package com.zy.common.utils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.WrkCharge;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.mapper.WrkChargeMapper;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.service.CommonService;
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import com.zy.core.News;
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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.ShuttleSlave;
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import com.zy.core.model.protocol.NyShuttleProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.NyShuttleThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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/**
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* 四向穿梭车调度工具
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*/
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@Service
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public class ShuttleDispatchUtils {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkChargeMapper wrkChargeMapper;
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@Autowired
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private CommonService commonService;
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/**
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* 调度车辆-调度指定穿梭车
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*/
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public boolean dispatchShuttle(Integer wrkNo, String locNo, Integer shuttleNo) {
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return shuttleMoveGenerate(wrkNo, locNo, shuttleNo);
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}
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/**
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* 调度车辆
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*/
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public boolean dispatchShuttle(Integer wrkNo, String locNo) {
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ArrayList<NyShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
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ArrayList<NyShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车
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for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
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//获取四向穿梭车线程
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
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continue;
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}
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if (!shuttleProtocol.isIdle()) {
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continue;
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}
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int currentLev = shuttleProtocol.getPoint().getZ();//小车当前层高
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String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号
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if (currentLocNo.equals(locNo)) {
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//车辆当前位置已经是目标库位，调度该车
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shuttleMoveGenerate(wrkNo, locNo, shuttleProtocol.getShuttleNo().intValue());
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break;
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}
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if (currentLev == Utils.getLev(locNo)) {
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//工作档楼层相同的穿梭车
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sameLev.add(shuttleThread);
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}else {
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//工作档不同楼层的穿梭车
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diffLev.add(shuttleThread);
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}
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}
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Integer recentAllDistance = 9999999;
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NyShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
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if (sameLev.size() > 0) {
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//同一楼层有空闲穿梭车，则只在工作档楼层寻找
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//寻找离任务最近的穿梭车
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for (NyShuttleThread shuttleThread : sameLev) {
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//当前穿梭车库位号
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String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
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//当前穿梭车线程到目标地点距离
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List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图
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if (currentShuttlePath == null) {
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continue;
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}
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Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
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if (currentAllDistance < recentAllDistance) {
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//如果当前楼层的车路径更小，则更新最近穿梭车
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recentShuttle = shuttleThread;
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}
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}
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}else {
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//同一楼层，没有空闲穿梭车，只能从其他楼层调度
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//寻找离任务最近的穿梭车
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for (NyShuttleThread shuttleThread : diffLev) {
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//当前穿梭车库位号
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String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
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int currentLev = Utils.getLev(currentLocNo);
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List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
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if (wrkMasts1.size() > 0) {
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//存在其他任务，跳过这辆车
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continue;
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}
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//当前穿梭车线程到当前车子所在楼层的提升机口距离
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List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图
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if (currentShuttlePath == null) {
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continue;
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}
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Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
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if (currentAllDistance < recentAllDistance) {
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//如果当前楼层的车路径更小，则更新最近穿梭车
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recentShuttle = shuttleThread;
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}
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}
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}
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if (recentShuttle == null) {//没有搜索到可用穿梭车
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return false;
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}
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//搜索到可用穿梭车，调度该车
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return shuttleMoveGenerate(wrkNo, locNo, recentShuttle.getSlave().getId());
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}
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/**
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* 小车迁移任务生成
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*/
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@Transactional
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public boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
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Date now = new Date();
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//获取四向穿梭车线程
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return false;
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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return false;
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}
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//小车处于空闲状态
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if (!shuttleProtocol.isIdleNoCharge()) {
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return false;
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}
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//判断穿梭车是否存在未完成的小车移库任务
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WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(shuttleNo);
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if (hasMoveWorking != null) {//小车存在移库任务，等待执行完成后再生成新的任务
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return false;
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}
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//判断是否有其他任务正在使用穿梭车
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WrkMast wrkMast2 = wrkMastMapper.selectShuttleWorking(shuttleNo);
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if (wrkMast2 != null) {//小车存在其他工作档任务，等待执行完成后再生成新的任务
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return false;
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}
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//判断是否有充电任务正在使用穿梭车
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WrkCharge wrkCharge = wrkChargeMapper.selectWorking(shuttleNo);
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if (wrkCharge != null) {//小车存在充电任务，等待执行完成后再生成新的任务
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return false;
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}
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// 获取工作号
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int workNo = commonService.getWorkNo(0);
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// 保存工作档
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WrkMast wrkMast = new WrkMast();
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wrkMast.setWrkNo(workNo);
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wrkMast.setIoTime(now);
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wrkMast.setWrkSts(101L); // 工作状态：101.移动到近点等待迁出
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wrkMast.setIoType(200); // 入出库状态： 200.小车移库
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wrkMast.setIoPri(20D);
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wrkMast.setShuttleNo(shuttleNo);//穿梭车号
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wrkMast.setSourceLocNo(shuttleProtocol.getCurrentLocNo()); // 源库位 => 小车当前库位号
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wrkMast.setLocNo(locNo); // 目标库位
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wrkMast.setPicking("N"); // 拣料
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wrkMast.setExitMk("N"); // 退出
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wrkMast.setLinkMis("N");
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wrkMast.setAppeTime(now);
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wrkMast.setModiTime(now);
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int res = wrkMastMapper.insert(wrkMast);
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if (res == 0) {
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News.error("小车迁移 --- 保存工作档失败！ 穿梭车号：" + shuttleNo);
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throw new CoolException("保存工作档失败");
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}
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//给工作档绑定小车号
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WrkMast wrkMast1 = wrkMastMapper.selectByWorkNo(wrkNo);
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if (wrkMast1 != null) {
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wrkMast1.setShuttleNo(shuttleNo);
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wrkMastMapper.updateById(wrkMast1);
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}
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return true;
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}
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}
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