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.apache.poi.ss.formula.functions.T;
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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.text.SimpleDateFormat;
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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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@Autowired
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private OpenService openService;
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@PostMapping("/agvPickupComplete")
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public Map<String, Object> agvPickupComplete(@RequestBody AgvTaskParam agvTaskParam) {
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HashMap<String, String> mesMap = new HashMap<>();
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mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
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mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
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boolean returnTask3 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "3",agvTaskParam.getExtra().getValues().getSlotName());
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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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log.info("agv请求任务完成，wms任务号:"+JSON.toJSONString(agvTaskParam));
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HashMap<String, Object> map = new HashMap<>();
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getWmsTaskNo, agvTaskParam.getRobotTaskCode()));
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if (!Cools.isEmpty(task)){
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if (agvTaskParam.getExtra().getValues().getSlotName().equals("06YZ0001")){
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Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
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.eq(Device::getStatus, 1)
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.eq(Device::getDeviceNo, 1));
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if (device == null) {
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map.put("code","1");
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map.put("message","失败，设备不存在");
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map.put("reqCode", "");
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return map;
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}
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, device.getId().intValue());
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if (devpThread == null) {
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map.put("code","1");
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map.put("message","失败，输送线不在线");
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map.put("reqCode", "");
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return map;
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}
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boolean result = devpThread.writeWorkSta(100, Short.parseShort("9999"), (short) 101);
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if (!result) {
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map.put("code","1");
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map.put("message","失败，输送线命令下发失败");
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map.put("reqCode", "");
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return map;
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}
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}else {
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if (task.getTaskSts() == 1000 && task.getMemo().equals(agvTaskParam.getExtra().getValues().getSlotName())){
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HashMap<String, String> mesMap = new HashMap<>();
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mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
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mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
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boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",agvTaskParam.getExtra().getValues().getSlotName());
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if (returnTask4){
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task.setTaskSts(1001L);
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taskService.updateById(task);
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log.info("出库任务完成推送mes"+task.getWmsTaskNo());
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}else {
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log.error("出库任务完成推送mes失败"+task.getWmsTaskNo());
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}
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}
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}
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}else {
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HashMap<String, String> mesMap = new HashMap<>();
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mesMap.put("taskNo", agvTaskParam.getRobotTaskCode());
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mesMap.put("contNo",agvTaskParam.getExtra().getValues().getCarrierCode());
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boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",agvTaskParam.getExtra().getValues().getSlotName());
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if (returnTask4){
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log.info("出库任务完成推送mes"+agvTaskParam.getRobotTaskCode());
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}else {
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log.error("出库任务完成推送mes失败"+agvTaskParam.getRobotTaskCode());
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}
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}
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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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return map;
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}
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private boolean toMesHttpRequest(Map<String,String> map, String url, String path, String code,String location){
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Date now = new Date();
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long time = now.getTime()/1000;
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ReturnWcsTaskStatisParam returnWcsTaskStatisParam = new ReturnWcsTaskStatisParam();
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returnWcsTaskStatisParam.setRequestPK(map.get("taskNo"));
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returnWcsTaskStatisParam.setTrkId(map.get("taskNo"));
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returnWcsTaskStatisParam.setContNo(map.get("contNo"));
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returnWcsTaskStatisParam.setCode(code);
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returnWcsTaskStatisParam.setOperator("wcs");
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returnWcsTaskStatisParam.setOperationTime(time);
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returnWcsTaskStatisParam.setTrkType("01");
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returnWcsTaskStatisParam.setCurPos(location);
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String response = "";
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boolean success = false;
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try {
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response = new HttpHandler.Builder()
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.setUri(url)
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.setPath(path)
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.setJson(JSONObject.toJSONString(returnWcsTaskStatisParam))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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String code1 = jsonObject.get("success").toString();
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log.info("上报mes接口请求体:"+JSON.toJSONString(returnWcsTaskStatisParam) +",返回值:"+jsonObject.toJSONString());
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if(code1.equals("1")){
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success = true;
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}
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}catch (Exception e){
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return success;
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}
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return success;
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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("/createWcsTask")
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public HashMap<String,Object> createWcsTask(@RequestBody CreateWcsTaskParam param){
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log.info("mes任务下发，请求体:"+JSONObject.toJSONString(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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log.info("返回mes信息:"+JSONObject.toJSONString(map));
