增加设备单元解析，增加AGV电量控制

gavel/src/main/java/com/gavel/qzsa/agv/service/impl/AgvServiceImpl.java

@@ -154,7 +154,7 @@ public class AgvServiceImpl extends BaseEditServiceImpl implements AgvService {
                 if(agvExsit !=null && BooleanEnum.equalsYes(agvExsit.getTybz())){
                     continue;
                 }
-               /* //是否启用充电阈值设置
+                //是否启用充电阈值设置
                 String isEnable =  commonService.getStringOptionValue(JcsjParamEnum.AgvBatteryEnable.id());
                 //充电状态，阈值比较
                 if(StringUtils.equals(isEnable,"Y")){
@@ -166,7 +166,7 @@ public class AgvServiceImpl extends BaseEditServiceImpl implements AgvService {
                             continue;
                         }
                     }
-                }*/
+                }
                 //查询Eptask中是否已存在小车，如果存在，返回空，生成任务失败
                 if (eptaskDao.countExecutingHcTask(agvStatus.getRobotCode()) > 0) {
                    logger.error("小车"+agvStatus.getRobotCode()+"已存在执行任务,生成任务失败！");

gavel/src/main/java/com/gavel/qzsa/jcsj/service/TemplateService.java

@@ -13,16 +13,18 @@ import com.gavel.persistence.sql.RecordSet;
 
 
 public interface TemplateService extends BaseEditService {
-	
+
   public RecordSet<TemplateVO> query(TemplateCondition condition);
 
   public List<TemplatedetailVO> queryDetail(String mid);
 
   public List<Position> parseTemplate(String agvCode, String code, List<Device> deviceList);
 
+  public List<Position> parseTemplate(String agvCode, String code, List<Device> deviceList,String equipID);
+
   public List<Position> parseTemplate(String agvCode, String podCode, String code, List<Device> deviceList);
 
   public Template queryByCode(String tasktype);
-  
+
   public int queryDetailRealCount(String id);
 }

gavel/src/main/java/com/gavel/qzsa/jcsj/service/impl/TemplateServiceImpl.java

@@ -159,11 +159,111 @@ public class TemplateServiceImpl extends BaseEditServiceImpl implements Template
         return list;
     }
 
+
+
+
     @Override
     public List<Position> parseTemplate(String agvCode, String code, List<Device> deviceList) {
         return parseTemplate(agvCode, null, code, deviceList);
     }
 
