package com.zy.asrs.wcs.core.controller;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.common.utils.HttpHandler;
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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.core.domain.dto.BasLiftStaDto;
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import com.zy.asrs.wcs.core.domain.param.*;
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import com.zy.asrs.wcs.core.entity.*;
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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.*;
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import com.zy.asrs.wcs.core.utils.Utils;
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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.enums.WorkModeType;
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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.DevpThread;
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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.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import java.util.*;
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/**
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* 对外暴露接口
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* 提供任务生成、设备运动等接口
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*/
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@RestController
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@RequestMapping("/openapi")
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public class OpenController extends BaseController {
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private static final Logger log = LoggerFactory.getLogger(OpenController.class);
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private TaskCtgService taskCtgService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private DeviceService deviceService;
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@Autowired
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private LocService locService;
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@Autowired
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private DictService dictService;
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@Autowired
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private BasConveyorPathService basConveyorPathService;
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@Autowired
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private BasLiftService basLiftService;
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@Autowired
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private BasConveyorService basConveyorService;
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@Autowired
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private BasConveyorStaService basConveyorStaService;
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@PostMapping("/agvPickupComplete")
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public Map<String, Object> agvPickupComplete(@RequestBody AgvTaskParam agvTaskParam) {
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HashMap<String, Object> map = new HashMap<>();
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map.put("code","0");
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map.put("message","成功");
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map.put("reqCode", "");
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log.info("agv请求取货完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
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return map;
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}
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@PostMapping("/agvTaskComplete")
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public Map<String, Object> agvTaskComplete(@RequestBody AgvTaskParam agvTaskParam) {
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HashMap<String, Object> map = new HashMap<>();
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map.put("code","0");
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map.put("message","成功");
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map.put("reqCode", "");
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log.info("agv请求任务完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
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return map;
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}
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//取消wcs任务
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@PostMapping("/cancelWcsTask")
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public HashMap<String,Object> cancelWcsTask(@RequestBody CreateWcsTaskParam param){
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HashMap<String, Object> map = new HashMap<>();
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if (Cools.isEmpty(param)){
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map.put("success", "0");
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map.put("message", "失败，请求参数为空");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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if (Cools.isEmpty(param.getRequestPK()) || Cools.isEmpty(param.getContNo()) ){
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map.put("success", "0");
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map.put("message", "失败，请求参数为空");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, param.getRequestPK()).eq(Task::getHostId,1L));
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if (task == null){
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map.put("success", "0");
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map.put("message", "失败，未找到相同编号的任务");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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if (task.getTaskSts() == 1 || task.getTaskSts() == 101){
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boolean remove = false;
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try {
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remove = taskService.removeById(task);
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}catch (Exception e){
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map.put("success", "0");
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map.put("message", "取消任务失败:"+e.getMessage());
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map.put("result", "");
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map.put("requestPK",param.getRequestPK());
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return map;
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}finally {
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if (remove){
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map.put("success", "1");
