package com.zy.asrs.wcs.core.controller;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONArray;
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import com.alibaba.fastjson.JSONObject;
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import com.alibaba.fastjson.serializer.SerializerFeature;
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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.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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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.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.ShuttleCommandParam;
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import com.zy.asrs.wcs.core.domain.param.ShuttleCommandRollbackParam;
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import com.zy.asrs.wcs.core.domain.param.ShuttleCommandUpdateCompleteParam;
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import com.zy.asrs.wcs.core.entity.Motion;
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import com.zy.asrs.wcs.core.entity.MotionLog;
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import com.zy.asrs.wcs.core.entity.Task;
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import com.zy.asrs.wcs.core.entity.TaskLog;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
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import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
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import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
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import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
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import com.zy.asrs.wcs.core.model.enums.TaskStsType;
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import com.zy.asrs.wcs.core.service.MotionLogService;
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import com.zy.asrs.wcs.core.service.MotionService;
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import com.zy.asrs.wcs.core.service.TaskLogService;
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import com.zy.asrs.wcs.core.service.TaskService;
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import com.zy.asrs.wcs.core.utils.RedisUtil;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
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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 TaskController extends BaseController {
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@Autowired
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private TaskService taskService;
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@Autowired
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private TaskLogService taskLogService;
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@Autowired
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private MotionService motionService;
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@Autowired
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private MotionLogService motionLogService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private ObjectMapper objectMapper;
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@PreAuthorize("hasAuthority('core:task:list')")
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@PostMapping("/task/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<Task, BaseParam> pageParam = new PageParam<>(baseParam, Task.class);
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return R.ok().add(taskService.page(pageParam, pageParam.buildWrapper(true)));
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}
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@PreAuthorize("hasAuthority('core:task:list')")
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@PostMapping("/task/list")
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public R list(@RequestBody Map<String, Object> map) {
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return R.ok().add(taskService.list());
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}
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@PreAuthorize("hasAuthority('core:task:list')")
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@GetMapping("/task/{id}")
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public R get(@PathVariable("id") Long id) {
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return R.ok().add(taskService.getById(id));
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}
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@PreAuthorize("hasAuthority('core:task:save')")
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@OperationLog("添加任务列表")
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@PostMapping("/task/save")
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public R save(@RequestBody Task task) {
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if (!taskService.save(task)) {
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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:task:update')")
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@OperationLog("修改任务列表")
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@PostMapping("/task/update")
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public R update(@RequestBody Task task) {
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if (!taskService.updateById(task)) {
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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:task:remove')")
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@OperationLog("删除任务列表")
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@PostMapping("/task/remove/{ids}")
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public R remove(@PathVariable Long[] ids) {
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if (!taskService.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:task:list')")
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@PostMapping("/task/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<Task> wrapper = new LambdaQueryWrapper<>();
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if (!Cools.isEmpty(condition)) {
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wrapper.like(Task::getTaskNo, condition);
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}
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taskService.page(new Page<>(1, 30), wrapper).getRecords().forEach(
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item -> vos.add(new KeyValVo(item.getId(), item.getTaskNo()))
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);
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return R.ok().add(vos);
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}
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@PreAuthorize("hasAuthority('core:task:list')")
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@PostMapping("/task/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(taskService.list(), Task.class), response);
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}
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@PreAuthorize("hasAuthority('core:task:complete')")
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@OperationLog("手动完成任务")
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@PostMapping("/task/complete/{id}")
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@Transactional
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public synchronized R complete(@PathVariable Long id) {
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Task task = taskService.getById(id);
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if (task == null) {
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return R.error("任务不存在");
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}
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switch (TaskStsType.query(task.getTaskSts())) {
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case NEW_INBOUND:
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case ANALYZE_INBOUND:
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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 NEW_OUTBOUND:
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case ANALYZE_OUTBOUND:
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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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case NEW_CHARGE:
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case ANALYZE_CHARGE:
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case EXECUTE_CHARGE:
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task.setTaskSts(TaskStsType.CHARGE_WORKING.sts);
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break;
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case NEW_MOVE:
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case ANALYZE_MOVE:
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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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case NEW_MANUAL:
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case ANALYZE_MANUAL:
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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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default:
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return R.error("当前状态不可被完成");
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}
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task.setUpdateTime(new Date());
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task.setUpdateBy(getLoginUserId());
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if (!taskService.updateById(task)) {
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return R.error("完成失败");
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}
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return R.ok("任务完成");
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}
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@PreAuthorize("hasAuthority('core:task:cancel')")
