From 19e6e3559842d23fc5bd4f28a688dd8c2c747d4b Mon Sep 17 00:00:00 2001
From: pjb <123456>
Date: 星期四, 13 三月 2025 15:35:37 +0800
Subject: [PATCH] 联调agv完成
---
construction-data/.env.development | 2
zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/schedule/ScheduleJobs.java | 28 +--
zy-asrs-wms/src/main/resources/mapper/asrs/TaskMapper.xml | 7
zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/utils/HttpEssUtils.java | 79 +++++++++++
zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java | 179 +++++++++++++++---------
zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/service/impl/WorkServiceImpl.java | 10 +
zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskLogTimer.java | 18 +-
zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/controller/OutStockController.java | 41 +++++
zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/manage/OutManage.java | 4
zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/entity/response/CommonReponse.java | 2
zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskWaveTimer.java | 21 +-
11 files changed, 279 insertions(+), 112 deletions(-)
diff --git a/construction-data/.env.development b/construction-data/.env.development
index 57122b9..b8825d0 100644
--- a/construction-data/.env.development
+++ b/construction-data/.env.development
@@ -2,7 +2,7 @@
ENV = 'development'
# base api
-VUE_APP_BASE_API = 'http://127.0.0.1:8081/'
+VUE_APP_BASE_API = 'http://192.168.8.14:8081/'
# vue-cli uses the VUE_CLI_BABEL_TRANSPILE_MODULES environment variable,
# to control whether the babel-plugin-dynamic-import-node plugin is enabled.
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/controller/OutStockController.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/controller/OutStockController.java
index d595118..e0c0dbe 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/controller/OutStockController.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/controller/OutStockController.java
@@ -1,20 +1,26 @@
package com.zy.asrs.wms.apis.wcs.controller;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wms.apis.wcs.entity.request.ContainerArrivedParam;
import com.zy.asrs.wms.apis.wcs.entity.request.RfidSingalRequest;
import com.zy.asrs.wms.apis.wcs.entity.request.TasksStatusCallbackParam;
import com.zy.asrs.wms.apis.wcs.services.WcsApiService;
+import com.zy.asrs.wms.asrs.entity.CacheSite;
+import com.zy.asrs.wms.asrs.entity.Task;
import com.zy.asrs.wms.asrs.entity.param.BindPlatformParam;
+import com.zy.asrs.wms.asrs.service.CacheSiteService;
import com.zy.asrs.wms.asrs.service.PlatformService;
+import com.zy.asrs.wms.asrs.service.TaskService;
import com.zy.asrs.wms.system.controller.BaseController;
import io.netty.util.internal.StringUtil;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
import java.util.Map;
import java.util.Objects;
@@ -28,6 +34,12 @@
@Autowired
private PlatformService platformService;
+
+ @Resource
+ private CacheSiteService cacheSiteService;
+
+ @Resource
+ private TaskService taskService;
/**
@@ -72,6 +84,35 @@
}
/**
+ * 鎾澧欐媿鐏紝ESS璋冪敤
+ */
+ @PostMapping("/light/off")
+ public R lightOff(@RequestBody Map<String, Object> request) {
+ if (Objects.isNull(request)) {
+ throw new CoolException("鍙傛暟涓嶈兘涓虹┖锛侊紒");
+ }
+ if (Objects.isNull(request.get("tagCode"))) {
+ throw new CoolException("鐢靛瓙鏍囩缂栧彿涓嶈兘涓虹┖锛侊紒");
+ }
+ if (Objects.isNull(request.get("eventCode"))){
+ throw new CoolException("浜嬩欢鍚嶇О涓嶈兘涓虹┖锛侊紒");
+ }
+
+ // 鏍规嵁绔欑偣缂栫爜鏌ユ挱绉嶇珯鐐逛俊鎭�
+ CacheSite cacheSite = cacheSiteService.getOne(new LambdaQueryWrapper<CacheSite>().eq(CacheSite::getSiteNo, request.get("tagCode")));
+ // 鏍规嵁鎾绔欑偣淇℃伅鏉＄爜锛屾煡浠诲姟
