资源检查不通过消息放队尾修改，线边库逻辑找agv库位修改

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

@@ -237,11 +237,12 @@ public class TaskWorkNode {
 
 //        logger.info("==================请求地址=============" + autoProgramUrl);
         String returnData = "";
-
+        Map conMap = null;
         try {
-            if (!"0".equals(taskNode.getNodeType())) {
+            if ("04".equals(taskNode.getInterfaceType())) {
                 //人工上下料或质检
                 //不用调接口，直接返回成功
+                conMap.put("result",true);
                 msgUtil.redis_set(CacheKey.TASK_CURRENT_NODE_STATUS + "_" + taskNode.getId(), "0");
             } else {
                 Map queryMap = Maps.newHashMap();
@@ -272,61 +273,65 @@ public class TaskWorkNode {
                 }
 
                 //运行条件验证
-                Map conMap = checkCon(taskNode, tTask, queryMap);
+                conMap = checkCon(taskNode, tTask, queryMap);
+
+                // 当三次校验不通过时返回是空
                 if (null == conMap) {
                     throw new RuntimeException("执行超时或执行设备状态异常");
                 }
-                logger.info("最终检查结果conMap=" + conMap);
+
                 msgUtil.redis_set_map(CacheKey.TASK_CURRENT_NODE_CONDITION + "_" + taskNode.getId(), conMap);
-                if ("03".equals(taskNode.getInterfaceType())) {
-                    // 执行线边库操作
-                    if("1".equals(conMap.get("targetxbk"))){
-                        //组装接口参数
-                        HttpHeaders headers = new HttpHeaders();
-                        headers.setContentType(MediaType.parseMediaType("application/json;charset=UTF-8"));
-                        String jsonParam = getRequestParam(conMap);
-                        //缓存执行当前节点传参
-                        msgUtil.redis_set(CacheKey.TASK_CURRENT_NODE_PARAMS + "_" + taskNode.getId(), jsonParam);
-                        HttpEntity<String> formEntity = new HttpEntity<String>(jsonParam, headers);
-
-                        //动态调用接口和新增指令执行时间
-                        log.setZoneId(zZone.getId()).setMethod(conMap.get("method").toString()).setExecuteTime(new Date());
-                        String instructionUrl = DictionaryKey.INSTRUCTION_URL + "/api/" + conMap.get("method").toString();
-                        System.out.println("instructionUrl=" + instructionUrl);
-                        System.out.println("jsonParam=" + jsonParam);
-                        returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
-
-                        logger.info("returnData=", returnData);
-                    }else{
-                        TaskNode beforTaskNode = taskNodeService.getNextNTaskNode(taskNode, -1);
-                        // agv搬运
-                        Map agvData = new HashMap();
-                        agvData.put("start", conMap.get("start"));
-                        agvData.put("goal", conMap.get("goal"));
-                        agvData.put("taskId", tTask.getId().toString());
-                        agvData.put("taskNodeId", taskNode.getId().toString());
-                        String jsonParam = getRequestParam(conMap);
-                        //缓存执行当前节点传参
-                        msgUtil.redis_set(CacheKey.TASK_CURRENT_NODE_PARAMS + "_" + taskNode.getId(), jsonParam);
-                        agvHikOrderInfoService.addHikTask(agvData);
+                if((boolean)conMap.get("result")){
+                    if ("03".equals(taskNode.getInterfaceType())) {
+                        // 执行线边库操作
+                        if("1".equals(conMap.get("targetxbk"))){
+                            //组装接口参数
+                            HttpHeaders headers = new HttpHeaders();
+                            headers.setContentType(MediaType.parseMediaType("application/json;charset=UTF-8"));
+                            String jsonParam = getRequestParam(conMap);
+                            //缓存执行当前节点传参
+                            msgUtil.redis_set(CacheKey.TASK_CURRENT_NODE_PARAMS + "_" + taskNode.getId(), jsonParam);
+                            HttpEntity<String> formEntity = new HttpEntity<String>(jsonParam, headers);
+
+                            //动态调用接口和新增指令执行时间
+                            log.setZoneId(zZone.getId()).setMethod(conMap.get("method").toString()).setExecuteTime(new Date());
+                            String instructionUrl = DictionaryKey.INSTRUCTION_URL + "/api/" + conMap.get("method").toString();
+                            System.out.println("instructionUrl=" + instructionUrl);
+                            System.out.println("jsonParam=" + jsonParam);
+                            returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
+
+                            logger.info("returnData=", returnData);
+                        }else{
+                            TaskNode beforTaskNode = taskNodeService.getNextNTaskNode(taskNode, -1);
+                            // agv搬运
+                            Map agvData = new HashMap();
+                            agvData.put("start", conMap.get("start"));
+                            agvData.put("goal", conMap.get("goal"));
+                            agvData.put("taskId", tTask.getId().toString());
+                            agvData.put("taskNodeId", taskNode.getId().toString());
+                            String jsonParam = getRequestParam(conMap);
+                            //缓存执行当前节点传参
+                            msgUtil.redis_set(CacheKey.TASK_CURRENT_NODE_PARAMS + "_" + taskNode.getId(), jsonParam);
+                            agvHikOrderInfoService.addHikTask(agvData);
+                        }
+                    } else {
+                        if (!"04".equals(taskNode.getInterfaceType())) {
+                            //组装接口参数
+                            HttpHeaders headers = new HttpHeaders();
+                            headers.setContentType(MediaType.parseMediaType("application/json;charset=UTF-8"));
+                            String jsonParam = getRequestParam(conMap);
+                            //缓存执行当前节点传参
+                            msgUtil.redis_set(CacheKey.TASK_CURRENT_NODE_PARAMS + "_" + taskNode.getId(), jsonParam);
+                            HttpEntity<String> formEntity = new HttpEntity<String>(jsonParam, headers);
+
+                            //动态调用接口和新增指令执行时间
+                            log.setZoneId(zZone.getId()).setMethod(conMap.get("method").toString()).setExecuteTime(new Date());
+                            String instructionUrl = DictionaryKey.INSTRUCTION_URL + "/api/" + conMap.get("method").toString();
+                            System.out.println("instructionUrl=" + instructionUrl);
+                            System.out.println("jsonParam=" + jsonParam);
+                            returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
+                        }
                     }
-                } else {
-                    //组装接口参数
-                    HttpHeaders headers = new HttpHeaders();
-                    headers.setContentType(MediaType.parseMediaType("application/json;charset=UTF-8"));
-                    String jsonParam = getRequestParam(conMap);
-                    //缓存执行当前节点传参
-                    msgUtil.redis_set(CacheKey.TASK_CURRENT_NODE_PARAMS + "_" + taskNode.getId(), jsonParam);
-                    HttpEntity<String> formEntity = new HttpEntity<String>(jsonParam, headers);
-
-                    //动态调用接口和新增指令执行时间
-                    log.setZoneId(zZone.getId()).setMethod(conMap.get("method").toString()).setExecuteTime(new Date());
-                    String instructionUrl = DictionaryKey.INSTRUCTION_URL + "/api/" + conMap.get("method").toString();
-                    System.out.println("instructionUrl=" + instructionUrl);
-                    System.out.println("jsonParam=" + jsonParam);
-                    returnData = restTemplate.postForObject(instructionUrl, formEntity, String.class);
-
-                    logger.info("returnData=", returnData);
                 }
             }
         } catch (BizException e) {
@@ -337,6 +342,7 @@ public class TaskWorkNode {
             returnData = errJsonObject.toJSONString();
             logger.error("调用接口发生异常" + e.getMessage());
         } finally {
+            logger.info("最终检查结果conMap=" + conMap);
             logger.info("===============================接口返回" + returnData);
             JSONObject retJson = JSONObject.parseObject(returnData);
             if (retJson != null) {
@@ -356,13 +362,24 @@ public class TaskWorkNode {
                     log.setExeResult("0").setManual("0").setFeedback(retJson.getString("msg"));
                 }
             }else{
-                log.setExeResult("0").setManual("0").setFeedback("接口响应超时");
+                // 非人工序
+                if (!"04".equals(taskNode.getInterfaceType())) {
+                    if((boolean)conMap.get("result")){
+                        log.setExeResult("0").setManual("0").setFeedback("接口响应超时");
+                    }else{
+                        log.setExeResult("0").setManual("0").setFeedback("设备资源不通过");
+                    }
+                }
+
             }
             if (log.getId() == null) {
                 autoNodeLogService.save(log);
             } else {
                 autoNodeLogService.updateAllById(log);
             }
+            if(!(boolean)conMap.get("result")){
+                throw new InterruptedException("设备资源不通过，消息重新进入队尾");
+            }
         }
     }
 
