package com.zy.asrs.wcs.core.timer;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.core.entity.Task;
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import com.zy.asrs.wcs.core.kernel.command.*;
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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.MotionCtgType;
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import com.zy.asrs.wcs.core.model.enums.MotionStsType;
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import com.zy.asrs.wcs.core.model.enums.TaskStsType;
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import com.zy.asrs.wcs.core.service.TaskService;
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import com.zy.asrs.wcs.core.entity.Motion;
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import com.zy.asrs.wcs.core.service.MotionService;
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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.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import java.util.Date;
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import java.util.List;
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import java.util.Objects;
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/**
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* Created by vincent on 2023/10/10
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*/
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@Slf4j
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@Component
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public class MotionTimer {
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@Autowired
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private TaskService taskService;
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@Autowired
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private MotionService motionService;
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@Autowired
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private AgvCommandService agvCommandService;
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@Autowired
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private ConveyorCommandService conveyorCommandService;
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@Autowired
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private CraneCommandService craneCommandService;
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@Autowired
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private LiftCommandService liftCommandService;
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@Autowired
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private ShuttleCommandService shuttleCommandService;
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@Autowired
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private MapCommandService mapCommandService;
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@Scheduled(cron = "0/1 * * * * ? ")
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public synchronized void executeTask() {
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Date now = new Date();
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// ANALYZE_INBOUND
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for (Task task : taskService.selectByAnalyzeSts()) {
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Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
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if (executingMotion != null) {//存在正在执行的motion
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if (executingMotion.getSync() == 1) {//当前执行中的动作是同步动作，等待执行完成后再执行下一个动作
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continue;
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}
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//异步动作，只允许下一条动作被执行
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Motion nextMotion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getUuid, executingMotion.getUuid()).eq(Motion::getPriority, executingMotion.getPriority() - 1));
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if (nextMotion != null) {
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if (!(nextMotion.getMotionSts() == MotionStsType.INIT.val() || nextMotion.getMotionSts() == MotionStsType.WAITING.val())) {
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continue;//下一条动作已经被执行，不允许再执行后续动作
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}
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}
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}
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Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(task.getTaskSts())) {
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case ANALYZE_INBOUND:
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task.setTaskSts(TaskStsType.EXECUTE_INBOUND.sts);
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break;
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case ANALYZE_OUTBOUND:
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task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.sts);
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break;
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}
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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log.error("{}工作档更新状态失败！", task.getTaskNo());
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}
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}
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}
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// EXECUTE_INBOUND
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for (Task task : taskService.selectByExecuteSts()) {
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if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
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Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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} else {
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if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(task.getTaskSts())) {
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case EXECUTE_INBOUND:
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task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts);
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break;
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case EXECUTE_OUTBOUND:
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task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.sts);
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break;
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}
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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log.error("{}工作档更新状态失败！", task.getTaskNo());
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}
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}
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}
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}
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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public synchronized void executeChargeTask() {
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Date now = new Date();
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// ANALYZE_CHARGE
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for (Task taskCharge : taskService.selectChargeByAnalyzeSts()) {
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Motion executingMotion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId());
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if (executingMotion != null) {//存在正在执行的motion
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if (executingMotion.getSync() == 1) {//当前执行中的动作是同步动作，等待执行完成后再执行下一个动作
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continue;
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}
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//异步动作，只允许下一条动作被执行
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Motion nextMotion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getUuid, executingMotion.getUuid()).eq(Motion::getPriority, executingMotion.getPriority() - 1));
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if (nextMotion != null) {
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if (!(nextMotion.getMotionSts() == MotionStsType.INIT.val() || nextMotion.getMotionSts() == MotionStsType.WAITING.val())) {
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continue;//下一条动作已经被执行，不允许再执行后续动作
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}
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}
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}
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Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.INIT.val(), taskCharge.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(taskCharge.getTaskSts())) {
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case ANALYZE_CHARGE:
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taskCharge.setTaskSts(TaskStsType.EXECUTE_CHARGE.sts);
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break;
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case ANALYZE_MOVE:
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taskCharge.setTaskSts(TaskStsType.EXECUTE_MOVE.sts);
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break;
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}
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taskCharge.setUpdateTime(now);
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if (!taskService.updateById(taskCharge)) {
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log.error("{}其他工作档更新状态失败！", taskCharge.getTaskNo());
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}
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}
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}
