package com.zy.acs.manager.manager.controller;
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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.domain.protocol.AGV_12_UP;
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import com.zy.acs.common.domain.protocol.AGV_13_UP;
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import com.zy.acs.common.domain.protocol.IMessageBody;
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import com.zy.acs.common.enums.AgvInOutFlagType;
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import com.zy.acs.common.utils.RedisSupport;
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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.manager.manager.controller.result.DigitalAgvVo;
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import com.zy.acs.manager.manager.controller.result.DigitalStockVo;
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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 org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.GetMapping;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* Created by vincent on 4/25/2024
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*/
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@RequestMapping("/digital")
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@RestController
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public class DigitalController {
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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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 CodeService codeService;
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@Autowired
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private LocService locService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private ActionService actionService;
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@GetMapping("/agv/info")
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public R getAgvInfo() {
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List<DigitalAgvVo> voList = new ArrayList<>();
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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for (Agv agv : agvList) {
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DigitalAgvVo vo = new DigitalAgvVo();
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vo.setAgvNo(agv.getUuid());
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) { continue; }
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Code currCode = codeService.getCacheById(agvDetail.getCode());
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if (null == currCode) { continue; }
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vo.synPosition(currCode.getX(), 0, currCode.getY());
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IMessageBody msgBody = redis.getObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid());
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if (null == msgBody) { continue; }
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// 有码实时数据包
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if (msgBody instanceof AGV_12_UP) {
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AGV_12_UP agv_12_up = (AGV_12_UP) msgBody;
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vo.setTheta((double) agv_12_up.getAGVCurrentAngle());
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vo.setHeight((double) agv_12_up.getCurrentAltitude());
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vo.setLoaderTheta((double) agv_12_up.getLoaderTheta());
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vo.setForkLength((double) agv_12_up.getForkLength());
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vo.setFinger1(agv_12_up.isFinger1());
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vo.setFinger2(agv_12_up.isFinger2());
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vo.setFinger3(agv_12_up.isFinger3());
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vo.setFinger4(agv_12_up.isFinger4());
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vo.setInOutFlag(AgvInOutFlagType.query(agv_12_up.getInOutFlag()).val);
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vo.getTrayList().add(new DigitalAgvVo.Tray(1, agv_12_up.isTempLoc1()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(2, agv_12_up.isTempLoc2()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(3, agv_12_up.isTempLoc3()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(4, agv_12_up.isTempLoc4()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(5, agv_12_up.isTempLoc5()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(6, agv_12_up.isTempLoc6()));
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vo.setHasBox(agv_12_up.isLoaderMid());
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DigitalChartsController.agvChartsQueue.offer(Cools
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.add("agvNo", agv.getUuid())
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.add("qrcode", agv_12_up.getQrCode())
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.add("height", agv_12_up.getCurrentAltitude())
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.add("angle", agv_12_up.getAGVCurrentAngle())
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.add("loaderTheta", agv_12_up.getLoaderTheta())
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.add("forkLength", agv_12_up.getForkLength())
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.add("inOutFlag", AgvInOutFlagType.query(agv_12_up.getInOutFlag()).desc)
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);
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}
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// 无码实时数据包
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if (msgBody instanceof AGV_13_UP) {
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AGV_13_UP agv_13_up = (AGV_13_UP) msgBody;
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vo.setTheta((double) agv_13_up.getAGVCurrentAngle());
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vo.setHeight((double) agv_13_up.getCurrentAltitude());
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vo.setLoaderTheta((double) agv_13_up.getLoaderTheta());
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vo.setForkLength((double) agv_13_up.getForkLength());
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vo.setFinger1(agv_13_up.isFinger1());
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vo.setFinger2(agv_13_up.isFinger2());
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vo.setFinger3(agv_13_up.isFinger3());
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vo.setFinger4(agv_13_up.isFinger4());
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vo.setInOutFlag(AgvInOutFlagType.query(agv_13_up.getInOutFlag()).val);
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vo.getTrayList().add(new DigitalAgvVo.Tray(1, agv_13_up.isTempLoc1()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(2, agv_13_up.isTempLoc2()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(3, agv_13_up.isTempLoc3()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(4, agv_13_up.isTempLoc4()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(5, agv_13_up.isTempLoc5()));
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vo.getTrayList().add(new DigitalAgvVo.Tray(6, agv_13_up.isTempLoc6()));
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vo.setHasBox(agv_13_up.isLoaderMid());
