fix:普通废箔任务改造调试、自动巡航费箔任务开发调试

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java

@@ -595,11 +595,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                        try {
+
-                            manipulatorAgvStationDeviceDriver.writing(3);
-                        } catch (Exception e) {
-                            e.printStackTrace();
-                        }
                     } else {
                         log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", manipulatorAgvStationDeviceDriver.getDeviceCode(), manipulatorAgvStationDeviceDriver.getAction(), ikey);
                         LuceneLogDto logDto = LuceneLogDto.builder()
@@ -1156,7 +1152,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             //收卷锟行架
                             if (linkDevice.getDeviceDriver() instanceof RollUpRollerManipulatorDeviceDriver) {
                                 rollUpRollerManipulatorDeviceDriver = (RollUpRollerManipulatorDeviceDriver) linkDevice.getDeviceDriver();
-                                if ((manipulatorAgvStationDeviceDriver.getAction() == 6 && rollUpRollerManipulatorDeviceDriver.getMode() != 3 && rollUpRollerManipulatorDeviceDriver.getError() == 0 && rollUpRollerManipulatorDeviceDriver.getTask() == 0 && rollUpRollerManipulatorDeviceDriver.getError2() == 0 && manipulatorAgvStationDeviceDriver.getMove() == 1)) {
+                                if ((manipulatorAgvStationDeviceDriver.getAction() == 6 && rollUpRollerManipulatorDeviceDriver.getMode() != 3 && rollUpRollerManipulatorDeviceDriver.getError() == 0 && rollUpRollerManipulatorDeviceDriver.getTask() == 0 && rollUpRollerManipulatorDeviceDriver.getError2() == 0 && manipulatorAgvStationDeviceDriver.getMove() == 0)) {
                                     // 查询缓存架点位状态
                                     JSONObject param = new JSONObject();
                                     param.put("device_code", device_code);
@@ -1278,31 +1274,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             String start_device_code2 = inst.getStart_device_code2();
             String next_device_code2 = inst.getNext_device_code2();
             //AGV取完收卷辊请求离开
-            if (ObjectUtil.isNotEmpty(start_device_code) && StrUtil.equals(device_code, next_device_code2)) {
+            if (ObjectUtil.isNotEmpty(start_device_code) && (StrUtil.equals(device_code, start_device_code) || StrUtil.equals(device_code, start_device_code2))) {
                 if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                     manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
                     try {
-                        manipulatorAgvStationDeviceDriver.writing(7);
+                        manipulatorAgvStationDeviceDriver.writing(3);
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if (manipulatorAgvStationDeviceDriver.getAction() == 1) {
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
-                        LuceneLogDto logDto = LuceneLogDto.builder()
-                                .device_code(this.getDeviceCode())
-                                .content("agvphase:" + phase + "反馈:" + data)
-                                .build();
-                        logDto.setLog_level(4);
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
-                    } else {
-                        message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "mode信号:" + manipulatorAgvStationDeviceDriver.getMode() + "光电信号：" + manipulatorAgvStationDeviceDriver.getMove() + ",指令号:" + ikey + "不满足取货条件";
-                        LuceneLogDto logDto = LuceneLogDto.builder()
-                                .device_code(manipulatorAgvStationDeviceDriver.getDeviceCode())
-                                .content(manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为1")
-                                .build();
-                        logDto.setLog_level(4);
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }
 
                 }
             }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java

@@ -1132,7 +1132,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             this.requireSucess = true;
         }
         if (HXDJ4Device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
-            manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
+            manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) HXDJ4Device.getDeviceDriver();
             if (StrUtil.equals(requireActionSucess, "0")) {
                 manipulatorAgvStationDeviceDriver.setOvenGantryTask(false);
             } else if (StrUtil.equals(requireActionSucess, "1")) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/pipe_core_rack_manipulator/PipeCoreRackManipulatorDeviceDriver.java

