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.core.common.DateUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.domain.param.OpenBusSubmitParam;
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import com.zy.asrs.domain.param.TaskDto;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.common.utils.HttpHandler;
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import com.zy.common.utils.News;
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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 com.zy.core.thread.SiemensDevpThread;
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import lombok.Data;
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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.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.*;
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import java.util.concurrent.TimeUnit;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("ctuMainService")
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@Transactional
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@Data
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public class CtuMainServiceImpl {
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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Value("${ctu.url}")
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private String ctuUrl;
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@Value("${ctu.sendTask}")
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private String sendTask;
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@Value("${ctu.getLoc}")
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private String getLoc;
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@Value("${ctu.update}")
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private String updateSta;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private WrkMastService wrkMastService;
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private boolean flag1001 = false;
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private boolean flag1007 = false;
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/**
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* 入库，从拣料站到入库站（CTU取货站）
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*/
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public synchronized void generateStoreWrkFile(Integer mark) {
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// 根据输送线plc遍历
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(1004);
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if (staProtocol == null) {
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return;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 判断是否满足条件
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// if (!staProtocol.isLoading()) {
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// return;
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// }
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// && staProtocol.isInEnable()
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if (staProtocol.getWorkNo() > 0 && staProtocol.isAutoing() && !staProtocol.isEmptyMk() && staProtocol.isPakMk()) {
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if (staProtocol.getStaNo() == 1004) {
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try {
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Thread.sleep(8000L);
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} catch (InterruptedException e) {
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throw new RuntimeException(e);
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}
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staProtocol.setStaNo((short) 1007);
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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log.info("入库输送线下发：{},{}", staProtocol.getWorkNo(), 1007);
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}
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// WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo());
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// if (wrkMast != null) {
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// //下发移动任务，并生成入库工作档
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// WrkMast in = new WrkMast();
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// wrkMast.setWrkSts(223L);
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// wrkMast.setModiTime(new Date());
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// wrkMastService.updateById(wrkMast);
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// in.setSourceLocNo("1007");
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// in.setLocNo(wrkMast.getSourceLocNo());
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// in.setIoType(10);
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// in.setIoTime(new Date());
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// in.setWrkSts(1L); // 工作状态：11.生成出库ID
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// in.setIoPri(13D); // 优先级：13
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// in.setFullPlt("Y"); // 满板：Y
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// in.setPicking("N"); // 拣料
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// in.setExitMk("N"); // 退出
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// in.setEmptyMk("Y"); // 空板
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// in.setLinkMis("N");
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// in.setAppeTime(new Date());
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// in.setModiTime(new Date());
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// in.setBarcode(wrkMast.getBarcode());
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// in.setPlcWrkNo(wrkMast.getPlcWrkNo());
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// wrkMastService.insert(in);
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// LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
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// locMast.setLocSts("S");
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// locMast.setModiTime(new Date());
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// locMastService.updateById(locMast);
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// }
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}
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}
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public synchronized void outToPlc(Integer mark) {
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// 根据输送线plc遍历
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(1007);
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if (staProtocol == null) {
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return;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 判断是否满足条件
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if (!staProtocol.isLoading()) {
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return;
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}
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if (flag1007 && staProtocol.getWorkNo() > 0 && staProtocol.isAutoing() && !staProtocol.isEmptyMk() && staProtocol.isPakMk()) {
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staProtocol.setWorkNo(0);
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staProtocol.setStaNo((short) 0);
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol));
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log.info("取走写入确认位：{},{}", staProtocol.getWorkNo(), 1007);
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}
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}
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/**
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* 出库
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*/
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public synchronized void out(Integer mark) {
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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.getOutSta()) {
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// 获取入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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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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// 判断是否满足条件
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if (!staProtocol.isLoading()) {
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continue;
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}
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//&& staProtocol.isOutEnable()
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if (flag1001 && staProtocol.isAutoing() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) {
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News.warnNoLog("" + mark + " - 0" + " - 开始执行");
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// 判断重复工作档
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// 106也算上，以后106-》107用于更新库存
