package com.zy.asrs.task;
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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.core.common.Cools;
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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.mapper.WrkMastMapper;
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import com.zy.asrs.entity.WrkMastLog;
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import com.zy.asrs.service.TaskService;
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import com.zy.asrs.service.WrkMastLogService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.task.handler.AgvHandler;
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import com.zy.common.properties.SchedulerProperties;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import javax.annotation.Resource;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Date;
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import java.util.List;
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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
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* @createDate 2025/11/18 14:18
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*/
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@Slf4j
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@Component
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public class AgvScheduler {
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@Resource
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private ConfigService configService;
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@Resource
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private AgvHandler agvHandler;
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@Resource
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private TaskService taskService;
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@Resource
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private WrkMastMapper wrkMastMapper;
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@Resource
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private WrkMastService wrkMastService;
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@Resource
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private WrkMastLogService wrkMastLogService;
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@Resource
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private SchedulerProperties schedulerProperties;
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/**
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* 呼叫agv搬运
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*/
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@Scheduled(cron = "0/5 * * * * ? ")
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private void callAgv() {
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if (!schedulerProperties.isEnabled()) {
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return;
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}
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// 查询待呼叫agv任务，按id升序排序（id最小的优先呼叫）
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List<Task> taskList = taskService.selectList(
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new EntityWrapper<Task>()
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.eq("wrk_sts", 7)
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.orderBy("id", true) // 按id升序，id最小的优先
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);
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if(taskList.isEmpty()) {
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return;
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}
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agvHandler.callAgv(taskList);
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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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@Scheduled(cron = "0/3 * * * * ? ")
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private void createAgvOutTasks() {
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if (!schedulerProperties.isEnabled()) {
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return;
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}
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// 获取呼叫agv配置
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List<Config> configs = configService.selectList(new EntityWrapper<Config>().in("code", "eastCallAgvControl", "westCallAgvControl").eq("status", 1));
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if(configs.isEmpty()) {
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return;
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}
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// 获取agv出库可用站点
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List<String> sites = new ArrayList<>();
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for(Config config: configs) {
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String value = config.getValue();
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if(Cools.isEmpty(value)) {
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continue;
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}
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String[] split = value.split(";");
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sites.addAll(Arrays.asList(split));
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}
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if(sites.isEmpty()) {
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return;
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}
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agvHandler.createAgvOutTasks(sites);
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}
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/**
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* 任务完成转历史
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*/
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@Scheduled(cron = "0/10 * * * * ? ")
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private void moveTaskToHistory() {
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if (!schedulerProperties.isEnabled()) {
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return;
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}
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List<Task> taskList = taskService.selectList(new EntityWrapper<Task>().eq("wrk_sts", 9));
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if(taskList.isEmpty()) {
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return;
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}
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agvHandler.moveTaskToHistory(taskList);
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}
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/**
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* 检查入库成功的任务，完结对应的AGV呼叫单
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* 如果入库任务呼叫AGV后没有收到回调，但工作档已经入库成功，则完结AGV呼叫单
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*/
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@Scheduled(cron = "0/10 * * * * ? ")
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private void checkInboundCompletedTasks() {
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if (!schedulerProperties.isEnabled()) {
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return;
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}
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try {
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// 查询入库成功的工作档（状态4：入库完成，入库类型：1,10,53,57）
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List<WrkMast> completedWrkMasts = wrkMastService.selectList(
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new EntityWrapper<WrkMast>()
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.eq("wrk_sts", 4L) // 入库完成
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.in("io_type", 1, 10, 53, 57) // 入库类型
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.isNotNull("wrk_no")
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);
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if (completedWrkMasts.isEmpty()) {
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return;
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}
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Date now = new Date();
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int completedCount = 0;
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for (WrkMast wrkMast : completedWrkMasts) {
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// 查找对应的AGV任务（优先通过wrk_no查询）
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Wrapper<Task> taskWrapper1 = new EntityWrapper<Task>()
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.eq("task_type", "agv")
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.eq("wrk_sts", 8L) // 已呼叫AGV状态
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.eq("wrk_no", wrkMast.getWrkNo());
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List<Task> agvTasks = taskService.selectList(taskWrapper1);
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// 如果通过wrk_no没找到，且有条码，则通过条码查询
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if (agvTasks.isEmpty() && !Cools.isEmpty(wrkMast.getBarcode())) {
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Wrapper<Task> taskWrapper2 = new EntityWrapper<Task>()
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.eq("task_type", "agv")
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.eq("wrk_sts", 8L)
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.eq("barcode", wrkMast.getBarcode());
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agvTasks = taskService.selectList(taskWrapper2);
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}
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for (Task agvTask : agvTasks) {
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// 确保是入库任务
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if (agvTask.getIoType() != null &&