@@ -21,6 +21,8 @@ import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.hongxiang_device.HongXiangConveyorDeviceDriver;
+import org.nl.acs.device_driver.two_conveyor.pipe_core_rack_cachebit.PipeCoreRackCachebitDeviceDriver;
 import org.nl.acs.enums.PointErrorTypeEnum;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
@@ -540,6 +542,7 @@ public class PipeCoreRackManipulatorDeviceDriver extends AbstractOpcDeviceDriver
             if (ObjectUtil.isEmpty(putDeviceCodeList)) {
                 putDeviceCodeList = this.getExtraDeviceCodes("put_device_code");
             }
+            PipeCoreRackCachebitDeviceDriver pipeCoreRackCachebitDeviceDriver;
             //找终点为入库输送线工位任务类型为行架的任务
             for (int i = 0; i < getDeviceCodeList.size(); i++) {
                 String startDeviceCode = getDeviceCodeList.get(i);
@@ -569,6 +572,14 @@ public class PipeCoreRackManipulatorDeviceDriver extends AbstractOpcDeviceDriver
                             throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
                         }
 
+                        if (nextDevice.getDeviceDriver() instanceof PipeCoreRackCachebitDeviceDriver) {
+                            pipeCoreRackCachebitDeviceDriver = (PipeCoreRackCachebitDeviceDriver) nextDevice.getDeviceDriver();
+                            if (pipeCoreRackCachebitDeviceDriver.getMode() == 1 ) {
+                                notCreateInstMessage = "缓存位已经放满 move "+ pipeCoreRackCachebitDeviceDriver.getMove();
+                                return false;
+                            }
+                        }
+
                         Map<String, Object> map1 = new HashMap<>();
                         Map<String, Object> map2 = new HashMap<>();
                         Map<String, Object> map3 = new HashMap<>();
@@ -587,6 +598,7 @@ public class PipeCoreRackManipulatorDeviceDriver extends AbstractOpcDeviceDriver
                     }
                 } else {
                     TaskDto taskDto = taskserver.findByStartCodeAndReady(startDeviceCode);
+
                     if (ObjectUtil.isNotEmpty(taskDto) && TaskTypeEnum.Truss_Task.getIndex().equals(taskDto.getTask_type())) {
                         String start_device_code = taskDto.getStart_device_code();
                         String next_device_code = taskDto.getNext_device_code();
@@ -605,6 +617,14 @@ public class PipeCoreRackManipulatorDeviceDriver extends AbstractOpcDeviceDriver
                             throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
                         }
 
+                        if (nextDevice.getDeviceDriver() instanceof PipeCoreRackCachebitDeviceDriver) {
+                            pipeCoreRackCachebitDeviceDriver = (PipeCoreRackCachebitDeviceDriver) nextDevice.getDeviceDriver();
+                            if (pipeCoreRackCachebitDeviceDriver.getMode() == 1 ) {
+                                notCreateInstMessage = "缓存位已经放满 move "+ pipeCoreRackCachebitDeviceDriver.getMove();
+                                return false;
+                            }
+                        }
+
                         String interactionJson = taskDto.getInteraction_json();
                         InteractionJsonDTO interactionJsonDTO = null;
                         if (StrUtil.isNotEmpty(interactionJson)) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/roll_up_roller_manipulator/RollUpRollerManipulatorDeviceDriver.java

@@ -539,8 +539,8 @@ public class RollUpRollerManipulatorDeviceDriver extends AbstractOpcDeviceDriver
 
                         if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
-                            if (manipulatorAgvStationDeviceDriver.getMove() != 0) {
+                            if (manipulatorAgvStationDeviceDriver.getMove() == 0) {
-                                notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-收卷锟对接位:" + manipulatorAgvStationDeviceDriver.getMove() + "有货,无法下发指令!任务号:" + instruction.getInstruction_code();
+                                notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-收卷锟对接位:" + manipulatorAgvStationDeviceDriver.getMove() + "无货,无法下发指令!任务号:" + instruction.getInstruction_code();
                                 return false;
                             }
                         }
@@ -611,8 +611,8 @@ public class RollUpRollerManipulatorDeviceDriver extends AbstractOpcDeviceDriver
 
