#

whycq

2024-05-30 0e9c60905511ddfa755f9579f35ee4b154703e4d

#

 src/main/java/com/zy/asrs/controller/AgvMobileController.java

@@ -490,6 +490,24 @@
        return R.ok();
    }

    @PostMapping("/hand/control/empOut")
    @Transactional
    @ManagerAuth(memo = "空架离场")
    @Synchronized
    public R empOut(@RequestBody AgvMobileStartPakin param){
        agvMobileService.empOut(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/empIn")
    @Transactional
    @ManagerAuth(memo = "空架进场")
    @Synchronized
    public R empIn(@RequestBody AgvMobileStartPakin param){
        agvMobileService.empIn(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/doBack")
    @Transactional
    @ManagerAuth(memo = "站点回退")

 src/main/java/com/zy/asrs/service/AgvMobileService.java

@@ -58,4 +58,14 @@
     */
    String handBack(AgvMobileStartPakin param, Long userId);

    /**
     * 空架离场
     */
    String empOut(AgvMobileStartPakin param, Long userId);

    /**
     * 空架进场
     */
    String empIn(AgvMobileStartPakin param, Long userId);

}

 src/main/java/com/zy/asrs/service/impl/AgvMobileServiceImpl.java

@@ -532,6 +532,7 @@
        if (agvWrkMast.getCrnNo() != agvBasDevp.getFloor()) {
            throw new CoolException("请移动到->" + agvWrkMast.getCrnNo() + "楼入库点入库");
        }
        AgvLocMast locNo = agvCommonService.getLocNo(3, 1);
        //工作状态
        agvWrkMast.setWrkSts(211L);
        //入出库类型
@@ -548,6 +549,49 @@
        return "ok";
    }
    /*
       空架离场
    */
    @Override
    @Transactional
    @Synchronized
    public String empOut(AgvMobileStartPakin param, Long userId) {
        Date now = new Date();
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("source_loc_no", param.getDevNo()));
        Integer oldWrkNo = agvWrkMast.getWrkNo();
        if (Cools.isEmpty(agvWrkMast)) {
            throw new CoolException("工作档中没有此站点任务");
        }
        agvWrkMast.setWrkSts(213L);
        agvWrkMast.setSourceLocNo("");
        if (!agvWrkMastService.update(agvWrkMast,new EntityWrapper<AgvWrkMast>().eq("wrk_no",agvWrkMast.getWrkNo()))) {
            throw new CoolException("更新工作档失败");
        }
        // 更新源库位状态
        agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"O","",agvWrkMast.getWhsType().shortValue());
        return "ok";
    }
    /*
       空架进场
    */
    @Override
    @Transactional
    @Synchronized
    public String empIn(AgvMobileStartPakin param, Long userId) {
        Date now = new Date();
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", param.getBarcode()));
        if (Cools.isEmpty(agvWrkMast)) {
            throw new CoolException("工作档中没有此站点任务");
        }
        agvWrkMast.setWrkSts(214L);
        agvWrkMast.setSourceLocNo(param.getDevNo());
        if (!agvWrkMastService.update(agvWrkMast,new EntityWrapper<AgvWrkMast>().eq("wrk_no",agvWrkMast.getWrkNo()))) {
            throw new CoolException("更新工作档失败");
        }
        // 更新源库位状态
        agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"F",param.getBarcode(),agvWrkMast.getWhsType().shortValue());
        return "ok";
    }
    /*
     * 站点回退
    */
    @Override

