package com.zy.acs.manager.core;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.constant.RedisConstant;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.common.utils.Utils;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.common.R;
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import com.zy.acs.framework.common.SnowflakeIdWorker;
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import com.zy.acs.manager.common.annotation.OperationLog;
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import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
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import com.zy.acs.manager.common.exception.BusinessException;
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import com.zy.acs.manager.core.service.*;
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import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.*;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.controller.BaseController;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.jdbc.core.JdbcTemplate;
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import org.springframework.security.access.prepost.PreAuthorize;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.web.bind.annotation.*;
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import java.util.Date;
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import java.util.List;
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import java.util.concurrent.CompletableFuture;
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import java.util.concurrent.ExecutionException;
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import java.util.stream.Collectors;
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/**
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* Created by vincent on 8/1/2024
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*/
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@Slf4j
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@RestController
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@RequestMapping("/api/handler")
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public class HandlerController extends BaseController {
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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public static final String APP_KEY = "xltys1995";
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private MainService mainService;
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@Autowired
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private MainLockWrapService mainLockWrapService;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private CodeService codeService;
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@Autowired
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private JdbcTemplate jdbcTemplate;
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@Autowired
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private LocService locService;
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@Autowired
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private StaService staService;
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@Autowired
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private TrafficService trafficService;
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@Autowired
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private ThreadPoolRegulator threadPoolRegulator;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@Autowired
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private AvoidWaveCalculator avoidWaveCalculator;
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@Autowired
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private PatrolService patrolService;
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@PreAuthorize("hasAuthority('manager:agv:update')")
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@OperationLog("Locate All Agv")
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@PostMapping("/locateAllAgv")
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public synchronized R locateAllAgv() {
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final Integer MAP_DEFAULT_LEV = 1;
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redis.deleteValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(MAP_DEFAULT_LEV));
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avoidWaveCalculator.calcDynamicNodeWhenBoot();
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return R.ok();
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}
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@PreAuthorize("hasAuthority('manager:agv:update')")
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@PostMapping("/patrol/batch/startup")
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public synchronized R patrolBatchStartup() {
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List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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int result = 0;
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for (Agv agv : list) {
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patrolService.startupPatrol(agv.getUuid());
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result++;
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}
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return R.ok().add(result);
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}
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@PreAuthorize("hasAuthority('manager:agv:update')")
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@PostMapping("/patrol/batch/shutdown")
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public synchronized R patrolBatchShutdown() {
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List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>());
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for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
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if (patrolService.isPatrolling(agvNo)) {
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patrolService.shutdownPatrol(agvNo);
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}
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}
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return R.ok();
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}
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@RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
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@Transactional
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public R controlAgv(@RequestHeader String appKey,
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@RequestBody HandlerPublishParam param) {
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if (Cools.isEmpty(param.getAgvNo(), param.getTaskMode(), appKey)) {
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return R.error();
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}
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if (!APP_KEY.equals(appKey)) {
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return R.error();
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}
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Date now = new Date();
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Agv agv = agvService.selectByUuid(param.getAgvNo());
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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// check
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
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.or()
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.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务...");
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return R.error();
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}
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if (!agvService.judgeEnable(agv.getId())) {
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log.info(agv.getUuid() + "号AGV不可用，任务无法计算...");
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return R.error();
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}
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// generate
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Loc oriLoc = null;
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Loc destLoc = null;
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Sta oriSta = null;
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Sta destSta = null;
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Task task = null;
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switch (param.getTaskMode()) {
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case MOVE:
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Code endCode = null;
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if (!Cools.isEmpty(param.getEndCode())) {
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endCode = codeService.getCacheById(param.getEndCode());
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}
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if (!Cools.isEmpty(param.getEndCodeStr())) {
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endCode = codeService.getCacheByData(param.getEndCodeStr());
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}
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if (null == endCode) {
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return R.error();
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}
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if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
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return R.error();
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}
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break;
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case TO_CHARGE:
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case TO_STANDBY:
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if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
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return R.error();
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}
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break;
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case LOC_TO_LOC:
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// oriLoc
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if (!Cools.isEmpty(param.getStartLocNo())) {
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oriLoc = locService.getById(param.getStartLocNo());
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}
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if (!Cools.isEmpty(param.getStartLocNoStr())) {
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oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
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}
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if (null == oriLoc) {
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return R.error();
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}
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if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
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throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
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}
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oriLoc.setLocSts(LocStsType.PAKOUT.val());
