package com.zy.core.thread.impl;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.BasRgvOpt;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.entity.DeviceDataLog;
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import com.zy.asrs.service.BasRgvService;
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import com.zy.asrs.service.BasRgvOptService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.network.DeviceConnectPool;
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import com.zy.core.network.ZyRgvConnectDriver;
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import com.zy.core.network.entity.ZyRgvStatusEntity;
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import com.zy.core.thread.RgvThread;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.util.Date;
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@Data
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@Slf4j
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public class ZyRgvThread implements Runnable, RgvThread {
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private DeviceConfig deviceConfig;
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private RedisUtil redisUtil;
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private ZyRgvConnectDriver zyRgvConnectDriver;
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private RgvProtocol rgvProtocol;
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private int deviceLogCollectTime = 200;
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public ZyRgvThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
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this.deviceConfig = deviceConfig;
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this.redisUtil = redisUtil;
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}
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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connect();
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initRgv();
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while (true) {
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try {
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deviceLogCollectTime = Utils.getDeviceLogCollectTime();
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Rgv, deviceConfig.getDeviceNo());
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if (task != null) {
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step = task.getStep();
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}
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switch (step) {
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case 1:
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readStatus();
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break;
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case 2:
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sendCommand((RgvCommand) task.getData());
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break;
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default:
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break;
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}
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Thread.sleep(200);
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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}
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private void initRgv() {
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if (rgvProtocol == null) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(deviceConfig.getDeviceNo());
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}
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rgvProtocol.setMode(0);
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rgvProtocol.setTaskNo(0);
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rgvProtocol.setStatus(-1);
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rgvProtocol.setRgvPos(0);
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rgvProtocol.setLoaded(0);
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rgvProtocol.setAlarm(0);
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}
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@Override
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public boolean connect() {
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zyRgvConnectDriver = new ZyRgvConnectDriver(deviceConfig);
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new Thread(zyRgvConnectDriver).start();
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DeviceConnectPool.put(SlaveType.Rgv, deviceConfig.getDeviceNo(), zyRgvConnectDriver);
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return true;
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}
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private void readStatus() {
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ZyRgvStatusEntity s = zyRgvConnectDriver.getStatus();
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if (s == null) {
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV状态失败 ===>> [id:{1}] [ip:{2}] [port:{3}]",
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DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
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return;
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}
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rgvProtocol.setMode(s.getMode());
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rgvProtocol.setTaskNo(s.getTaskNo());
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rgvProtocol.setStatus(s.getStatus());
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rgvProtocol.setRgvPos(s.getRgvPos());
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rgvProtocol.setLoaded(s.getLoaded());
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rgvProtocol.setAlarm(s.getAlarm());
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< RGV实时数据更新成功",
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DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
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if (rgvProtocol.getAlarm() > 0) {
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rgvProtocol.setLastCommandTime(-1L);
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}
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if (rgvProtocol.getAlarm() == 0 && rgvProtocol.getLastCommandTime() == -1) {
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rgvProtocol.setLastCommandTime(System.currentTimeMillis());
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}
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if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > deviceLogCollectTime) {
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(JSON.toJSONString(s));
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deviceDataLog.setWcsData(JSON.toJSONString(rgvProtocol));
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deviceDataLog.setType(String.valueOf(SlaveType.Rgv));
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deviceDataLog.setDeviceNo(rgvProtocol.getRgvNo());
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deviceDataLog.setCreateTime(new Date());
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redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
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rgvProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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if (basRgvService != null) {
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BasRgv basRgv = basRgvService.selectOne(new EntityWrapper<BasRgv>().eq("rgv_no", deviceConfig.getDeviceNo()));
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if(basRgv == null) {
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basRgv = new BasRgv();
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basRgv.setRgvNo(deviceConfig.getDeviceNo());
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basRgv.setStatus(1);
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basRgv.setCreateTime(new Date());
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basRgvService.insert(basRgv);
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}
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}
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}
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@Override
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public void close() {
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zyRgvConnectDriver.close();
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}
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@Override
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public RgvProtocol getStatus() {
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return rgvProtocol;
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}
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@Override
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public RgvCommand getTransportCommand(Integer taskNo, Integer rgvNo, Integer sourcePos, Integer targetPos) {
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RgvCommand cmd = new RgvCommand();
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cmd.setRgvNo(rgvNo);
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cmd.setTaskNo(taskNo);
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cmd.setTaskMode(RgvTaskModeType.FETCH_PUT.id);
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cmd.setSourcePos(sourcePos);
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cmd.setTargetPos(targetPos);
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cmd.setCommand(1);
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return cmd;
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}
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@Override
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public RgvCommand getMoveCommand(Integer taskNo, Integer rgvNo, Integer targetPos) {
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RgvCommand cmd = new RgvCommand();
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cmd.setRgvNo(rgvNo);
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cmd.setTaskNo(taskNo);
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cmd.setTaskMode(RgvTaskModeType.X_MOVE.id);
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cmd.setTargetPos(targetPos);
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cmd.setCommand(1);
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return cmd;
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}
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@Override
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public RgvCommand getResetCommand(Integer rgvNo) {
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RgvCommand cmd = new RgvCommand();
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cmd.setRgvNo(rgvNo);
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cmd.setTaskNo(0);
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cmd.setAckFinish(1);
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cmd.setTaskMode(0);
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cmd.setCommand(1);
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return cmd;
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}
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@Override
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public synchronized CommandResponse sendCommand(RgvCommand command) {
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rgvProtocol.setLastCommandTime(System.currentTimeMillis());
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CommandResponse response = null;
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try {
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response = zyRgvConnectDriver.sendCommand(command);
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return response;
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} finally {
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BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
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ZyRgvStatusEntity statusEntity = zyRgvConnectDriver.getStatus();
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BasRgvOpt basRgvOpt = new BasRgvOpt(
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command.getTaskNo(),
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command.getRgvNo(),
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new Date(),
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String.valueOf(command.getTaskMode()),
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String.valueOf(command.getSourcePos()),
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String.valueOf(command.getTargetPos()),
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null,
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null,
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null,
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JSON.toJSONString(command),
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JSON.toJSONString(statusEntity),
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1,
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JSON.toJSONString(response)
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);
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if (bean != null) {
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bean.insert(basRgvOpt);
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}
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}
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}
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}
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