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map.put("message", "取消任务成功");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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}else {
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map.put("success", "0");
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map.put("message", "取消任务失败");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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}
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}
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}else {
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map.put("success", "0");
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map.put("message", "失败，任务已执行");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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return map;
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}
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//mes下发任务
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@PostMapping("/createWcsTaskParam")
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public HashMap<String,Object> createWcsTask(@RequestBody CreateWcsTaskParam param){
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HashMap<String, Object> map = new HashMap<>();
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if (Cools.isEmpty(param)){
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map.put("success", "0");
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map.put("message", "失败，请求参数为空");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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if (Cools.isEmpty(param.getRequestPK()) || Cools.isEmpty(param.getContNo()) || Cools.isEmpty(param.getTrkPrty()) || Cools.isEmpty(param.getToPos())){
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map.put("success", "0");
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map.put("message", "失败，请求参数为空");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, param.getRequestPK()).eq(Task::getHostId,1L));
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if(task != null){
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map.put("success", "0");
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map.put("message", "失败，存在相同编号的任务");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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ArrayList<String> inlist = new ArrayList<>();
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inlist.add("1");inlist.add("8");
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ArrayList<String> outlist = new ArrayList<>();
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outlist.add("2");outlist.add("9");
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if (inlist.contains(param.getTrkType())){
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try {
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AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
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getInRequestParam(agvTaskCreateParam,param);
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boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
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if (!httpRequest){
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map.put("success", "0");
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map.put("message", "转发AGV任务出错");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}
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}catch (Exception e){
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}
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CreateInTaskParam createInTaskParam = new CreateInTaskParam();
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createInTaskParam.setTaskNo(param.getRequestPK());
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createInTaskParam.setDestLoc(getWMStoWCSLocNo(param.getToPos()));
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createInTaskParam.setOriginSite("100");
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createInTaskParam.setBarcode(param.getContNo());
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createInTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
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R inTask = null;
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try {
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inTask = createInTask(createInTaskParam);
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}catch (Exception e){
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map.put("success", "0");
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map.put("message", "生成任务出错");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}finally {
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int code = (int) inTask.get("code");
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if (code == 200){
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map.put("success", "1");
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map.put("message", inTask.get("msg"));
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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}else {
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map.put("success", "0");
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map.put("message", inTask.get("msg"));
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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}
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}
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} else if (outlist.contains(param.getTrkType())) {
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// try {
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// AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
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// getOutRequestParam(agvTaskCreateParam,param);
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// boolean httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.94:8001", "/api/robot/controller/task/submit");
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// if (!httpRequest){
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// map.put("success", "0");
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// map.put("message", "转发AGV任务出错");
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// map.put("result", "");
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// map.put("requestPK", param.getRequestPK());
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// return map;
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// }
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// }catch (Exception e){
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// map.put("success", "0");
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// map.put("message", "转发AGV任务出错");
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// map.put("result", "");