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// EXECUTE_CHARGE
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for (Task taskCharge : taskService.selectChargeByExecuteSts()) {
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if (!motionService.hasRunningMotion(taskCharge.getUuid(), taskCharge.getHostId())) {
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Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.WAITING.val(), taskCharge.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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} else {
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if (motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId()) != null) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(taskCharge.getTaskSts())) {
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case EXECUTE_CHARGE:
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taskCharge.setTaskSts(TaskStsType.CHARGE_WORKING.sts);
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break;
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case EXECUTE_MOVE:
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taskCharge.setTaskSts(TaskStsType.COMPLETE_MOVE.sts);
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break;
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}
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taskCharge.setUpdateTime(now);
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if (!taskService.updateById(taskCharge)) {
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log.error("{}他工作档更新状态失败！", taskCharge.getTaskNo());
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}
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}
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}
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}
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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public synchronized void executeLadenMoveTask() {
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Date now = new Date();
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// ANALYZE_CHARGE
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for (Task taskCharge : taskService.selectLadenMoveByAnalyzeSts()) {
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Motion executingMotion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId());
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if (executingMotion != null) {//存在正在执行的motion
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if (executingMotion.getSync() == 1) {//当前执行中的动作是同步动作，等待执行完成后再执行下一个动作
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continue;
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}
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//异步动作，只允许下一条动作被执行
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Motion nextMotion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getUuid, executingMotion.getUuid()).eq(Motion::getPriority, executingMotion.getPriority() - 1));
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if (nextMotion != null) {
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if (!(nextMotion.getMotionSts() == MotionStsType.INIT.val() || nextMotion.getMotionSts() == MotionStsType.WAITING.val())) {
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continue;//下一条动作已经被执行，不允许再执行后续动作
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}
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}
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}
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Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.INIT.val(), taskCharge.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(taskCharge.getTaskSts())) {
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case ANALYZE_LADEN_MOVE:
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taskCharge.setTaskSts(TaskStsType.EXECUTE_LADEN_MOVE.sts);
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break;
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}
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taskCharge.setUpdateTime(now);
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if (!taskService.updateById(taskCharge)) {
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log.error("{}其他工作档更新状态失败！", taskCharge.getTaskNo());
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}
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}
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}
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// EXECUTE_CHARGE
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for (Task taskCharge : taskService.selectLadenMoveByExecuteSts()) {
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if (!motionService.hasRunningMotion(taskCharge.getUuid(), taskCharge.getHostId())) {
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Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.WAITING.val(), taskCharge.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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} else {
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if (motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId()) != null) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(taskCharge.getTaskSts())) {
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case EXECUTE_LADEN_MOVE:
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taskCharge.setTaskSts(TaskStsType.COMPLETE_LADEN_MOVE.sts);
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break;
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}
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taskCharge.setUpdateTime(now);
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if (!taskService.updateById(taskCharge)) {
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log.error("{}他工作档更新状态失败！", taskCharge.getTaskNo());
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}
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}
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}
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}
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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public synchronized void executeManualTask() {
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Date now = new Date();
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// ANALYZE_MANUAL
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for (Task task : taskService.selectManualByAnalyzeSts()) {
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Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
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if (executingMotion != null) {//存在正在执行的motion
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if (executingMotion.getSync() == 1) {//当前执行中的动作是同步动作，等待执行完成后再执行下一个动作
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continue;
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}
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//异步动作，只允许下一条动作被执行
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Motion nextMotion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getUuid, executingMotion.getUuid()).eq(Motion::getPriority, executingMotion.getPriority() - 1));
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if (nextMotion != null) {
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if (!(nextMotion.getMotionSts() == MotionStsType.INIT.val() || nextMotion.getMotionSts() == MotionStsType.WAITING.val())) {
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continue;//下一条动作已经被执行，不允许再执行后续动作
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}
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}
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}
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Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(task.getTaskSts())) {
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case ANALYZE_MANUAL:
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task.setTaskSts(TaskStsType.EXECUTE_MANUAL.sts);
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break;
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}
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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log.error("{}其他工作档更新状态失败！", task.getTaskNo());
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}
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}
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}
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// EXECUTE_MANUAL
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for (Task task : taskService.selectManualByExecuteSts()) {
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if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
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Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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} else {
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if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(task.getTaskSts())) {
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case EXECUTE_MANUAL:
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task.setTaskSts(TaskStsType.COMPLETE_MANUAL.sts);
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break;
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}
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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log.error("{}他工作档更新状态失败！", task.getTaskNo());
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}
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}
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}
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}
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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public synchronized void executeMoveTask() {
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Date now = new Date();
