1.agv获取不到目的地修改

2.工单出库,单个料仓 交替着出

src/main/java/com/neotel/smfcore/core/device/handler/impl/XLRBoxHandler.java

@@ -315,85 +315,61 @@ public class XLRBoxHandler extends BaseDeviceHandler {
             }
         }
 
-        //获取到上一个出料口和下一个出料口
-        String lastOutExport = lastOutExportMap.get(cid);
-        List<String> nextOutExportList = getNextOutExport(lastOutExport);
-        log.info(cid + "对应的上一个出料口为:" + lastOutExport+"获取到的出料口顺序为:"+JSON.toJSONString(nextOutExportList));
-
-        //按出料口进行分组
-        for (String nextOutExport : nextOutExportList) {
-            Map<String, List<DataLog>> map = notEmptyExportList.stream().collect(Collectors.groupingBy(DataLog::getExport));
-            for (String key : map.keySet()) {
-                if (!key.startsWith(nextOutExport)) {
-                    continue;
-                }
-                List<DataLog> groupByList = map.get(key);
-                Collections.sort(groupByList, (o1, o2) -> {
-                    String feederInfo1 = o1.getAppendData("feederInfo");
-                    String feederInfo2 = o2.getAppendData("feederInfo");
-                    return feederInfo1.compareTo(feederInfo2);
-                });
-                DataLog dataLog = null;
-                if (groupByList != null && !groupByList.isEmpty()) {
-                    dataLog = groupByList.get(0);
+        //最多有2个工单正在执行
+        List<DataLog> needOutTaskList = new ArrayList<>();
+        Map<String, List<DataLog>> map = notEmptyExportList.stream().collect(Collectors.groupingBy(DataLog::getExport));
+        for (String key : map.keySet()) {
+            List<DataLog> groupByList = map.get(key);
+            Collections.sort(groupByList, (o1, o2) -> {
+                String feederInfo1 = o1.getAppendData("feederInfo");
+                String feederInfo2 = o2.getAppendData("feederInfo");
+                return feederInfo1.compareTo(feederInfo2);
+            });
+            DataLog dataLog = null;
+            if (groupByList != null && !groupByList.isEmpty()) {
+                dataLog = groupByList.get(0);
+            }
+            if (dataLog != null && dataLog.isWait() && cid.equals(dataLog.getCid())) {
+                String feederInfo = dataLog.getAppendData("feederInfo");
+                String feeder = StorageExportUtil.getCurrentExportFeeder(key);
+                log.info("UM口对应的feeder为:" + feeder + ",当前任务的feeder为:" + feederInfo);
+                if (feederInfo.startsWith(feeder)) {
+                    needOutTaskList.add(dataLog);
                 }
-                if (dataLog != null && dataLog.isWait() && cid.equals(dataLog.getCid())) {
-                    String feederInfo = dataLog.getAppendData("feederInfo");
-                    String feeder = StorageExportUtil.getCurrentExportFeeder(key);
-                    log.info("UM口对应的feeder为:" + feeder + ",当前任务的feeder为:" + feederInfo);
-                    if (feederInfo.startsWith(feeder)) {
-                        log.info("分配出库任务,站位号为:" + dataLog.getAppendData("feederInfo") + ",出料口为:" + key + ",barcode为:" + dataLog.getBarcode());
+            }
+        }
+
+
+        String lastOutSourceId = lastOutSourceIdMap.get(cid);
+
+        if (needOutTaskList != null && !needOutTaskList.isEmpty()) {
+            for (DataLog dataLog : needOutTaskList) {
+                if (StringUtils.isNotEmpty(lastOutSourceId)) {
+                    if (!lastOutSourceId.equals(dataLog.getSourceId())) {
                         orderTask = dataLog;
                         break;
                     }
+                } else {
+                    orderTask = dataLog;
+                    break;
                 }
             }
-            if (orderTask != null) {
-                log.info(cid + "对应的下一个出料口为:" + orderTask.getExport());
-                break;
+            if (orderTask == null) {
+                needOutTaskList = needOutTaskList.stream().sorted(Comparator.comparing(DataLog::getCreateDate)).collect(Collectors.toList());
+                orderTask = needOutTaskList.get(0);
             }
         }
-        //如果没有找到,从头开始找
-        if (orderTask == null){
-            lastOutExportMap.put(cid,"");
+
+        if (orderTask != null) {
+            log.info("分配出库任务,站位号为:" + orderTask.getAppendData("feederInfo") + ",出料口为:" + orderTask.getExport() + ",barcode为:" + orderTask.getBarcode());
+            lastOutSourceIdMap.put(cid, orderTask.getSourceId());
         } else {
-            lastOutExportMap.put(cid,orderTask.getExport());
+            lastOutSourceIdMap.put(cid, "");
         }
         return orderTask;
     }
 
-    Map<String, String> lastOutExportMap = Maps.newConcurrentMap();
-
-    private static List<String> getNextOutExport(String lastOutExport) {
-        List<String> exportList = new ArrayList<>();
-        exportList.add("UM1");
-        exportList.add("UM5");
-        exportList.add("UM2");
-        exportList.add("UM6");
-        exportList.add("UM3");
-        exportList.add("UM7");
-        exportList.add("UM4");
-        exportList.add("UM8");
-
-        int index = 0;
-        if (StringUtils.isEmpty(lastOutExport)) {
-            return exportList;
-        }
-        for (int i = 0; i < exportList.size(); i++) {
-            String export = exportList.get(i);
-            if (lastOutExport.startsWith(export)) {
-                index = i;
-                break;
-            }
-        }
-        index = (index + 1) >= exportList.size() ? 0 : (index + 1);
-
-        List<String> resultList = new ArrayList<>();
-        for (int i = index; i < exportList.size(); i++) {
-            resultList.add(exportList.get(i));
-        }
-        return resultList;
-    }
+    Map<String, String> lastOutSourceIdMap = Maps.newConcurrentMap();
 
     @Override
     public DeviceType getDeviceType() {

src/main/java/com/neotel/smfcore/custom/Jkem21481/controller/StackerController.java

@@ -123,8 +123,9 @@ public class StackerController {
             List<String> resultList = new ArrayList<>();
             for (String msdCid : msdCidList) {
                 if (StringUtils.isNotEmpty(storageCid)){
-                    if (storageCid.equals(msdCid));
-                    continue;
+                    if (storageCid.equals(msdCid)) {
+                        continue;
+                    }
                 }
                 resultList.add(msdCid);
             }