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// map.put("requestPK", param.getRequestPK());
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// return map;
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// }
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CreateOutTaskParam createOutTaskParam = new CreateOutTaskParam();
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createOutTaskParam.setTaskNo(param.getRequestPK());
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createOutTaskParam.setOriginLoc(getWMStoWCSLocNo(param.getFrmPos()));
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createOutTaskParam.setOriginSite("101");
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createOutTaskParam.setDestSite("100");
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createOutTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
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createOutTaskParam.setEndSite(param.getToPos());
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R outTask = null;
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try {
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outTask = createOutTask(createOutTaskParam);
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}catch (Exception e){
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map.put("success", "0");
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map.put("message", "生成任务出错");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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return map;
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}finally {
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int code = (int) outTask.get("code");
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if (code == 200){
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map.put("success", "1");
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map.put("message", outTask.get("msg"));
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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}else {
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map.put("success", "0");
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map.put("message", outTask.get("msg"));
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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}
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}
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}else {
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map.put("success", "0");
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map.put("message", "未找到对应任务类型");
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map.put("result", "");
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map.put("requestPK", param.getRequestPK());
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}
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return map;
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}
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public static String getWMStoWCSLocNo(String loc){
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String locNo = "";
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int row = Integer.parseInt(loc.substring(6,8));
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int bay = Integer.parseInt(loc.substring(8,10));
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int lev = Integer.parseInt(loc.substring(10,12));
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locNo = row +"-"+bay+"-"+lev;
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return locNo;
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}
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private void getInRequestParam(AgvTaskCreateParam agvTaskCreateParam,CreateWcsTaskParam param){
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List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
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//起始位
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new AgvTaskCreateParam.AgvTaskParam("SITE",param.getFrmPos(),0,1),
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//目标位
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new AgvTaskCreateParam.AgvTaskParam("SITE","06YZ0001",1,1)
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);
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List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
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//起始位
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new AgvTaskCreateParam.carrierInfoParam()
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);
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agvTaskCreateParam.setTaskType("F01");
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agvTaskCreateParam.setInitPriority(param.getTrkPrty());
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agvTaskCreateParam.setRobotTaskCode(param.getRequestPK());
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agvTaskCreateParam.setTargetRoute(agvTaskParamList);
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agvTaskCreateParam.setCarrierInfo(carrierInfoParam);
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}
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private boolean doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
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String response = "";
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boolean success = false;
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Map<String, Object> map = new HashMap<>();
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map.put("Content-Type", "application/json;charset=UTF-8");
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map.put("X-lr-request-id", requestParam.getRobotTaskCode());
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map.put("X-lr-version", 4.1);
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map.put("X-lr-trace-id", "{{$guid}}");
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try {
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response = new HttpHandler.Builder()
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.setHeaders(map)
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.setUri(url)
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.setHttps(true)
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.setPath(path)
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.setJson(JSONObject.toJSONString(requestParam))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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String code = jsonObject.get("code").toString();
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if(code.equals("SUCCESS")){
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success = true;
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}
