package com.zy.asrs.wcs.core.controller;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.framework.common.R;
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import com.zy.asrs.framework.common.SnowflakeIdWorker;
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import com.zy.asrs.wcs.common.annotation.OperationLog;
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import com.zy.asrs.wcs.common.domain.BaseParam;
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import com.zy.asrs.wcs.common.domain.KeyValVo;
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import com.zy.asrs.wcs.common.domain.PageParam;
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import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
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import com.zy.asrs.wcs.core.domain.param.ShuttleOperatorParam;
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import com.zy.asrs.wcs.core.entity.BasShuttle;
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import com.zy.asrs.wcs.core.entity.Motion;
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import com.zy.asrs.wcs.core.entity.Task;
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import com.zy.asrs.wcs.core.entity.TaskCtg;
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import com.zy.asrs.wcs.core.kernel.AnalyzeService;
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import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
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import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
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import com.zy.asrs.wcs.core.model.enums.TaskStsType;
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import com.zy.asrs.wcs.core.service.BasShuttleService;
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import com.zy.asrs.wcs.core.service.MotionService;
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import com.zy.asrs.wcs.core.service.TaskCtgService;
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import com.zy.asrs.wcs.core.service.TaskService;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceService;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import com.zy.asrs.wcs.system.controller.BaseController;
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import com.zy.asrs.wcs.utils.ExcelUtil;
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import org.springframework.beans.factory.annotation.Autowired;
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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 javax.servlet.http.HttpServletResponse;
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import java.util.*;
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@RestController
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@RequestMapping("/api")
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public class BasShuttleController extends BaseController {
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private TaskCtgService taskCtgService;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private TaskService taskService;
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@Autowired
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private AnalyzeService analyzeService;
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@Autowired
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private MotionService motionService;
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@Autowired
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private DeviceService deviceService;
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@PreAuthorize("hasAuthority('core:basShuttle:list')")
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@PostMapping("/basShuttle/page")
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public R page(@RequestBody Map<String, Object> map) {
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BaseParam baseParam = buildParam(map, BaseParam.class);
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PageParam<BasShuttle, BaseParam> pageParam = new PageParam<>(baseParam, BasShuttle.class);
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return R.ok().add(basShuttleService.page(pageParam, pageParam.buildWrapper(true)));
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}
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@PreAuthorize("hasAuthority('core:basShuttle:list')")
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@PostMapping("/basShuttle/list")
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public R list(@RequestBody Map<String, Object> map) {
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return R.ok().add(basShuttleService.list());
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}
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@PreAuthorize("hasAuthority('core:basShuttle:list')")
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@GetMapping("/basShuttle/{id}")
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public R get(@PathVariable("id") Long id) {
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return R.ok().add(basShuttleService.getById(id));
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}
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@PreAuthorize("hasAuthority('core:basShuttle:save')")
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@OperationLog("添加四向车设备列表")
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@PostMapping("/basShuttle/save")
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public R save(@RequestBody BasShuttle basShuttle) {
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if (!basShuttleService.save(basShuttle)) {
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return R.error("添加失败");
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}
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return R.ok("添加成功");
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}
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@PreAuthorize("hasAuthority('core:basShuttle:update')")
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@OperationLog("修改四向车设备列表")
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@PostMapping("/basShuttle/update")
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public R update(@RequestBody BasShuttle basShuttle) {
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if (!basShuttleService.updateById(basShuttle)) {
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return R.error("修改失败");
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}
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return R.ok("修改成功");
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}
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@PreAuthorize("hasAuthority('core:basShuttle:remove')")
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@OperationLog("删除四向车设备列表")
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@PostMapping("/basShuttle/remove/{ids}")
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public R remove(@PathVariable Long[] ids) {
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if (!basShuttleService.removeByIds(Arrays.asList(ids))) {
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return R.error("删除失败");
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}
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return R.ok("删除成功");
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}
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@PreAuthorize("hasAuthority('core:basShuttle:list')")
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@PostMapping("/basShuttle/query")
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public R query(@RequestParam(required = false) String condition) {
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List<KeyValVo> vos = new ArrayList<>();
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LambdaQueryWrapper<BasShuttle> wrapper = new LambdaQueryWrapper<>();
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if (!Cools.isEmpty(condition)) {
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wrapper.like(BasShuttle::getShuttleNo, condition);
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}
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basShuttleService.page(new Page<>(1, 30), wrapper).getRecords().forEach(
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item -> vos.add(new KeyValVo(item.getShuttleNo(), item.getShuttleNo()))
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);
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return R.ok().add(vos);
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}
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@PreAuthorize("hasAuthority('core:basShuttle:list')")
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@PostMapping("/basShuttle/export")
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public void export(@RequestBody Map<String, Object> map, HttpServletResponse response) throws Exception {
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ExcelUtil.build(ExcelUtil.create(basShuttleService.list(), BasShuttle.class), response);
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}
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//手动操作
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@PreAuthorize("hasAuthority('core:basShuttle:operator')")
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@PostMapping("/basShuttle/operator/shuttle")