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}
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voList.add(vo);
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}
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return R.ok().add(voList);
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}
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/**
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* SELECT
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* ml.loc_no,
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* ml.row,
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* ml.bay,
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* ml.lev,
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* ml.loc_sts AS locStsEl
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* FROM man_loc ml
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* LEFT JOIN man_task mt ON mt.dest_loc = ml.id OR mt.ori_loc = ml.id
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* LEFT JOIN man_action ma ON ma.task_id = mt.id
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* WHERE
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* (
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* ml.loc_sts = 16 -- STOCK
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* )
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* OR
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* (
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* ml.loc_sts = 17 -- PAKIN
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* AND mt.task_sts IN
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* (
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* 15, -- INIT
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* 17 -- PROGRESS
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* )
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* AND ma.action_type = 22 -- ReadyReleaseToShelvesLoc
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* AND ma.action_sts = 17 -- FINISH
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* )
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* OR
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* (
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* ml.loc_sts = 18 -- PAKOUT
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* AND mt.task_sts IN (
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* 15, -- INIT
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* 17 -- PROGRESS
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* )
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* AND ma.action_type = 20 -- ReadyTakeFromShelvesLoc
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* AND ma.action_sts != 17 -- FINISH
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* )
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* ORDER BY mt.id DESC
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* LIMIT 0, 10
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*
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*
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* SELECT
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* ml.loc_no,
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* ml.row,
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* ml.bay,
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* ml.lev,
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* ml.loc_sts AS locStsEl
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* FROM man_loc ml
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* LEFT JOIN man_task mt ON mt.dest_loc = ml.id OR mt.ori_loc = ml.id
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* LEFT JOIN man_action ma ON ma.task_id = mt.id
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* WHERE
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* (
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* ml.loc_sts = (SELECT id FROM man_loc_sts WHERE UUID = 'STOCK')
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* )
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* OR
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* (
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* ml.loc_sts = (SELECT id FROM man_loc_sts WHERE UUID = 'PAKIN')
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* AND mt.task_sts IN
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* (
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* (SELECT id FROM man_task_sts WHERE UUID = 'INIT'),
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* (SELECT id FROM man_task_sts WHERE UUID = 'PROGRESS')
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* )
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* AND ma.action_type = (SELECT id FROM man_action_type WHERE UUID = 'ReadyReleaseToShelvesLoc')
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* AND ma.action_sts = (SELECT id FROM man_action_sts WHERE UUID = 'FINISH')
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* )
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* OR
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* (
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* ml.loc_sts = (SELECT id FROM man_loc_sts WHERE UUID = 'PAKOUT')
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* AND mt.task_sts IN (
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* (SELECT id FROM man_task_sts WHERE UUID = 'INIT'),
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* (SELECT id FROM man_task_sts WHERE UUID = 'PROGRESS')
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* )
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* AND ma.action_type = (SELECT id FROM man_action_type WHERE UUID = 'ReadyTakeFromShelvesLoc')
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* AND ma.action_sts != (SELECT id FROM man_action_sts WHERE UUID = 'FINISH')
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* )
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* ORDER BY mt.id DESC
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* LIMIT 0, 10
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*
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* @return
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*/
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@GetMapping("/stock/info")
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public R getStockInfo() {
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List<DigitalStockVo> voList = new ArrayList<>();
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for (Loc loc : locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val()))) {
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DigitalStockVo vo = new DigitalStockVo();
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vo.setLocNo(loc.getLocNo());
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vo.setRow(loc.getRow());
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vo.setBay(loc.getBay());
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vo.setLev(loc.getLev());
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vo.setLocSts(loc.getLocStsEl());
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voList.add(vo);
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}
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// 入库放货
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for (Loc loc : locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.PAKIN.val()))) {