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// ANALYZE_MOVE
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for (Task task : taskService.selectMoveByAnalyzeSts()) {
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Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
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if (executingMotion != null) {//存在正在执行的motion
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if (executingMotion.getSync() == 1) {//当前执行中的动作是同步动作，等待执行完成后再执行下一个动作
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continue;
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}
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//异步动作，只允许下一条动作被执行
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Motion nextMotion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getUuid, executingMotion.getUuid()).eq(Motion::getPriority, executingMotion.getPriority() - 1));
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if (nextMotion != null) {
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if (!(nextMotion.getMotionSts() == MotionStsType.INIT.val() || nextMotion.getMotionSts() == MotionStsType.WAITING.val())) {
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continue;//下一条动作已经被执行，不允许再执行后续动作
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}
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}
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}
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Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(task.getTaskSts())) {
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case ANALYZE_MOVE:
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task.setTaskSts(TaskStsType.EXECUTE_MOVE.sts);
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break;
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}
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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log.error("{}其他工作档更新状态失败！", task.getTaskNo());
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}
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}
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}
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// EXECUTE_MOVE
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for (Task task : taskService.selectMoveByExecuteSts()) {
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if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
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Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
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if (null != motion) {
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boolean result = this.executeMotion(motion);
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if (!result) {
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continue;
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}
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} else {
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if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
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continue;
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}
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// 更新Task
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switch (TaskStsType.query(task.getTaskSts())) {
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case EXECUTE_MOVE:
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task.setTaskSts(TaskStsType.COMPLETE_MOVE.sts);
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break;
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}
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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log.error("{}他工作档更新状态失败！", task.getTaskNo());
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}
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}
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}
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}
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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public void scanMotionByExecuting() {
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List<Motion> motionList = motionService.selectBySts(MotionStsType.EXECUTING.val());
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for (Motion motion : motionList) {
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this.finishMotion(motion);
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}
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}
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private synchronized boolean executeMotion(Motion motion) {
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Boolean executeRes = Boolean.FALSE;
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switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).deviceCtg) {
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case CONVEYOR:
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executeRes = conveyorCommandService.accept(motion);
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break;
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case CRANE:
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executeRes = craneCommandService.accept(motion);
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break;
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case SHUTTLE:
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executeRes = shuttleCommandService.accept(motion);
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break;
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case LIFT:
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executeRes = liftCommandService.accept(motion);
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break;
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case AGV:
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executeRes = agvCommandService.accept(motion);
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break;
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case MAP:
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executeRes = mapCommandService.accept(motion);
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break;
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default:
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break;
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}
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if (executeRes) {
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Date now = new Date();
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motion.setMotionSts(MotionStsType.EXECUTING.val());
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motion.setUpdateTime(now);
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motion.setIoTime(now);
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if (!motionService.updateById(motion)) {
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throw new CoolException(motion.generateFlag() + "动作更新失败状态");
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}
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motionService.theNextBeWaiting(motion.getUuid(), motion);
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return true;
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}
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return false;
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}
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private synchronized void finishMotion(Motion motion) {
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Boolean executeRes = Boolean.FALSE;
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switch (Objects.requireNonNull(DeviceCtgType.get(motion.getDeviceCtgEl()))){
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case AGV:
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break;
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case CRANE:
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break;
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case LIFT:
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executeRes = liftCommandService.finish(motion);
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break;
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case SHUTTLE:
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executeRes = shuttleCommandService.finish(motion);
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break;
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case CONVEYOR:
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executeRes = conveyorCommandService.finish(motion);
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break;
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case MAP:
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executeRes = mapCommandService.finish(motion);
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break;
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default:
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break;
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}
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if (executeRes) {
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Date now = new Date();
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motion.setMotionSts(MotionStsType.COMPLETE.val());
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motion.setUpdateTime(now);
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if (!motionService.updateById(motion)) {
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throw new CoolException(motion.generateFlag() + "动作更新失败状态");
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}
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}
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}
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}
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