fix: 修改节点任务数据

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/mq/TaskWorkNode.java

@@ -419,6 +419,9 @@ public class TaskWorkNode {
 
                         //运行条件验证
                         conMap = checkCon(taskNode, tTask, queryMap);
+                        conMap.put("taskNode", taskNode);
+                        conMap.put("tTask", tTask);
+
                         //conMap.put("result", true);
                         logger.info("节点{}检查资源返回{}",taskNode.getId(), conMap);
                         msgUtil.redis_set_map(CacheKey.TASK_CURRENT_NODE_CONDITION + "_" + taskNode.getId(), conMap);
@@ -577,10 +580,12 @@ public class TaskWorkNode {
 
                                                 rfidObj.put("data",map);
                                                 HttpEntity<String> formEntity = new HttpEntity<String>(rfidObj.toJSONString(), headers);
-                                                returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
+//                                                returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
+                                                returnData = "{\"result\": \"true\"}";
                                             }else{
                                                 HttpEntity<String> formEntity = new HttpEntity<String>(jsonParam, headers);
-                                                returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
+//                                                returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
+                                                returnData = "{\"result\": \"true\"}";
                                             }
 
                                         }
@@ -603,12 +608,16 @@ public class TaskWorkNode {
                 logger.error("调用接口发生异常" + e.getMessage());
             } catch (Exception e) {
                 e.printStackTrace();
-
                 conMap.put("result",false);
                 // 释放占用资源并在autolog表中增加日志，方便指令重发
-
+                JSONObject errJsonObject = new JSONObject();
+                errJsonObject.put("code", "exception");
+                errJsonObject.put("msg", e.getMessage());
+                errJsonObject.put("result", "false");
+                returnData = errJsonObject.toJSONString();
                 //插入执行日志
-                log.setStatus("0").setExeResult("0").setManual("1").setFeedback(e.getMessage());
+                log.setStatus("0").setExeResult("0").setManual("1").setFeedback("节点"+taskNode.getId()+"逻辑出现异常："+conMap.get("resultmsg")+":"+e.getMessage());
+
                 autoNodeLogMapper.updateAllById(log);
             } finally {
                 logger.info("returnData={}",returnData);
@@ -617,6 +626,7 @@ public class TaskWorkNode {
                     String code = retJson.getString("result").trim();
                     String concurrency = retJson.containsKey("concurrency")? retJson.getString("concurrency").trim() : "false";
                     if (code.equals("true")) {
+                        log.setExeStatus("3").setEndTime(new Date()).setExeResult("1").setFeedback("");
                         //回调处理
 //                    taskNode.setExeStatus("3").setEndTime(new Date()).setExeResult("1");
 //                    taskNodeService.updateAllById(taskNode);

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/productionResourceCenter/service/impl/RobotNodeServiceImpl2.java

@@ -1041,42 +1041,13 @@ public class RobotNodeServiceImpl2 implements NodeOperationService {
         List<ProductionresourcePosition> startProductionresourcePositions = productionresourcePositionMapper.selectList(Wraps.<ProductionresourcePosition>lbQ().in(ProductionresourcePosition::getResourceId, productionresourceIds).eq(ProductionresourcePosition::getStatus,"0"));
         List<Long> startProductionresourcePositionIds = startProductionresourcePositions.stream().map(t->t.getStorgeId()).collect(Collectors.toList());
 
