package com.zy.asrs.task;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.core.exception.CoolException;
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import com.zy.asrs.controller.MobileController;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.RowLastno;
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import com.zy.asrs.entity.WaitPakin;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.*;
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import com.zy.asrs.task.core.ReturnT;
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import com.zy.common.service.CommonService;
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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.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import java.text.SimpleDateFormat;
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import java.time.LocalDate;
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import java.util.Date;
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import java.util.HashSet;
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import java.util.List;
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import java.util.Set;
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/**
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* 自动派发任务给AGV
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*/
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@Component
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public class AutoAssignAGVTasks {
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private static final Logger log = LoggerFactory.getLogger(AutoAssignAGVTasks.class);
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@Autowired
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private WaitPakinService waitPakinService;
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@Autowired
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private MobileController mobileController;
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@Autowired
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private RowLastnoService rowLastnoService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasDevpService basDevpService;
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/**
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* 自动派发入库任务给AGV
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*/
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@Scheduled(cron = "0/3 * * * * ? ")
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public synchronized void execute(){
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/**
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* agv状态
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* be_batch
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* 0：无需调用AGV
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* 1：等待调用AGV
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* 2：AGV任务下发成功
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* 3：AGV任务完成
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* 4：给输送线下发入库指令
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*/
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List<WaitPakin> beBatchs = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("be_batch", 1).orderBy("zpallet ASC"));
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if (beBatchs.isEmpty()) {
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return;
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}
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type", 101, 103, 110, 107).le("wrk_sts",14));
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if(!Cools.isEmpty(wrkMasts)){
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log.info("当前有出库任务数={}，正在进行无法呼叫agv入库",wrkMasts.size());
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return;
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}
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//对相同托盘号进行跳过
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String zpallet="";
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for (WaitPakin waitPakin : beBatchs) {
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if(Cools.isEmpty(zpallet)){
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zpallet=waitPakin.getZpallet();
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}else if(zpallet.equals(waitPakin.getZpallet())){
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continue;
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}
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if(Cools.isEmpty(waitPakin.getMemo())){
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log.error("入库通知档托盘码={}，源站点[memo]为空",waitPakin.getZpallet());
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continue;
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}
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String i= waitPakin.getZpallet().substring(0,1);
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String staNo = "";
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//大托盘入库目标站点105
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if(i.equals("9")){
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staNo = "105";
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}else {
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//小托盘入库则按入库规则交替入库
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//将堆垛机排序
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//检测堆垛机是否正常，跳过不正常的堆垛机
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Integer[] crns=new Integer[2];
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RowLastno wrkMk = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("wrk_mk", "1"));
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if(Cools.isEmpty(wrkMk)){
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RowLastno whsType = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("whs_type", "2"));
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whsType.setWrkMk("1");
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rowLastnoService.updateById(whsType);
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crns[0]=2;
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crns[1]=3;
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}else {
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if(wrkMk.getWhsType()==2){
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crns[0]=2;
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crns[1]=3;
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wrkMk.setWrkMk("0");
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rowLastnoService.updateById(wrkMk);
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RowLastno whsType = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("whs_type", "3"));
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whsType.setWrkMk("1");
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rowLastnoService.updateById(whsType);
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}else {
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crns[0]=3;
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crns[1]=2;
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wrkMk.setWrkMk("0");
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rowLastnoService.updateById(wrkMk);
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RowLastno whsType = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("whs_type", "2"));
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whsType.setWrkMk("1");
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rowLastnoService.updateById(whsType);
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}
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//检测堆垛机是否正常
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for(int j=0;j<crns.length;j++){
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boolean b = basCrnpService.checkSiteError(crns[j], false);
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if(b){
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if(crns[j]==2){
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staNo = "103";
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}else {
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staNo = "101";
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}
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break;
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}
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}
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}
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}
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//当站点有出库任务时跳过派发任务
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List<WrkMast> wrkMasts1 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", staNo).lt("wrk_sts",33));
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if(!Cools.isEmpty(wrkMasts1)){
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continue;
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}
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if (Cools.isEmpty(staNo)) {
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return;
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}
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//AGV目标站点已经在做任务时跳过
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WaitPakin waitPakin1 = waitPakinService.selectOne(new EntityWrapper<WaitPakin>().eq("sku", staNo).in("be_batch", 2,3));
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if (!Cools.isEmpty(waitPakin1)) {
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continue;
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}
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R bind = mobileController.siteBindAndUnbind(waitPakin.getMemo(),waitPakin.getZpallet(), "BIND");
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// if (bind.get("code").equals(200)) {
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// }else {
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// log.info("WMS绑定agv站点={},任务号为={}------------失败",wrkMast.getStaNo(),wrkMast.getWrkNo());
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// }
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int workNo = commonService.getWorkNo(0);
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SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd");