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, cacheSite.getBarcode()));
+
+ request.clear();
+ request.put("taskNo", task.getTaskNo());
+ request.put("orderNo",cacheSite.getOrderNo());
+
+ wcsApiService.slapLightLogic(request);
+
+ return R.ok();
+ }
+
+ /**
* 瀹瑰櫒娴佸姩閫氱煡锛堝綋鍓嶇墿鏂欐挱绉嶅畬鎴愶級
* //fixme 姝ゆ帴鍙ｅ皢涓嶅啀鍗曠嫭璋冪敤
* 1. 鏇存柊褰撳墠浠诲姟鐗╂枡淇℃伅
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/entity/response/CommonReponse.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/entity/response/CommonReponse.java
index 5afb58e..b0f205b 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/entity/response/CommonReponse.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/entity/response/CommonReponse.java
@@ -28,5 +28,5 @@
/**
*杩斿洖鐨勫搷搴旀暟鎹粨鏋勩��
* */
- private Map<String, Object> data;
+ private Object data;
}
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/schedule/ScheduleJobs.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/schedule/ScheduleJobs.java
index 66de319..b86c0bd 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/schedule/ScheduleJobs.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/schedule/ScheduleJobs.java
@@ -64,11 +64,11 @@
tasks.forEach(task -> {
try {
ConveyorStarParam conveyorStarParam = new ConveyorStarParam();
- conveyorStarParam.setSlotCode(task.getOriginLoc())
+ conveyorStarParam.setSlotCode(task.getOriginSite())
.setContainerCode(task.getBarcode())
.setDirection("100");
// 鍘熷鎶ユ枃
- log.info("璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", "http://192.168.2.200:9046/conveyor/moveContainer", JSONObject.toJSONString(conveyorStarParam));
+ log.info("閫氱煡ESS杈撻�佺嚎娴佸姩璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", "http://192.168.2.200:9046/conveyor/moveContainer", JSONObject.toJSONString(conveyorStarParam));
HttpHeaders headers = new HttpHeaders();
headers.add("Content-Type", "application/json");
HttpEntity httpEntity = new HttpEntity<>(conveyorStarParam, headers);
@@ -86,7 +86,6 @@
taskService.update(new LambdaUpdateWrapper<Task>()
.eq(Task::getId, task.getId())
.set(Task::getTaskSts, TaskStsType.WCS_CONVEYOR_START.id));
- log.info(task.getTaskNo() + "涓嬪彂娴佸姩閫氱煡" + commonReponse.getMsg());
} else {
throw new CoolException("涓嬪彂娴佸姩閫氱煡澶辫触锛侊紒");
}
@@ -139,9 +138,6 @@
describe.setContainerCode(task.getBarcode())
.setToLocationCode(formatLocNo)
.setToStationCode(task.getTargetSite());
-// .setFromLocationCode("")
-// .setContainerFace("")
-// .setContainerType("").setStorageTag("");
param.setTaskDescribe(describe);
params.add(param);
@@ -150,11 +146,7 @@
tasksParam.setTaskType("putaway");
// TODO 澶氫换鍔″璁㈠崟锛岀粺涓�璋冨害锛屾槸鍚︿細鍑虹幇閮ㄥ垎鎴愬姛锛岄儴鍒嗗け璐ョ殑鎯呭喌
- //璋冪敤涓夋柟鎺ュ彛锛屽皢浠诲姟鎺ㄩ�佽嚦ESS骞冲彴
-// MultiValueMap<String, Object> params = new LinkedMultiValueMap<>();
- // 璁剧疆璇锋眰鍙傛暟
-// params.add("params", tasksParam);
- log.info("璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", "http://192.168.2.200:9046/task/create", JSONObject.toJSONString(tasksParam));
+ log.info("涓嬪彂鍏ュ簱浠诲姟璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", "http://192.168.2.200:9046/task/create", JSONObject.toJSONString(tasksParam));
HttpHeaders headers = new HttpHeaders();
headers.add("Content-Type", "application/json");
HttpEntity httpEntity = new HttpEntity<>(tasksParam, headers);
@@ -166,7 +158,6 @@
} else {
ObjectMapper objectMapper = new ObjectMapper();
CommonReponse reponse = objectMapper.readValue(exchange.getBody(), CommonReponse.class);
-// CommonReponse reponse = (CommonReponse) JSON.parse(exchange.getBody());
if (reponse.getCode() == 0) {
// 璇锋眰鎴愬姛鍚庯紝缁熶竴淇敼鎵�鏈変换鍔℃。鐘舵�佷负鍏ュ簱鎵ц涓��
tasks.forEach(task -> {
@@ -258,14 +249,14 @@
