package com.zy.asrs.wcs.core.utils;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.framework.common.SpringUtils;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.core.entity.BasLift;
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import com.zy.asrs.wcs.core.entity.Task;
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import com.zy.asrs.wcs.core.entity.TaskSerialNo;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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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.NavigationMapType;
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import com.zy.asrs.wcs.core.service.BasLiftService;
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import com.zy.asrs.wcs.core.service.TaskSerialNoService;
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import com.zy.asrs.wcs.core.service.TaskService;
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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.ShuttleProtocolStatusType;
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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 java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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public class Utils {
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public static final String _LINK = "-";
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public static Integer getStaByLev(Integer lev) {
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HashMap<Integer, Integer> map = new HashMap<>();
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map.put(1, 31006);
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map.put(2, 31007);
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map.put(3, 31008);
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return map.get(lev);
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}
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/**
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* 通过库位号获取 排
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*/
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public static int getRow(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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String[] split = locNo.split(_LINK);
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return Integer.parseInt(split[0]);
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}
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throw new RuntimeException("库位解析异常");
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}
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/**
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* 通过库位号获取 列
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*/
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public static int getBay(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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String[] split = locNo.split(_LINK);
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return Integer.parseInt(split[1]);
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}
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throw new RuntimeException("库位解析异常");
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}
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/**
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* 通过库位号获取 层
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*/
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public static int getLev(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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String[] split = locNo.split(_LINK);
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return Integer.parseInt(split[2]);
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}
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throw new RuntimeException("库位解析异常");
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}
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public static String getLocNo(Number row, Number bay, Number lev) {
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return row + _LINK + bay + _LINK + lev;
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// return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
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}
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public static String zerofill(String msg, Integer count){
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if (msg.length() == count){
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return msg;
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} else if (msg.length() > count){
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return msg.substring(0, 16);
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} else {
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StringBuilder msgBuilder = new StringBuilder(msg);
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for (int i = 0; i<count-msg.length(); i++){
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msgBuilder.insert(0,"0");
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}
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return msgBuilder.toString();
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}
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}
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//获取除白名单外的指定楼层全部穿梭车xy坐标点
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public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
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DeviceService deviceService = SpringUtils.getBean(DeviceService.class);
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ArrayList<int[]> list = new ArrayList<>();
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List<Device> devices = deviceService.list(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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for (Device device : devices) {
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if (Integer.parseInt(device.getDeviceNo()) == whiteShuttle) {
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continue;//跳过白名单
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}
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//获取穿梭车所在节点位置
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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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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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continue;
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}
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if (shuttleProtocol.getCurrentLocNo() == null) {
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continue;
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}
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if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
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continue;//楼层不同
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}
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int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
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list.add(xyPosition);
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}
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return list;
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}
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public static boolean hasShuttleInLoc(String locNo, Long deviceId) {
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DeviceService deviceService = SpringUtils.getBean(DeviceService.class);
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List<Device> list = deviceService.list(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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for (Device device : list) {
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if (deviceId.equals(device.getId())) {
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continue;
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}
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//获取四向穿梭车线程
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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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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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continue;
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}
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if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE)) {
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continue;
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}
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if (shuttleProtocol.getCurrentLocNo() == null) {
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continue;
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}
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if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
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return true;
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}
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}
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return false;
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}
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/**
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* 生成工作号
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* @return taskNo(工作号)
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*/
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public static int getTaskNo(String flag) {
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TaskSerialNoService taskSerialNoService = SpringUtils.getBean(TaskSerialNoService.class);
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TaskService taskService = SpringUtils.getBean(TaskService.class);
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TaskSerialNo taskSerialNo = taskSerialNoService.getOne(new LambdaQueryWrapper<TaskSerialNo>()
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.eq(TaskSerialNo::getFlag, flag)
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.eq(TaskSerialNo::getStatus, 1));
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if (Cools.isEmpty(taskSerialNo)) {
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throw new CoolException("数据异常，请联系管理员");
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}
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int taskNo = taskSerialNo.getTaskNo();
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int sNo = taskSerialNo.getStartNo();
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int eNo = taskSerialNo.getTargetNo();
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taskNo = taskNo >= eNo ? sNo : taskNo + 1;
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while (true) {
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
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.eq(Task::getTaskNo, taskNo));
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if (null != task) {
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taskNo = taskNo >= eNo ? sNo : taskNo + 1;
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} else {
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break;
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}
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}
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// 修改序号记录
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if (taskNo > 0){
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taskSerialNo.setTaskNo(taskNo);
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taskSerialNoService.updateById(taskSerialNo);
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return taskNo;
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}
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throw new CoolException("工作号生成失败");
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}
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/**
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* 检测穿梭车是否有任务绑定
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*/
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public static boolean checkShuttleHasBinding(Device device, String taskNo) {
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TaskService taskService = SpringUtils.getBean(TaskService.class);
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List<Task> tasks = taskService.selectWorkingByShuttle(Integer.parseInt(device.getDeviceNo()), taskNo);
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if (tasks.isEmpty()) {
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return false;//无任务绑定
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}
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return true;//有任务绑定
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}
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/**
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* 检测提升机是否有任务绑定
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*/
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public static boolean checkLiftHasBinding(Integer liftNo) {
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return checkLiftHasBinding(liftNo, null);
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}
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/**
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* 检测提升机是否有任务绑定
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*/
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public static boolean checkLiftHasBinding(Integer liftNo, String taskNo) {
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TaskService taskService = SpringUtils.getBean(TaskService.class);
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List<Task> tasks = taskService.selectWorkingByLift(liftNo, taskNo);
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if (tasks.isEmpty()) {
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return false;//无任务绑定
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}
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return true;//有任务绑定
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}
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}
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