 src/main/java/com/zy/asrs/service/impl/AgvWorkServiceImpl.java

@@ -679,20 +679,39 @@
            //目标站点
            String devNo = wrkMast.getLocNo();
            if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 109) {
                agvLocMastService.updateLocStsByLocNo(locNo,"D",wrkMast.getBarcode(),(short)getContainerTypeByloc(locNo));
            } else {
                agvLocMastService.updateLocStsByLocNo(locNo,"F",wrkMast.getBarcode(),(short)getContainerTypeByloc(locNo));
            }
            if (wrkMast.getIoType() == 109){
                if (Cools.isEmpty(wrkMast.getLocNo())) {
                if (wrkMast.getIoType() == 109){
                    // 源库位是站点
                    if ("DB".equals(locNo.substring(0,2))) {
                        agvBasDevpService.updateLocStsAndBarcodeByDevNo(locNo,"F",wrkMast.getBarcode(),wrkMast.getWhsType().shortValue());
                        agvLocMastService.updateLocStsByLocNo(devNo,"O","",null);
                    // 源库位是库位 目标库位是站点
                    } else if ("DB".equals(devNo.substring(0,2))) {
                        agvLocMastService.updateLocStsByLocNo(locNo,"D",wrkMast.getBarcode(),wrkMast.getWhsType().shortValue());
                        agvBasDevpService.updateLocStsAndBarcodeByDevNo(locNo,"O","",null);
                    // 源库位是库位
                    } else {
                        agvLocMastService.updateLocStsByLocNo(locNo,"D",wrkMast.getBarcode(),wrkMast.getWhsType().shortValue());
                        agvLocMastService.updateLocStsByLocNo(devNo,"O","",null);
                    }

                }else {
                    agvBasDevpService.updateLocStsAndBarcodeByDevNo(devNo,"O","",null);
                }
            } else if (wrkMast.getIoType() == 113) {
                if (wrkMast.getWrkSts() == 212 || wrkMast.getWrkSts() == 213) {
                    agvBasDevpService.updateLocStsAndBarcodeByDevNo(locNo,"F",wrkMast.getBarcode(),(short)getContainerTypeByloc(locNo));
                } else {
                    agvLocMastService.updateLocStsByLocNo(devNo,"O","",(short)getContainerTypeByloc(devNo));
                    agvBasDevpService.updateLocStsAndBarcodeByDevNo(locNo,"F",wrkMast.getBarcode(),(short)getContainerTypeByloc(locNo));
                    if (!Cools.isEmpty(devNo)) {
                        agvLocMastService.updateLocStsByLocNo(devNo,"0","",null);
                    }
                }

            }else {
            } else  {
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(devNo,"O","",null);
                agvLocMastService.updateLocStsByLocNo(locNo,"F",wrkMast.getBarcode(),(short)getContainerTypeByloc(locNo));
            }

        }

        if(wrkMast.getIoType() != 1 && wrkMast.getIoType() != 10 && wrkMast.getIoType()!=111 && wrkMast.getIoType()!=108 && wrkMast.getIoType() != 12){
@@ -734,11 +753,11 @@
        agvWrkDetlLogService.save(wrkMast.getWrkNo());



        //删除工作档以及明细
        if(!agvWrkMastService.deleteByWrkNo(wrkMast.getWrkNo()) || !agvWrkDetlService.deleteByWrkNo(wrkMast.getWrkNo())){
            throw new CoolException("删除失败，请联系管理员");
        }

        if (type == 2) {
            //调用agv取消任务接口
            agvWrkMastService.callCancelTask(wrkMast.getWrkNo());

 src/main/java/com/zy/asrs/service/impl/AgvWrkMastServiceImp.java

@@ -217,7 +217,7 @@
            agvWrkMast.setWrkNo(-agvWrkMast.getWrkNo());
        }
        agvTaskCreateParam.setTaskCode(agvWrkMast.getWrkNo().toString());
        if (agvWrkMast.getIoType() == 108 || (agvWrkMast.getIoType() == 109 && agvWrkMast.getWrkSts() == 201) || agvWrkMast.getIoType() == 12) {
        if (agvWrkMast.getIoType() == 108 || (agvWrkMast.getIoType() == 109  && agvWrkMast.getWrkSts() == 201) || agvWrkMast.getIoType() == 12) {
            agvTaskCreateParam.setTaskTyp("F06");
        } else  {
            agvTaskCreateParam.setTaskTyp("F01");