-        BBom bBom = bBomMapper.selectOne(Wraps.<BBom>lbQ().eq(BBom::getId,task.getBomId()));
-        List<StockInfo> allStockList = stockInfoMapper.selectList(Wraps.<StockInfo>lbQ().eq(StockInfo::getGoodsId,bBom.getMeterialId()).in(StockInfo::getStorgeId,startProductionresourcePositionIds).isNull(StockInfo::getCompleteBatchNo).orderByAsc(StockInfo::getStorgeId));
-        if(CollectionUtil.isNotEmpty(allStockList)){
-            Map<Long,List<StockInfo>>map = allStockList.stream().collect(groupingBy(StockInfo::getStorgeId));
-            Long k = null;
-            for(Long key:map.keySet()){
-                k = key;
-                // 只查找物料齐套的（托盘，夹具，原材料）
-                List<StockInfo> stockInfoList = map.get(key);
-                if(stockInfoList!=null && stockInfoList.size() == 1 ){
-                    returnList = stockInfoList;
-                    // 更新工件物料所在位子workpiece表
-                    TWorkpiece workpiece = workpieceService.getOne(Wraps.<TWorkpiece>lbQ().eq(TWorkpiece::getCompleteBatchNo,task.getCompleteBatchNo()));
-                    workpiece.setStorgeId(stockInfoList.get(0).getStorgeId());
-                    workpieceService.updateById(workpiece);
-
-                    Storge storge = storgeMapper.selectOne(Wraps.<Storge>lbQ().eq(Storge::getId,returnList.get(0).getStorgeId()));
-                    storge.setCompleteBatchNo(task.getCompleteBatchNo());
-                    storge.setCampId(nextTaskNode.getId());
-                    storgeMapper.updateAllById(storge);
-
-                    List<StockInfo> stockInfos= stockInfoMapper.selectList(Wraps.<StockInfo>lbQ().eq(StockInfo::getStorgeId,stockInfoList.get(0).getStorgeId()));
-                    for(StockInfo stockInfo : stockInfos){
-                        stockInfo.setCompleteBatchNo(task.getCompleteBatchNo());
-                        stockInfoMapper.updateAllById(stockInfo);
-                    }
-
-                    break;
-                }else{
-                    continue;
-                }
-            }
-        }
 
+        List<BomProcedureTray>trayList = procedureTrayService.list(Wraps.<BomProcedureTray>lbQ().eq(BomProcedureTray::getProcedureId, task.getProcedureId()).orderByAsc(BomProcedureTray::getBizType));
+        List<Long>trayIdList = trayList.stream().map(t->t.getTrayId()).collect(Collectors.toList());
+        // 判断夹具是否有可用的，查询线边库位信息中是否还有夹具
+        List<StockInfo> allStockInfos = stockInfoMapper.selectList(Wraps.<StockInfo>lbQ().in(StockInfo::getGoodsId,trayIdList).in(StockInfo::getStorgeId,startProductionresourcePositionIds).eq(StockInfo::getLockStatus, "1").orderByAsc(StockInfo::getGoodsType));
 
-        return returnList;
+        return allStockInfos;
     }
 
 

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/productionResourceCenter/strategy/impl/CacheRobotStrategy.java

@@ -2,7 +2,6 @@ package com.github.zuihou.business.productionResourceCenter.strategy.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.util.ObjectUtil;
-import com.alibaba.fastjson.JSONObject;
 import com.github.zuihou.authority.service.common.ParameterService;
 import com.github.zuihou.business.DemoLine.DemoCacheKey;
 import com.github.zuihou.business.DemoLine.DemoLineConstant;
@@ -35,11 +34,9 @@ import com.github.zuihou.common.constant.ParameterKey;
 import com.github.zuihou.database.mybatis.conditions.Wraps;
 import com.github.zuihou.database.mybatis.conditions.query.LbqWrapper;
 import com.github.zuihou.database.mybatis.conditions.query.QueryWrap;
-import com.github.zuihou.tenant.entity.Productionresource;
 import com.github.zuihou.tenant.service.ProductionresourceService;
 import com.google.common.collect.Maps;
 import lombok.extern.slf4j.Slf4j;
-import org.codehaus.groovy.util.SingleKeyHashMap;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
@@ -48,7 +45,6 @@ import java.util.List;
 import java.util.Map;
 import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
-import java.util.stream.Stream;
 