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log.info("转发agv任务：请求体:"+JSONObject.toJSONString(requestParam)+",返回值:"+jsonObject);
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}catch (Exception e){
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}
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return success;
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}
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//生成入库任务
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@PostMapping("/createInTask")
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public R createInTask(@RequestBody CreateInTaskParam param) {
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//获取入库任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
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.eq(TaskCtg::getStatus, 1));
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if (taskCtg == null) {
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return R.error("任务类型异常");
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}
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Long hostId = 1L;//默认主仓库
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Loc loc = locService.selectByLocNo(param.getDestLoc());
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if (loc == null) {
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return R.error("库位号不存在");
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}
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//获取严格模式参数
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boolean mapStrict = true;//默认严格模式
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
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if (dict != null) {
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mapStrict = Boolean.parseBoolean(dict.getValue());
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}
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if (mapStrict && !loc.getLocStsFlag().equals("O")) {
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return R.error("库位状态不满足入库条件");
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}
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Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
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.eq(Task::getTaskCtg, taskCtg.getId())
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.eq(Task::getOriginSite, param.getOriginSite())
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.eq(Task::getDestSite, param.getDestSite())
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.eq(Task::getDestLoc, param.getDestLoc()));
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if (one != null) {
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return R.error("任务已存在");
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}
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String destSite = param.getDestSite();
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if (Cools.isEmpty(param.getDestSite())) {
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//目标站为空则使用WCS系统内置路径
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BasConveyorPath path = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
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.eq(BasConveyorPath::getTypeNo, taskCtg.getId())
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.eq(BasConveyorPath::getHostId, hostId)
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.eq(BasConveyorPath::getStnNo, param.getOriginSite()));
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if(path == null) {
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return R.error("内置路径不存在");
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}
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destSite = String.valueOf(path.getDeviceStn());
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}
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//判断出入库模式
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BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>()
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.eq(BasConveyorSta::getSiteNo, destSite));
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if (!basConveyorSta.getWorkMode().equals((int) WorkModeType.PAKIN_MODE.id)) {
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//不是入库模式，检测是否可切换入库
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//获取出库任务类型
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TaskCtg taskInCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
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.eq(TaskCtg::getStatus, 1));
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if (taskInCtg == null) {
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return R.error("任务类型异常");
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}
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List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
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.eq(Task::getTaskCtg, taskInCtg.getId()));
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if (!tasks.isEmpty()) {
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return R.error("当前存在出库任务，无法切换入库模式");
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}
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BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
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if(basConveyor == null) {
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return R.error("输送线不存在");
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}
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
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if(devpThread == null) {
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return R.error("输送线线程不存在");
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}
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boolean result = devpThread.switchWorkMode(Integer.parseInt(destSite), WorkModeType.PAKIN_MODE.id);
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if (!result) {
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return R.error("模式切换失败");
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}
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}
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//优先级
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Integer priority = 10;
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if (param.getPriority() != null) {
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priority = param.getPriority();
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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("IN")));
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task.setWmsTaskNo(param.getTaskNo());
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task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
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task.setTaskCtg(taskCtg.getId());