                         if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
-                            if (manipulatorAgvStationDeviceDriver.getMove() != 0) {
+                            if (manipulatorAgvStationDeviceDriver.getMove() == 0) {
-                                notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-收卷锟对接位:" + manipulatorAgvStationDeviceDriver.getMove() + "有货,无法下发指令!" ;
+                                notCreateInstMessage = "手动创建指令未下发电气信号原因->放货位-收卷锟对接位:" + manipulatorAgvStationDeviceDriver.getMove() + "无货,无法下发指令!" ;
                                 return false;
                             }
                         }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -1716,14 +1716,14 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             JSONArray ja = new JSONArray();
             ja.add(feed_jo);
             //TODO 有需要根据上位系统反馈的信息再做进一步处理
-            CompletableFuture.runAsync(() -> {
             acstowmsService.feedTaskStatus(ja);
-                // 异步更新任务状态
+//            CompletableFuture.runAsync(() -> {
-                try {
+//                // 异步更新任务状态
-                } catch (Exception e) {
+//                try {
-                    e.printStackTrace();
+//                } catch (Exception e) {
-                }
+//                    e.printStackTrace();
-            });
+//                }
+//            });
         }
     }
 

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/pda/st/controller/OtherPdaController.java

@@ -35,6 +35,13 @@ public class OtherPdaController {
     public ResponseEntity<Object> resumeMoveWasteFoilV2(@RequestBody JSONObject param) {
         return new ResponseEntity<>(otherPdaService.resumeMoveWasteFoilV2(param), HttpStatus.OK);
     }
+
+    @PostMapping("/resumeAutoMoveWasteFoil")
+    @Log("继续自动巡航搬运废箔")
+    public ResponseEntity<Object> resumeAutoMoveWasteFoil(@RequestBody JSONObject param) {
+        return new ResponseEntity<>(otherPdaService.resumeAutoMoveWasteFoil(param), HttpStatus.OK);
+    }
+
     @PostMapping("/startMoveWasteFoil")
     @Log("开始搬运废箔信息")
     public ResponseEntity<Object> startMoveWasteFoil(@RequestBody JSONObject param) {

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/pda/st/service/OtherPdaService.java

@@ -63,4 +63,6 @@ public interface OtherPdaService {
      * @return /
      */
     JSONObject callAgvToSamplingVerify(JSONObject param);
+
+    JSONObject resumeAutoMoveWasteFoil(JSONObject param);
 }

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/pda/st/service/impl/OtherPdaServiceImpl.java

@@ -1,5 +1,6 @@
 package org.nl.wms.pda.st.service.impl;
 
+import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.ObjectUtil;
@@ -30,6 +31,7 @@ import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
 import java.util.List;
+import java.util.stream.Collectors;
 