 src/main/java/com/zy/asrs/task/AgvWrkMastScheduler.java

@@ -56,7 +56,8 @@
                .or().eq("io_type",12)
                .or().eq("io_type",108)
                .or().eq("io_type",109)
                .or().eq("io_type",112));
                .or().eq("io_type",112)
                .or().eq("io_type",113));
        if(!Cools.isEmpty(agvWrkMastList)){
            agvWrkMastList.stream().forEach(agvWrkMast -> {
                agvWrkMastHandler.completedPutWayWrk(agvWrkMast);
@@ -116,7 +117,8 @@
                .or().eq("io_type", 12)
                .or().eq("io_type", 109)
                .or().eq("io_type", 108)
                .or().eq("io_type", 112)).getRecords();
                .or().eq("io_type", 112)
                .or().eq("io_type", 113)).getRecords();

        if(!Cools.isEmpty(agvWrkMastList)){
            agvWrkMastList.forEach(agvWrkMast -> {

 src/main/java/com/zy/asrs/task/AutoMoveScheduler.java

@@ -2,8 +2,10 @@


import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.AgvBasDevp;
import com.zy.asrs.entity.AgvLocMast;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.service.AgvBasDevpService;
import com.zy.asrs.service.AgvLocMastService;
import com.zy.asrs.service.AgvWrkMastService;
import com.zy.asrs.task.core.ReturnT;
@@ -25,6 +27,8 @@
    private AutoMoveHandler autoMoveHandler;
    @Autowired
    private AgvWrkMastService agvWrkMastService;
    @Autowired
    private AgvBasDevpService agvBasDevpService;

    // 调拨出库
    @Scheduled(cron = "0/2 * * * * ? ")
@@ -112,14 +116,13 @@
        }
    }
    // 空板自动回库  接驳点 - 1楼库位
    //@Scheduled(cron = "0/2 * * * * ? ")
    @Scheduled(cron = "0/2 * * * * ? ")
    private void autoEmptyBack3(){
        // 工作档为201 且 入出库类型为109
        List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>()
                .eq("wrk_sts", 201)
                .eq("wrk_sts", 214)
                .eq("loc_no","")
                .eq("io_type",109)
                .or().eq("io_type",112));
                .eq("io_type",113));
        if (agvWrkMastList.isEmpty()) {
            return;
        }
@@ -129,7 +132,7 @@
    }

    // 空板自动回库
    @Scheduled(cron = "0/2 * * * * ? ")
//    @Scheduled(cron = "0/2 * * * * ? ")
    private void autoEmptyBack2(){
        // 查询 不为1楼的空货架
        List<AgvLocMast> agvLocMasts = agvLocMastService.selectList(
@@ -143,6 +146,65 @@
        for (AgvLocMast agvLocMast : agvLocMasts) {
            ReturnT<String> returnT = autoMoveHandler.autoEmptyBack2(agvLocMast);
        }
    }

    /**
     * 空板自动回库
     * 库位-接驳点  库位-吸塑车间
     * 每层最大 在 回库数量限制5条
     * 优先选择先到接驳位（接驳位可入） 后选择直接回库
     */
    @Scheduled(cron = "0/2 * * * * ? ")
    private void autoEmptyBack4(){
        // 查询 不为1楼的空货架
        List<AgvLocMast> agvLocMasts = agvLocMastService.selectList(
                new EntityWrapper<AgvLocMast>()
                        .ne("floor", 1)
                        .eq("loc_sts","D")
                        .eq("loc_type1",3));
        if (agvLocMasts.isEmpty()) {
            return;
        }
        for (AgvLocMast agvLocMast : agvLocMasts) {
            ReturnT<String> returnT = autoMoveHandler.autoEmptyBack4(agvLocMast);
        }
    }