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@Transactional
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public synchronized R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
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if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
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return R.error("参数为空");
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}
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Integer shuttleNo = param.getShuttleNo();
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//获取手动任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
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.eq(TaskCtg::getStatus, 1));
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if (taskCtg == null) {
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return R.error();
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}
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String sourceLoc = null;//源库位
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String targetLoc = null;//任务目标(借用字段)
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String targetSite = param.getShuttleTaskMode();//任务类型(借用字段)
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if (param.getShuttleTaskMode().equals("moveLoc")) {
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//迁移任务
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targetLoc = param.getTargetLocNo();
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} else if (param.getShuttleTaskMode().equals("takeMove")) {
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//取放货任务
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targetLoc = param.getTargetLocNo();
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sourceLoc = param.getSourceLocNo();
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} else if (param.getShuttleTaskMode().equals("reset")) {
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//复位
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Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getStatus, 1)
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.eq(Device::getDeviceNo, shuttleNo));
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if (device == null) {
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return R.error("设备不存在");
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return R.error("设备离线");
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}
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shuttleThread.reset(null);
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return R.ok();
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} else if (param.getShuttleTaskMode().equals("requestWaiting")) {
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//申请确认
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Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getStatus, 1)
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.eq(Device::getDeviceNo, shuttleNo));
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if (device == null) {
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return R.error("设备不存在");
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return R.error("设备离线");
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}
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shuttleThread.requestWaiting();
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return R.ok();
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}
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Task task = new Task();
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task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
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task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
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task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
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task.setTaskCtg(taskCtg.getId());
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task.setPriority(10);
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task.setOriginSite(null);
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task.setOriginLoc(sourceLoc);
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task.setDestSite(null);
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task.setDestLoc(targetLoc);
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task.setIoTime(new Date());
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task.setStartTime(new Date());
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task.setStatus(1);
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task.setMemo(targetSite);
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task.setShuttleNo(param.getShuttleNo());
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if (param.getShuttleTaskMode().equals("takeMove")) {
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task.setRecordLoc("Y");//记录库存信息
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}
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boolean result = taskService.save(task);
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if (!result) {
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return R.error();
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}
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task = taskService.getById(task.getId());
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// generate motion list
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List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
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if (Cools.isEmpty(motionList)) {
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News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo);
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return R.error();
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}
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motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
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task.setTaskSts(TaskStsType.ANALYZE_MANUAL.sts);
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if (!taskService.updateById(task)) {
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News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo);
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return R.error();
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}
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return R.ok();
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}
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//跑库系统
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@PreAuthorize("hasAuthority('core:basShuttle:operator')")
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@PostMapping("/basShuttle/moveLoc")
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public synchronized R shuttleMoveLoc(@RequestBody ShuttleMoveLocParam param) {
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Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getStatus, 1)
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.eq(Device::getHostId, getHostId())
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.eq(Device::getDeviceNo, param.getShuttleNo()));
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if (device == null) {
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return R.error();
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return R.error();
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return R.error();
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}
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if (!shuttleThread.isIdle()) {
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return R.error("小车忙碌中");
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}
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shuttleThread.enableMoveLoc(param, true);
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return R.ok();
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}
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//跑库系统关闭
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@PreAuthorize("hasAuthority('core:basShuttle:operator')")
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@PostMapping("/basShuttle/moveLocClose")
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public synchronized R shuttleMoveLocClose(@RequestBody ShuttleMoveLocParam param) {
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Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getStatus, 1)
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.eq(Device::getHostId, getHostId())
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.eq(Device::getDeviceNo, param.getShuttleNo()));
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if (device == null) {
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return R.error();
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return R.error();
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return R.error();
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}
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shuttleThread.enableMoveLoc(null, false);
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return R.ok();
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}
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}
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