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String format = sdf.format(new Date());
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String s = format+"-" + workNo;
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log.info("给agv下发入库搬运任务={}",waitPakin);
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R r = mobileController.SITESITEAGVMove(waitPakin.getMemo(), staNo,s);
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if (r.get("code").equals(200)) {
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waitPakin.setSupp(s);//发给agv的任务号
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waitPakin.setSku(staNo);//目标站点
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waitPakin.setBeBatch(2);//2：AGV任务下发成功
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waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("supp_code",waitPakin.getSuppCode()));
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}
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}
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}
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/**
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* 自动派发补空板任务给AGV
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*/
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@Scheduled(cron = "0/3 * * * * ? ")
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public synchronized void autoFillEmptyPallets(){
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/**
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* 该字段是组托入库自动出发补空托盘标记
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* item_num
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* 0：不需要补空托盘
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* 1：小托盘
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* 2：大托盘
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* 10：小托盘AGV任务下发成功
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* 20：大托盘AGV任务下发成功
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* ----------------------------------------------------------------------
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* 下面的暂时用不到
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* 100：小托盘放货完成
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* 200：大托盘放货完成
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*/
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List<WaitPakin> waitPakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>()
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.in("item_num", 1,2)
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.ge("be_batch",3)
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.orderBy("zpallet ASC"));
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if (waitPakins.isEmpty()) {
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return;
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}
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String zpallet="";
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for (WaitPakin waitPakin : waitPakins) {
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if(Cools.isEmpty(zpallet)){
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zpallet=waitPakin.getZpallet();
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}else if(zpallet.equals(waitPakin.getZpallet())){
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continue;
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}
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if (Cools.isEmpty(waitPakin.getMemo())) {
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log.error("入库通知档托盘码={}，源站点[memo]为空",waitPakin.getZpallet());
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continue;
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}
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log.info("WMS自动下发给AGV下发补空托盘任务={}",waitPakin);
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R r = mobileController.FillEmptyPallets(waitPakin.getMemo(), waitPakin.getItemNum());
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if (r.get("code").equals(200)) {
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waitPakin.setItemNum(waitPakin.getItemNum().equals("1")?"10":"20");
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waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("supp_code",waitPakin.getSuppCode()));
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}
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}
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}
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/**
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* 出库时绑定agv站点
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* 自动派发出库任务给agv搬运
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*/
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@Scheduled(cron = "0/3 * * * * ? ")
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public synchronized void autoOut(){
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 30));
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if (wrkMasts.isEmpty()) {
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return;
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}
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for (WrkMast wrkMast : wrkMasts) {
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BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>()
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.eq("wrk_no", wrkMast.getWrkNo())
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.eq("dev_no", wrkMast.getStaNo())
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.eq("autoing", "Y")
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.eq("loading","Y"));
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if(Cools.isEmpty(basDevp)){
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continue;
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}
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if (Cools.isEmpty(wrkMast.getMemo())) {
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log.error("入库通知档托盘码={}，源站点[memo]为空",wrkMast.getBarcode());
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continue;
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}
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log.info("WMS自动下发给AGV下发出库任务={}",wrkMast);
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log.info("WMS开始自动绑定agv站点={},任务号为={}",wrkMast.getStaNo(),wrkMast.getWrkNo());
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R bind = mobileController.siteBindAndUnbind(wrkMast.getStaNo() + "",wrkMast.getBarcode(), "BIND");
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if (bind.get("code").equals(200)) {
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}else {
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log.info("WMS绑定agv站点={},任务号为={}------------失败",wrkMast.getStaNo(),wrkMast.getWrkNo());
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}
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//生成agv工作号
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SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd");
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String format = sdf.format(new Date());
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String s = format+"-" + wrkMast.getWrkNo();
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log.info("WMS完成绑定agv站点={},AGV任务号为={}",wrkMast.getStaNo(),s);
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R r = mobileController.SITEZONEAGVMove(wrkMast.getStaNo()+"", wrkMast.getMemo(),s);
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if (r.get("code").equals(200)) {
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wrkMast.setPdcType(s);
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wrkMast.setWrkSts(31L); //从30等待给AGV下发出库任务-----》31AGV出库任务下发成功
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wrkMast.setModiTime(new Date());
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wrkMastService.updateById(wrkMast);
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}
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}
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}
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/**
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* 入库任务自动解绑agv站点
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*/
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@Scheduled(cron = "0/3 * * * * ? ")
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public synchronized void UnbindTheSite(){
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.in("io_type",1,53)
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.ge("wrk_sts", 2)
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.isNull("ctn_kind"));
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if (wrkMasts.isEmpty()) {
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return;
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}
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for (WrkMast wrkMast : wrkMasts) {
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String staNo="";
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if(wrkMast.getSourceStaNo()==102){
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staNo="101";
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}else if(wrkMast.getSourceStaNo()==104){
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staNo="103";
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}else if(wrkMast.getSourceStaNo()==106){
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staNo="105";
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}
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log.info("WMS入库解绑AGV站点={},托盘码为={}",staNo,wrkMast.getBarcode());
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R r = mobileController.siteBindAndUnbind(staNo,wrkMast.getBarcode(),"UNBIND");
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if (r.get("code").equals(200)) {
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wrkMast.setCtnKind(1);//任务解绑标记
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wrkMastService.updateById(wrkMast);
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}
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}
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}
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}
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