    /**
     * 站点是否自动
     * 自动： 生成 109 自动回流
     * 手动： 生成 113 手动回流
     * 优先选择先到接驳位（接驳位可入） 后选择直接回库
     */
    @Scheduled(cron = "0/2 * * * * ? ")
    private void autoEmptyBack5(){
        List<AgvBasDevp> agvBasDevps = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>()
                .ne("floor", 1)
                .eq("loc_sts", "F")
                .like("dev_no", "DB"));
        if (agvBasDevps.isEmpty()) {
            return;
        }
        for (AgvBasDevp agvBasDevp : agvBasDevps) {
            ReturnT<String> returnT = autoMoveHandler.autoEmptyBack5(agvBasDevp);
        }
    }

    /**
     * 检测1楼接驳点
     * 手动： 生成 113 手动回流
     */
    @Scheduled(cron = "0/2 * * * * ? ")
    private void autoEmptyBack6(){
        List<AgvBasDevp> agvBasDevps = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>()
                .eq("floor", 1)
                .eq("loc_sts", "F")
                .like("dev_no", "DB"));
        if (agvBasDevps.isEmpty()) {
            return;
        }
        for (AgvBasDevp agvBasDevp : agvBasDevps) {
            ReturnT<String> returnT = autoMoveHandler.autoEmptyBack6(agvBasDevp);
        }
    }
}

 src/main/java/com/zy/asrs/task/handler/AgvWrkMastHandler.java

@@ -70,13 +70,14 @@
        agvWrkMastService.updateById(agvWrkMast);
        // 空板入库 设置库位状态为D.空桶/空栈板
        String locSts = agvWrkMast.getIoType() == 10 ? "D" : "F";
        if (agvWrkMast.getIoType() == 10 || agvWrkMast.getIoType() == 109) {
            //if (agvWrkMast.getIoType() == 109 && agvWrkMast.getLocNo().substring(0,2).equals("DB")) {
            //    agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"R",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
            //} else {
            //    agvLocMastService.updateLocStsByLocNo(agvWrkMast.getLocNo(),"D",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
            //}
            agvLocMastService.updateLocStsByLocNo(agvWrkMast.getLocNo(),"D",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
        if (agvWrkMast.getIoType() == 10 || agvWrkMast.getIoType() == 109 ) {
            // 库位 -- 接驳位 / 库位
            if (agvWrkMast.getIoType() == 109 && agvWrkMast.getLocNo().substring(0,2).equals("DB")) {
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
                // 接驳位 -- 库位
            } else {
                agvLocMastService.updateLocStsByLocNo(agvWrkMast.getLocNo(),"D",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
            }
        } else {
            agvLocMastService.updateLocStsByLocNo(agvWrkMast.getLocNo(),"F",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
        }
@@ -113,14 +114,13 @@
        }

        if(agvWrkMast.getIoType() == 109){
            // 接驳位 -- 库位
            if (agvWrkMast.getSourceLocNo().substring(0,2).equals("DB")) {
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getSourceLocNo(),"O","",(short)0);
            // 库位 -- 接驳位 / 库位
            } else {
                //修改源库位状态为O
                agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(),"O","",agvWrkMast.getWhsType().shortValue(),"",(short)0);
                // 新建工作档
                Date now = new Date();
//                createWrkMast(109, 201L, agvWrkMast.getLocNo(), "", agvWrkMast.getBarcode(), now, 9527L, agvWrkMast.getWhsType(), 0);
            }
        }
        if (agvWrkMast.getIoType() == 58) {