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
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.in(Task::getTaskSts,
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TaskStsType.INIT.val()
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, TaskStsType.WAITING.val()
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, TaskStsType.ASSIGN.val()
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, TaskStsType.PROGRESS.val()
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)
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.eq(Task::getDestLoc, loc.getId())
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);
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if (null == task) { continue; }
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Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
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.eq(Action::getTaskId, task.getId())
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.eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
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// .eq(Action::getActionSts, ActionStsType.FINISH.val())
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);
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if (null == action) { continue; }
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if (action.getActionSts().equals(ActionStsType.FINISH.val())) {
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DigitalStockVo vo = new DigitalStockVo();
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vo.setLocNo(loc.getLocNo());
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vo.setRow(loc.getRow());
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vo.setBay(loc.getBay());
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vo.setLev(loc.getLev());
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vo.setLocSts(loc.getLocStsEl());
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voList.add(vo);
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}
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}
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// 出库取货
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for (Loc loc : locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.PAKOUT.val()))) {
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
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.in(Task::getTaskSts,
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TaskStsType.INIT.val()
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, TaskStsType.WAITING.val()
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, TaskStsType.ASSIGN.val()
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, TaskStsType.PROGRESS.val()
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)
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.eq(Task::getOriLoc, loc.getId())
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);
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if (null == task) { continue; }
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Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
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.eq(Action::getTaskId, task.getId())
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.eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
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// .eq(Action::getActionSts, ActionStsType.FINISH.val())
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);
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if (null == action) { continue; }
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if (!action.getActionSts().equals(ActionStsType.FINISH.val())) {
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DigitalStockVo vo = new DigitalStockVo();
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vo.setLocNo(loc.getLocNo());
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vo.setRow(loc.getRow());
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vo.setBay(loc.getBay());
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vo.setLev(loc.getLev());
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vo.setLocSts(loc.getLocStsEl());
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voList.add(vo);
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}
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}
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// voList = new ArrayList<>();
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// voList.add(new DigitalStockVo("A1003016001", 3, 16, 1, "STOCK"));
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// voList.add(new DigitalStockVo("A1003017001", 3, 17, 1, "STOCK"));
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// voList.add(new DigitalStockVo("A1003018001", 3, 18, 1, "STOCK"));
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//
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// voList.add(new DigitalStockVo("A1001016002", 3, 16, 2, "STOCK"));
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// voList.add(new DigitalStockVo("A1001017002", 3, 17, 2, "STOCK"));
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// voList.add(new DigitalStockVo("A1001018002", 3, 18, 2, "STOCK"));
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//
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// voList.add(new DigitalStockVo("A1001016003", 3, 16, 3, "STOCK"));
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// voList.add(new DigitalStockVo("A1001017003", 3, 17, 3, "STOCK"));
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// voList.add(new DigitalStockVo("A1001018003", 3, 18, 3, "STOCK"));
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//
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// voList.add(new DigitalStockVo("A1001016004", 3, 16, 5, "STOCK"));
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// voList.add(new DigitalStockVo("A1001017004", 3, 17, 5, "STOCK"));
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// voList.add(new DigitalStockVo("A1001018004", 3, 18, 5, "STOCK"));
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//
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// voList.add(new DigitalStockVo("A1001016007", 3, 16, 7, "STOCK"));
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// voList.add(new DigitalStockVo("A1001017007", 3, 17, 7, "STOCK"));
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// voList.add(new DigitalStockVo("A1001018007", 3, 18, 7, "STOCK"));
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//
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// voList.add(new DigitalStockVo("A1001016006", 3, 16, 6, "STOCK"));
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// voList.add(new DigitalStockVo("A1001017006", 3, 17, 6, "STOCK"));
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// voList.add(new DigitalStockVo("A1001018006", 3, 18, 6, "STOCK"));
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return R.ok().add(voList);
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}
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@GetMapping("/stock/info0")
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public R getStockInfo0() {
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return R.ok().add(locService.selectDigitalLocWhichNeedShow());
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}
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}
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