 @Component("CACHE")
 @Slf4j
@@ -100,7 +96,7 @@ public class CacheRobotStrategy implements RobotStrategy {
 
         com.github.zuihou.business.productionResourceCenter.entity.Productionresource robot = productionresourceBizMapper.selectById(taskNode.getResourceId());
         ZZoneProductionresource zoneProductionresource = zZoneProductionresourceMapper.selectOne(Wraps.<ZZoneProductionresource>lbQ().eq(ZZoneProductionresource::getResourceId, taskNode.getResourceId()));
-        //List<ProductionresourcePosition> robotList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{zoneProductionresource.getResourceId().toString()});
+        List<ProductionresourcePosition> robotList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{taskNode.getResourceId().toString()});
         ZZone zZone = zoneService.getOne(new LbqWrapper<ZZone>().eq(ZZone::getName, zoneName).last("limit 1"));
         Plan orderPlan = planService.getById(task.getPlanId());
         BBom bom = bBomMapper.selectById(task.getBomId());
@@ -116,6 +112,7 @@ public class CacheRobotStrategy implements RobotStrategy {
         robotInfo.put("bomzZone", bomzZone);
         robotInfo.put("plcInfo", plcInfo);
         robotInfo.put("singleRunFlag", orderPlan.getSingleRunFlag());
+        robotInfo.put("robotList", robotList);
         //robotInfo.put("xbkList", xbkList);
 
         return robotInfo;
@@ -130,6 +127,7 @@ public class CacheRobotStrategy implements RobotStrategy {
         if (CollectionUtil.isNotEmpty(flikustockInfos)) {
             startStore = storgeService.getById(flikustockInfos.get(0).getStorgeId());
         }
+
         String xbkFlag = "";
         //处理线边库库位
 
@@ -140,18 +138,18 @@ public class CacheRobotStrategy implements RobotStrategy {
         //处理目标库位
         Map returnMap = this.robotTarget(taskNode, robotInfo, xbkList, bomProcedure);
 
-        Storge targetStorge = !returnMap.containsKey("store")?null:(Storge)returnMap.get("store");
-        Long targetStorgeResourceId= !returnMap.containsKey("storeResourceId")?null:Long.valueOf(returnMap.get("storeResourceId").toString());
+        Storge targetStorge = !returnMap.containsKey("store") ? null : (Storge) returnMap.get("store");
+        Long targetStorgeResourceId = !returnMap.containsKey("storeResourceId") ? null : Long.valueOf(returnMap.get("storeResourceId").toString());
 
-        if(targetStorge==null){
+        if (targetStorge == null) {
             dataMap.put("result", false);
             return dataMap;
         }
-        String targetXbk = !returnMap.containsKey("targetxbk")? null:returnMap.get("targetxbk").toString();
+        String targetXbk = !returnMap.containsKey("targetxbk") ? null : returnMap.get("targetxbk").toString();
 
         //处理机器人库位
         List<ProductionresourcePosition> robotList = (List<ProductionresourcePosition>) robotInfo.get("robotList");
-        Map putMap = this.robotPut(returnMap,taskNode, startStore, targetStorge,robotList, targetXbk, targetStorgeResourceId);
+        Map putMap = this.robotPut(returnMap, taskNode, startStore, targetStorge, robotList, targetXbk, targetStorgeResourceId);
         return putMap;
     }
 
@@ -168,62 +166,62 @@ public class CacheRobotStrategy implements RobotStrategy {
         storgeService.lockStorge(jqrStorge, taskNode.getId());
 
         List<ProductionresourcePosition> hcwList = jqrMap.get(jqrMap.keySet().stream().filter(p -> !DemoLineConstant.DEMOLINE_RJQR_ZS.equals(p) && !DemoLineConstant.DEMOLINE_RJQR_SIX.equals(p)).findFirst().get());
-        if(hcwList.size()==0){
+        if (hcwList.size() == 0) {
             //限定抓手交换功能
             boolean hasJqrhcwPartFlag = false;
             List<Long> hcwStorgeIdList = hcwList.stream().map(ProductionresourcePosition::getStorgeId).collect(Collectors.toList());
             List<TWorkpiece> workpieceList = workpieceService.list(new LbqWrapper<TWorkpiece>().eq(TWorkpiece::getIsEnd, "0").in(TWorkpiece::getStorgeId, hcwStorgeIdList));
-            if(workpieceList.size()>2 || workpieceList.size()==0){
+            if (workpieceList.size() > 2 || workpieceList.size() == 0) {
                 msgUtil.createWarnLog("机器人设备暂存位数据有误", "DataException");
                 returnMap.put("result", false);
             }
 
