package com.zy.asrs.controller;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.annotations.AppAuth;
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import com.core.common.BaseRes;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.entity.param.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.service.impl.BasCrnErrorServiceImpl;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.web.BaseController;
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import com.zy.core.CrnThread;
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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.enums.SlaveType;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.properties.SlaveProperties;
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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.transaction.annotation.Transactional;
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import org.springframework.web.bind.annotation.*;
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import javax.servlet.http.HttpServletRequest;
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import java.io.IOException;
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import java.util.*;
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@Slf4j
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@RestController
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@RequestMapping("/open")
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public class OpenController extends BaseController {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private OpenService openService;
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@Autowired
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private TaskWrkService taskWrkService;
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@Autowired
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private CommandInfoService commandInfoService;
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@Autowired
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private TaskWrkController taskWrkController;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private ApiLogService apiLogService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private BasRgvErrService basRgvErrService;
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@Autowired
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private BasCrnErrorServiceImpl basCrnErrorService;
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@Value("${wms.url}")
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private String wmsUrl;
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private static final boolean auth = true;
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public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
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add("ea1f0459efc02a79f046f982767939ae");
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}};
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//agv任务完成
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@PostMapping("/toAgvTaskOver")
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@AppAuth(memo = "agv任务完成接口")
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public R getAgvTaskOver(@RequestHeader String appkey,
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@RequestBody TaskOverParam param,
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HttpServletRequest request){
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auth(appkey, param, request);
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if (Cools.isEmpty(param)) {
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return R.parse(BaseRes.PARAM);
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}
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if (Cools.isEmpty(param.getWharfCode())){
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return R.error("码头[wharfCode]不能为空");
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}
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if (Cools.isEmpty(param.getStatus())){
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return R.error("完成标记[status]不能为空");
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}
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openService.getAgvTaskOver(param);
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return R.ok();
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}
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//创建任务
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@PostMapping("/taskCreate2")
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@AppAuth(memo = "WMS任务下发")
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@Transactional
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public synchronized R taskCreate(@RequestHeader String appkey,
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@RequestBody List<TaskCreateParam> param1,
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HttpServletRequest request) {
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auth(appkey, param1, request);
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try{
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List<TaskCreateParam> paramList = new ArrayList<>();
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List<String> locNoList = new ArrayList<>();
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for (TaskCreateParam param : param1) {
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if (Cools.isEmpty(param)) {
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return R.parse(BaseRes.PARAM);
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}
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if (Cools.isEmpty(param.getTaskNo())) {
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return R.error("任务号[taskNo]不能为空");
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}
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if (Cools.isEmpty(param.getIoType())) {
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return R.error("任务类型[ioType]不能为空");
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}
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param.updateIoTyoe(param.getIoType());//中航下发 1：出库，2：移库 3：入库 ====转换为====> 1：入库，2：出库，3：移库
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if (Cools.isEmpty(param.getBarcode())) {
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return R.error("条码[barcode]不能为空");
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}
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String locNo=null;
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if(param.getIoType()==1){
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locNo=param.getTargetPoint();
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}else{
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locNo=param.getStartPoint();
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}
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try{
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LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
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.eq("loc_no", locNo).ne("loc_sts","X"));
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if (Cools.isEmpty(locMast)){
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log.error("库位号不存在"+locNo);
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return R.error("库位号不存在"+locNo).add("库位号不存在"+locNo);
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}
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}catch (Exception e){
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log.error("库位号检测程序异常==》异常信息"+e);
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return R.error("库位号检测程序异常").add("库位号检测程序异常==》异常信息"+e);
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}
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LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
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.eq("loc_sts","F")
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.eq("loc_no",locNo)
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.eq("barcode",param.getBarcode()));
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if(Cools.isEmpty(locMast)){
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return R.error("该库位不满足出库条件"+param.getTargetPoint());
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}
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if (!locNoList.contains(locMast.getLocNo())){
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locNoList.add(locMast.getLocNo());
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paramList.add(param);
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}else {
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return R.error("该库位不能同时下发两笔任务"+locMast.getLocNo());
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}
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}
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for (TaskCreateParam param : paramList){
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openService.taskCreate(param);
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}
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}catch (Exception e){
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log.error("任务下发异常"+e);
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return R.error();
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}
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return R.ok();
