package com.zy.asrs.service.impl;
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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.baomidou.mybatisplus.mapper.Wrapper;
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import com.baomidou.mybatisplus.service.impl.ServiceImpl;
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import com.core.common.Cools;
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import com.core.exception.CoolException;
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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.param.AgvTaskCreateParam;
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import com.zy.asrs.entity.param.AgvTaskParam;
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import com.zy.asrs.mapper.AgvWrkMastMapper;
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import com.zy.asrs.service.*;
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import com.zy.common.service.AgvCommonService;
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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.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import java.io.IOException;
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import java.util.*;
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import java.util.concurrent.TimeUnit;
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@Service
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@Slf4j
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public class AgvWrkMastServiceImp extends ServiceImpl<AgvWrkMastMapper, AgvWrkMast> implements AgvWrkMastService {
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@Value("${agv.flag}")
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private boolean flag;
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@Value("${agv.url}")
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private String url;
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@Value("${agv.taskCreatePath}")
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private String taskCreatePath;
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@Value("${agv.taskCancelPath}")
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private String taskCancelPath;
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@Value("${agv.containerMoveInPath}")
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private String containerMoveInPath;
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@Value("${agv.containerMoveOutPath}")
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private String containerMoveOutPath;
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@Value("${agv.containerArrivedPath}")
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private String containerArrivedPath;
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@Autowired
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AgvWrkMastMapper agvWrkMastMapper;
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@Autowired
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AgvWrkDetlService agvWrkDetlService;
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@Autowired
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AgvLocMastService agvLocMastService;
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@Autowired
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ApiLogService apiLogService;
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@Autowired
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AgvBasDevpService agvBasDevpService;
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@Autowired
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private AgvCommonService agvCommonService;
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@Autowired
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private AgvWrkMastService agvWrkMastService;
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public Boolean updateWrkStsByWrkNo(int wrkNo, long wrkSts) {
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AgvWrkMast agvWrkMast = this.selectById(wrkNo);
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//判断要修改的工作档状态是否合理，如果不合理则抛出异常
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checkWrkSts(agvWrkMast, wrkSts);
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agvWrkMast.setWrkSts(wrkSts);
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agvWrkMast.setModiTime(new Date());
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return this.updateById(agvWrkMast);
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}
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public void updateWrkStsByWrkNo(int wrkNo, long wrkSts, String manuType, long userId) {
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Date now = new Date();
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AgvWrkMast agvWrkMast = this.selectById(wrkNo);
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//判断要修改的工作档状态是否合理，如果不合理则抛出异常
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checkWrkSts(agvWrkMast, wrkSts);
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agvWrkMast.setWrkSts(wrkSts);
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agvWrkMast.setManuType(manuType);
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agvWrkMast.setModiTime(now);
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agvWrkMast.setModiUser(userId);
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this.updateById(agvWrkMast);
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}
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// TODO 判断规则
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private boolean checkWrkSts(AgvWrkMast agvWrkMast, long wrkSts) {
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return true;
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}
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public int startWrk(AgvWrkMast agvWrkMast) throws IOException {
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AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
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//agvTaskCreateParam.setTaskType(taskType);
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getRequestParam(agvTaskCreateParam, agvWrkMast);
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return doHttpRequest(agvTaskCreateParam, "搬运任务下发", url, taskCreatePath, null, "127.0.0.1");
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//return containerMoveParam;
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}
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public int startAllcationIn(AgvWrkMast agvWrkMast) throws IOException {
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AgvBasDevp basDevp = agvBasDevpService.selectByDevNo(agvWrkMast.getSourceLocNo());
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//检索库位，选择合适的库位
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AgvLocMast locMast = agvCommonService.getLocNo(basDevp.getLocType1(), basDevp.getFloor(), false, true);
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agvWrkMast.setLocNo(locMast.getLocNo());
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agvWrkMast.setWrkSts(201L);
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agvWrkMast.setLogErrMemo("startAllcationIn");
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agvWrkMast.setModiTime(new Date());
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agvWrkMastService.updateById(agvWrkMast);
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// 更目标库位
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locMast.setLocSts("S");
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agvLocMastService.updateById(locMast);
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return 0;
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}
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//货架入场
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public int containerMoveIn(List<AgvWrkMast> agvWrkMastList) throws IOException {
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//调用货架入场时所需要参数
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Map<String, List<Map<String, String>>> containerMoveParam = new HashMap<>();
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List<Map<String, String>> positionCodeMapList = new ArrayList<>();
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containerMoveParam.put("containerMoveIns", positionCodeMapList);
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getContainerMoveParam(agvWrkMastList, positionCodeMapList);
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if (Cools.isEmpty(positionCodeMapList)) {
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return 0;
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}
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return doHttpRequest(containerMoveParam, "货架入场任务下发", url, containerMoveInPath, null, "127.0.0.1");
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}
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//货架离场
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public int containerMoveOut(List<AgvWrkMast> agvWrkMastList) {
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Map<String, List<Map<String, String>>> containerMoveParam = new HashMap<>();
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List<Map<String, String>> positionCodeMapList = new ArrayList<>();
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containerMoveParam.put("containerMoveOuts", positionCodeMapList);
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for (AgvWrkMast agvWrkMast : agvWrkMastList) {
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Map<String, String> positionCodeMap = new HashMap<>();
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positionCodeMap.put("positionCode", agvWrkMast.getLocNo());
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positionCodeMapList.add(positionCodeMap);
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}
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return doHttpRequest(containerMoveParam, "货架离场任务下发", url, containerMoveOutPath, null, "127.0.0.1");
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}
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public boolean insertByIncrease(AgvWrkMast agvWrkMast) {
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int index = this.baseMapper.insertByIncrease(agvWrkMast);
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return index > 0;
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}
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@Override
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public boolean deleteByWrkNo(int wrkNo) {
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return this.delete(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
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}
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//货架到达通知
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public int containerArrived(AgvWrkMast agvWrkMast) {
