package com.zy.asrs.controller;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.annotations.ManagerAuth;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.zy.asrs.domain.param.RingThroughParam;
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import com.zy.asrs.entity.BasDevpPosition;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.core.cache.RgvErrCache;
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import com.zy.core.cache.RgvStatusCache;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.cache.TaskProtocolCache;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.TaskProtocol;
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import com.zy.core.thread.RgvThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* 输送设备接口
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* Created by vincent on 2020-06-01
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*/
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@RestController
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@RequestMapping("/rgv")
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public class RgvController {
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@GetMapping("/status/all")
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@ManagerAuth(memo = "全部信息")
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public R allStatus(){
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List<Map<String, Object>> res = new ArrayList<>();
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ConcurrentHashMap<Integer, RgvProtocol> allRgvStatus = RgvStatusCache.getAllRgvStatus();
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for (RgvProtocol rgvProtocol : allRgvStatus.values()){
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Map<String, Object> map2 = new HashMap<>();
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map2.put("rgvNo", rgvProtocol.getRgvNo());
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map2.put("taskNo", rgvProtocol.getTaskNo());
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map2.put("mode", rgvProtocol.getModeType().desc);
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map2.put("status", rgvProtocol.getStatusType().desc);
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map2.put("rgvPos", rgvProtocol.getRgvPos());
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map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
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map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "未知":rgvProtocol.getLoaded()==1? "有物":"无物");
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map2.put("errorRgv", RgvErrCache.getErrorDev(rgvProtocol.getRgvNo()));
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res.add(map2);
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}
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return R.ok().add(res);
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}
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@PostMapping("/task/cache/all")
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@ManagerAuth(memo = "全部信息")
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public R allTaskCache(@RequestParam(defaultValue = "0") Integer rgvNo){
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List<Map<String, Object>> res = new ArrayList<>();
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try{
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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for (TaskProtocol taskProtocol : allTaskProtocol.values()){
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Map<String, Object> map2 = new HashMap<>();
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map2.put("rgvNo", rgvNo);
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map2.put("taskNo", taskProtocol.getTaskNo());
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map2.put("targetPosition", taskProtocol.getTargetPosition());
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map2.put("isRunning", taskProtocol.getIsRunning());
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map2.put("taskStatus", taskProtocol.getTaskStatus());
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map2.put("direction", taskProtocol.isDirection());
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res.add(map2);
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}
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} catch (Exception e){
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// return R.error("异常"+e.getMessage());
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}
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return R.ok().add(res);
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}
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@PostMapping("/run/del")//Take Put Walk
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@ManagerAuth(memo = "清空任务")
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public R rgvRunDel(@RequestParam(defaultValue = "0") Integer rgvNo
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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for (TaskProtocol taskProtocol : allTaskProtocol.values()){
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taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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}
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} catch (Exception e) {
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return R.error("任务删除失败"+e.getMessage());
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}
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return R.ok("任务清空成功");
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}
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@PostMapping("/run/del2")//Take Put Walk
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@ManagerAuth(memo = "清除作业启动中")
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public R rgvRunDel2(@RequestParam(defaultValue = "0") Integer rgvNo
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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try {
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rgvThread.setWrkSign();
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} catch (Exception e) {
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return R.error("清除作业启动中失败"+e.getMessage());
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}
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return R.ok("任务清空成功");
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}
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@PostMapping("/run/walk")//Take Put Walk
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@ManagerAuth(memo = "小车行走")
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public R rgvRunWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
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return R.error("目标站点请填写");
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}
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if (rgvPosDestination == null || rgvPosDestination == 0){
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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if (Cools.isEmpty(basDevpPosition)){
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return R.error("目标站点不存在");
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}
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rgvPosDestination = basDevpPosition.getPlcPosition();
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issued = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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//执行
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issued.setTaskNo(Long.valueOf(taskNo));
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issued.setTaskStatus(1);
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issued.setTaskNoDirection(issued.gettaskNoDirection$(issued.getTaskNo(), issued.getTaskStatus()));
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issued.setTargetPosition(rgvPosDestination);
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issued.setIsRunning(1);
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issued.setDirection(true);
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taskProtocolCache.updateTaskProtocol(issued);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/put")//Take Put Walk
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@ManagerAuth(memo = "小车放货")
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public R rgvPutWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoPut == null || rgvStaNoPut == 0){
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return R.error("目标站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedPut = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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if (Cools.isEmpty(basDevpPosition)){
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return R.error("目标站点不存在");
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}
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//执行
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issuedPut.setTaskNo(Long.valueOf(taskNo));
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issuedPut.setTaskStatus(3);
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issuedPut.setTargetPositionStaNo(basDevpPosition.getDevNo());
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issuedPut.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
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issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
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issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
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issuedPut.setIsRunning(1);
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issuedPut.setDirection(basDevpPosition.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedPut);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/take")//Take Put Walk
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@ManagerAuth(memo = "小车取货")
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public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoTake,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoTake == null || rgvStaNoTake == 0){
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return R.error("取货站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedTake = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
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if (Cools.isEmpty(basDevpPosition)){
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return R.error("取货站点不存在");
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}
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//执行
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issuedTake.setTaskNo(Long.valueOf(taskNo));
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issuedTake.setTaskStatus(2);
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issuedTake.setTargetPositionStaNo(basDevpPosition.getDevNo());
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issuedTake.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
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issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