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}
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//查询任务详情
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@GetMapping("/queryTask")
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public R queryTask(@RequestHeader String appkey,
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@RequestParam String taskNo,
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HttpServletRequest request) {
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auth(appkey, taskNo, request);
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TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
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if (taskWrk == null) {
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return R.error("任务不存在");
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}
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return R.ok().add(taskWrk);
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}
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// //取放货申请
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// @PostMapping("/pick/and/place/v1")
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// @AppAuth(memo = "agv取放货申请")
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// public R getAgvPickAndPlaceV1(@RequestHeader String appkey,
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// @RequestBody TaskOverParam param,
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// HttpServletRequest request){
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// auth(appkey, param, request);
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// if (Cools.isEmpty(param)) {
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// return R.parse(BaseRes.PARAM);
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// }
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// if (Cools.isEmpty(param.getStaNo())){
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// return R.error("码头[staNo]不能为空");
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// }
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// if (Cools.isEmpty(param.getType())){
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// return R.error("类型[type]不能为空");
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// }
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// return openService.getAgvPickAndPlaceV1(param);
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// }
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// //取放货完成反馈
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// @PostMapping("/pick/and/place/v2")
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// @AppAuth(memo = "agv取放货完成反馈")
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// public R getAgvPickAndPlaceV2(@RequestHeader String appkey,
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// @RequestBody TaskOverParam param,
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// HttpServletRequest request){
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// auth(appkey, param, request);
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// if (Cools.isEmpty(param)) {
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// return R.parse(BaseRes.PARAM);
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// }
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// if (Cools.isEmpty(param.getStaNo())){
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// return R.error("码头[staNo]不能为空");
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// }
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// if (Cools.isEmpty(param.getType())){
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// return R.error("类型[type]不能为空");
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// }
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// return openService.getAgvPickAndPlaceV2(param);
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// }
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//查询任务指令集合
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@GetMapping("/queryTaskCommand")
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public R queryTaskCommand(@RequestHeader String appkey,
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@RequestParam String taskNo,
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HttpServletRequest request) {
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auth(appkey, taskNo, request);
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TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
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if (taskWrk == null) {
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return R.error("任务不存在");
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}
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List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
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return R.ok().add(commandInfos);
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}
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private void auth(String appkey, Object obj, HttpServletRequest request) {
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log.info("{}接口被访问；appkey:{}；请求数据：{}", request.getServletPath(), appkey, JSON.toJSONString(obj));
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request.setAttribute("cache", obj);
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if (Cools.isEmpty(appkey)) {
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throw new CoolException("认证失败，请确认appkey无误！");
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}
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if (!APP_KEY_LIST.contains(appkey)) {
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throw new CoolException("认证失败，请确认appkey无误！");
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}
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}
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//AGV请求入库码头接口
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@PostMapping("/targetWharfApply")
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@AppAuth(memo = "AGV请求入库码头接口")
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public R targetWharfApply(@RequestHeader String appkey,
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@RequestBody WMSAndAGVInterfaceParam param,
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HttpServletRequest request) throws IOException {
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auth(appkey,param,request);
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if (Cools.isEmpty(param)){
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return R.error("参数为空！");
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} else if (Cools.isEmpty(param.getTaskNo())){
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return R.error("工作号为空！");
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} else if (Cools.isEmpty(param.getContainerCode())){
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return R.error("托盘编码为空！");
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} else if (Cools.isEmpty(param.getWharfSource())){
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return R.error("源码头为空！");
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} else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
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return R.error("空闲的入库码头（AGV）为空！");
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}
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R r = openService.AgvToWCSToWms(param);
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apiLogService.save("AGV请求入库码头接口"
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,request.getRemoteAddr()+request.getRequestURI()
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,appkey
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,request.getRemoteAddr()
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,JSON.toJSONString(param)
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,r.toString()
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,true
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);
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return r;
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}
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//AGV请求动作接口
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@PostMapping("/agvTaskRequest")
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@AppAuth(memo = "AGV请求动作接口")
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public R agvTaskRequest(@RequestHeader String appkey,
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@RequestBody WMSAndAGVInterfaceParam param,
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HttpServletRequest request) {
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auth(appkey, param, request);
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if (Cools.isEmpty(param)){
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return R.error("参数为空！");
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} else if (Cools.isEmpty(param.getRequestType())){
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return R.error("请求类型为空！");
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} else if (Cools.isEmpty(param.getWharfCode())){
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return R.error("码头编号为空！");
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}