 /**
  * @Author: lyd
@@ -92,26 +94,17 @@ public class OtherPdaServiceImpl implements OtherPdaService {
         String flag = param.getString("flag");
         // 判断是否能够搬运
         String pointCode = param.getString("point_code");
-        // 校验是否二次创建任务
+        SchBaseTask task = checkTask(pointCode);
-        SchBaseTask schBaseTasks = taskService.getTaskByPointCodeX(pointCode, null, null, null);
+
-        if (ObjectUtil.isNotEmpty(schBaseTasks)) {
-            throw new BadRequestException("点位[" + pointCode + "]已经存在任务！");
-        }
-        // 查找执行中的任务
-        SchBaseTask task = taskService.getOne(new LambdaQueryWrapper<SchBaseTask>()
-                .eq(SchBaseTask::getPoint_code2, pointCode)
-                .lt(SchBaseTask::getTask_status, TaskStatus.FINISHED.getCode()));
-        if (ObjectUtil.isEmpty(task)) {
-            throw new BadRequestException("点位[" + pointCode + "]上一个任务不存在！");
-        }
         JSONObject upTaskRequestObj = JSONObject.parseObject(task.getRequest_param());
         // 获取下一条的任务
         List<SchBaseTask> waitTask = taskService.getTaskByConfigAndStatus(task.getConfig_code(), TaskStatus.SURE_END.getCode());
+        // 结束或者没有任务后回废料起点
         if (waitTask.size() == 0 || "2".equals(flag)) {
             // 最后一条任务, 创建去终点的任务
             // 获取一个废箔位置
             List<SchBasePoint> fbPoints = pointService.getAllBusinessNotTaskPoint("A1", "A1-FB",
-                    "2", null, null, null);
+                    "1", "1", null, null);
             if (CollectionUtil.isEmpty(fbPoints)) {
                 throw new BadRequestException("找不到废箔点位，请稍后再试!");
             }
@@ -140,8 +133,60 @@ public class OtherPdaServiceImpl implements OtherPdaService {
             taskService.updateById(nextTask);
         }
         // 通知ACS完成上一个任务
+        // 通知ACS完成上一个任务
         JSONArray acs = new JSONArray();
+        JSONObject result = new JSONObject();
         JSONObject acsParam = new JSONObject();
+        noticeAcs(acsParam, task, pointCode, acs, result);
+        return result;
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public JSONObject resumeAutoMoveWasteFoil(JSONObject param) {
+        // 判断是否能够搬运
+        String pointCode = param.getString("point_code");
+        // 校验是否二次创建任务
+        SchBaseTask task = checkTask(pointCode);
+        List<SchBasePoint> fbPoints = pointService.getAllBusinessTaskPoint("A1", "A1-FB",
+                "2", "1", null, null);
+        if (CollectionUtil.isEmpty(fbPoints)) {
+            throw new BadRequestException("找不到废箔点位，请稍后再试!");
+        }
+        JSONObject upTaskRequestObj = JSONObject.parseObject(task.getRequest_param());
+
+        //  自动巡航过滤下一个废箔点位
+        List<SchBasePoint> pointCodeCurrent = fbPoints.stream().filter(point -> point.getPoint_code().equals(pointCode)).collect(Collectors.toList());
+        if (CollUtil.isEmpty(pointCodeCurrent)) {
+            throw new BadRequestException("自动巡航废箔任务执行异常，当前点位不存在");
+        }
+        List<SchBasePoint> fbPointsFilter = fbPoints.stream()
+                .filter(point -> point.getSort()!= null)
+                .filter(point -> point.getSort().equals(pointCodeCurrent.get(0).getSort() + 1)).collect(Collectors.toList());
+        if (CollUtil.isEmpty(fbPointsFilter)) {
+            throw new BadRequestException("自动巡航废箔任务执行异常，已到达最后一个点位");
+        }
+        JSONObject taskParam = new JSONObject();
+        taskParam.put("point_code1", pointCode);
+        taskParam.put("point_code2", fbPointsFilter.get(0).getPoint_code());
+        taskParam.put("config_code", "SendWasteFoilAGVTask");
+        taskParam.put("create_mode", GeneralDefinition.PDA_CREATION);
+        taskParam.put("remark", "自动巡航");
+        taskParam.put("up_task_code", task.getTask_code());
+        taskParam.put("index_task", upTaskRequestObj.getInteger("index_task") + 1);
+        taskParam.put("carNo", task.getCar_no());
+        taskParam.put("task_status", TaskStatus.START_AND_POINT.getCode());
+        sendWasteFoilAGVTask.createTask(taskParam);
+
+        // 通知ACS完成上一个任务
+        JSONArray acs = new JSONArray();
+        JSONObject result = new JSONObject();
+        JSONObject acsParam = new JSONObject();
+        noticeAcs(acsParam, task, pointCode, acs, result);
+        return result;
+    }
+
+    private void noticeAcs(JSONObject acsParam, SchBaseTask task, String pointCode, JSONArray acs, JSONObject result) {
         acsParam.put("task_code", task.getTask_code());
         acsParam.put("device_code", pointCode);
         acsParam.put("product_area", "A1");
@@ -150,10 +195,23 @@ public class OtherPdaServiceImpl implements OtherPdaService {
         acs.add(acsParam);
         JSONObject jsonObject = wmsToAcsService.updateTask(acs);
         log.info("通知ACS完成上一个任务的反馈 - {}", jsonObject);
-        JSONObject result = new JSONObject();
         result.put("status", HttpStatus.OK.value());
         result.put("message", "废箔继续搬运请求成功!");
-        return result;
+    }
+
+    private SchBaseTask checkTask(String pointCode) {
+        SchBaseTask schBaseTasks = taskService.getTaskByPointCodeX(pointCode, null, null, null);
+        if (ObjectUtil.isNotEmpty(schBaseTasks)) {
+            throw new BadRequestException("点位[" + pointCode + "]已经存在任务！");
+        }
+        // 查找执行中的任务
+        SchBaseTask task = taskService.getOne(new LambdaQueryWrapper<SchBaseTask>()
+                .eq(SchBaseTask::getPoint_code2, pointCode)
+                .lt(SchBaseTask::getTask_status, TaskStatus.FINISHED.getCode()));
+        if (ObjectUtil.isEmpty(task)) {
+            throw new BadRequestException("点位[" + pointCode + "]上一个任务不存在！");
+        }
+        return task;
     }
 