 src/main/java/com/zy/asrs/task/handler/AutoMoveHandler.java

@@ -273,12 +273,13 @@
    public ReturnT<String> autoEmptyBack3(AgvWrkMast agvWrkMast) {
        Date now = new Date();
        AgvBasDevp agvBasDevp = agvBasDevpService.selectByDevNo(agvWrkMast.getSourceLocNo());
        if (agvBasDevp.getAutoing() == "N") {
            throw new CoolException("当前站点为手动");
        }
        //检索空闲接驳位，选择合适的接驳位
        AgvLocMast locMast = agvCommonService.getLocNo(3, 1);
        if (Cools.isEmpty(locMast)) {
            throw new CoolException("1楼暂无空库位");
        }
        //目标站点
        agvWrkMast.setWrkSts(201L);
        agvWrkMast.setLocNo(locMast.getLocNo());
        agvWrkMast.setModiUser(9527L);
        agvWrkMast.setModiTime(now);
@@ -287,6 +288,7 @@
        }
        //更新目标库位状态
        updateAgvLocMast(locMast,"S");
        updateAgvBasDevp(agvBasDevp,"R");
        return SUCCESS;
    }
    public ReturnT<String> autoEmptyBack2(AgvLocMast agvLocMast) {
@@ -329,4 +331,165 @@
        updateAgvLocMast(LocMast,"S");
        return SUCCESS;
    }

    public ReturnT<String> autoEmptyBack4(AgvLocMast agvLocMast) {
        Date now = new Date();
        //查询工作档
        AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(agvLocMast.getBarcode());
        if(!Cools.isEmpty(agvWrkMast)){
            throw new CoolException("当前"+agvLocMast.getBarcode()+"货架码已在工作档中");
        }
        String floor = "";
        String locNo = "";
        Long wrkSts = 0L;
        Integer ioType = 0;
        AgvLocMast locMast = new AgvLocMast();
        if (agvLocMast.getFloor() == 3) {
            floor = "F3";
        } else if(agvLocMast.getFloor() == 2) {
            floor = "F2";
        }
        List<AgvWrkMast> agvWrkMasts = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>().eq("io_type", 109).or().eq("io_type", 113).like("source_loc_no", floor));
        if (agvWrkMasts.size() >= 5) {
            throw new CoolException("暂停回流");
        }
        //检索空闲可入接驳位 没有空闲可入接驳位 直接找库位
        AgvBasDevp devpNo = agvCommonService.getDevpNo(3, agvLocMast.getFloor(),"Y","Y");
        if (!Cools.isEmpty(devpNo)) {
            locNo = devpNo.getDevNo();
            wrkSts = 21L;
            ioType = 109;
        } else {
            //检索库位，选择合适的库位
            locMast = agvCommonService.getLocNo(3,1);
            locNo = locMast.getLocNo();
            wrkSts = 201L;
            ioType = 109;
        }

        //生成工作档
        AgvWrkMast mast = new AgvWrkMast();
        //工作状态
        mast.setWrkSts(wrkSts);
        //入出库类型
        mast.setIoType(ioType);
        mast.setIoTime(now);
        //优先级
        mast.setIoPri(300.0);
        //源站点
        mast.setSourceLocNo(agvLocMast.getLocNo());
        //目标站点
        mast.setLocNo(locNo);
        //货架编码
        mast.setBarcode(agvLocMast.getBarcode());
        //货架类型
        mast.setWhsType(30);

        mast.setAppeUser(9527L);
        mast.setAppeTime(now);
        mast.setModiUser(9527L);
        mast.setModiTime(now);
        if (!agvWrkMastService.insertByIncrease(mast)) {
            throw new CoolException("保存工作档失败");
        }

        //更新目标库位状态
        updateAgvLocMast(agvLocMast,"R");
        if (wrkSts == 21L) {
            updateAgvBasDevp(devpNo,"S",agvLocMast.getLocType2(),agvLocMast.getBarcode());
        } else {
            updateAgvLocMast(locMast,"S");
        }