-             for(TWorkpiece item : workpieceList) {
-                 long jqrHcwStorgeTaskNodeId = item.getTaskNodeId();
-                 Object hcwStorgeFlag = msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_HCW_XBK_FLAG + jqrHcwStorgeTaskNodeId);
-                 TaskNode hcwTaskNode = taskNodeService.getById(jqrHcwStorgeTaskNodeId);
-                 boolean bool = ObjectUtil.isNotEmpty(hcwStorgeFlag) && hcwTaskNode.getTargetResourceId().equals(taskNode.getTargetResourceId()) && taskNode.getCompleteBatchNo() != hcwTaskNode.getCompleteBatchNo();
-                 if (bool) {
-                     hasJqrhcwPartFlag = true;
-                     msgUtil.redis_set(DemoLineConstant.JQR_HCW_PART_PRIOTY_EXEC_FLAG + jqrHcwStorgeTaskNodeId, "1");
-                     break;
-                 }
-             }
-             if(hasJqrhcwPartFlag) {
-                 returnMap.put("result", false);
-                 return returnMap;
-             }
+            for (TWorkpiece item : workpieceList) {
+                long jqrHcwStorgeTaskNodeId = item.getTaskNodeId();
+                Object hcwStorgeFlag = msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_HCW_XBK_FLAG + jqrHcwStorgeTaskNodeId);
+                TaskNode hcwTaskNode = taskNodeService.getById(jqrHcwStorgeTaskNodeId);
+                boolean bool = ObjectUtil.isNotEmpty(hcwStorgeFlag) && hcwTaskNode.getTargetResourceId().equals(taskNode.getTargetResourceId()) && taskNode.getCompleteBatchNo() != hcwTaskNode.getCompleteBatchNo();
+                if (bool) {
+                    hasJqrhcwPartFlag = true;
+                    msgUtil.redis_set(DemoLineConstant.JQR_HCW_PART_PRIOTY_EXEC_FLAG + jqrHcwStorgeTaskNodeId, "1");
+                    break;
+                }
+            }
+            if (hasJqrhcwPartFlag) {
+                returnMap.put("result", false);
+                return returnMap;
+            }
         }
         //锁定暂存缓存位库位
         Storge hcwStorge = storgeService.getById(hcwList.get(0).getStorgeId());
         hcwStorge.setCompleteBatchNo(taskNode.getCompleteBatchNo());
         storgeService.lockStorge(hcwStorge, taskNode.getId());
 
-        if(hcwList.size()>1) {
+        if (hcwList.size() > 1) {
             //锁定暂存缓存位库位
             targetStorge = hcwStorge;
             msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_HCW_XBK_FLAG + taskNode.getId(), "1");
-        }else{
+        } else {
             //锁定目标线边库库位
             targetStorge.setCompleteBatchNo(taskNode.getCompleteBatchNo());
             storgeService.lockStorge(targetStorge, taskNode.getId());
-            if(targetXbk.equals("0")){
+            if (targetXbk.equals("0")) {
                 //目标缓存
                 msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + taskNode.getId(), targetStorge, 10, TimeUnit.DAYS);
-            }else{
+            } else {
                 //目标是线边库
                 msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_XBK_FLAG + taskNode.getId(), targetXbk, 10, TimeUnit.DAYS);
             }
         }
         // 放入线边库或机器人缓存位
-        log.info("节点{}提前占用机器人抓手{},缓存位{},目标库位{}",taskNode.getId(),jqrStorge.getPointId(),hcwStorge.getPointId(),targetStorge.getPointId());
+        log.info("节点{}提前占用机器人抓手{},缓存位{},目标库位{}", taskNode.getId(), jqrStorge.getPointId(), hcwStorge.getPointId(), targetStorge.getPointId());
         //缓存位缓存
         msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_HCW + taskNode.getId(), hcwStorge, 10, TimeUnit.DAYS);
         returnMap.put("taskType", DictionaryKey.TASK_TYPE.get("CARRY")); //移动类型
 
