package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.zy.asrs.domain.enums.TaskStatusType;
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import com.zy.asrs.domain.enums.WorkNoType;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.entity.param.TaskCreateParam;
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import com.zy.asrs.entity.param.TaskOverParam;
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import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.HttpHandler;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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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.DevpSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import java.io.IOException;
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import java.util.*;
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@Service
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public class OpenServiceImpl implements OpenService {
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public ArrayList<String> wharfCode1 = new ArrayList<String>() {{
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add("J-1101");
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add("J-1103");
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add("J-1105");
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add("J-1107");
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add("J-1109");
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add("J-1111");
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add("H-1101");
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add("G-1101");
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}};
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@Autowired
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private TaskWrkService taskWrkService;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private ApiLogService apiLogService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private BasDevpService basDevpService;
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@Value("${wms.url}")
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private String wmsUrl;
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@Override
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public HashMap<String, Object> taskCreate(TaskCreateParam param) {
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HashMap<String, Object> map = new HashMap<>();
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TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
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if (taskWrk != null) {
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map.put("Code", "0");
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map.put("Msg", param.getTaskNo() + "任务已经生成！");
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return map;
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}
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Date now = new Date();
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taskWrk = new TaskWrk();
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LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", param.getStartPoint()));
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int workNo1 = commonService.getWorkNo(WorkNoType.PAKOUT.type);//获取入库工作号
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taskWrk.setTaskNo(param.getTaskNo());//任务号
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taskWrk.setWrkNo(workNo1);
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taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
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taskWrk.setCreateTime(now);
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try {
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if (param.getIoType() > 1) {
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if (Utils.locNoRowBoolean(locMast.getRow1())) {
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param.setTaskPriority(11);
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}
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}
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} catch (Exception e) {
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}
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taskWrk.setIoType(param.getIoType());//任务类型
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taskWrk.setIoPri(param.getTaskPriority());//优先级
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taskWrk.setBarcode(param.getBarcode());//条码
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taskWrk.setCrnNo(locMast.getCrnNo());
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if (param.getIoType() == 1) {
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taskWrk.setWrkSts(1);
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if (!Cools.isEmpty(param.getTargetPoint())) {
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taskWrk.setTargetPoint(Utils.getWcsLocNo(param.getTargetPoint()));//终点
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taskWrk.setOriginTargetPoint(param.getTargetPoint());
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}
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} else if (param.getIoType() == 2) {
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taskWrk.setWrkSts(11);
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if (!Cools.isEmpty(param.getStartPoint())) {
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taskWrk.setStartPoint(param.getStartPoint());//起点
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taskWrk.setTargetPoint(param.getTargetPoint());
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}
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taskWrk.setTargetPoint(param.getTargetPoint());
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} else if (param.getIoType() == 3) {
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taskWrk.setWrkSts(11);
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if (!Cools.isEmpty(param.getStartPoint())) {
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taskWrk.setStartPoint(param.getStartPoint());//起点
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taskWrk.setTargetPoint(param.getTargetPoint());
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}
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}
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if (!Cools.isEmpty(param.getMemo())) {
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taskWrk.setMemo(param.getMemo());//备注
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}
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if (!taskWrkService.insert(taskWrk)) {
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map.put("Code", "0");
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map.put("Msg", param.getTaskNo() + "创建任务失败！");
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return map;
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}
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map.put("Code", "1");
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map.put("Msg", "ok");
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return map;
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}
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@Override
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public R AgvToWCSToWms(WMSAndAGVInterfaceParam param) throws IOException {
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ToWmsDTO toWmsDTO = new ToWmsDTO();
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Map<String, Object> map = new HashMap<>();
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map.put("x-api-key", "7a15b5db-29b6-552c-8cff-0cfec3756da2");
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List<Integer> list = new ArrayList<>();
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if (param.getWharfSource().contains("J")) {
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list = getInEnableRoadway();
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} else {
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list = getInEnableRoadway2();
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}
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//TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
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toWmsDTO.setWarehouseId("1688469798893297665");
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toWmsDTO.setContainerCode(param.getContainerCode());
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toWmsDTO.setApplyType("TUNNEL");
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toWmsDTO.setWharfSource(null);
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toWmsDTO.setCanInboundTunnels(list);
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String response = null;
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try {
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response = new HttpHandler.Builder()
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.setHeaders(map)
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.setUri(wmsUrl)
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.setPath("wcsManager/wcsInterface/inboundTaskApply")
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.setJson(JSON.toJSONString(toWmsDTO))
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.build()
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.doPost();
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} catch (Exception e) {
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return R.error("wms连接失败" + e.getMessage());
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}
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JSONObject jsonObject = JSON.parseObject(response);
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apiLogService.save("wms请求入库码头接口"
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, wmsUrl + "wcsManager/wcsInterface/inboundTaskApply"
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, null
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, "127.0.0.1"
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, JSON.toJSONString(toWmsDTO)
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, response
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, true
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);
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if (jsonObject.getInteger("code").equals(200)) {
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//解析
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List<WMSAndAGVInterfaceParam> params = new ArrayList<>();
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params.add(param);
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WMSAndAGVInterfaceParam data = JSONObject.parseObject(jsonObject.get("data").toString(), WMSAndAGVInterfaceParam.class);
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String msg = null;
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try {
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taskCreate(new TaskCreateParam(data));
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} catch (Exception e) {
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msg = e.getMessage();
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}
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if (msg != null) {