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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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log.info("返回mes信息:"+JSONObject.toJSONString(map));
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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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log.info("返回mes信息:"+JSONObject.toJSONString(map));
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return map;
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}
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map = openService.createWcsTaskCache(param);
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log.info("返回mes信息:"+JSONObject.toJSONString(map));
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return map;
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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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return openService.createInTask(param, null);
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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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return openService.createOutTask(param, null);
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}
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//生成手动取放货任务
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@PostMapping("/createManualTakeTask")
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public R createManualTakeTask(@RequestBody CreateManualTakeTaskParam param) {
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//获取手动任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
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.eq(TaskCtg::getStatus, 1));
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if (taskCtg == null) {
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return R.error("任务类型异常");
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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::getOriginLoc, param.getOriginLoc())
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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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//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("OUT")));
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task.setWmsTaskNo(param.getTaskNo());
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task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
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task.setTaskCtg(taskCtg.getId());
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task.setPriority(priority);
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task.setOriginSite(null);
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task.setOriginLoc(param.getOriginLoc());//源库位
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task.setDestSite(null);
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task.setDestLoc(param.getDestLoc());//目标库位
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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(param.getRecord() ? "Y" : "N");//记录库存信息
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task.setHostId(1L);//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("生成手动取放货任务失败！");
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}
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return R.ok();
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}
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//生成载货移动任务
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@PostMapping("/createLadenMoveTakeTask")
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public R createLadenMoveTakeTask(@RequestBody CreateManualTakeTaskParam param) {
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//获取手动任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
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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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Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
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.eq(Task::getTaskCtg, taskCtg.getId())
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.eq(Task::getOriginLoc, param.getOriginLoc())
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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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//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("OUT")));
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task.setWmsTaskNo(param.getTaskNo());
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task.setTaskSts(TaskStsType.NEW_LADEN_MOVE.sts);
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task.setTaskCtg(taskCtg.getId());
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task.setPriority(priority);
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task.setOriginSite(null);
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task.setOriginLoc(param.getOriginLoc());//源库位
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task.setDestSite(null);
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task.setDestLoc(param.getDestLoc());//目标库位
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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(param.getRecord() ? "Y" : "N");//记录库存信息
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task.setHostId(1L);//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("生成手动取放货任务失败！");
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}
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return R.ok();
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}
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//生成小车移动任务
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@PostMapping("/createMoveTask")
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public R createMoveTask(@RequestBody CreateMoveTaskParam 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.MOVE))
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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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Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getDeviceNo, param.getShuttleNo())
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.eq(Device::getHostId, 1)
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.eq(Device::getStatus, 1));
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if (device == null) {
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return R.error("穿梭车不存在");
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return R.error("穿梭车不在线");
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return R.error("穿梭车不在线");
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}
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// if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(param.getDestLoc())) {
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// return R.error("穿梭车和目标位置不在同一楼层");
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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::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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//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("OUT")));
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task.setWmsTaskNo(param.getTaskNo());
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task.setTaskSts(TaskStsType.NEW_MOVE.sts);
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task.setTaskCtg(taskCtg.getId());
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task.setPriority(priority);
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task.setOriginSite(null);
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task.setOriginLoc(null);
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task.setDestSite(null);
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task.setDestLoc(param.getDestLoc());
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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(param.getShuttleNo());
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task.setRecordLoc("N");//不记录库存信息
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task.setHostId(1L);//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("生成小车移动任务失败！");
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}
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return R.ok();
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}
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//切换工作模式
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@PostMapping("/switchWorkMode")
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public R switchWorkMode(@RequestBody SwitchWorkModeParam param) {
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BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, param.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(param.getSiteId(), param.getWorkMode());
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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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return R.ok();
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}
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}
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