-        if(taskNode.getNodeName().indexOf("从立库取") > -1){
+        if (taskNode.getNodeName().indexOf("从立库取") > -1) {
             returnMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_TRAY_CRK);
-        }else{
+        } else {
             returnMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
         }
 
@@ -231,8 +229,8 @@ public class CacheRobotStrategy implements RobotStrategy {
         Map locationMap = new HashMap();
         locationMap.put("location", startStorge.getPointId());  //零件当前位置
         locationMap.put("destLocation", targetStorge.getPointId()); //机器人缓存位
-        locationMap.put("taskType",DictionaryKey.TASK_TYPE.get("CARRY"));
-        locationMap.put("carryType","1");
+        locationMap.put("taskType", DictionaryKey.TASK_TYPE.get("CARRY"));
+        locationMap.put("carryType", "1");
         returnMap.put("data", locationMap);
         returnMap.put("method", "RobotAction");
         returnMap.put("result", true);
@@ -240,11 +238,11 @@ public class CacheRobotStrategy implements RobotStrategy {
         returnMap.put("toStorge", targetStorge);
 
         // 机器人移动到redis记录实时位子
-        msgUtil.redis_set(taskNode.getResourceId()+"postion",startStorge.getPointId());
+        msgUtil.redis_set(taskNode.getResourceId() + "postion", startStorge.getPointId());
 
         // 记录机器人移动到对应设备
         ProductionresourcePosition productionresourcePosition = productionresourcePositionService.getOne(new QueryWrap<ProductionresourcePosition>().lambda().eq(ProductionresourcePosition::getStorgeId, startStorge.getId()));
-        msgUtil.redis_set("JQR_RESOURCE",productionresourcePosition.getResourceId());
+        msgUtil.redis_set("JQR_RESOURCE", productionresourcePosition.getResourceId());
         return returnMap;
     }
 
@@ -253,7 +251,7 @@ public class CacheRobotStrategy implements RobotStrategy {
         return null;
     }
 