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oriLoc.setUpdateTime(now);
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if (!locService.updateById(oriLoc)) {
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throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 修改库位状态失败");
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}
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// destLoc
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if (!Cools.isEmpty(param.getEndLocNo())) {
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destLoc = locService.getById(param.getEndLocNo());
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}
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if (!Cools.isEmpty(param.getEndLocNoStr())) {
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destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
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}
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if (null == destLoc) {
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return R.error();
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}
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if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
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throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
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}
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destLoc.setLocSts(LocStsType.PAKIN.val());
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destLoc.setUpdateTime(now);
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if (!locService.updateById(destLoc)) {
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throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 修改库位状态失败");
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}
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// task
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task = new Task();
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task.setOriLoc(oriLoc.getId());
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task.setOriCode(oriLoc.getCode());
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task.setDestLoc(destLoc.getId());
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task.setDestCode(destLoc.getCode());
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break;
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case LOC_TO_STA:
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// oriLoc
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if (!Cools.isEmpty(param.getStartLocNo())) {
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oriLoc = locService.getById(param.getStartLocNo());
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}
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if (!Cools.isEmpty(param.getStartLocNoStr())) {
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oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
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}
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if (null == oriLoc) {
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return R.error();
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}
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if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
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throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
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}
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oriLoc.setLocSts(LocStsType.PAKOUT.val());
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oriLoc.setUpdateTime(now);
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if (!locService.updateById(oriLoc)) {
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throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 修改库位状态失败");
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}
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// destSta
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if (!Cools.isEmpty(param.getEndStaNo())) {
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destSta = staService.getById(param.getEndStaNo());
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}
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if (!Cools.isEmpty(param.getEndStaNoStr())) {
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destSta = staService.selectByStaNo(param.getEndStaNoStr());
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}
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if (null == destSta) {
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return R.error();
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}
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if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
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throw new BusinessException("destSta：" + destSta.getStaNo() + " 不是无货状态");
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}
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destSta.setStaSts(StaStsType.READY_RELEASE.val());
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destSta.setUpdateTime(now);
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if (!staService.updateById(destSta)) {
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throw new BusinessException("destSta：" + destSta.getStaNo() + " 修改站点状态失败");
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}
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// task
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task = new Task();
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task.setOriLoc(oriLoc.getId());
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task.setOriCode(oriLoc.getCode());
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task.setDestSta(destSta.getId());
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task.setDestCode(destSta.getCode());
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break;
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case STA_TO_LOC:
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// oriSta
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if (!Cools.isEmpty(param.getStartStaNo())) {
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oriSta = staService.getById(param.getStartStaNo());
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}
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if (!Cools.isEmpty(param.getStartStaNoStr())) {
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oriSta = staService.selectByStaNo(param.getStartStaNoStr());
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}
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if (null == oriSta) {
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return R.error();
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}
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if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
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throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 不是有货状态");
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}
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oriSta.setStaSts(StaStsType.READY_TAKE.val());
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oriSta.setUpdateTime(now);
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if (!staService.updateById(oriSta)) {
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throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 修改站点状态失败");
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}
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// destLoc
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if (!Cools.isEmpty(param.getEndLocNo())) {
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destLoc = locService.getById(param.getEndLocNo());
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}
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if (!Cools.isEmpty(param.getEndLocNoStr())) {
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destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
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}
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if (null == destLoc) {
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return R.error();
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}
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if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
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throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
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}
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destLoc.setLocSts(LocStsType.PAKIN.val());
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destLoc.setUpdateTime(now);
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if (!locService.updateById(destLoc)) {
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throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 修改库位状态失败");
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}
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// task
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task = new Task();
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task.setOriSta(oriSta.getId());
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task.setOriCode(oriSta.getCode());
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task.setDestLoc(destLoc.getId());
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task.setDestCode(destLoc.getCode());
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break;
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case STA_TO_STA:
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// oriSta
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if (!Cools.isEmpty(param.getStartStaNo())) {
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oriSta = staService.getById(param.getStartStaNo());
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}
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if (!Cools.isEmpty(param.getStartStaNoStr())) {
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oriSta = staService.selectByStaNo(param.getStartStaNoStr());
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}
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if (null == oriSta) {
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return R.error();
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}
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if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
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throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 不是有货状态");
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}
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oriSta.setStaSts(StaStsType.READY_TAKE.val());
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oriSta.setUpdateTime(now);
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if (!staService.updateById(oriSta)) {
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throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 修改站点状态失败");
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}
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// destSta
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if (!Cools.isEmpty(param.getEndStaNo())) {
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destSta = staService.getById(param.getEndStaNo());
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}