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// WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("loc_no", "1001").in("wrk_sts", 106, 107));
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// if (wrkMast == null) {
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// continue;
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// }
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// 命令下发区 --------------------------------------------------------------------------
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo((int) (Math.random() * 10000));
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staProtocol.setStaNo((short) 1004);
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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log.info("输送线下发3：{},{}", staProtocol.getWorkNo(), 1004);
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if (result) {
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setFlag1001(false);
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} else {
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News.error("" + mark + " - 2" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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}
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} else {
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News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable() + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo() + "、锁定标记" + staProtocol.isPakMk() + "、入库印记：" + staProtocol.getStamp());
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}
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}
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}
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}
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public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
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add(1001);
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add(1002);
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add(1003);
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add(1004);
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add(1005);
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add(1006);
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add(1007);
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}};
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public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
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add(101);
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add(102);
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add(103);
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add(104);
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add(105);
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add(106);
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add(107);
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add(108);
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}};
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public synchronized void in(Integer mark) {
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// 遍历入库口
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for (Integer inSta : staNos2) {
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// 获取入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(inSta);
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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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// 判断是否满足条件
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if (!staProtocol.isAutoing() && !staProtocol.isLoading()) {
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continue;
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}
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// && staProtocol.isInEnable()
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if (staProtocol.isInEnable()) {
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OpenBusSubmitParam openBusSubmitParam = new OpenBusSubmitParam();
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openBusSubmitParam.setBatch(DateUtils.convert(new Date()));
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List<TaskDto> taskList = new ArrayList<>();
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TaskDto taskDto = new TaskDto();
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Random rand = new Random();
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taskDto.setSeqNum(rand.nextInt(10000) + "");
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taskDto.setDestLoc(getFLoc(staProtocol.getSiteId() + "-2", "15"));
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taskDto.setOriSta(staProtocol.getSiteId() + "-2");
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taskDto.setPriority(123);
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taskList.add(taskDto);
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openBusSubmitParam.setTaskList(taskList);
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sendTask(openBusSubmitParam, staProtocol);
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}
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if (staProtocol.isOutEnable()) {
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OpenBusSubmitParam openBusSubmitParam = new OpenBusSubmitParam();
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openBusSubmitParam.setBatch(DateUtils.convert(new Date()));
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List<TaskDto> taskList = new ArrayList<>();
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TaskDto taskDto = new TaskDto();
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Random rand = new Random();
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taskDto.setSeqNum(rand.nextInt(10000) + "");
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taskDto.setDestLoc(getFLoc(staProtocol.getSiteId() + "-3", "15"));
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taskDto.setOriSta(staProtocol.getSiteId() + "-3");
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taskDto.setPriority(123);
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taskList.add(taskDto);
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openBusSubmitParam.setTaskList(taskList);
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sendTask(openBusSubmitParam, staProtocol);
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}
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}
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}
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public synchronized void autoOut(Integer mark) {
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int i = 0;
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for (Integer staNo : staNos1) {
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(staNo);
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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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// 判断是否满足条件
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if (!staProtocol.isAutoing()) {
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continue;
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}
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if (staProtocol.isLoading()) {
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continue;
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}
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if (staProtocol.getStaNo() != 0) {
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continue;
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}
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i++;
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}
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(1001);
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if (i >= 7) {
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OpenBusSubmitParam openBusSubmitParam = new OpenBusSubmitParam();
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openBusSubmitParam.setBatch(DateUtils.convert(new Date()));
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List<TaskDto> taskList = new ArrayList<>();
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TaskDto taskDto = new TaskDto();
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taskDto.setSeqNum(Math.random() * 1000 + "");
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taskDto.setOriLoc(getFLoc("1001", "16"));
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taskDto.setDestSta("1001");
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taskDto.setPriority(123);
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taskList.add(taskDto);
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openBusSubmitParam.setTaskList(taskList);
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sendTask(openBusSubmitParam, staProtocol);
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}
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}
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/**