     @Override

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/quartz/AutoMoveWasteFoilAGVTask.java

@@ -0,0 +1,55 @@
+package org.nl.wms.quartz;
+
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.collection.CollectionUtil;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.wms.pda.st.service.OtherPdaService;
+import org.nl.wms.pda.st.service.impl.OtherPdaServiceImpl;
+import org.nl.wms.sch.point.service.ISchBasePointService;
+import org.nl.wms.sch.point.service.dao.SchBasePoint;
+import org.nl.wms.sch.point.service.dao.mapper.SchBasePointMapper;
+import org.nl.wms.sch.task.service.ISchBaseTaskService;
+import org.nl.wms.sch.task.service.dao.SchBaseTask;
+import org.nl.wms.sch.task_manage.TaskStatus;
+import org.nl.wms.util.TaskUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+import java.util.stream.Collectors;
+
+/**
+ * 自动巡航废箔任务，起点到第一个生箔位
+ * @Author: lyd
+ * @Date: 2024/8/27
+ */
+@Slf4j
+@Component
+public class AutoMoveWasteFoilAGVTask {
+
+    @Autowired
+    private OtherPdaService otherPdaService;
+
+    @Autowired
+    private ISchBasePointService pointService;
+    public void run() {
+        log.info("自动巡航废箔任务开始执行...");
+
+        JSONObject jsonObject = new JSONObject();
+        List<SchBasePoint> fbPoints = pointService.getAllBusinessNotTaskPoint("A1", "A1-FB",
+                "2", "1", null, null);
+        // 筛选一号位
+        List<SchBasePoint> fbPointsFilter = fbPoints.stream()
+                .filter(point -> point.getSort()!= null)
+                .filter(point -> point.getSort() .equals(1)).collect(Collectors.toList());
+        if (CollUtil.isEmpty(fbPointsFilter)) {
+            log.info("自动巡航废箔任务执行异常，无废箔位");
+            return;
+        }
+        jsonObject.put("point_code", fbPointsFilter.get(0).getPoint_code());
+        otherPdaService.startMoveWasteFoilV2(jsonObject);
+
+    }
+}

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/point/service/ISchBasePointService.java

@@ -124,4 +124,7 @@ public interface ISchBasePointService extends IService<SchBasePoint> {
      * @return
      */
     List<SchBasePoint> getGxPointNotLock();
+
+    List<SchBasePoint> getAllBusinessTaskPoint(String area, String region, String pointType,
+                                               String pointStatus, String vehicleType, String vehicleCode);
 }