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return R.error(msg);
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}
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Map<String, String> map1 = new HashMap<>();
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StaDesc staDesc = new StaDesc();
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if (param.getWharfSource().contains("J")) {
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staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", data.getTaskTunnel())
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.eq("type_no", 1)
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.lt("stn_no", 200));
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} else if (param.getWharfSource().contains("H")) {
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staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", data.getTaskTunnel())
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.eq("type_no", 1)
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.lt("stn_no", 400)
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.gt("stn_no", 200));
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} else {
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staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", data.getTaskTunnel())
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.eq("type_no", 1)
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.lt("stn_no", 500)
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.ge("stn_no", 400));
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}
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map1.put("taskTunnel", staDesc.getStnDesc());
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//map1.put("taskTunnel", "J-1104");
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return R.ok(map1);
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}
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return R.error((String) jsonObject.get("msg"));
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}
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@Override
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public void getAgvTaskOver(TaskOverParam param) {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("stn_desc", param.getStartPoint()));
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if (Cools.isEmpty(staDesc)) {
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throw new RuntimeException("未查询到站点信息");
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}
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(staDesc.getStnNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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if (wharfCode1.contains(param.getStartPoint())) {
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if (!staProtocol.isLoading() && !staProtocol.isCar() && staProtocol.getWorkNo() > 0) {
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//AGV出库完成以后
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staProtocol.setWorkNo((short) 0);
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staProtocol.setStaNo((short) 0);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
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if (result) {
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} else {
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throw new RuntimeException("agv返回完成后，命令下发失败");
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}
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}
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} else {
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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if (inSta.getBackSta().equals(staDesc.getStnNo())) {
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if (staProtocol.isLoading() && !staProtocol.isCar() && workNo == 0) {
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//AGV入库完成以后
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staProtocol.setWorkNo((short) 9999);
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staProtocol.setStaNo(inSta.getStaNo().shortValue());
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
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if (result) {
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} else {
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throw new RuntimeException("agv返回完成后，命令下发失败");
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}
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}
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}
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}
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}
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}
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}
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@Override
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public R getAgvPickAndPlaceV1(TaskOverParam param) {
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BasDevp basDevp = basDevpService.selectById(param.getStartPoint());
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if (Cools.isEmpty(basDevp)) {
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return R.error("站点号有误" + param.getStartPoint());
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}
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if (Cools.isEmpty(param.getHeight())) {
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return R.error("高度不能为空" + param.getStartPoint());
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}
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if (param.getType() == 0 && basDevp.getAgvStartPick() == 1) {
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basDevp.setInreq2(param.getHeight().toString());
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return R.ok();
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} else if (param.getType() == 1 && basDevp.getAgvStartPlace() == 1) {
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return R.ok();
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} else {
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return R.error("不允许");
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}
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}
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@Override
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public R getAgvPickAndPlaceV2(TaskOverParam param) {
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BasDevp basDevp = basDevpService.selectById(param.getStartPoint());
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if (Cools.isEmpty(basDevp)) {
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return R.error("站点号有误" + param.getStartPoint());
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}
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if (param.getType() == 0) {
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basDevp.setAgvTargetPick(1);
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basDevpService.updateById(basDevp);
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return R.ok();
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} else if (param.getType() == 1) {
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basDevp.setAgvTargetPlace(1);
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basDevpService.updateById(basDevp);
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return R.ok();
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} else {
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return R.error("请求类型异常" + param.getType());
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}
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}
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public List<Integer> getInEnableRoadway() {
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int[] roadway = null;
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List<Integer> list = new ArrayList<>();
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Map<Integer, Integer> map = new HashMap<>();
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map.put(103, 1);
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map.put(107, 2);
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map.put(111, 3);
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map.put(115, 4);
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map.put(119, 5);
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map.put(123, 6);
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//put(301,7);
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getBackSta());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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if (workNo == 0 && !staProtocol.isLoading()) {
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if (Cools.isEmpty(map.get(inSta.getStaNo()))) {
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continue;
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}
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list.add(map.get(inSta.getStaNo()));
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}
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}
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}
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//roadway = list.stream().mapToInt(Integer::intValue).toArray();
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return list;
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}
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public List<Integer> getInEnableRoadway2() {
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int[] roadway = null;
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List<Integer> list = new ArrayList<>();
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Map<Integer, Integer> map = new HashMap<>();
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map.put(205, 1);
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map.put(211, 2);
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map.put(217, 3);
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map.put(223, 4);
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map.put(229, 5);
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map.put(235, 6);
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//put(301,7);
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getBackSta());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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if (workNo == 0 && !staProtocol.isLoading()) {
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if (Cools.isEmpty(map.get(inSta.getStaNo()))) {
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continue;
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}
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list.add(map.get(inSta.getStaNo()));
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}
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}
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}
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//roadway = list.stream().mapToInt(Integer::intValue).toArray();
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return list;
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}
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}
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