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.exception.CoolException;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.Task;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.TaskService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.service.impl.BasDevpServiceImpl;
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import com.zy.asrs.task.core.ReturnT;
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import com.zy.asrs.task.handler.AGVTaskReportHandler;
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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.beans.factory.annotation.Value;
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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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@Component
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public class AGVTaskReportScheduler {
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private static final Logger log = LoggerFactory.getLogger(WorkMastScheduler.class);
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@Autowired
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private TaskService taskService;
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@Autowired
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private AGVTaskReportHandler AGVTaskReportHandler;
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@Value("${hik.switch}")
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private Boolean switchErpReportOld;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasDevpServiceImpl basDevpService;
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/**
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* 满板和空板出库任务，出到输送线后创建AGV搬运任务
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*/
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@Scheduled(cron = "0/3 * * * * ? ")
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private void createAGVTask() {
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if (!switchErpReportOld) {
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return;
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}
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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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//查询是否有源站和目标站有一样的agv搬运任务
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//如果有则跳过本次agv搬运任务下发
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//mes给的agv目标站点需要解析 Q：区域 ； Z： 站点
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String[] split = wrkMast.getMemo().split("-");
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//入出库状态： 3.站到站 4.站到区域
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Integer ioType = split[0].equals("Q") ? 4 : 3;
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//agv目标站点
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String stnNo = split[1];
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Task task1 = taskService.selectOne(new EntityWrapper<Task>()
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.in("source_sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo())
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.in("sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo()));
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if (Cools.isEmpty(task1)) {
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//生成AGV搬运出库任务
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// 保存工作档
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Task task = new Task();
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Date date = new Date();
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String TaskNo = wrkMast.getWrkNo() + "aa" + date.getTime();
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task.setWrkNo(wrkMast.getWrkNo())
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.setTaskNo(TaskNo)
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.setIoTime(date)
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.setWrkSts(301L) // 工作状态：301.任务下发
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.setIoType(ioType) // 入出库状态： 3.站到站 4.站到区域
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.setTaskType("agv")
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.setIoPri(10D)
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.setFullPlt("Y") // 满板：Y
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.setPicking("N") // 拣料
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.setExitMk("N")// 退出
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.setStaNo(wrkMast.getMemo())
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.setSourceStaNo(wrkMast.getSourceStaNo())
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.setEmptyMk("N")// 空板
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.setBarcode(wrkMast.getBarcode())// 托盘码
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.setLinkMis("N")
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.setAppeUser(9945L)
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.setAppeTime(date)
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.setModiUser(9945L)
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.setModiTime(date);
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if (!taskService.insert(task)) {
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throw new CoolException("保存工作档失败");
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} else {
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wrkMast.setWrkSts(31L);//31.AGV搬运任务创建成功
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wrkMast.setModiTime(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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/**
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* AGV 任务下发接口，定时给AGV下发任务
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*/
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@Scheduled(cron = "0/3 * * * * ? ")
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private void execute() {
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if (!switchErpReportOld) {
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return;
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}
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//查询所有agv待下发任务
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List<Task> wrkSts = taskService.selectList(new EntityWrapper<Task>().eq("wrk_sts", 301).orderBy("appe_time"));
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if (wrkSts != null && !wrkSts.isEmpty()) {
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for (Task task : wrkSts) {
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//查询是否有正在作业的源站和目标站有一样的agv搬运任务
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//如果有则跳过本次agv搬运任务下发
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Task task1 = taskService.selectOne(new EntityWrapper<Task>()
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.eq("wrk_sts", 302)
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.andNew()
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.in("source_sta_no", task.getSourceStaNo(), task.getStaNo())
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.or()
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.in("sta_no", task.getStaNo(), task.getSourceStaNo()));
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Boolean flag = true;
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if (Cools.isEmpty(task1)) {
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//agv搬运移动任务下发时，搬运目标点是否是立库AGV和堆垛机接驳站点
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//如果是接驳站点则需要判断接驳站点是否有空料架
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//如果有空料架需要判断是否有出库任务
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//有出库任务则禁止下发本次搬运任务
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if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
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flag = false;
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BasDevp basDevp = basDevpService.checkSiteStatus(Integer.parseInt(task.getStaNo()));
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if (basDevp != null && !Cools.isEmpty(basDevp.getInreq1())
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&& basDevp.getInreq1().equals("Y")
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&& basDevp.getLoading().equals("N")
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&& basDevp.getWrkNo()!=9991
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&& basDevp.getWrkNo()!=9999) {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.in("io_type", 101, 110)
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.le("wrk_sts", 14)
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.eq("sta_no", task.getStaNo()));
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List<WrkMast> wrkMasts1 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("io_type", 1).eq("sta_no", task.getStaNo()));
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if (Cools.isEmpty(wrkMasts)&&Cools.isEmpty(wrkMasts1)) {
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//判断是否已经生成空料架搬运回空料架补库区
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//如果有的话，不在生成任务
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Task task2 = taskService.selectOne(new EntityWrapper<Task>().eq("task_type","AGV空料架回缓存区").eq("source_sta_no", task.getStaNo()));
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//有入库任务搬运，需要生成空料架搬运到空料架缓冲区AGV任务
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if (Cools.isEmpty(task2)) {
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//生成AGV搬运出库任务
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// 保存工作档
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String SourceStaNo = "";
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if (task.getStaNo().equals("401")) {
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//大料架缓冲区
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SourceStaNo = "Q-E3";
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}else if (task.getStaNo().equals("402")) {
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SourceStaNo = "Q-E2";
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}else if (task.getStaNo().equals("307")) {
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SourceStaNo = "Q-E1";
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}
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Task task3 = new Task();
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Date date = new Date();
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String TaskNo = task.getTaskNo() + "bb" + date.getTime();
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task3.setWrkNo(999999)
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.setTaskNo(TaskNo)
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.setIoTime(date)
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.setWrkSts(301L) // 工作状态：301.任务下发
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.setIoType(4) // 入出库状态： 3.站到站 4.站到区域
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.setTaskType("AGV空料架回缓存区")
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.setIoPri(10D)
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.setFullPlt("Y") // 满板：Y
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.setPicking("N") // 拣料
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.setExitMk("N")// 退出
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.setStaNo(SourceStaNo)
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.setSourceStaNo(task.getStaNo())//空料架缓存区E1
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.setEmptyMk("N")// 空板
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.setBarcode("")// 托盘码
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.setLinkMis("N")
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.setAppeUser(9945L)
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.setAppeTime(date)
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.setModiUser(9945L)
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.setModiTime(date);
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if (!taskService.insert(task3)) {
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throw new CoolException("保存工作档失败");
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}
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break;
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}
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}
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}else if(basDevp != null && !Cools.isEmpty(basDevp.getInreq1())
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&& basDevp.getInreq1().equals("N")
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&& basDevp.getLoading().equals("N")
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) {
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flag = true;
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}
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}
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if (flag || task.getTaskType().equals("AGV空料架回缓存区")) {
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//AGV任务下发
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ReturnT<String> start = AGVTaskReportHandler.start(task);
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if (!start.isSuccess()) {
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task.setUpdMk("X");
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task.setErrorMemo(start.getMsg());
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task.setCtnType(task.getCtnType()+1);//下发任务计数
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task.setModiTime(new Date());
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if (!taskService.updateById(task)) {
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log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo());
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}
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break;
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}else {
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task.setCtnType(task.getCtnType()+1);
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task.setModiTime(new Date());
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task.setWrkSts(302L);//任务执行中
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if (!taskService.updateById(task)) {
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log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo());
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}
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}
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}
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}
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}
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}
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}
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}
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