-    public Map robotTarget(TaskNode taskNode, Map robotInfo, List<ProductionresourcePosition> xbkList, BomProcedure bomProcedure){
+    public Map robotTarget(TaskNode taskNode, Map robotInfo, List<ProductionresourcePosition> xbkList, BomProcedure bomProcedure) {
         Map returnMap = new HashMap();
         //判断AGV是否有效
         String agvValid = parameterService.getValue(ParameterKey.AGVValid, "0");
@@ -262,88 +260,85 @@ public class CacheRobotStrategy implements RobotStrategy {
         Storge startStorge = null;
         Storge targetStorge = null;
         //单产线AGV目标地址判断处理
-        if(agvValid.equals("1") && taskNode.getFindAgvFlag().equals("1")){
-            if(singleRunFlag == 1){
-                if(CollectionUtil.isNotEmpty(xbkList)){
+        if (agvValid.equals("1") && taskNode.getFindAgvFlag().equals("1")) {
+            if (singleRunFlag == 1) {
+                if (CollectionUtil.isNotEmpty(xbkList)) {
                     ProductionresourcePosition position = xbkList.get(0);
                     targetStorge = storgeService.getById(position.getStorgeId());
                     returnMap.put("storeResourceId", position.getResourceId());
-                    returnMap.put("store",targetStorge);
-                    returnMap.put("targetxbk","0");
+                    returnMap.put("store", targetStorge);
+                    returnMap.put("targetxbk", "0");
                 }
-            }else{
-                ZZone zZone = (ZZone)robotInfo.get("zZone");
-                ZZone bomzZone = (ZZone)robotInfo.get("bomzZone");
-                Map map = storgeService.getPlateStorgeByNo(zZone,bomzZone);
-                TaskNode lastAgvTaskNode = taskNodeService.getNextNTaskNode(taskNode,1);
-
-                targetStorge = map.get("storge") ==null?null:(Storge)map.get("storge");
-                String targetResourceId = map.get("resourceId") ==null?null:(String)map.get("resourceId");
+            } else {
+                ZZone zZone = (ZZone) robotInfo.get("zZone");
+                ZZone bomzZone = (ZZone) robotInfo.get("bomzZone");
+                Map map = storgeService.getPlateStorgeByNo(zZone, bomzZone);
+                TaskNode lastAgvTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
+
+                targetStorge = map.get("storge") == null ? null : (Storge) map.get("storge");
+                String targetResourceId = map.get("resourceId") == null ? null : (String) map.get("resourceId");
                 // 在向下找agv终点位子
                 // 下一个节点机器人所属产线
-                TaskNode afterLastAgvTaskNode = taskNodeService.getNextNTaskNode(lastAgvTaskNode,1);
-                ZZoneProductionresource zoneProductionresource = zZoneProductionresourceMapper.selectOne(Wraps.<ZZoneProductionresource>lbQ().eq(ZZoneProductionresource::getResourceId,afterLastAgvTaskNode.getResourceId()));
+                TaskNode afterLastAgvTaskNode = taskNodeService.getNextNTaskNode(lastAgvTaskNode, 1);
+                ZZoneProductionresource zoneProductionresource = zZoneProductionresourceMapper.selectOne(Wraps.<ZZoneProductionresource>lbQ().eq(ZZoneProductionresource::getResourceId, afterLastAgvTaskNode.getResourceId()));
                 Long agvGoalZoneId = zoneProductionresource.getZoneId();
                 ZZone agvGoalZone = zoneService.getById(agvGoalZoneId);
                 String[] jbwArr = DictionaryKey.YJ_ZONE_JBW.get(agvGoalZone.getNo()).split(",");
                 List<ProductionresourcePosition> jbwBList = productionresourcePositionService.getFreeProductionresourceAgvPositionByNos(jbwArr);
-                if(targetStorge!=null&&CollectionUtil.isNotEmpty(jbwBList)){
+                if (targetStorge != null && CollectionUtil.isNotEmpty(jbwBList)) {
                     ProductionresourcePosition position = jbwBList.get(0);
-                    if(null!=position){
+                    if (null != position) {
                         taskNode.setTargetResourceId(Long.parseLong(targetResourceId));
                         lastAgvTaskNode.setTargetResourceId(position.getResourceId());
                         lastAgvTaskNode.setResourceId(taskNode.getTargetResourceId());
                         taskNodeService.updateById(taskNode);
                         taskNodeService.updateById(lastAgvTaskNode);
                     }
-                    returnMap.put("storeResourceId",targetResourceId);
-                    returnMap.put("store",targetStorge);
-                    returnMap.put("targetxbk","0");
-                }
-                else{
+                    returnMap.put("storeResourceId", targetResourceId);
+                    returnMap.put("store", targetStorge);
+                    returnMap.put("targetxbk", "0");
+                } else {
                     xbkFlag = "1";
                 }
             }
-        }
-        else{
+        } else {
             // begin modify by yejian on 20220515 for 下料库位问题修改
-            TaskNode beforTaskNode = taskNodeService.getNextNTaskNode(taskNode,-1);
-            TaskNode baitingTaskNode = taskNodeService.getNextNTaskNode(beforTaskNode,-1);
+            TaskNode beforTaskNode = taskNodeService.getNextNTaskNode(taskNode, -1);
+            TaskNode baitingTaskNode = taskNodeService.getNextNTaskNode(beforTaskNode, -1);
             String bomProcedureType = bomProcedure.getType();
-            boolean condition = bomProcedureType.equals("下料")  && "04".equals(baitingTaskNode.getInterfaceType());
+            boolean condition = bomProcedureType.equals("下料") && "04".equals(baitingTaskNode.getInterfaceType());
             //翻面工装下料，节点特殊处理
-            boolean nodeCondition = "4".equals(beforTaskNode.getNodeType()) && bomProcedureType.indexOf("上料")>0 && taskNode.getNodeName().indexOf("立库")>0;
-            if(condition || nodeCondition){
+            boolean nodeCondition = "4".equals(beforTaskNode.getNodeType()) && bomProcedureType.indexOf("上料") > 0 && taskNode.getNodeName().indexOf("立库") > 0;
+            if (condition || nodeCondition) {
                 // 下料特殊处理，动态查找可用立库位子存放下料后的子盘夹具
                 //处理限高工装下料
-                long storgeId = storgeService.isHeightLimit(taskNode.getCompleteBatchNo())?storgeService.getLikuHeightLimitStock() : storgeService.getLikuStockInList();
+                long storgeId = storgeService.isHeightLimit(taskNode.getCompleteBatchNo()) ? storgeService.getLikuHeightLimitStock() : storgeService.getLikuStockInList();
                 targetStorge = storgeService.getById(storgeId);
-                returnMap.put("store",targetStorge);
-                returnMap.put("targetxbk","0");
-            }else{
+                returnMap.put("store", targetStorge);
+                returnMap.put("targetxbk", "0");
+            } else {
                 List<ProductionresourcePosition> targetList = null;
                 Long targetResourceId = taskNode.getTargetResourceId();
-                if(targetResourceId!=null){
-                    Productionresource productionresource =  productionresourceService.getById(targetResourceId);
+                if (targetResourceId != null) {
                     //三坐标功能
-                    if("1".equals(bomProcedure.getThreeDimensionalConf()) || "1".equals(bomProcedure.getThreeDimensionalDeviationConf())){
+                    if ("1".equals(bomProcedure.getThreeDimensionalConf()) || "1".equals(bomProcedure.getThreeDimensionalDeviationConf())) {
                         boolean bool = storgeService.szbStockHandle(false, taskNode);
-                        if(!bool){
+                        if (!bool) {
                             targetList = null;
-                        }else{
+                        } else {
                             String putPoint = DictionaryKey.ZEISS_LOCATION.get("M");
-                            targetList = productionresourcePositionService.list(Wraps.<ProductionresourcePosition>lbQ().eq(ProductionresourcePosition::getResourceId, taskNode.getTargetResourceId()).eq(ProductionresourcePosition::getPointId,putPoint));
+                            targetList = productionresourcePositionService.list(Wraps.<ProductionresourcePosition>lbQ().eq(ProductionresourcePosition::getResourceId, taskNode.getTargetResourceId()).eq(ProductionresourcePosition::getPointId, putPoint));
                         }
-                    }else {
+                    } else {
                         targetList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{targetResourceId.toString()});
                     }
 