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Map<String, String> containerArrivedParam = new HashMap<>();
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containerArrivedParam.put("slotCode", agvWrkMast.getSourceLocNo());
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containerArrivedParam.put("containerCode", agvWrkMast.getBarcode());
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return doHttpRequest(containerArrivedParam, "货架达到通知", url, containerArrivedPath, null, "127.0.0.1");
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}
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@Override
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public List<AgvWrkMast> selectReadyAgvWrkMast() {
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List<String> stationCodes = agvBasDevpService.selectAllStationCode();
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Wrapper<AgvWrkMast> wrapper = new EntityWrapper<AgvWrkMast>().eq("wrk_sts", 21L).like(false, "loc_no", "@");
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wrapper.in("loc_no", stationCodes);
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return this.selectList(wrapper);
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//return this.baseMapper.selectReadyAgvWrkMast();
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}
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@Override
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public AgvWrkMast selectByContainerCode(String containerCode) {
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return this.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", containerCode));
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}
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@Override
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public int callCancelTask(int wrkNo) {
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AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
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agvTaskCreateParam.setTaskCode(wrkNo + "");
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return doHttpRequest(agvTaskCreateParam, "取消任务下发", url, taskCancelPath, null, "127.0.0.1");
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}
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private void getContainerMoveParam(List<AgvWrkMast> agvWrkMastList, List<Map<String, String>> positionCodeMapList) {
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//往货架入场参数中放入源站点位置
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for (AgvWrkMast agvWrkMast : agvWrkMastList) {
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//判断是否为输送线入库，是则不需要货架进场请求
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if ("Y".equals(agvWrkMast.getMk())) {
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continue;
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}
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Map<String, String> positionCodeMap = new HashMap<>();
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positionCodeMap.put("positionCode", agvWrkMast.getSourceLocNo());
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positionCodeMapList.add(positionCodeMap);
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}
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}
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private void getRequestParam(AgvTaskCreateParam agvTaskCreateParam, AgvWrkMast agvWrkMast) {
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List<AgvTaskParam> agvTaskParamList = Arrays.asList(
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//起始位
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new AgvTaskParam(agvWrkMast.getSourceLocNo()),
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//目标位
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new AgvTaskParam(agvWrkMast.getLocNo()));
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// //起始位
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// agvTaskParamList.add(new AgvTaskParam(agvWrkMast.getSourceLocNo()));
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// //目标位
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// agvTaskParamList.add(new AgvTaskParam(agvWrkMast.getLocNo()));
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if (agvWrkMast.getIoType() == 53 || agvWrkMast.getIoType() == 57) {
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agvWrkMast.setWrkNo(-agvWrkMast.getWrkNo());
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}
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agvTaskCreateParam.setTaskCode(agvWrkMast.getWrkNo().toString());
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switch (agvWrkMast.getIoType()) {
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case 114:
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case 108:
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case 12:
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agvTaskCreateParam.setTaskTyp("F06");
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break;
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case 109:
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if (agvWrkMast.getWrkSts() == 201) {
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agvTaskCreateParam.setTaskTyp("F06");
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} else {
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agvTaskCreateParam.setTaskTyp("F01");
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}
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break;
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case 1:
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case 57:
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// 入库任务是只有 接驳位 -- > 库位
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AgvLocMast loc = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvWrkMast.getLocNo()));
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String locSub = loc.getLocNo().substring(loc.getLocNo().length() - 4).substring(0, 2).substring(0, 2);
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AgvBasDevp agvBasDevp = agvBasDevpService.selectByDevNo(agvWrkMast.getSourceLocNo());
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if ("02".equals(locSub)) {
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if (agvBasDevp.getFloor() == 4) {
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agvTaskCreateParam.setTaskTyp("F01");
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} else {
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agvTaskCreateParam.setTaskTyp("F06");
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}
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} else {
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// 目标楼层位1楼 但源库位（接驳位）在吸塑二楼
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if (agvBasDevp.getFloor() == 4) {
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agvTaskCreateParam.setTaskTyp("F06");
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} else {
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agvTaskCreateParam.setTaskTyp("F01");
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}
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}
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break;
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default:
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agvTaskCreateParam.setTaskTyp("F01");
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break;
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}
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agvTaskCreateParam.setPositionCodePath(agvTaskParamList);
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}
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private int doHttpRequest(Object requestParam, String namespace, String url, String path, String appkey, String ip) {
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if (!flag) {
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return 1;
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}
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String response = "";
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boolean success = false;
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int code = 0;
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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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.setTimeout(30, TimeUnit.SECONDS)
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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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code = Integer.parseInt(jsonObject.get("code").toString());
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if (code != 0) {
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if (code == 6) {
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log.info("AGV任务单号已上报:{}", response);
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String message = jsonObject.getString("message");
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if (!Cools.isEmpty(message) && message.contains("已存在任务单头为")) {
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success = true;
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return 0;
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}
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}
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throw new CoolException("调用AGV响应错误");
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//return code;
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}
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success = true;
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return code;
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} catch (Exception e) {
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log.error(e.getMessage());
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throw new CoolException("调用AGV响应错误");
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//return 1;
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} finally {
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if (code != 6) {
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apiLogService.save(
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namespace,
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url + path,
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appkey,
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ip,
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JSON.toJSONString(JSONObject.toJSONString(requestParam)),
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response,
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success
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);
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}
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}
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}
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}
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