package com.zy.asrs.task.handler;
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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.mapper.EntityWrapper;
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import com.zy.asrs.entity.Task;
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import com.zy.asrs.entity.TaskLog;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.mapper.BasStationMapper;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.ApiLogService;
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import com.zy.asrs.service.TaskLogService;
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import com.zy.asrs.service.TaskService;
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import com.zy.common.constant.ApiInterfaceConstant;
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import com.zy.common.properties.AgvProperties;
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import com.zy.common.utils.HttpHandler;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.BeanUtils;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import javax.annotation.Resource;
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import java.util.ArrayList;
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import java.util.Collections;
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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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import java.util.stream.Collectors;
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/**
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* @author pang.jiabao
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* @description AGV交互相关定时任务处理类
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* @createDate 2025/11/18 14:42
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*/
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@Slf4j
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@Service
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public class AgvHandler {
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@Resource
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private WrkMastMapper wrkMastMapper;
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@Resource
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private ApiLogService apiLogService;
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@Resource
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private TaskService taskService;
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@Resource
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private TaskLogService taskLogService;
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@Resource
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private BasStationMapper basStationMapper;
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@Resource
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private AgvProperties agvProperties;
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/**
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* 呼叫agv搬运
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*/
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public void callAgv(List<Task> taskList) {
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if (!agvProperties.isSendTask()) {
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return;
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}
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for (Task task : taskList) {
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// 呼叫agv
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String response = "";
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boolean success = false;
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String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CREATE_TASK_PATH;
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String namespace = "";
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switch (task.getIoType()) {
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case 1:
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case 10:
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case 53:
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case 57:
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namespace = "入库";
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break;
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case 3:
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namespace = "转移";
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break;
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case 101:
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case 110:
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case 103:
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case 107:
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namespace = "出库";
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break;
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default:
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}
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String body = getRequest(task,namespace);
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try {
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// 使用仙工M4接口
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response = new HttpHandler.Builder()
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.setUri(ApiInterfaceConstant.AGV_IP)
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.setPath(ApiInterfaceConstant.AGV_CREATE_TASK_PATH)
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.setJson(body)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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success = true;
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task.setWrkSts(8L);
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taskService.updateById(task);
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log.info(namespace + "呼叫agv搬运请求参数：{}", body);
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log.info(namespace + "呼叫agv搬运成功：{}", task.getId());
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} else {
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log.error(namespace + "呼叫agv搬运失败！！！url：{}；request：{}；response：{}", url, body, response);
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}
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} catch (Exception e) {
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log.error(namespace + "呼叫agv搬运异常", e);
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} finally {
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try {
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// 保存接口日志
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apiLogService.save(
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namespace + "呼叫agv搬运",
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url,
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null,
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"127.0.0.1",
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body,
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response,
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success
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);
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} catch (Exception e) {
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log.error(namespace + "呼叫agv保存接口日志异常:", e);
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}
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}
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}
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}
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/**
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* 构造请求内容（仙工M4格式）
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*/
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private String getRequest(Task task, String nameSpace) {
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JSONObject object = new JSONObject();
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// taskId使用任务ID，格式：T + 任务ID
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object.put("taskId", "T" + task.getId());
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// fromBin使用源库位编号（sourceLocNo），如果为空则使用源站点编号（sourceStaNo）作为备选
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String fromBin = task.getSourceLocNo();
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if (fromBin == null || fromBin.isEmpty()) {
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fromBin = task.getSourceStaNo();
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}
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if (fromBin == null || fromBin.isEmpty() || "0".equals(fromBin)) {
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log.warn("任务{}的源库位和源站点都为空，使用默认值", task.getId());
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fromBin = "0";
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}
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object.put("fromBin", fromBin);
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// toBin使用目标站点编号
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object.put("toBin", task.getStaNo());
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// robotGroup从invWh字段获取，如果没有则根据站点编号判断
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String robotGroup = task.getInvWh();
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if (robotGroup == null || robotGroup.isEmpty()) {
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robotGroup = determineRobotGroupByStation(task.getStaNo());
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}
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object.put("robotGroup", robotGroup);
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// kind根据任务类型映射
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String kind = "";
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switch (nameSpace) {
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case "入库":
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// 判断是否为空托入库：ioType=10 或 emptyMk="Y"
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if (task.getIoType() == 10 || "Y".equals(task.getEmptyMk())) {
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kind = "空托入库";
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} else {
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kind = "实托入库";
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}
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break;
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case "出库":
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kind = "实托出库";
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break;
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case "转移":
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kind = "货物转运";
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break;
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default:
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kind = "货物转运";
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}
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object.put("kind", kind);
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return object.toJSONString();
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}
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/**
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* 根据站点编号判断机器人组
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* @param staNo 站点编号
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* @return 机器人组名称
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*/