+    @Override
+    public List<Position> parseTemplate(String agvCode, String code, List<Device> deviceList, String equipID) {
+
+        if (StringUtils.isEmpty(code)) {
+            throwReturnMessage("编码不允许为空！");
+        }
+        List<Position> list = new ArrayList<>();
+        //查询模板
+        Template param = new Template();
+        param.setCode(code);
+        Template template = templateDao.queryByEntity(param);
+        if (template == null) {
+            throwReturnMessage("参数错误，找不到对应的模板！");
+        }
+        List<TemplatedetailVO> templatedetails = templatedetailDao.queryByMid(template.getId());
+        if (templatedetails == null) {
+            throwReturnMessage("模板错误，没有正确定义！");
+        }
+        List<TemplatedetailVO> fliterList = new ArrayList<>();
+        for (TemplatedetailVO templatedetail : templatedetails) {
+            if(StringUtils.equals(templatedetail.getGwlx(),GwlxEnum.E.getId())){
+                fliterList.add(templatedetail);
+            }
+        }
+
+        if(fliterList.size()>deviceList.size()){
+            throwReturnMessage("设备数量小于模板设定设备数量！");
+        }
+        //根据AGV查询货架位置点、货架待命点
+        Pod pod = podDao.findByAgvCode(agvCode);
+
+        int deviceIndex = 0;
+        //解析明细列表
+        for (TemplatedetailVO templatedetail : templatedetails) {
+            Position position = new Position();
+            position.setType(POSITION_TYPE);
+      /*      if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.A.getId())) {
+                if (pod == null) {
+                    throwReturnMessage("无货获取货架信息！");
+                }
+                position.setPositionCode(pod.getBerthCode());
+                list.add(position);
+            } else*/
+            if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.B.getId())) {
+                if (pod == null) {
+                    throwReturnMessage("无货获取货架信息！");
+                }
+                position.setPositionCode(pod.getWaitCode());
+                list.add(position);
+            } else if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.F.getId())) {
+                //货架摆放点
+                if (pod == null) {
+                    throwReturnMessage("无货获取货架信息！");
+                }
+                position.setPositionCode(pod.getDispositionCode());
+                list.add(position);
+            } else if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.C.getId()) ||
+                    StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.G.getId()) ||
+                    StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.J.getId())||
+                    StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.H.getId())) {
+                //鹏总说了，只有一个
+                Gw gwParam = new Gw();
+                gwParam.setType(templatedetail.getGwlx());
+                Gw gw = gwDao.queryByEntity(gwParam);
+                if (gw == null) {
+                    throwReturnMessage("无法获取电子货架待命点！");
+                }
+                position.setPositionCode(gw.getMapdatacode());
+                list.add(position);
+            } else if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.D.getId()) ||
+                    StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.E.getId())) {
+                if (deviceIndex >= deviceList.size()) {
+                    throwReturnMessage("设备数量大于模板设定设备数量！");//如果发送的设备数大于模板配置的设备数
+                }
+                Device device = deviceList.get(deviceIndex);
+                //机台待命点、机台进入点
+                Gw gw = gwDao.findByDevice(device.getDevice(), templatedetail.getGwlx());
+                if (gw == null) {
+                    throwReturnMessage("无法获取设备%s的%s！", device.getDevice(), GwlxEnum.findNameById(templatedetail.getGwlx()));
+                }
+                position.setPositionCode(gw.getMapdatacode());
+                list.add(position);
+            } else if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.Z.getId())) {
+                deviceIndex++;
+            } else if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.S.getId())) {
+                //设备单元工位位置点
+                Gw gw = gwDao.findByDevice(equipID, templatedetail.getGwlx());
+                if (gw == null) {
+                    throwReturnMessage("无法获取设备%s的%s！", equipID, GwlxEnum.findNameById(templatedetail.getGwlx()));
+                }
+                position.setPositionCode(gw.getMapdatacode());
+                list.add(position);
+            }
+        }
+        return list;
+    }
+
     @Override
     public int queryDetailRealCount(String id) {
         List<TemplatedetailVO> list = queryDetail(id);

gavel/src/main/java/com/gavel/qzsa/jcsj/utils/GwlxEnum.java

@@ -18,6 +18,7 @@ public enum GwlxEnum {
     F("货架摆放点", "6"),
     G("取消点内", "7"),
     H("取消点外", "8"),
+    S("设备单元", "10"),
     Z("切换设备◎", "99");
 
     private String id;

gavel/src/main/java/com/gavel/qzsa/mcs/service/impl/RcmsServiceImpl.java

@@ -468,8 +468,9 @@ public class RcmsServiceImpl extends BaseEditServiceImpl implements RcmsService
 
         // RCS 提交任务
         List<Device> deviceList = agvTask.getDesttask().stream().filter(device -> !"0".equals(device.getDevice())).collect(Collectors.toList()); //过滤设备号为零
+        String equipID = agvTask.getEquipID();
         //获取位置集合
-        List<Position> positionCodePath =  templateService.parseTemplate(eptask.getAgvCode(),agvTask.getTasktype(),deviceList);
+        List<Position> positionCodePath =  templateService.parseTemplate(eptask.getAgvCode(),agvTask.getTasktype(),deviceList,equipID);
 
         GenAgvTaskResp genAgvTaskResp = genAgvSchedulingTask(eptask.getTaskTyp(),
                 positionCodePath, eptask.getPriority(), eptask.getTaskCode(),eptask.getPodCode(),eptask.getAgvCode());

gavel/src/main/java/com/gavel/qzsa/rabbitmq/model/AgvTask.java

@@ -26,6 +26,10 @@ public class AgvTask {
     @JSONField(ordinal = 5)
     private List<Device> desttask = new ArrayList<>(); //设备信息
 
+    @JSONField(ordinal = 6)
+    private String EquipID;
+
+
     private String agvcode;
 
     private String time;//时间戳
@@ -95,4 +99,12 @@ public class AgvTask {
     public void setAgvcode(String agvcode) {
         this.agvcode = agvcode;
     }
+
+    public String getEquipID() {
+        return EquipID;
+    }
+
+    public void setEquipID(String equipID) {
+        EquipID = equipID;
+    }
 }