package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.core.exception.CoolException;
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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.StaDesc;
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import com.zy.asrs.mapper.TaskWrkMapper;
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import com.zy.asrs.entity.TaskWrk;
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import com.zy.asrs.service.StaDescService;
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import com.zy.asrs.service.TaskWrkService;
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import com.baomidou.mybatisplus.service.impl.ServiceImpl;
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import com.zy.asrs.utils.CommandUtils;
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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.core.DevpThread;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.CrnTaskModeType;
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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.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.protocol.StaProtocol;
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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.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.Date;
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import java.util.List;
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@Slf4j
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@Service("taskWrkService")
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public class TaskWrkServiceImpl extends ServiceImpl<TaskWrkMapper, TaskWrk> implements TaskWrkService {
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@Autowired
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private CommonService commonService;
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@Autowired
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private StaDescService staDescService;
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@Override
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public TaskWrk selectByTaskNo(String taskNo) {
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return this.baseMapper.selectByTaskNo(taskNo);
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}
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@Override
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public TaskWrk selectByStartPoint(String taskNo) {
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return this.baseMapper.selectByStartPoint(taskNo);
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}
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@Override
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public TaskWrk selectByWrkNo(Integer wrkNo) {
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return this.baseMapper.selectByWrkNo(wrkNo);
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}
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@Override
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public List<TaskWrk> selectReceive() {
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return this.baseMapper.selectReceive();
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}
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@Override
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@Transactional
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public void distribute(String taskNo, Long userId) {
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TaskWrk taskWrk = this.selectByTaskNo(taskNo);
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if (taskWrk == null) {
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throw new CoolException("WMS任务不存在");
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}
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if (taskWrk.getStatus() != 1) {
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throw new CoolException("任务已派发");
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}
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//创建任务
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if (taskWrk.getIoType() == 1) {
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//1.入库
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if (taskWrk.getStartPoint() == null || taskWrk.getTargetPoint() == null) {
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throw new CoolException("未接收到起点和终点，不进行派发");
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}
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startup(taskWrk, userId);
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}else if(taskWrk.getIoType() == 2){
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//2.出库
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stockOut(taskWrk, userId);
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} else if (taskWrk.getIoType() == 3) {
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//3.库格移载
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locMove(taskWrk, userId);
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}
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}
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@Override
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public void startup(TaskWrk taskWrk, Long userId) {
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//入库任务派发
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StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getStartPoint()));
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if (staDesc == null) {
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throw new CoolException("入库路径不存在");
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}
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int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
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taskWrk.setWrkNo(workNo);//工作号
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taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
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taskWrk.setAssignTime(new Date());//派发时间
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taskWrk.setWrkSts(2);//工作状态 2.设备上走
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taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
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taskWrk.setModiTime(new Date());
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taskWrk.setModiUser(userId);
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updateById(taskWrk);
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CrnSlave.CrnStn crnStn = Utils.getCrnStnByStaNo(staDesc.getCrnStn(), true);
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if (crnStn == null) {
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throw new CoolException("堆垛机入库站不存在");
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}
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// 命令下发区 --------------------------------------------------------------------------
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
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crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
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crnCommand.setAckFinish((short) 0); // 任务完成确认位
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crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
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crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 源库位列
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crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 源库位层
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crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 源库位排
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crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
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crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
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crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
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crnCommand.setCommand((short)1);
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if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
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log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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throw new CoolException("堆垛机命令生成失败");
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}
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}
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@Override
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public void stockOut(TaskWrk taskWrk, Long userId) {
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//出库任务派发
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StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getTargetPoint()));
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if (staDesc == null) {
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return;//不存在路径
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}
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int workNo = commonService.getWorkNo(WorkNoType.PAKOUT.type);//获取出库工作号
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taskWrk.setWrkNo(workNo);//工作号
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taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
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taskWrk.setAssignTime(new Date());//派发时间
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taskWrk.setWrkSts(11);//工作状态 11.生成出库ID
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taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
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taskWrk.setModiTime(new Date());
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taskWrk.setModiUser(userId);
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updateById(taskWrk);
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CrnSlave.CrnStn crnStn = Utils.getCrnStnByStaNo(staDesc.getCrnStn(), false);
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if (crnStn == null) {
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throw new CoolException("堆垛机出库站不存在");
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}
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//生成堆垛机出库命令
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
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crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
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crnCommand.setAckFinish((short) 0); // 任务完成确认位
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crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
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crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位排
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crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位列
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crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位层
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crnCommand.setDestinationPosX(crnStn.getBay().shortValue()); // 目标库位排
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crnCommand.setDestinationPosY(crnStn.getLev().shortValue()); // 目标库位列
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crnCommand.setDestinationPosZ(crnStn.getRow().shortValue()); // 目标库位层
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crnCommand.setCommand((short)1);
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if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
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log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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throw new CoolException("堆垛机命令生成失败");
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}
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//生成输送线命令
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()).clone();
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staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
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staProtocol.setStaNo((short) Integer.parseInt(taskWrk.getTargetPoint()));
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if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
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log.error("输送线命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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throw new CoolException("输送线命令生成失败");
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}
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}
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@Override
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public void locMove(TaskWrk taskWrk, Long userId) {
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//库格移载任务派发
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StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getTargetPoint()));
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if (staDesc == null) {
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return;//不存在路径
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}
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int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);//获取工作号
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taskWrk.setWrkNo(workNo);//工作号
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taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
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taskWrk.setAssignTime(new Date());//派发时间
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taskWrk.setWrkSts(11);//工作状态 11.生成出库ID
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taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
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taskWrk.setModiTime(new Date());
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taskWrk.setModiUser(userId);
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updateById(taskWrk);
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}
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@Override
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public List<TaskWrk> selectToBeHistoryData() {
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return this.baseMapper.selectToBeHistoryData();
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}
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@Override
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public int saveToHistory(String taskNo) {
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return this.baseMapper.saveToHistory(taskNo);
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}
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}
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