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private String determineRobotGroupByStation(String staNo) {
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if (staNo == null || staNo.isEmpty()) {
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return agvProperties.getRobotGroupEast(); // 默认使用东侧机器人组
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}
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// 从配置中获取站点列表
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Set<String> eastStations = new HashSet<>(agvProperties.getEastStations());
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Set<String> westStations = new HashSet<>(agvProperties.getWestStations());
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// 判断站点属于哪一侧
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if (eastStations.contains(staNo)) {
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return agvProperties.getRobotGroupEast(); // 东侧机器人
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} else if (westStations.contains(staNo)) {
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return agvProperties.getRobotGroupWest(); // 西侧机器人
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} else {
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log.warn("站点编号不在配置列表中，使用默认机器人组：{}", staNo);
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return agvProperties.getRobotGroupEast(); // 默认使用东侧机器人组
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}
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}
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/**
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* 任务完成转历史 释放暂存点
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*/
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@Transactional(rollbackFor = Exception.class)
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public void moveTaskToHistory(List<Task> taskList) {
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// 写入历史表
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for (Task task : taskList) {
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TaskLog log = new TaskLog();
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BeanUtils.copyProperties(task, log);
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taskLogService.insert(log);
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}
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// 批量删除原任务
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List<Long> taskIds = taskList.stream().map(Task::getId).collect(Collectors.toList());
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taskService.delete(new EntityWrapper<Task>().in("id",taskIds));
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// 批量更新暂存点状态
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List<String> locOList = new ArrayList<>();
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List<String> locFList = new ArrayList<>();
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for (Task task : taskList) {
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String sourceStaNo = task.getSourceStaNo();
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String staNo = task.getStaNo();
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if (task.getIoType() == 3) {
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locOList.add(sourceStaNo);
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locFList.add(staNo);
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} else if (task.getIoType() < 100) {
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locOList.add(sourceStaNo);
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} else {
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locFList.add(staNo);
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}
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}
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if (!locOList.isEmpty()) {
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basStationMapper.updateLocStsBatch(locOList, "O");
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}
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if (!locFList.isEmpty()) {
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basStationMapper.updateLocStsBatch(locFList, "F");
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}
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log.info("agv任务档转历史成功：{}", taskIds);
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}
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/**
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* 货物到达出库口，生成agv任务
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*/
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public void createAgvOutTasks(List<String> sites) {
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// 获取到可用出库站点的任务
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List<WrkMast> wrkMastList = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("call_agv", 1).in("sta_no",sites));
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for(WrkMast wrkMast:wrkMastList) {
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// todo 计算agv目标暂存位
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int endSite = 2004;
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// 插入agv任务
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Task task = new Task(wrkMast.getWrkNo(), 7L, wrkMast.getIoType(), String.valueOf(wrkMast.getStaNo()), String.valueOf(endSite), null, wrkMast.getBarcode());
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taskService.insert(task);
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// 更新任务档agv搬运标识
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wrkMast.setCallAgv(2);
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wrkMastMapper.updateById(wrkMast);
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// 更新暂存位状态 S.入库预约
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basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(endSite)), "S");
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}
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}
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/**
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* 取消AGV任务（仙工M4接口）
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* @param task 任务对象
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* @return 是否成功
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*/
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public boolean cancelAgvTask(Task task) {
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if (!agvProperties.isSendTask()) {
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return false;
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}
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if (task == null || task.getId() == null) {
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log.error("取消AGV任务失败：任务或任务ID为空");
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return false;
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}
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String response = "";
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boolean success = false;
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String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CANCEL_TASK_PATH;
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String namespace = "";
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String kind = "";
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// 根据任务类型确定kind和namespace
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switch (task.getIoType()) {
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case 1:
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case 10:
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case 53:
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case 57:
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namespace = "入库";
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kind = "实托入库";
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break;
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case 3:
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namespace = "转移";
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kind = "货物转运";
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break;
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case 101:
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case 110:
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case 103:
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case 107:
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namespace = "出库";
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kind = "实托出库";
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break;
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default:
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kind = "货物转运";
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}
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// 构造取消任务请求
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JSONObject cancelRequest = new JSONObject();
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cancelRequest.put("taskId", "T" + task.getId());
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cancelRequest.put("kind", kind);
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String body = cancelRequest.toJSONString();
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try {
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response = new HttpHandler.Builder()
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.setUri(ApiInterfaceConstant.AGV_IP)
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.setPath(ApiInterfaceConstant.AGV_CANCEL_TASK_PATH)
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.setJson(body)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code") != null && jsonObject.getInteger("code").equals(200)) {
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success = true;
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log.info(namespace + "取消AGV任务成功：{}", task.getId());
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} else {
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log.error(namespace + "取消AGV任务失败！！！url：{}；request：{}；response：{}", url, body, response);
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}
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} catch (Exception e) {
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log.error(namespace + "取消AGV任务异常", e);
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} finally {
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try {
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// 保存接口日志
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apiLogService.save(
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namespace + "取消AGV任务",
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url,
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null,
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"127.0.0.1",
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body,
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response,
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success
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);
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} catch (Exception e) {
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log.error(namespace + "取消AGV任务保存接口日志异常:", e);
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}
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}
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return success;
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}
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}
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