-                    if(CollectionUtil.isNotEmpty(targetList)){
+                    if (CollectionUtil.isNotEmpty(targetList)) {
                         targetStorge = storgeService.getById(targetList.get(0).getStorgeId());
-                        returnMap.put("storeResourceId",targetList.get(0).getResourceId());
-                        returnMap.put("store",targetStorge);
-                        returnMap.put("targetxbk","0");
-                    }else{//需要放到线边库
+                        returnMap.put("storeResourceId", targetList.get(0).getResourceId());
+                        returnMap.put("store", targetStorge);
+                        returnMap.put("targetxbk", "0");
+                    } else {//需要放到线边库
                         /*
                         TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode,1);
                         if("放本序加工设备".equals(taskNode.getNodeName())) {
@@ -362,12 +357,12 @@ public class CacheRobotStrategy implements RobotStrategy {
             }
         }
 
-        if("1".equals(xbkFlag)){
+        if ("1".equals(xbkFlag)) {
             ProductionresourcePosition position = xbkList.get(0);
             targetStorge = storgeService.getById(position.getStorgeId());
-            returnMap.put("storeResourceId",position.getResourceId());
-            returnMap.put("store",targetStorge);
-            returnMap.put("targetxbk","1");
+            returnMap.put("storeResourceId", position.getResourceId());
+            returnMap.put("store", targetStorge);
+            returnMap.put("targetxbk", "1");
         }
 
         return returnMap;