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/point/service/dao/mapper/SchBasePointMapper.java

@@ -38,6 +38,9 @@ public interface SchBasePointMapper extends BaseMapper<SchBasePoint> {
     List<SchBasePoint> getAllBusinessNotTaskPoint(String area, String region, String pointType, String pointStatus,
                                                   String vehicleType, String vehicleCode);
 
+    List<SchBasePoint> getAllBusinessTaskPoint(String area, String region, String pointType, String pointStatus,
+                                                  String vehicleType, String vehicleCode);
+
     /**
      * 获取收卷没任务、生箔机指定的收卷的点位
      * @param code /

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/point/service/dao/mapper/SchBasePointMapper.xml

@@ -66,6 +66,31 @@
                    OR t.point_code4 = p.point_code))
         ORDER BY   p.update_time
     </select>
+
+    <select id="getAllBusinessTaskPoint" resultType="org.nl.wms.sch.point.service.dao.SchBasePoint">
+        SELECT p.*
+        FROM sch_base_point p
+        WHERE p.is_used = TRUE
+        <if test="region != null">
+            AND p.region_code = #{region}
+        </if>
+        <if test="pointType != null">
+            AND p.point_type = #{pointType}
+        </if>
+        <if test="area != null">
+            AND p.product_area = #{area}
+        </if>
+        <if test="pointStatus != null">
+            AND p.point_status = #{pointStatus}
+        </if>
+        <if test="vehicleType != null">
+            AND p.vehicle_type = #{vehicleType}
+        </if>
+        <if test="vehicleCode != null">
+            AND p.vehicle_code = #{vehicleCode}
+        </if>
+    </select>
+
     <select id="getWindRollConformRawNotTaskPoints" resultType="org.nl.wms.sch.point.service.dao.SchBasePoint">
         SELECT
         p.*

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/point/service/impl/SchBasePointServiceImpl.java

@@ -239,6 +239,12 @@ public class SchBasePointServiceImpl extends ServiceImpl<SchBasePointMapper, Sch
         return pointMapper.getAllBusinessNotTaskPoint(area, region, pointType, pointStatus, vehicleType, vehicleCode);
     }
 
+    @Override
+    public List<SchBasePoint> getAllBusinessTaskPoint(String area, String region, String pointType,
+                                                         String pointStatus, String vehicleType, String vehicleCode) {
+        return pointMapper.getAllBusinessTaskPoint(area, region, pointType, pointStatus, vehicleType, vehicleCode);
+    }
+
     @Override
     public List<SchBasePoint> getWindRollConformRawNotTaskPoints(String code) {
         return pointMapper.getWindRollConformRawNotTaskPoints(code);

lms2/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/tasks/other/SendWasteFoilAGVTask.java

@@ -75,11 +75,19 @@ public class SendWasteFoilAGVTask extends AbstractTask {
         checkTaskOptionStatus(taskObj);
         // 如果是废箔起点，需要吧点位置空
         String startPointCode = taskObj.getPoint_code1();
+        String startPointCode2 = taskObj.getPoint_code2();
         SchBasePoint startPoint = pointService.getById(startPointCode);
+        SchBasePoint startPoint2 = pointService.getById(startPointCode2);
         if ("A1-FB".equals(startPoint.getRegion_code())) {
             // 清空
             PointUtils.clearPoint(startPoint, taskFinishedType);
         }
+        // 如果任务终点是废箔起点，将起点改成有载具
+        if ("A1-FB".equals(startPoint.getRegion_code())) {
+            // 清空
+            startPoint2.setPoint_status("2");
+            pointService.updateById(startPoint2);
+        }
         // 任务完成
         taskObj.setTask_status(TaskStatus.FINISHED.getCode());
         taskObj.setFinished_type(taskFinishedType.getCode());