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task.setPriority(priority);
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task.setOriginSite(param.getOriginSite());
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task.setOriginLoc(null);
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task.setDestSite(destSite);
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task.setDestLoc(param.getDestLoc());
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task.setZpallet(param.getBarcode());
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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("");
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task.setShuttleNo(null);//等待主线程分配小车
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task.setRecordLoc("Y");//记录库存信息
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task.setHostId(hostId);//临时控制只允许host为1
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boolean result = taskService.save(task);
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if (!result) {
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return R.error("生成入库任务失败！");
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}
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return R.ok();
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}
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//生成出库任务
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@PostMapping("/createOutTask")
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public R createOutTask(@RequestBody CreateOutTaskParam param) {
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//获取出库任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
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.eq(TaskCtg::getStatus, 1));
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if (taskCtg == null) {
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return R.error("任务类型异常");
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}
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Long hostId = 1L;//默认主仓库
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Loc loc = locService.selectByLocNo(param.getOriginLoc());
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if (loc == null) {
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return R.error("库位号不存在");
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}
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//获取严格模式参数
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boolean mapStrict = true;//默认严格模式
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
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if (dict != null) {
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mapStrict = Boolean.parseBoolean(dict.getValue());
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}
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if (mapStrict && !loc.getLocStsFlag().equals("F")) {
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return R.error("库位状态不满足出库条件");
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}
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Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
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.eq(Task::getTaskCtg, taskCtg.getId())
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.eq(Task::getOriginSite, param.getOriginSite())
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.eq(Task::getOriginLoc, param.getOriginLoc())
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.eq(Task::getDestSite, param.getDestSite()));
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if (one != null) {
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return R.error("任务已存在");
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}
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String originSite = param.getOriginSite();
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if (Cools.isEmpty(param.getOriginSite())) {
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//使用WCS系统内置路径
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BasConveyorPath path = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
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.eq(BasConveyorPath::getTypeNo, taskCtg.getId())
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.eq(BasConveyorPath::getHostId, hostId)
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.eq(BasConveyorPath::getStnNo, param.getDestSite()));
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if(path == null) {
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return R.error("内置路径不存在");
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}
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Integer deviceNo = path.getDeviceNo();//获取提升机号
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BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, deviceNo).eq(BasLift::getHostId, hostId));
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if(basLift == null) {
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return R.error("提升机对象不存在");
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}
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List<BasLiftStaDto> staList = JSON.parseArray(basLift.getSta(), BasLiftStaDto.class);
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BasLiftStaDto originStaDto = null;
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for (BasLiftStaDto sta : staList) {
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if (sta.getLev() == Utils.getLev(param.getOriginLoc())) {
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originStaDto = sta;
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break;
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}
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}
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if (originStaDto == null) {
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return R.error("源站不存在");
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}
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originSite = String.valueOf(originStaDto.getStaNo());
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}
|
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//判断出入库模式
|
BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>()
|
.eq(BasConveyorSta::getSiteNo, originSite));
|
if (!basConveyorSta.getWorkMode().equals((int) WorkModeType.PAKOUT_MODE.id)) {
|
//不是出库模式，检测是否可切换出库
|
//获取入库任务类型
|
TaskCtg taskInCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
|
.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
|
.eq(TaskCtg::getStatus, 1));
|
if (taskInCtg == null) {
|
return R.error("任务类型异常");
|
}
|
List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
|
.eq(Task::getTaskCtg, taskInCtg.getId()));
|
if (!tasks.isEmpty()) {
|
return R.error("当前存在入库任务，无法切换出库模式");
|
}
|
|
BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
