.nl.b_lms.sch.tasks.slitter.mapper.SlitterMapper;
 import org.nl.b_lms.sch.tasks.slitter.util.SlitterTaskUtil;
 import org.nl.modules.common.exception.BadRequestException;
+import org.nl.system.service.param.ISysParamService;
+import org.nl.system.service.param.dao.Param;
 import org.redisson.api.RLock;
 import org.redisson.api.RedissonClient;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -38,6 +41,10 @@ import java.util.stream.Stream;
 @Slf4j
 @Component
 public class AutoSendAirShaftAgvTask {
+    /** 合单配送 */
+    public final static String IS_COMBINED_ORDER = "IS_COMBINED_ORDER";
+    /** 合单超时时间 */
+    public final static String IS_COMBINED_ORDER_TIME = "IS_COMBINED_ORDER_TIME";
     @Autowired
     private IBstIvtCutpointivtService bcutpointivtService;
     @Autowired
@@ -52,6 +59,10 @@ public class AutoSendAirShaftAgvTask {
     private RedissonClient redissonClient;
     @Autowired
     private SendNBJExceptionPointTask sendNBJExceptionPointTask;
+    @Autowired
+    private SendDisassemblyAgvTask sendDisassemblyAgvTask;
+    @Autowired
+    private ISysParamService paramService;
 
     @SneakyThrows
     public void run() {
@@ -131,6 +142,16 @@ public class AutoSendAirShaftAgvTask {
                     continue;
                 }
             }
+            // 检测是否存在气胀轴缓存架子上
+            Param codParam = paramService.findByCode(IS_COMBINED_ORDER);
+            // plan=0/1，1代表拼单，需要拆单，不能走原来的逻辑
+            if (ObjectUtil.isNotEmpty(codParam)
+                    && "1".equals(codParam.getValue())
+                    && "1".equals(cutPoint.getPlan())) {
+                // 拼单输送
+                toCreateDisassemblyAgvTask(cutPoint, plans, deviceCut);
+                continue;
+            }
             // 如果两个气涨轴编码则表示一组满了
             // 查找分切对接没任务的空位
             // hint: B1、B2、B3、B4分切区分两个桁架位置 (B1,B3: 1-6为上。B2，B4是1-5为上区域)
@@ -139,7 +160,7 @@ public class AutoSendAirShaftAgvTask {
                     SlitterTaskUtil.getPointLocationInCutDevice(
                             SlitterTaskUtil.getNumberByResourceCode(demoPlan.getResource_name()),
                             area));
-            if (emptyPoint.size() == 0) {
+            if (emptyPoint.isEmpty()) {
                 log.warn("当前分切机找不到空闲的对接位置！");
                 cutPoint.setRemark("找不到当前分切机空闲的对接位置，暂时不送轴！");
                 cutPoint.setUpdate_time(DateUtil.now());
@@ -174,4 +195,48 @@ public class AutoSendAirShaftAgvTask {
 
     }
 
+    /**
+     * 创建拆单AGV任务
+     * @param cutPoint
+     */
+    public void toCreateDisassemblyAgvTask(BstIvtCutpointivt cutPoint, List<PdmBiSlittingproductionplan> plans, StIvtCutpointivt deviceCut) {
+        Param codParam = paramService.findByCode(IS_COMBINED_ORDER_TIME);
+        // 单位：分钟
+        String time = ObjectUtil.isNotEmpty(codParam) ? codParam.getValue() : "5";
+        time = ObjectUtil.defaultIfBlank(time, "5");
+        int limitMinutes = Integer.parseInt(time);
+        // 核心判断：两个编号为空 + 更新时间在规定分钟内
+        if ((ObjectUtil.isEmpty(cutPoint.getQzz_no1()) || ObjectUtil.isEmpty(cutPoint.getQzz_no2()))
+                && ObjectUtil.isNotEmpty(cutPoint.getUpdate_time())
+                && SlitterTaskUtil.isTimeWithinLimit(cutPoint.getUpdate_time(), limitMinutes)) {
+            log.info("等待拼单，等待时间未超过{}分钟...", time);
+            return;
+        }
+        PdmBiSlittingproductionplan demoPlan = plans.get(0);
+        // 找到对应的位置
+        String area = deviceCut.getProduct_area();
+        List<BstIvtCutpointivt> emptyPoint = slitterMapper.getEmptyAirShaftAgvPointNotTask(
+                area,
+                SlitterTaskUtil.getPointLocationInCutDevice(
+                        SlitterTaskUtil.getNumberByResourceCode(demoPlan.getResource_name()),
+                        area),
+                deviceCut.getPlan());
+        if (emptyPoint.isEmpty()) {
+            log.warn("当前分切机找不到空闲的对接位置！");
+            cutPoint.setRemark("找不到当前分切机空闲的对接位置，暂时不送轴！");
+            cutPoint.setUpdate_time(DateUtil.now());
+            bcutpointivtService.updateById(cutPoint);
+        }
+        BstIvtCutpointivt endPoint = emptyPoint.get(0);
+        JSONObject param = new JSONObject();
+        param.put("point_code1", cutPoint.getPoint_code());
+        param.put("point_code2", endPoint.getPoint_code());
+        param.put("vehicle_code1", cutPoint.getQzz_no1());
+        param.put("vehicle_code2", cutPoint.getQzz_no2());
+        param.put("task_type", SlitterEnum.TASK_TYPE.code("送轴拆单任务"));
+        param.put("product_area", SlitterConstant.SLITTER_TASK_AREA);
+        param.put("containers", plans.stream().map(PdmBiSlittingproductionplan::getContainer_name).collect(Collectors.toList()));
+        sendDisassemblyAgvTask.createTask(param);
+    }
+
 }

