From 1524f76b50fea865f876d5e199a78df0d4d00c7e Mon Sep 17 00:00:00 2001
From: "HUOJIN\\92525" <Jin980303>
Date: Thu, 28 Aug 2025 15:36:56 +0800
Subject: [PATCH] no message

---
 .../service/impl/NioF3AppServiceImpl.java     |  6 ++-
 .../service/impl/KMReServiceImpl.java         | 40 ++++++++++++++++---
 2 files changed, 40 insertions(+), 6 deletions(-)

diff --git a/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java b/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java
index 44f15d7..9514478 100644
--- a/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java
+++ b/youchain-system/src/main/java/com/youchain/appupdate/service/impl/NioF3AppServiceImpl.java
@@ -121,6 +121,10 @@ public class NioF3AppServiceImpl implements NioF3AppService {
         //获取所有扫描的料箱号
         List<String> boxNos = bindLarge.getBoxAndDolly().stream().map(BoxAndDolly::getBoxNo).collect(Collectors.toList());
 
+        //获取所有dolly
+        List<String> dollyList = bindLarge.getBoxAndDolly().stream().map(BoxAndDolly::getDolly).collect(Collectors.toList());
+
+
         //验证Les任务
         List<Les> lesList = validateLes(bindLarge.getSrcPositionCode(), boxNos);
         List<Long> lesIds = lesList.stream().map(Les::getId).collect(Collectors.toList());
@@ -142,7 +146,7 @@ public class NioF3AppServiceImpl implements NioF3AppService {
         }
 
         //下发任务
-        kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskQYCJson(agvTask, boxNos.size(), boxNos));
+        kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskQYCJson(agvTask, boxNos.size(), dollyList));
     }
 
     /**
diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java
index 42ac58f..34db732 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java
@@ -25,6 +25,7 @@ import org.springframework.transaction.annotation.Transactional;
 import java.sql.Array;
 import java.sql.Timestamp;
 import java.util.*;
+import java.util.stream.Collectors;
 
 @Service
 @Slf4j
@@ -357,19 +358,48 @@ public class KMReServiceImpl implements KMReService {
         missionDataObj.putAll(missionDataMap);
         missionDataArray.add(missionDataObj);
 
-        String[] endSlotCodes = agvTask.getEndSlotCode().split(",");
-        int sum = 1;
-        for (int i = 0; i < endSlotCodes.length; i++) {
+        List<String> stations = Arrays.stream(agvTask.getEndSlotCode().split(","))
+                .map(String::trim)
+                .filter(s -> !s.isEmpty())
+                .collect(Collectors.toList());
+        if (stations.size() == 1) {
             JSONObject missionDataObj2 = new JSONObject(true);
             Map<String, Object> missionDataMap2 = new LinkedHashMap<>();
-            missionDataMap2.put("sequence", (sum + (i + 1)));//序号
+            missionDataMap2.put("sequence", 2);//序号
             missionDataMap2.put("type", "NODE_POINT");//作业类型:点位：NODE_POINT;区域：NODE_AREA
-            missionDataMap2.put("position", endSlotCodes[i]);//终点
+            missionDataMap2.put("position", stations.get(0));//终点
             missionDataMap2.put("actionType", "TUGGER_DETACH");//动作：TUGGER_ATTACH：挂钩；TUGGER_DETACH：脱钩
             missionDataMap2.put("passStrategy", "AUTO");//当前任务点结束后放行策略:自动：AUTO;手动：MANUAL
             missionDataMap2.put("waitingMillis", 0);//自动触发离开当前任务节点的时间，默认单位:毫秒
             missionDataObj2.putAll(missionDataMap2);
             missionDataArray.add(missionDataObj2);
+        } else {
+            //途径点
+            List<String> waypoints = stations.subList(0, stations.size() - 1);
+            for (int i = 0; i < waypoints.size(); i++) {
+                JSONObject missionDataObj3 = new JSONObject(true);
+                Map<String, Object> missionDataMap3 = new LinkedHashMap<>();
+                int sequence = (1 + (i + 1));
+                missionDataMap3.put("sequence", sequence);//序号
+                missionDataMap3.put("type", "NODE_POINT");//作业类型:点位：NODE_POINT;区域：NODE_AREA
+                missionDataMap3.put("position", waypoints.get(i));//途径点
+                missionDataMap3.put("actionType", "");//动作：TUGGER_ATTACH：挂钩；TUGGER_DETACH：脱钩；移动
+                missionDataMap3.put("passStrategy", "MANUAL");//当前任务点结束后放行策略:自动：AUTO;手动：MANUAL
+                missionDataMap3.put("waitingMillis", 0);//自动触发离开当前任务节点的时间，默认单位:毫秒
+                missionDataObj3.putAll(missionDataMap3);
+                missionDataArray.add(missionDataObj3);
+            }
+
+            JSONObject missionDataObj4 = new JSONObject(true);
+            Map<String, Object> missionDataMap4 = new LinkedHashMap<>();
+            missionDataMap4.put("sequence", stations.size() + 1);//序号
+            missionDataMap4.put("type", "NODE_POINT");//作业类型:点位：NODE_POINT;区域：NODE_AREA
+            missionDataMap4.put("position", stations.get(stations.size() - 1));//终点
+            missionDataMap4.put("actionType", "TUGGER_DETACH");//动作：TUGGER_ATTACH：挂钩；TUGGER_DETACH：脱钩
+            missionDataMap4.put("passStrategy", "AUTO");//当前任务点结束后放行策略:自动：AUTO;手动：MANUAL
+            missionDataMap4.put("waitingMillis", 0);//自动触发离开当前任务节点的时间，默认单位:毫秒
+            missionDataObj4.putAll(missionDataMap4);
+            missionDataArray.add(missionDataObj4);
         }
 
         objMap.put("missionData", missionDataArray);