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if (!Cools.isEmpty(param.getEndStaNoStr())) {
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destSta = staService.selectByStaNo(param.getEndStaNoStr());
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}
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if (null == destSta) {
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return R.error();
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}
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if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
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throw new BusinessException("destSta：" + destSta.getStaNo() + " 不是无货状态");
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}
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destSta.setStaSts(StaStsType.READY_RELEASE.val());
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destSta.setUpdateTime(now);
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if (!staService.updateById(destSta)) {
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throw new BusinessException("destSta：" + destSta.getStaNo() + " 修改站点状态失败");
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}
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// task
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task = new Task();
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task.setOriSta(oriSta.getId());
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task.setOriCode(oriSta.getCode());
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task.setDestSta(destSta.getId());
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task.setDestCode(destSta.getCode());
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break;
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default:
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break;
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}
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if (null != task) {
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task.setAgvId(agv.getId());
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task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
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task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
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task.setTaskType(param.getTaskMode().val());
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task.setTaskSts(TaskStsType.WAITING.val());
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task.setPriority(999);
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task.setIoTime(now);
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task.setStartTime(now);
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if (!taskService.save(task)) {
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throw new BusinessException(task.getSeqNum() + "任务保存失败");
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}
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}
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return R.ok();
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}
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@RequestMapping(value = "/restore/agv", method = {RequestMethod.GET, RequestMethod.POST})
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public R restoreAgv(@RequestHeader String appKey, @RequestBody HandlerPublishParam param) {
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if (Cools.isEmpty(appKey)) {
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return R.error();
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}
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if (!APP_KEY.equals(appKey)) {
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return R.error();
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}
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Agv agv = null;
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if (!Cools.isEmpty(param.getAgvNo())) {
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agv = agvService.selectByUuid(param.getAgvNo());
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List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
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if (!Cools.isEmpty(tasks)) {
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for (Task task : tasks) {
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if (TaskTypeType.LOC_TO_LOC.toString().equals(task.getTaskTypeEl())
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|| TaskTypeType.LOC_TO_STA.toString().equals(task.getTaskTypeEl())
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|| TaskTypeType.STA_TO_LOC.toString().equals(task.getTaskTypeEl())
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|| TaskTypeType.STA_TO_STA.toString().equals(task.getTaskTypeEl())
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) {
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return R.error("Restore Failed, because the agv has Tasks that are associated with Loc!");
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}
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}
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}
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}
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if (null != agv) {
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mapDataDispatcher.modifyDynamicMatrix(null, null, agv.getUuid(), true);
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avoidWaveCalculator.calcDynamicNodeByVehicle(agv, null);
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jdbcTemplate.update("UPDATE man_task SET task_sts = " + TaskStsType.COMPLETE.val() + " where agv_id = " + agv.getId());
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jdbcTemplate.update("UPDATE man_travel SET state = 'FINISH'" + " where agv_id = " + agv.getId());
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jdbcTemplate.update("UPDATE man_segment SET state = 'FINISH'" + " where agv_id = " + agv.getId());
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jdbcTemplate.update("UPDATE man_action SET action_sts = " + ActionStsType.FINISH.val() + " where agv_id = " + agv.getId());
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} else {
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>());
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for (Agv one : agvList) {
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mapDataDispatcher.modifyDynamicMatrix(null, null, one.getUuid(), true);
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avoidWaveCalculator.calcDynamicNodeByVehicle(one, null);
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}
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jdbcTemplate.update("UPDATE man_task SET task_sts = " + TaskStsType.COMPLETE.val());
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jdbcTemplate.update("UPDATE man_travel SET state = 'FINISH'");
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jdbcTemplate.update("UPDATE man_segment SET state = 'FINISH'");
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jdbcTemplate.update("UPDATE man_action SET action_sts = " + ActionStsType.FINISH.val());
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}
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return R.ok();
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}
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@RequestMapping(value = "/unlock", method = {RequestMethod.GET, RequestMethod.POST})
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public R unlockPath(@RequestHeader String appKey,
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@RequestBody HandlerPublishParam param) throws ExecutionException, InterruptedException {
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if (Cools.isEmpty(param.getAgvNo(), appKey)) {
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return R.error();
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}
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if (!APP_KEY.equals(appKey)) {
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return R.error();
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}
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Agv agv = agvService.selectByUuid(param.getAgvNo());
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// block
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// Future<R> future = threadPoolRegulator.getInstance().submit(() -> {
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// mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
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// return success();
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// });
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// System.out.println(JSON.toJSONString(future.get()));
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// non-block
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CompletableFuture<?> completableFuture = CompletableFuture.supplyAsync(() -> {
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mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
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avoidWaveCalculator.calcDynamicNodeByVehicle(agv, null);
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return R.ok();
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}, threadPoolRegulator.getInstance());
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completableFuture.thenAccept(result -> {
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System.out.println(JSON.toJSONString(result));
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}).exceptionally(e -> {
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log.error("unlockPath", e);
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return null;
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});
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return R.ok();
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}
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@RequestMapping(value = "/agv/patrol", method = {RequestMethod.GET, RequestMethod.POST})
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public R agvPatrol(@RequestHeader String appKey,
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@RequestBody HandlerPublishParam param) throws ExecutionException, InterruptedException {
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if (Cools.isEmpty(param.getAgvNo(), appKey)) {
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return R.error();
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}
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if (!APP_KEY.equals(appKey)) {
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return R.error();
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}
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String agvNo = param.getAgvNo();
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if (patrolService.isPatrolling(agvNo)) {
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return patrolService.shutdownPatrol(agvNo);
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} else {
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return patrolService.startupPatrol(agvNo);
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}
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}
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}
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