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@OperationLog("手动取消任务")
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@PostMapping("/task/cancel/{id}")
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@Transactional
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public synchronized R cancel(@PathVariable Long id) {
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Task task = taskService.getById(id);
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if (task == null) {
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return R.error("任务不存在");
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}
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//创建历史档
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TaskLog taskLog = new TaskLog();
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taskLog.sync(task);
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taskLog.setUpdateTime(new Date());
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taskLog.setUpdateBy(getLoginUserId());
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taskLog.setHostId(null);
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taskLogService.save(taskLog);
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List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
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for (Motion motion : motions) {
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//创建动作历史档
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MotionLog motionLog = new MotionLog();
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motionLog.sync(motion);
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motionLog.setUpdateTime(new Date());
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motionLog.setHostId(null);
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motionLogService.save(motionLog);
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}
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//删除源任务
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taskService.removeById(task.getId());
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//删除动作
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motionService.remove(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
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return R.ok("取消成功");
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}
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@PreAuthorize("hasAuthority('core:task:list')")
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@PostMapping("/task/shuttleCommand")
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public R shuttleCommand(@RequestBody ShuttleCommandParam param) {
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Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo());
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if (object == null) {
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return R.ok();
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}
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ShuttleRedisCommand redisCommand = null;
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try {
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redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
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} catch (JsonProcessingException e) {
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throw new RuntimeException(e);
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}
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if (redisCommand == null) {
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return R.ok();
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}
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HashMap<String, Object> hashMap = new HashMap<>();
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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List<ShuttleCommand> commands = assignCommand.getCommands();
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Integer commandStep = redisCommand.getCommandStep();//当前步序
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ArrayList<JSONObject> list = new ArrayList<>();
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int index = 0;
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for (ShuttleCommand command : commands) {
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JSONObject data = JSON.parseObject(JSON.toJSONString(command));
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data.put("index", index++);
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data.put("commandStep", commandStep);
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ShuttleCommandModeType type = ShuttleCommandModeType.get(command.getMode());
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if (type == null) {
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data.put("mode$", command.getMode());
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}else {
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data.put("mode$", type.desc);
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}
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if (command.getNodes() != null) {
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List<NavigateNode> nodes = command.getNodes();
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NavigateNode start = nodes.get(0);
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NavigateNode target = nodes.get(nodes.size() - 1);
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data.put("start", Utils.getLocNo(start.getX(), start.getY(), start.getZ()));
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data.put("target", Utils.getLocNo(target.getX(), target.getY(), target.getZ()));
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}
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list.add(data);
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}
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hashMap.put("total", commands.size());
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hashMap.put("records", list);
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hashMap.put("commandStep", commandStep);
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return R.ok().add(hashMap);
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}
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@PreAuthorize("hasAuthority('core:task:list')")
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@PostMapping("/task/shuttleCommand/completeSwitch")
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public R shuttleCommandCompleteSwitch(@RequestBody ShuttleCommandUpdateCompleteParam param) {
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Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo());
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if (object == null) {
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return R.error("指令不存在");
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}
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ShuttleRedisCommand redisCommand = null;
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try {
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redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
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} catch (JsonProcessingException e) {
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throw new RuntimeException(e);
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}
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if (redisCommand == null) {
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return R.error("指令不存在");
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}
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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List<ShuttleCommand> commands = assignCommand.getCommands();
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ShuttleCommand command = commands.get(param.getIndex());
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command.setComplete(param.getComplete());
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redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
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return R.ok();
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}
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@PreAuthorize("hasAuthority('core:task:list')")
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@PostMapping("/task/shuttleCommand/commandRollback")
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public R shuttleCommandRollback(@RequestBody ShuttleCommandRollbackParam param) {
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Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo());
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if (object == null) {
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return R.error("指令不存在");
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}
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ShuttleRedisCommand redisCommand = null;
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try {
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redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
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} catch (JsonProcessingException e) {
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throw new RuntimeException(e);
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}
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if (redisCommand == null) {
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return R.error("指令不存在");
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}
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redisCommand.setCommandStep(param.getIndex());
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redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
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return R.ok();
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}
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}
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