package com.zy.asrs.controller;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.annotations.ManagerAuth;
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import com.core.common.R;
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import com.zy.asrs.entity.BasDevpPosition;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.core.cache.RgvStatusCache;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.cache.TaskProtocolCache;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.TaskProtocol;
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import com.zy.core.thread.RgvThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* 输送设备接口
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* Created by vincent on 2020-06-01
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*/
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@RestController
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@RequestMapping("/rgv")
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public class RgvController {
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@GetMapping("/status/all")
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@ManagerAuth(memo = "全部信息")
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public R allStatus(){
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List<Map<String, Object>> res = new ArrayList<>();
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ConcurrentHashMap<Integer, RgvProtocol> allRgvStatus = RgvStatusCache.getAllRgvStatus();
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for (RgvProtocol rgvProtocol : allRgvStatus.values()){
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Map<String, Object> map2 = new HashMap<>();
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map2.put("rgvNo", rgvProtocol.getRgvNo());
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map2.put("taskNo", rgvProtocol.getTaskNo());
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map2.put("mode", rgvProtocol.getModeType().desc);
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map2.put("status", rgvProtocol.getStatusType().desc);
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map2.put("rgvPos", rgvProtocol.getRgvPos());
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map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
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map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "未知":rgvProtocol.getLoaded()==1? "有物":"无物");
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res.add(map2);
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}
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return R.ok().add(res);
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}
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@PostMapping("/task/cache/all")
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@ManagerAuth(memo = "全部信息")
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public R allTaskCache(@RequestParam(defaultValue = "0") Integer rgvNo){
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List<Map<String, Object>> res = new ArrayList<>();
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try{
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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for (TaskProtocol taskProtocol : allTaskProtocol.values()){
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Map<String, Object> map2 = new HashMap<>();
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map2.put("rgvNo", rgvNo);
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map2.put("taskNo", taskProtocol.getTaskNo());
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map2.put("targetPosition", taskProtocol.getTargetPosition());
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map2.put("isRunning", taskProtocol.getIsRunning());
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map2.put("taskStatus", taskProtocol.getTaskStatus());
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map2.put("direction", taskProtocol.isDirection());
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res.add(map2);
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}
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} catch (Exception e){
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// return R.error("异常"+e.getMessage());
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}
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return R.ok().add(res);
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}
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@PostMapping("/run/del")//Take Put Walk
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@ManagerAuth(memo = "清空任务")
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public R rgvRunDel(@RequestParam(defaultValue = "0") Integer rgvNo
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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for (TaskProtocol taskProtocol : allTaskProtocol.values()){
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taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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}
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} catch (Exception e) {
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return R.error("任务删除失败"+e.getMessage());
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}
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return R.ok("任务清空成功");
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}
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@PostMapping("/run/walk")//Take Put Walk
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@ManagerAuth(memo = "小车行走")
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public R rgvRunWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
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return R.error("目标站点请填写");
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}
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if (rgvPosDestination == null || rgvPosDestination == 0){
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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rgvPosDestination = basDevpPosition.getPlcPosition();
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issued = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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//执行
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issued.setTaskNo(Long.valueOf(taskNo));
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issued.setTaskStatus(1);
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issued.setTaskNoDirection(issued.gettaskNoDirection$(issued.getTaskNo(), issued.getTaskStatus()));
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issued.setTargetPosition(rgvPosDestination);
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issued.setIsRunning(1);
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issued.setDirection(true);
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taskProtocolCache.updateTaskProtocol(issued);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/put")//Take Put Walk
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@ManagerAuth(memo = "小车放货")
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public R rgvPutWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoPut == null || rgvStaNoPut == 0){
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return R.error("目标站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedPut = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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//执行
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issuedPut.setTaskNo(Long.valueOf(taskNo));
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issuedPut.setTaskStatus(3);
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issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
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issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
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issuedPut.setIsRunning(1);
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issuedPut.setDirection(basDevpPosition.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedPut);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/take")//Take Put Walk
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@ManagerAuth(memo = "小车取货")
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public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoTake,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoTake == null || rgvStaNoTake == 0){
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return R.error("取货站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedTake = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
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//执行
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issuedTake.setTaskNo(Long.valueOf(taskNo));
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issuedTake.setTaskStatus(2);
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issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
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issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
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issuedTake.setIsRunning(1);
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issuedTake.setDirection(basDevpPosition.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedTake);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/TakeAndPut")//Take Put Walk
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@ManagerAuth(memo = "小车取货")
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public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoTake,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoTake == null || rgvStaNoTake == 0){
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return R.error("取货站点请填写");
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}
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if (rgvStaNoPut == null || rgvStaNoPut == 0){
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return R.error("放货站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedTake = new TaskProtocol();
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TaskProtocol issuedPut = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
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//执行
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issuedTake.setTaskNo(Long.valueOf(taskNo));
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issuedTake.setTaskStatus(2);
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issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
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issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
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issuedTake.setIsRunning(1);
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issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);
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BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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//执行
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issuedPut.setTaskNo(Long.valueOf(taskNo));
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issuedPut.setTaskStatus(3);
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issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
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issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
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issuedPut.setIsRunning(1);
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issuedPut.setDirection(basDevpPositionPut.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedTake);
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taskProtocolCache.updateTaskProtocol(issuedPut);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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}
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