package com.zy.asrs.wcs.core.timer;
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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.wcs.core.domain.param.AgvTaskCreateParam;
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import com.zy.asrs.wcs.core.domain.param.CreateWcsTaskParam;
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import com.zy.asrs.wcs.core.domain.param.ReturnWcsTaskStatisParam;
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import com.zy.asrs.wcs.core.entity.*;
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import com.zy.asrs.wcs.core.model.enums.LocStsType;
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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 lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.*;
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@Slf4j
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@Component
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public class TaskTimer {
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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 LocService locService;
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@Autowired
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private BasConveyorStaService basConveyorStaService;
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//出库转发agv
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@Scheduled(cron = "0/1 * * * * ? ")
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@Transactional
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public synchronized void sendOutTaskToAgv() {
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ArrayList<Long> taskSts = new ArrayList<>();
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taskSts.add(TaskStsType.COMPLETE_OUTBOUND.sts);
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BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, 100));
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if (basConveyorSta == null) {
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return;
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}
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if (basConveyorSta.getWorkMode() != 2){
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return;
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}
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if (basConveyorSta.getTaskNo() == 0){
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return;
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}
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if (!basConveyorSta.getAutoing().equals("Y") || !basConveyorSta.getLoading().equals("Y")) {
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return;
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}
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List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
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.eq(Task::getStatus, 1)
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.in(Task::getTaskSts, taskSts));
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for (Task task : tasks) {
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if (Cools.isEmpty(task.getMemo())){
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task.setTaskSts(999L);
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taskService.updateById(task);
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continue;
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}else if (task.getMemo().equals("06YZ0001")){
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HashMap<String, String> mesMap = new HashMap<>();
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mesMap.put("taskNo", task.getWmsTaskNo());
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mesMap.put("contNo",task.getZpallet());
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boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",task.getZpallet());
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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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continue;
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}
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if (task.getTaskNo().equals(basConveyorSta.getTaskNo().toString())) {
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//绑定托盘码
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boolean httpRequest1 = agvBindBarcodeHttpRequest("", "", task);
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AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
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getOutRequestParam(agvTaskCreateParam,task);
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//发送出库任务
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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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task.setTaskSts(1000L);
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taskService.updateById(task);
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log.info("出库任务推送rgv"+task.getWmsTaskNo());
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}else {
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log.error("出库任务推送rgv失败"+task.getWmsTaskNo());
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}
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}
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}
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}
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private void getOutRequestParam(AgvTaskCreateParam agvTaskCreateParam, Task 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","06YZ0001",0,1),
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//目标位
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new AgvTaskCreateParam.AgvTaskParam("SITE",param.getMemo(),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.getPriority().toString());
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agvTaskCreateParam.setRobotTaskCode(param.getWmsTaskNo());
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agvTaskCreateParam.setTargetRoute(agvTaskParamList);
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agvTaskCreateParam.setCarrierInfo(carrierInfoParam);
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}
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private boolean agvBindBarcodeHttpRequest(String url, String path,Task task){
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String response = "";
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boolean success = false;
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Map<String, Object> headers = new HashMap<>();
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headers.put("Content-Type", "application/json;charset=UTF-8");
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headers.put("X-lr-request-id", task.getWmsTaskNo());
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headers.put("X-lr-version", 4.1);
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headers.put("X-lr-trace-id", "{{$guid}}");
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Map<String, Object> map = new HashMap<>();
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map.put("carrierCode",task.getZpallet());
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map.put("siteCode",task.getMemo());
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map.put("extra",null);
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try {
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response = new HttpHandler.Builder()
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.setHeaders(headers)
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.setUri("172.18.16.248:443")
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.setHttps(true)
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.setPath("/rcs/rtas/api/robot/controller/carrier/bind")
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.setJson(JSONObject.toJSONString(map))
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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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log.info("agv绑定箱号,请求体:"+JSONObject.toJSONString(map)+",返回:"+response);
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if(code.equals("SUCCESS")){
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success = true;
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}
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}catch (Exception e){
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log.info("agv绑定箱号请求报错"+e.getMessage());
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}
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return success;
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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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log.info("转发agv请求报文:"+JSONObject.toJSONString(requestParam));
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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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log.info("转发agv请求返回:"+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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}catch (Exception e){
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log.info("转发agv请求报错"+e.getMessage());
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}
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return success;
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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@Transactional
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public synchronized void clearCompletedTask() {
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ArrayList<Long> taskSts = new ArrayList<>();
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taskSts.add(TaskStsType.COMPLETE_INBOUND.sts);
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List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
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.eq(Task::getStatus, 1)
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.in(Task::getTaskSts, taskSts));
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for (Task task : tasks) {
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if (Cools.isEmpty(task.getMemo())){
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task.setTaskSts(998L);
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taskService.updateById(task);
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continue;
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}
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HashMap<String, String> mesMap = new HashMap<>();
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mesMap.put("taskNo", task.getWmsTaskNo());
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mesMap.put("contNo",task.getZpallet());
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boolean returnTask4 = toMesHttpRequest(mesMap, "172.18.231.126", "/api/wcs/wcsTaskInfo", "4",task.getMemo());
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if (returnTask4){
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log.info("任务完成后上报mes成功，任务号:"+task.getWmsTaskNo());
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//记录库存信息
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updateRecordLoc(task);
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//任务转历史档
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saveTaskLog(task);
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}else {
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log.error("任务完成后返回mes失败");
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}
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}
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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@Transactional
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public synchronized void clearCompletedTask999() {
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ArrayList<Long> taskSts = new ArrayList<>();
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taskSts.add(TaskStsType.OUT_TASK_OVER_HAND.sts);
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taskSts.add(TaskStsType.OUT_TASK_OVER.sts);
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taskSts.add(TaskStsType.COMPLETE_CHARGE.sts);
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taskSts.add(TaskStsType.COMPLETE_MOVE.sts);
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taskSts.add(TaskStsType.COMPLETE_MANUAL.sts);
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taskSts.add(TaskStsType.COMPLETE_LADEN_MOVE.sts);
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taskSts.add(TaskStsType.IN_TASK_OVER_HAND.sts);
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List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
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.eq(Task::getStatus, 1)
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.in(Task::getTaskSts, taskSts));
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for (Task task : tasks) {
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//记录库存信息
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updateRecordLoc(task);
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//任务转历史档
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saveTaskLog(task);
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}
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}
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//更新库存信息
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@Transactional
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public void updateRecordLoc(Task task) {
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if (task.getRecordLoc() == null) {
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return;
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}
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if (task.getRecordLoc().equals("Y")) {//记录库存信息
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//源库位 => 空库
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//目标库位 => 在库
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Loc originLoc = locService.selectByLocNo(task.getOriginLoc());
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if (originLoc != null) {
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originLoc.setLocSts(LocStsType.O.val());
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locService.updateById(originLoc);
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}
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Loc destLoc = locService.selectByLocNo(task.getDestLoc());
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if (destLoc != null) {
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destLoc.setLocSts(LocStsType.F.val());
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locService.updateById(destLoc);
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}
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} else if (task.getRecordLoc().equals("record-dest")) {//只记录目标库位信息
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//目标库位 => 在库
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Loc destLoc = locService.selectByLocNo(task.getDestLoc());
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if (destLoc != null) {
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destLoc.setLocSts(LocStsType.F.val());
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locService.updateById(destLoc);
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}
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}
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}
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//更新历史档
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@Transactional
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public void saveTaskLog(Task task) {
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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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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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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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}
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private boolean toMesHttpRequest(Map<String,String> map, String url, String path, String code,String localtion){
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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(localtion);
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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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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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}
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