|
if(basConveyor == null) {
|
return R.error("输送线不存在");
|
}
|
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
|
if(devpThread == null) {
|
return R.error("输送线线程不存在");
|
}
|
|
boolean result = devpThread.switchWorkMode(Integer.parseInt(originSite), WorkModeType.PAKOUT_MODE.id);
|
if (!result) {
|
return R.error("模式切换失败");
|
}
|
}
|
|
//优先级
|
Integer priority = 10;
|
if (param.getPriority() != null) {
|
priority = param.getPriority();
|
}
|
|
Task task = new Task();
|
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
|
task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
|
task.setWmsTaskNo(param.getTaskNo());
|
task.setTaskSts(TaskStsType.NEW_OUTBOUND.sts);
|
task.setTaskCtg(taskCtg.getId());
|
task.setPriority(priority);
|
task.setOriginSite(originSite);
|
task.setOriginLoc(param.getOriginLoc());
|
task.setDestSite(param.getDestSite());
|
task.setDestLoc(null);
|
task.setIoTime(new Date());
|
task.setStartTime(new Date());
|
task.setStatus(1);
|
task.setMemo(param.getEndSite());
|
task.setShuttleNo(null);//等待主线程分配小车
|
task.setRecordLoc("Y");//记录库存信息
|
task.setHostId(hostId);//临时控制只允许host为1
|
|
boolean result = taskService.save(task);
|
if (!result) {
|
return R.error("生成出库任务失败！");
|
}
|
return R.ok();
|
}
|
|
//生成手动取放货任务
|
@PostMapping("/createManualTakeTask")
|
public R createManualTakeTask(@RequestBody CreateManualTakeTaskParam param) {
|
//获取手动任务类型
|
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
|
.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
|
.eq(TaskCtg::getStatus, 1));
|
if (taskCtg == null) {
|
return R.error("任务类型异常");
|
}
|
|
Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
|
.eq(Task::getTaskCtg, taskCtg.getId())
|
.eq(Task::getOriginLoc, param.getOriginLoc())
|
.eq(Task::getDestLoc, param.getDestLoc()));
|
if (one != null) {
|
return R.error("任务已存在");
|
}
|
|
//优先级
|
Integer priority = 10;
|
if (param.getPriority() != null) {
|
priority = param.getPriority();
|
}
|
|
Task task = new Task();
|
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
|
task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
|
task.setWmsTaskNo(param.getTaskNo());
|
task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
|
task.setTaskCtg(taskCtg.getId());
|
task.setPriority(priority);
|
task.setOriginSite(null);
|
task.setOriginLoc(param.getOriginLoc());//源库位
|
task.setDestSite(null);
|
task.setDestLoc(param.getDestLoc());//目标库位
|
task.setIoTime(new Date());
|
task.setStartTime(new Date());
|
task.setStatus(1);
|
task.setMemo("");
|
task.setShuttleNo(null);//等待主线程分配小车
|
task.setRecordLoc(param.getRecord() ? "Y" : "N");//记录库存信息
|
task.setHostId(1L);//临时控制只允许host为1
|
|
boolean result = taskService.save(task);
|
if (!result) {
|
return R.error("生成手动取放货任务失败！");
|
}
|
return R.ok();
|
}
|
|
//生成载货移动任务
|
@PostMapping("/createLadenMoveTakeTask")
|
public R createLadenMoveTakeTask(@RequestBody CreateManualTakeTaskParam param) {
|
//获取手动任务类型
|
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
|
.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
|
.eq(TaskCtg::getStatus, 1));
|
if (taskCtg == null) {
|
return R.error("任务类型异常");
|
}
|
|
Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
|
.eq(Task::getTaskCtg, taskCtg.getId())
|
.eq(Task::getOriginLoc, param.getOriginLoc())
|
.eq(Task::getDestLoc, param.getDestLoc()));
|
if (one != null) {
|
return R.error("任务已存在");
|
}
|
|
//优先级
|
Integer priority = 10;
|
if (param.getPriority() != null) {
|
priority = param.getPriority();
|
}
|
|
Task task = new Task();
|
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
|
task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
|
task.setWmsTaskNo(param.getTaskNo());
|
task.setTaskSts(TaskStsType.NEW_LADEN_MOVE.sts);
|
task.setTaskCtg(taskCtg.getId());
|
task.setPriority(priority);
|
task.setOriginSite(null);
|
task.setOriginLoc(param.getOriginLoc());//源库位
|
task.setDestSite(null);
|
task.setDestLoc(param.getDestLoc());//目标库位
|
task.setIoTime(new Date());
|
task.setStartTime(new Date());
|
task.setStatus(1);
|
task.setMemo("");
|
task.setShuttleNo(null);//等待主线程分配小车
|
task.setRecordLoc(param.getRecord() ? "Y" : "N");//记录库存信息
|
task.setHostId(1L);//临时控制只允许host为1
|
|
boolean result = taskService.save(task);
|
if (!result) {
|
return R.error("生成手动取放货任务失败！");
|
}
|
return R.ok();
|
}
|
|
//生成小车移动任务
|
@PostMapping("/createMoveTask")
|
public R createMoveTask(@RequestBody CreateMoveTaskParam param) {
|
//获取出库任务类型
|
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
|
.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
|
.eq(TaskCtg::getStatus, 1));
|
if (taskCtg == null) {
|
return R.error("任务类型异常");
|
}
|
|
Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
|
.eq(Device::getDeviceNo, param.getShuttleNo())
|
.eq(Device::getHostId, 1)
|
.eq(Device::getStatus, 1));
|
if (device == null) {
|
return R.error("穿梭车不存在");
|
}
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
|
if (shuttleThread == null) {
|
return R.error("穿梭车不在线");
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return R.error("穿梭车不在线");
|
}
|
// if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(param.getDestLoc())) {
|
// return R.error("穿梭车和目标位置不在同一楼层");
|
// }
|
|
Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
|
.eq(Task::getTaskCtg, taskCtg.getId())
|
.eq(Task::getDestLoc, param.getDestLoc()));
|
if (one != null) {
|
return R.error("任务已存在");
|
}
|
|
//优先级
|
Integer priority = 10;
|
if (param.getPriority() != null) {
|
priority = param.getPriority();
|
}
|
|
Task task = new Task();
|
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
|
task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
|
task.setWmsTaskNo(param.getTaskNo());
|
task.setTaskSts(TaskStsType.NEW_MOVE.sts);
|
task.setTaskCtg(taskCtg.getId());
|
task.setPriority(priority);
|
task.setOriginSite(null);
|
task.setOriginLoc(null);
|
task.setDestSite(null);
|
task.setDestLoc(param.getDestLoc());
|
task.setIoTime(new Date());
|
task.setStartTime(new Date());
|
task.setStatus(1);
|
task.setMemo("");
|
task.setShuttleNo(param.getShuttleNo());
|
task.setRecordLoc("N");//不记录库存信息
|
task.setHostId(1L);//临时控制只允许host为1
|
|
boolean result = taskService.save(task);
|
if (!result) {
|
return R.error("生成小车移动任务失败！");
|
}
|
return R.ok();
|
}
|
|
//切换工作模式
|
@PostMapping("/switchWorkMode")
|
public R switchWorkMode(@RequestBody SwitchWorkModeParam param) {
|
BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, param.getConveyorNo()));
|
if(basConveyor == null) {
|
return R.error("输送线不存在");
|
}
|
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
|
if(devpThread == null) {
|
return R.error("输送线线程不存在");
|
}
|
|
boolean result = devpThread.switchWorkMode(param.getSiteId(), param.getWorkMode());
|
if (!result) {
|
return R.error("模式切换失败");
|
}
|
return R.ok();
|
}
|
|
public static void main(String[] args) {
|
String wmStoWCSLocNo = getWMStoWCSLocNo("0601KW010101");
|
System.out.println(wmStoWCSLocNo);
|
}
|
|
}
|