@@ -496,8 +513,10 @@ public class TaskWorkNode {
             repeatCheckOnCount = Integer.valueOf(repeatCount.toString()) + 1;
         }
         if(repeatCheckOnCount > 3){
+            Map conMap = new HashMap();
+            conMap.put("result",false);
             msgUtil.redis_del("repeatCheckOnCount"+taskNode.getId());
-            return null;
+            return conMap;
         }else{
             msgUtil.redis_set("repeatCheckOnCount"+taskNode.getId(),repeatCheckOnCount,10, TimeUnit.MINUTES);
             Map map = getCheckCon(taskNode, task, dataMap);
@@ -874,7 +893,7 @@ public class TaskWorkNode {
             String targetResourceId = map.get("resourceId") == null ? null : (String) map.get("resourceId");
             //对面产线接驳位不为空TODO
             String[] jbwArr = DictionaryKey.YJ_ZONE_JBW.get(zZone.getName()).split(",");
-            List<ProductionresourcePosition> jbwBList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jbwArr);
+            List<ProductionresourcePosition> jbwBList = productionresourcePositionService.getFreeProductionresourceAgvPositionByNos(jbwArr);
 
             if (targetStorge != null && CollectionUtil.isNotEmpty(jbwBList)) {
                 ProductionresourcePosition position = null;

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

@@ -519,7 +519,7 @@ public class RobotNodeServiceImpl implements NodeOperationService {
         Long resourceId = taskNode.getTargetResourceId();
         String xbkFlag = "";
 
-        if("1".equals(findAgvFlag)){//需要提前锁定下个接驳位
+        if("1".equals(findAgvFlag)){ //需要提前锁定下个接驳位
             // begin modify by yejian on 20220513 for agv动态查找满足抽检一个工序需多次调度agv问题
             // 先找到处理节点下一节点agv起点地址