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Map<String,Integer> map = new HashMap<>();
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map.put("J-1102",102);map.put("J-1101",101);
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map.put("J-1103",105);map.put("J-1104",106);
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map.put("J-1105",109);map.put("J-1106",110);
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map.put("J-1107",113);map.put("J-1108",114);
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map.put("J-1109",117);map.put("J-1110",118);
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map.put("J-1111",121);map.put("J-1112",122);
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map.put("H-1102",300);map.put("H-1101",305);
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map.put("G-1102",400);map.put("G-1101",405);
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// StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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// .eq("stn_desc", param.getWharfCode()));
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//
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// if (Cools.isEmpty(staDesc)){
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// return R.error("程序报错，未查询到站点");
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// }
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if (Cools.isEmpty(map.get(param.getWharfCode()))){
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return R.error("未查询到站点");
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}
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BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
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// BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
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if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))){
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apiLogService.save("AGV请求入库码头接口"
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,request.getRemoteAddr()+request.getRequestURI()
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,appkey
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,request.getRemoteAddr()
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,JSON.toJSONString(param)
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,R.ok().toString()
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,true
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);
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return R.ok("可入");
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}else {
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apiLogService.save("AGV请求入库码头接口"
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,request.getRemoteAddr()+request.getRequestURI()
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,appkey
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,request.getRemoteAddr()
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,JSON.toJSONString(param)
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,R.error("站点状态不可入").toString()
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,true
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);
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return R.error("站点状态不可入");
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}
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}
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//任务下发接口
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// @PostMapping("/outboundTaskSend")
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@PostMapping("/taskCreate")
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@AppAuth(memo = "任务下发接口")
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@Transactional
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public R outboundTaskSend(@RequestHeader String appkey,
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@RequestBody List<CarryParam> params,//中航下发 1：出库，2：移库 3：入库
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HttpServletRequest request) {
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auth(appkey, params, request);
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// List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
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for (CarryParam param:params){
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param.updateIoTyoe(param.getIoType());//中航下发 1：出库，2：移库 3：入库 ====转换为====> 1：入库，2：出库，3：移库
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if (Cools.isEmpty(param)){
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return R.error("参数为空！");
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} else if (Cools.isEmpty(param.getTaskNo())){
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return R.error("任务号为空！");
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} else if (Cools.isEmpty(param.getIoType())){
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return R.error("任务类型为空！");
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}
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if (Cools.isEmpty(param.getStartPoint()) || Cools.isEmpty(param.getTargetPoint())){
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return R.error("初始目标或者目标位为空");
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}
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// if (Cools.isEmpty(param.getContainerCode())){
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// return R.error("容器编码(托盘码)为空！");
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// }
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// if (Cools.isEmpty(param.getEmptyContainer())){
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// return R.error("是否空托盘信号为空！");
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// }
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// if (!param.getTaskType().equals("YK")){
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// if (Cools.isEmpty(param.getTargetWharf())){
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// return R.error("目标码头区域为空！");//G开头=7车间，H开头=8层，J开头=9车间
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// }
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// }
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String locNo=null;
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if(param.getIoType()==1){
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locNo=param.getTargetPoint();
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}else{
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locNo=param.getStartPoint();
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}
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LocMast locMast = locMastService.selectByLocNo(locNo);
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if(Cools.isEmpty(locMast)){
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return R.error("初始库位无法找到");
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}
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R r = null;
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if(param.getIoType() == 1){
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//入库任务创建
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StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("type_no",1)
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.eq("crn_no",locMast.getCrnNo())
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.eq("stn_no",param.getStartPoint()));
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if(Cools.isEmpty(staDesc)){
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return R.error("入库路劲不存在");
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}
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r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
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}else if(param.getIoType() == 2){
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//出库任务创建
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StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("type_no",2)
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.eq("crn_no",locMast.getCrnNo())
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.eq("stn_no",param.getTargetPoint()));
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if(Cools.isEmpty(staDesc)){
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return R.error("出库路劲不存在");
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}
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r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
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}else if (param.getIoType() == 3){
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LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
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if(Cools.isEmpty(locMast2)){
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return R.error("目标库位无法找到");
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}
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if (!locMast2.getCrnNo().equals(locMast.getCrnNo())){
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return R.error("起始库位与目标库位不再同一巷道");
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}
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//移库任务创建
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r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