        return SUCCESS;
    }

    public ReturnT<String> autoEmptyBack5(AgvBasDevp agvBasDevp) {
        //查询工作档
        AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(agvBasDevp.getBarcode());
        if(!Cools.isEmpty(agvWrkMast)){
            throw new CoolException("当前"+agvBasDevp.getBarcode()+"货架码已在工作档中");
        }
        Date now = new Date();
        //生成工作档
        AgvWrkMast mast = new AgvWrkMast();
        mast.setIoTime(now);
        //优先级
        mast.setIoPri(300.0);
        //源站点
        mast.setSourceLocNo(agvBasDevp.getDevNo());
        //货架编码
        mast.setBarcode(agvBasDevp.getBarcode());
        //货架类型
        mast.setWhsType(30);
        mast.setAppeUser(9527L);
        mast.setAppeTime(now);
        mast.setModiUser(9527L);
        mast.setModiTime(now);
        // 判断 接驳点是否自动
        if ("Y".equals(agvBasDevp.getAutoing())) {
            //工作状态
            mast.setWrkSts(201L);
            //入出库类型
            mast.setIoType(109);
            //检索库位，选择合适的库位
            AgvLocMast locMast = agvCommonService.getLocNo(3,1);
            mast.setLocNo(locMast.getLocNo());
            updateAgvLocMast(locMast,"S");
        } else {
            //工作状态
            mast.setWrkSts(212L);
            //入出库类型
            mast.setIoType(113);
            //目标站点
            mast.setLocNo("");
        }
        if (!agvWrkMastService.insertByIncrease(mast)) {
            throw new CoolException("保存工作档失败");
        }
        //更新目标库位状态
        updateAgvBasDevp(agvBasDevp,"R");


        return SUCCESS;
    }

    public ReturnT<String> autoEmptyBack6(AgvBasDevp agvBasDevp) {
        //查询工作档
        AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(agvBasDevp.getBarcode());
        if(!Cools.isEmpty(agvWrkMast)){
            throw new CoolException("当前"+agvBasDevp.getBarcode()+"货架码已在工作档中");
        }
        Date now = new Date();
        //生成工作档
        AgvWrkMast mast = new AgvWrkMast();
        //工作状态
        mast.setWrkSts(214L);
        //入出库类型
        mast.setIoType(113);
        //目标站点
        mast.setLocNo("");
        mast.setIoTime(now);
        //优先级
        mast.setIoPri(300.0);
        //源站点
        mast.setSourceLocNo(agvBasDevp.getDevNo());
        //货架编码
        mast.setBarcode(agvBasDevp.getBarcode());
        //货架类型
        mast.setWhsType(30);
        mast.setAppeUser(9527L);
        mast.setAppeTime(now);
        mast.setModiUser(9527L);
        mast.setModiTime(now);
        if (!agvWrkMastService.insertByIncrease(mast)) {
            throw new CoolException("保存工作档失败");
        }
        //更新目标库位状态
        updateAgvBasDevp(agvBasDevp,"R");


        return SUCCESS;
    }
}

 src/main/java/com/zy/common/service/AgvCommonService.java

@@ -268,9 +268,10 @@
        throw new CoolException("楼层号："+floor+"；该楼层没有空接驳位");
    }


    /**
     * 检索库位号
     * @return locNo 检索到的库位号
     * @return locNo 检索自动接驳位
     */
    public AgvBasDevp getDevpNo(int type, int floor, String auto) {
        // 目标库位
@@ -284,6 +285,24 @@

        //找不到库位，抛出异常
        throw new CoolException("楼层号："+floor+"；该楼层没有空接驳位");
    }

    /**
     * 检索库位号
     * @return locNo 检索可入接驳位
     */
    public AgvBasDevp getDevpNo(int type, int floor, String auto ,String inEable) {
        // 目标库位
        AgvBasDevp basDevp = null;

        // 开始查找库位 ==============================>>
        basDevp = getDevpNoInEable(type,floor,inEable);
        if (basDevp != null) {
            return basDevp;
        }

        //找不到库位，抛出异常
        return basDevp;
    }

    //随机取一个货位
@@ -305,4 +324,14 @@
                .like("dev_no","DB"));
    }

    //随机取一个货位
    private AgvBasDevp getDevpNoInEable(int type,int floor,String inEable){
        return agvBasDevpService.selectOne(new EntityWrapper<AgvBasDevp>()
                .eq("loc_sts","O")
                .eq("floor",floor)
                .eq("loc_type1",type)
                .eq("in_enable",inEable)
                .like("dev_no","DB"));
    }

}