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* 1007入库
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*
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* @param mark
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*/
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public synchronized void autoIn(Integer mark) {
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(1007);
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if (staProtocol == null) {
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return;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 判断是否满足条件
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if (!staProtocol.isAutoing()) {
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return;
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}
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if (!staProtocol.isLoading()) {
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return;
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}
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if (staProtocol.getStaNo() > 0) {
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return;
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}
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OpenBusSubmitParam openBusSubmitParam = new OpenBusSubmitParam();
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openBusSubmitParam.setBatch(DateUtils.convert(new Date()));
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List<TaskDto> taskList = new ArrayList<>();
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TaskDto taskDto = new TaskDto();
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taskDto.setSeqNum(Math.random() * 1000 + "");
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taskDto.setDestLoc(getFLoc("1007", "15"));
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taskDto.setOriLoc("1007");
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taskDto.setPriority(123);
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taskList.add(taskDto);
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openBusSubmitParam.setTaskList(taskList);
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if (sendTask(openBusSubmitParam, staProtocol)) {
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staProtocol.setWorkNo(0);
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staProtocol.setStaNo((short) 0);
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol));
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log.info("下发给rcs成功：{},{}", 0, 0);
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}
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}
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public void updateSta(Integer mark) {
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol1 = devpThread.getStation().get(1001);
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StaProtocol staProtocol7 = devpThread.getStation().get(1007);
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if (staProtocol1 == null) {
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return;
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}
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if (staProtocol7 == null) {
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return;
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}
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updateSta("1001", staProtocol1.isLoading() ? "16" : "15");
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updateSta("1007", staProtocol7.isLoading() ? "16" : "15");
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}
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@Transactional
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public boolean sendTask(OpenBusSubmitParam openBusSubmitParam, StaProtocol staProtocol) {
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String response = "";
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try {
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response = new HttpHandler.Builder()
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.setUri(ctuUrl)
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.setPath(sendTask)
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.setTimeout(1200, TimeUnit.SECONDS)
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.setJson(JSON.toJSONString(openBusSubmitParam))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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log.info("下发任务返回数据：{}", response);
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return true;
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} else {
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", ctuUrl + sendTask, JSON.toJSONString(openBusSubmitParam), response);
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throw new CoolException("调用下发任务接口报错");
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}
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} catch (Exception e) {
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log.error("fail", e);
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}
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return false;
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}
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@Transactional
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public void updateSta(String staNo, String sts) {
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Map<String, String> data = new HashMap<String, String>();
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data.put("staNo", staNo);
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data.put("sts", sts);
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String response = "";
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try {
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response = new HttpHandler.Builder()
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.setUri(ctuUrl)
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.setPath(updateSta)
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.setTimeout(1200, TimeUnit.SECONDS)
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.setJson(JSON.toJSONString(data))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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//log.info("下发任务返回数据：{}", response);
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} else {
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//log.error("请求接口失败！！！url：{}；request：{}；response：{}", ctuUrl + sendTask, JSON.toJSONString(data), response);
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//throw new CoolException("调用下发任务接口报错");
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}
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} catch (Exception e) {
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log.error("fail", e);
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}
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}
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@Transactional
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public String getFLoc(String staNo, String sts) {
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Map<String, String> data = new HashMap<String, String>();
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data.put("staNo", staNo);
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data.put("sts", sts);
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String response = "";
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try {
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response = new HttpHandler.Builder()
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.setUri(ctuUrl)
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.setPath(getLoc)
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.setTimeout(1200, TimeUnit.SECONDS)
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.setJson(JSON.toJSONString(data))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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//log.info("下发任务返回数据：{}", response);
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JSONObject loc = JSON.parseObject(jsonObject.getString("data"));
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return loc.getString("locNo");
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} else {
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", ctuUrl + sendTask, JSON.toJSONString(data), response);
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throw new CoolException("调用下发任务接口报错");
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}
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} catch (Exception e) {
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log.error("fail", e);
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}
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return null;
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}
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}
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