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}
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apiLogService.save("Wms任务下发接口"
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,request.getRemoteAddr()+request.getRequestURI()
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,appkey
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,request.getRemoteAddr()
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,JSON.toJSONString(param)
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,r.toString()
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,true
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);
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}
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return R.ok();
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}
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//任务取消接口
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@PostMapping("/taskCancel")
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public R taskCancel(@RequestHeader String appkey,
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@RequestBody WMSAndAGVInterfaceParam param,//中航下发 1：出库，2：移库 3：入库 1：取消 2 完成
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HttpServletRequest request) {
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auth(appkey, param, request);
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// param.updateTaskStatus(param.getTaskStatus());
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if (Cools.isEmpty(param)){
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return R.error("参数为空！");
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} else if (Cools.isEmpty(param.getTaskNo())){
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return R.error("工作号为空！");
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} else if (Cools.isEmpty(param.getIoType())){
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return R.error("操作类型为空！");
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} else if (Cools.isEmpty(param.getBarcode())){
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return R.error("托盘码不能为空！");
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}
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TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>()
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.eq("task_no", param.getTaskNo())
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.eq("io_type",param.getIoType())
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.eq("barcode",param.getBarcode()));
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if (Cools.isEmpty(taskWrk)){
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return R.error("未查到当前任务---"+param);
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}
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boolean sign =false;
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switch (param.getTaskStatus()){
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case 1://正常取消
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if (taskWrk.getStatus()>1){
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return R.error("任务已开始执行");
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}
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break;
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case 2://正常完成
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if (taskWrk.getStatus()>1){
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return R.error("任务已开始执行");
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}
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sign=true;
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break;
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default:
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return R.error("未知操作");
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}
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return taskWrkOperate(taskWrk,sign);
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}
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//任务操作
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private R taskWrkOperate(TaskWrk taskWrk,boolean sign){
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try{
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if (sign){//完成
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return taskWrkController.complete(taskWrk.getTaskNo());
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}else {//取消
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return taskWrkController.cancel(taskWrk.getTaskNo());
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}
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}catch (Exception e){
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return R.error();
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}
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}
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//设备状态查询接口
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@PostMapping("/deviceStatus")
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@Transactional
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public R deviceStatus(@RequestHeader String appkey,
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HttpServletRequest request) {
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auth(appkey, "设备状态查询接口", request);
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List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
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List<Object> list = new ArrayList<>();
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for (BasDevp basDevp:basDevps){
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BasDevpWmsParam basDevpWmsParam = new BasDevpWmsParam();
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basDevpWmsParam.setDevNo(basDevp.getDevNo());
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basDevpWmsParam.setWrkNo(basDevp.getWrkNo().longValue());
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basDevpWmsParam.setAutoing(basDevp.getAutoing());
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basDevpWmsParam.setLoading(basDevp.getLoading());
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basDevpWmsParam.setInEnable(basDevp.getInEnable());
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basDevpWmsParam.setOutEnable(basDevp.getOutEnable());
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basDevpWmsParam.setDevErr(basDevp.getStaErr().longValue());
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basDevpWmsParam.setDevErrM(basDevpWmsParam.getDevErr$());
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list.add(basDevpWmsParam);
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}
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List<BasCrnpWmsParam> basCrnpWmsParamList = new ArrayList<>();
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for (CrnSlave crn : slaveProperties.getCrn()) {
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// 获取堆垛机信息
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) { continue; }
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BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
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if (basCrnp == null) {
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log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
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continue;
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}
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BasCrnpWmsParam basCrnpWmsParam = new BasCrnpWmsParam();
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basCrnpWmsParam.sync(basCrnp);
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basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());
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basCrnpWmsParamList.add(basCrnpWmsParam);
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try{
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BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
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basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
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} catch (Exception e){
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basCrnpWmsParam.setCrnErrM("未知异常");
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}
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list.add(basCrnpWmsParam);
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}
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
|
if (Cools.isEmpty(rgvStatus)){
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continue;
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}
|
BasRgvWmsParam basRgvWmsParam = new BasRgvWmsParam();
|
basRgvWmsParam.setWrkNo(rgvStatus.getTaskNo());
|
basRgvWmsParam.setCrnSts(rgvStatus.getStatus().intValue());
|
basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
|
basRgvWmsParam.setSteNo(rgvSlave.getId());
|
basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
|
try{
|
BasRgvErr basRgvErr = basRgvErrService.selectById(rgvStatus.getAlarm().longValue());
|
|
basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
|
} catch (Exception e){
|
basRgvWmsParam.setSteErrM("未知异常");
|
}
|
list.add(basRgvWmsParam);
|
}
|
// List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
|
// for (BasCrnp basCrnp:basCrnps){
|
// list.add(basCrnp);
|
// }
|
return R.ok(list);
|
}
|
|
|
}
|