lms/nladmin-system/src/main/java/org/nl/b_lms/sch/tasks/slitter/constant/SlitterEnum.java

@@ -27,7 +27,7 @@ public enum SlitterEnum {
             , "拔轴完毕出轴", "010814", "穿拔轴缓存<>气胀轴缓存位", "010815", "备货区单独送空载具", "010816"
             , "拼单送轴", "010817", "拆单两点移动任务", "010818", "拆单四点移动任务", "010819"
             , "满轴拼单桁架任务", "010820", "送空轴AGV任务", "010821", "人工叫空轴桁架任务", "010822"
-            , "备货区托盘入库", "010823", "备货区托盘出库", "010824")
+            , "备货区托盘入库", "010823", "备货区托盘出库", "010824", "送轴拆单任务", "010825")
     ),
     /**
      * 二次请求

lms/nladmin-system/src/main/java/org/nl/b_lms/sch/tasks/slitter/mapper/SlitterMapper.java

@@ -75,4 +75,6 @@ public interface SlitterMapper {
     List<String> getMoveTzdjwExceptionPoint();
 
     List<BstIvtCutpointivt> getCombinedOrders(CombinedOrderDto cod);
+
+    List<BstIvtCutpointivt> getEmptyAirShaftAgvPointNotTask(String area, String location, String plan);
 }

lms/nladmin-system/src/main/java/org/nl/b_lms/sch/tasks/slitter/mapper/SlitterMapper.xml

@@ -362,4 +362,20 @@
                            OR t.point_code2 = cp.truss_point_code2
                        ))
     </select>
+    <select id="getEmptyAirShaftAgvPointNotTask"
+            resultType="org.nl.b_lms.bst.ivt.cutpointivt.service.dao.BstIvtCutpointivt">
+        SELECT
+            bcp.*
+        FROM
+            `bst_ivt_cutpointivt` bcp
+        WHERE bcp.point_type = '5' AND bcp.point_status = '1' AND bcp.is_used = '1'
+          AND bcp.product_area = #{area}
+          AND bcp.point_location = #{location}
+          AND bcp.plan = #{plan}
+          AND 0 = (
+            SELECT COUNT(*) FROM sch_base_task t
+            WHERE t.task_status <![CDATA[ <= ]]> '071' AND t.task_status <![CDATA[ <> ]]> '07' AND t.is_delete = '0' AND (t.point_code2 = bcp.point_code OR t.point_code2 = bcp.truss_point_code1
+                OR t.point_code4 = bcp.truss_point_code1 OR t.point_code2 = bcp.truss_point_code2 OR t.point_code4 = bcp.truss_point_code2)
+        )
+    </select>
 </mapper>

lms/nladmin-system/src/main/java/org/nl/b_lms/sch/tasks/slitter/util/SlitterTaskUtil.java

@@ -1,6 +1,7 @@
 package org.nl.b_lms.sch.tasks.slitter.util;
 
 import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.NumberUtil;
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSONArray;
@@ -14,6 +15,7 @@ import org.nl.modules.common.exception.BadRequestException;
 import java.math.BigDecimal;
 import java.math.RoundingMode;
 import java.util.*;
+import java.util.concurrent.TimeUnit;
 import java.util.function.Function;
 import java.util.stream.Collectors;
 
@@ -704,4 +706,31 @@ public class SlitterTaskUtil {
         }
         return true;
     }
+
+    // ===================== 工具方法：判断字符串时间是否在 N 分钟内 =====================
+    /**
+     * 判断字符串格式的时间 是否在指定分钟内（未超时）
+     * @param timeStr 格式：2024-03-03 14:00:00.000
+     * @param minutes 限制分钟数
+     * @return true=未超过规定时间 | false=已超过
+     */
+    public static boolean isTimeWithinLimit(String timeStr, int minutes) {
+        try {
+            // 把字符串时间转成 Date（自动适配你这种格式）
+            Date updateTime = DateUtil.parse(timeStr);
+
+            // 计算时间差（毫秒）
+            long diffMs = System.currentTimeMillis() - updateTime.getTime();
+
+            // 转成分钟
+            long diffMinutes = TimeUnit.MILLISECONDS.toMinutes(diffMs);
+
+            // 未超过规定分钟 → 返回true
+            return diffMinutes <= minutes;
+
+        } catch (Exception e) {
+            // 时间格式异常 → 不进入if
+            return false;
+        }
+    }
 }