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(agvTask.getIoType() == 1 || agvTask.getIoType() == 10 ||
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agvTask.getIoType() == 53 || agvTask.getIoType() == 57)) {
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// 更新AGV任务状态为完成
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agvTask.setWrkSts(9L);
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agvTask.setModiTime(now);
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if (taskService.updateById(agvTask)) {
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completedCount++;
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log.info("入库任务工作档已入库成功，完结AGV呼叫单，taskId：{}，wrkNo：{}，barcode：{}",
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agvTask.getId(), wrkMast.getWrkNo(), wrkMast.getBarcode());
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}
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}
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}
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}
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if (completedCount > 0) {
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log.info("本次检查完结了{}个入库AGV呼叫单", completedCount);
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}
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} catch (Exception e) {
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log.error("检查入库成功任务并完结AGV呼叫单异常", e);
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}
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}
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/**
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* 检查AGV任务对应的工作档是否已完成或已转历史档并完结
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* 处理被跳过的AGV任务：如果工作档已完成（wrk_sts=4,5,14,15）或已转历史档并完结，则完结AGV任务
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*/
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@Scheduled(cron = "0/10 * * * * ? ")
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private void checkCompletedTasksInHistory() {
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if (!schedulerProperties.isEnabled()) {
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return;
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}
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try {
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// 查询状态为8（已呼叫AGV）的AGV任务
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List<Task> agvTasks = taskService.selectList(
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new EntityWrapper<Task>()
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.eq("task_type", "agv")
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.eq("wrk_sts", 8L) // 已呼叫AGV状态
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.isNotNull("wrk_no")
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);
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if (agvTasks.isEmpty()) {
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return;
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}
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Date now = new Date();
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int completedCount = 0;
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for (Task agvTask : agvTasks) {
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boolean isCompleted = false;
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String reason = "";
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// 检查工作档是否存在
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WrkMast wrkMast = null;
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if (agvTask.getWrkNo() != null) {
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wrkMast = wrkMastService.selectOne(
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new EntityWrapper<WrkMast>().eq("wrk_no", agvTask.getWrkNo())
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);
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}
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// 如果工作档存在，检查是否已完成
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if (wrkMast != null) {
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Long wrkSts = wrkMast.getWrkSts();
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Integer ioType = agvTask.getIoType();
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if (wrkSts != null && ioType != null) {
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// 入库任务：状态4（入库完成）或5（库存更新完成）
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if ((ioType == 1 || ioType == 10 || ioType == 53 || ioType == 57) &&
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(wrkSts == 4L || wrkSts == 5L)) {
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isCompleted = true;
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reason = String.format("工作档已完成，状态：%d", wrkSts);
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}
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// 出库任务：状态14（已出库未确认）或15（出库更新完成）
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else if ((ioType == 101 || ioType == 110 || ioType == 103 || ioType == 107) &&
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(wrkSts == 14L || wrkSts == 15L)) {
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isCompleted = true;
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reason = String.format("工作档已完成，状态：%d", wrkSts);
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}
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}
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} else {
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// 如果工作档不存在，检查历史档
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WrkMastLog wrkMastLog = null;
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// 优先通过wrk_no查询历史档
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if (agvTask.getWrkNo() != null) {
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wrkMastLog = wrkMastLogService.selectOne(
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new EntityWrapper<WrkMastLog>().eq("wrk_no", agvTask.getWrkNo())
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);
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}
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// 如果通过wrk_no没找到，且有条码，则通过条码查询
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if (wrkMastLog == null && !Cools.isEmpty(agvTask.getBarcode())) {
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List<WrkMastLog> logList = wrkMastLogService.selectList(
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new EntityWrapper<WrkMastLog>().eq("barcode", agvTask.getBarcode())
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);
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if (!logList.isEmpty()) {
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wrkMastLog = logList.get(0); // 取第一个
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}
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}
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// 如果历史档存在且已完结，则完结AGV任务
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if (wrkMastLog != null) {
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Integer ioType = agvTask.getIoType();
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long logWrkSts = wrkMastLog.getWrkSts();
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if (ioType != null) {
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// 入库任务：状态5（库存更新完成）
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if ((ioType == 1 || ioType == 10 || ioType == 53 || ioType == 57) &&
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logWrkSts == 5L) {
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isCompleted = true;
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reason = String.format("工作档已转历史档并完结，历史档状态：%d", logWrkSts);
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}
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// 出库任务：状态15（出库更新完成）
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else if ((ioType == 101 || ioType == 110 || ioType == 103 || ioType == 107) &&
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logWrkSts == 15L) {
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isCompleted = true;
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reason = String.format("工作档已转历史档并完结，历史档状态：%d", logWrkSts);
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}
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}
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}
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}
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// 如果已完成，更新AGV任务状态
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if (isCompleted) {
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agvTask.setWrkSts(9L);
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agvTask.setModiTime(now);
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if (taskService.updateById(agvTask)) {
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completedCount++;
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log.info("{}，完结AGV呼叫单，taskId：{}，wrkNo：{}，barcode：{}，站点：{}",
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reason, agvTask.getId(), agvTask.getWrkNo(), agvTask.getBarcode(), agvTask.getStaNo());
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}
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}
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}
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if (completedCount > 0) {
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log.info("本次检查完结了{}个AGV呼叫单（工作档已完成或已转历史档）", completedCount);
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}
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} catch (Exception e) {
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log.error("检查工作档已完成或历史档完结任务并完结AGV呼叫单异常", e);
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}
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}
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}
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