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issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
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issuedTake.setIsRunning(1);
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issuedTake.setDirection(basDevpPosition.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedTake);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/TakeAndPut")//Take Put Walk
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@ManagerAuth(memo = "小车取货")
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public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoTake,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoTake == null || rgvStaNoTake == 0){
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return R.error("取货站点请填写");
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}
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if (rgvStaNoPut == null || rgvStaNoPut == 0){
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return R.error("放货站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedTake = new TaskProtocol();
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TaskProtocol issuedPut = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
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if (Cools.isEmpty(basDevpPositionTake)){
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return R.error("取货站点不存在");
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}
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//执行
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issuedTake.setTaskNo(Long.valueOf(taskNo));
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issuedTake.setTaskStatus(2);
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issuedTake.setTargetPositionStaNo(basDevpPositionTake.getDevNo());
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issuedTake.setTargetPositionStaNoPlcId(basDevpPositionTake.getPlcId());
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issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
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issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
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issuedTake.setIsRunning(1);
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issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);
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BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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if (Cools.isEmpty(basDevpPositionPut)){
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return R.error("目标站点不存在");
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}
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//执行
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issuedPut.setTaskNo(Long.valueOf(taskNo));
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issuedPut.setTaskStatus(3);
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issuedPut.setTargetPositionStaNo(basDevpPositionPut.getDevNo());
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issuedPut.setTargetPositionStaNoPlcId(basDevpPositionPut.getPlcId());
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issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
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issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
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issuedPut.setIsRunning(1);
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issuedPut.setDirection(basDevpPositionPut.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedTake);
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taskProtocolCache.updateTaskProtocol(issuedPut);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/delRgvTask")//Take Put Walk
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@ManagerAuth(memo = "小车取货")
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public R rgvDelRgvTask(@RequestParam(defaultValue = "0") Integer rgvNo
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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try {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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rgvThread.setDelRgvTask();
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/ring/through/rgv/position/data")
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// @ManagerAuth(memo = "小车位置信息")
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public R ringThroughRgv(){
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List<RingThroughParam> result = new ArrayList<>();
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ConcurrentHashMap<Integer, RgvProtocol> allRgvStatus = RgvStatusCache.getAllRgvStatus();
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for (RgvProtocol rgvProtocol : allRgvStatus.values()){
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RingThroughParam ringThroughParam = new RingThroughParam();
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ringThroughParam.setIndex(rgvProtocol.getRgvNo());
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// ringThroughParam.setIndex(i);
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// double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183));
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// double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue());
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// double[] doubles = Utils.getRgvPosNew(perimeter, rgvProtocol.RgvPos.doubleValue());
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// double[] doubles = Utils.RingThroughXY2(183.0, 100*i );
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ringThroughParam.setValueX(rgvProtocol.getRgvNo()*100*1D);
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ringThroughParam.setValueY(rgvProtocol.getRgvNo()*100*2D);
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ringThroughParam.setModeColor(rgvProtocol.modeType.color);
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ringThroughParam.setStatusColor(rgvProtocol.statusType.color);
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result.add(ringThroughParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/dev/position/data")
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// @ManagerAuth(memo = "站点信息")
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// 站点位置信息
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public R ringThroughDev(){
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List<RingThroughParam> result = new ArrayList<>();
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ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
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add(1001);
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add(1002);
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add(1003);
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add(1004);
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add(1005);
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add(1006);
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add(1007);
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add(1008);
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add(1009);
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add(1010);
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add(1011);
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add(1012);
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add(1013);
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add(1014);
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add(1015);
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add(1016);
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add(1017);
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add(1018);
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add(1019);
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add(1020);
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add(1021);
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add(1022);
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add(1023);
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}};
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for (Integer staNo : arrayList){
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RingThroughParam ringThroughParam = new RingThroughParam();
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ringThroughParam.setIndex(staNo);
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// double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition());
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// ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
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// ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
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// double[] doubles = Utils.getRgvPosNew(basDevpPosition.getDevNo(),perimeter, basDevpPosition.getPlcPosition());
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ringThroughParam.setValueX(staNo*100*1D);
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ringThroughParam.setValueY(staNo*100*2D);
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result.add(ringThroughParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/track/position/data")
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// @ManagerAuth(memo = "轨道PLC状态信息")
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public R wnergyGatheringRingParamTrack(){
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return R.ok();
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}
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@PostMapping("/ring/through/task/wrk/mast/position/data")
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// @ManagerAuth(memo = "作业信息")
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public R ringThroughTaskWrkMast(){
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return R.ok();
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}
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@PostMapping("/ring/through/task/wrk/mast/position/data/v1")
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// @ManagerAuth(memo = "作业信息")
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public R ringThroughTaskWrkMastV1(){
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return R.ok();
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}
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@PostMapping("/task/rgv/circular/shuttle/mast/position/data")
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// @ManagerAuth(memo = "作业信息")
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public R rgvCircularShuttle(){
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return R.ok();
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}
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@PostMapping("/task/rgv/circular/shuttle/mast/position/data/v1")
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// @ManagerAuth(memo = "作业信息")
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public R rgvCircularShuttleV1(){
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return R.ok();
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}
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}
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