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.zy.asrs.entity.AgvBasDevp;
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import com.zy.asrs.entity.AgvLocMast;
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import com.zy.asrs.entity.AgvWrkMast;
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import com.zy.asrs.entity.WrkMastExecute;
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import com.zy.asrs.service.*;
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import com.zy.asrs.service.impl.WrkMastExecuteServiceImpl;
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import com.zy.asrs.task.handler.AutoMoveCreateExecuteHandler;
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import com.zy.common.service.AgvCommonService;
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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 java.util.Date;
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import java.util.List;
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import java.util.Objects;
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// 自动移库
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@Slf4j
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@Component
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public class AutoMoveCreateExecuteScheduler {
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@Autowired
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private AgvWrkMastService agvWrkMastService;
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@Autowired
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private AutoMoveCreateExecuteHandler autoMoveCreateExecuteHandler;
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@Autowired
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private AgvBasDevpService agvBasDevpService;
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@Autowired
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private AgvLocMastService agvLocMastService;
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@Autowired
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private AgvCommonService agvCommonService;
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@Autowired
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private WrkMastExecuteService wrkMastExecuteService;
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@Autowired
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private WrkMastExecuteLogService wrkMastExecuteLogService;
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/**
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* 生成agv_wrk_mast_execute任务
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*/
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// @Scheduled(cron = "0/2 * * * * ? ")
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private void autoMove(){
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List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>().eq("io_type", 121).eq("wrk_sts",11).orderBy("io_pri",false));
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for (AgvWrkMast agvWrkMast:agvWrkMastList){
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try{
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Date now = new Date();
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if (!agvWrkMast.getLocNo().isEmpty() && !agvWrkMast.getSourceLocNo().isEmpty() && agvWrkMast.getWrkSts()==11L){
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AgvLocMast agvLocMastSou = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvWrkMast.getSourceLocNo()));
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AgvLocMast agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvWrkMast.getLocNo()));
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if (!determineFloorConnection(agvLocMastSou.getFloor())){//全自动
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WrkMastExecute wrkMastExecute = new WrkMastExecute(agvWrkMast);
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wrkMastExecute.setWrkSts(0L);
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wrkMastExecute.setModiTime(now);
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wrkMastExecute.setAppeTime(now);
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wrkMastExecute.setSouFloor(agvLocMastSou.getFloor());
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wrkMastExecute.setEndFloor(agvLocMast.getFloor());
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wrkMastExecute.setNowPosition(0);
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wrkMastExecute.setEndPosition(3);
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wrkMastExecute.setStatus(1);
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autoMoveCreateExecuteHandler.start(agvWrkMast,wrkMastExecute);
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}else {
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int count = wrkMastExecuteService.selectCount(new EntityWrapper<WrkMastExecute>().eq("io_type", 121).eq("status", 2));
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int countDevp = agvBasDevpService.selectCount(new EntityWrapper<AgvBasDevp>().eq("loc_sts", "O").like("dev_no","DB_"));
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if (countDevp<3){
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continue;
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}
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if (count<2){
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AgvBasDevp devpNo = agvCommonService.getDevpNo(3, agvLocMastSou.getFloor());
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if (Cools.isEmpty(devpNo) || !Objects.equals(devpNo.getLocSts(), "O")){
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continue;
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}
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WrkMastExecute wrkMastExecute = new WrkMastExecute(agvWrkMast);
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wrkMastExecute.setWrkSts(0L);
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wrkMastExecute.setModiTime(now);
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wrkMastExecute.setAppeTime(now);
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wrkMastExecute.setSouFloor(agvLocMastSou.getFloor());
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wrkMastExecute.setEndFloor(agvLocMast.getFloor());
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wrkMastExecute.setSouStaNo(devpNo.getDevNo());
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wrkMastExecute.setNowPosition(0);
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wrkMastExecute.setEndPosition(1);
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wrkMastExecute.setStatus(2);
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autoMoveCreateExecuteHandler.start(agvWrkMast,wrkMastExecute);
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//更新目标库位状态
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updateAgvBasDevp(devpNo,"S",agvLocMastSou.getLocType2(),agvLocMastSou.getBarcode());
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}
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}
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}
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}catch (Exception e){
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log.error("生成agv_wrk_mast_execute任务异常===》异常原因："+e.getMessage());
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}
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}
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}
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private void updateAgvBasDevp(AgvBasDevp agvBasDevp, String locSts, Short continerType, String containerCode){
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if(!Cools.isEmpty(agvBasDevp)){
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agvBasDevp.setLocSts(locSts);
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agvBasDevp.setLocType2(continerType);
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agvBasDevp.setBarcode(containerCode);
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agvBasDevpService.updateById(agvBasDevp);
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}
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}
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/**
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* 完成agv_wrk_mast_execute任务
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*/
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// @Scheduled(cron = "0/2 * * * * ? ")
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private void autoMoveEnd(){
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List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>().eq("io_type", 121).eq("wrk_sts",12).orderBy("io_pri",false));
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for (AgvWrkMast agvWrkMast:agvWrkMastList){
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try{
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WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectOne(new EntityWrapper<WrkMastExecute>().eq("io_type", 121).eq("wrk_no", agvWrkMast.getWrkNo().longValue()));
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if (!Cools.isEmpty(wrkMastExecute) && wrkMastExecute.getWrkSts()==3L && wrkMastExecute.getNowPosition()==3){
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agvWrkMast.setWrkSts(205L);//任务完成
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agvWrkMast.setModiTime(new Date());
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agvWrkMastService.updateById(agvWrkMast);
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//生成agv_wrk_mast_execute任务历史档
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wrkMastExecuteLogService.save(wrkMastExecute);
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//删除执行档案
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wrkMastExecuteService.deleteById(wrkMastExecute);
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}
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}catch (Exception e){
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log.error("完成agv_wrk_mast_execute任务异常===》异常原因："+e.getMessage());
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}
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}
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}
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private boolean determineFloorConnection(Integer floor){
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try{
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List<AgvBasDevp> agvBasDevps = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>().eq("floor", floor).like("dev_no", "DB_"));
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if (!agvBasDevps.isEmpty()){
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for (AgvBasDevp agvBasDevp:agvBasDevps){
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if (agvBasDevp.getInEnable().equals("Y")){
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return false;
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}
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}
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return true;
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}
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}catch (Exception e){
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log.error("判断当前楼层接驳位是否全部关闭，异常"+e.getMessage());
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}
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return false;
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}
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private boolean determineFloorConnectionReverseSide(Integer floor){
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try{
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List<AgvBasDevp> agvBasDevps = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>().eq("floor", floor).like("dev_no", "DB_"));
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if (!agvBasDevps.isEmpty()){
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for (AgvBasDevp agvBasDevp:agvBasDevps){
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if (agvBasDevp.getInEnable().equals("N")){
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return false;
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}
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}
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return true;
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}
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}catch (Exception e){
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log.error("判断当前楼层接驳位是否全部关闭，异常"+e.getMessage());
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}
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return false;
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}
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}
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