if (tasks.isEmpty()) {
return;
}
- tasks.stream().sorted(Comparator.comparing(Task::getTaskSts))
- .collect(Collectors.toList());
+// tasks.stream().sorted(Comparator.comparing(Task::getTaskSts))
+// .collect(Collectors.toList());
// 鏁版嵁缁勮
PublishTasksParam tasksParam = new PublishTasksParam();
+ List<TaskParam> params = new ArrayList<>();
//TODO 纭鏄惁闇�瑕佸崟浠诲姟澶氬鍣ㄧ爜鐨勯渶姹傦紝鐩墠绯荤粺閮芥槸鍗曞鍣ㄧ爜鐢熸垚鍗曚换鍔★紝澶氫换鍔℃槑缁嗭紙鐗╂枡娣疯锛�
tasks.forEach(task -> {
- List<TaskParam> params = new ArrayList<>();
TaskParam param = new TaskParam();
//璁剧疆瀹瑰櫒缂栫爜
param.setTaskCode(task.getTaskNo());
@@ -276,17 +267,16 @@
.setToStationCode(task.getTargetSite());
param.setTaskDescribe(describe);
params.add(param);
- tasksParam.setTasks(params);
});
-
+ tasksParam.setTasks(params);
tasksParam.setTaskType("carry");
- log.info("璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", properties.getBaseHost() + properties.getEssReceiveTask(), JSONObject.toJSONString(tasksParam));
+ log.info("鍑哄簱浠诲姟涓嬪彂璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", properties.getBaseHost() + properties.getEssReceiveTask(), JSONObject.toJSONString(tasksParam));
HttpHeaders headers = new HttpHeaders();
headers.add("Content-Type", "application/json");
HttpEntity httpEntity = new HttpEntity<>(tasksParam, headers);
// 璇锋眰
ResponseEntity<String> exchange = restTemplate.exchange(properties.getBaseHost() + properties.getEssReceiveTask(), HttpMethod.POST, httpEntity, String.class);
- log.info("涓嬪彂浠诲姟 杩斿洖缁撴灉锛歿}", exchange);
+ log.info("鍑哄簱浠诲姟涓嬪彂 杩斿洖缁撴灉锛歿}", exchange);
if (exchange.getBody() == null) {
throw new CoolException("涓嬪彂浠诲姟澶辫触锛侊紒");
} else {
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java
index 250c15d..0a18483 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java
@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.fasterxml.jackson.core.JsonProcessingException;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wms.apis.wcs.entity.domain.SystemProperties;
@@ -10,6 +11,7 @@
import com.zy.asrs.wms.apis.wcs.entity.request.*;
import com.zy.asrs.wms.apis.wcs.entity.response.CommonReponse;
import com.zy.asrs.wms.apis.wcs.services.WcsApiService;
+import com.zy.asrs.wms.apis.wcs.utils.HttpEssUtils;
import com.zy.asrs.wms.asrs.entity.*;
import com.zy.asrs.wms.asrs.entity.enums.CacheSiteStatusType;
import com.zy.asrs.wms.asrs.entity.enums.OrderPickStatus;
@@ -28,11 +30,9 @@
import org.springframework.util.MultiValueMap;
import org.springframework.web.client.RestTemplate;
+import javax.annotation.Resource;
import java.math.BigDecimal;
-import java.util.Date;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
+import java.util.*;
import java.util.stream.Collectors;
@Slf4j
@@ -62,6 +62,9 @@
@Autowired
private PlatformService platformService;
+ @Resource
+ private SystemProperties systemProperties;
+
/**
* 瀹瑰櫒鍒拌揪鎺ユ敹
@@ -77,35 +80,70 @@
*/
@Override
@Transactional(rollbackFor = Exception.class)
- public R containerArrivedNotify(ContainerArrivedParam arrivedParam, String taskType, Long hostId) {
- List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, arrivedParam.getContainerCode()));
- if (Collections.isEmpty(tasks)) {
+ public R containerArrivedNotify(ContainerArrivedParam arrivedParam, String taskType, Long hostId){
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, arrivedParam.getContainerCode()));
+ if (task == null) {
return R.error("浠诲姟涓嶅瓨鍦紒锛�");
}
+ log.info("瀹瑰櫒鍒拌揪鎺ユ敹锛屼换鍔″彿锛歿}锛屽綋鍓嶇姸鎬侊細{}锛屼笂鎶ョ姸鎬侊細{}",task.getTaskNo(),task.getTaskSts$(),TaskStsType.WCS_CONTAINER_RECEIVE.desc);
+
+ taskType = task.getTaskType() > 100 ? "outStock":"inStock";
if (taskType.equals("inStock")) {
- //DONE 鏍规嵁ESS杩斿洖鐨勫鍣ㄧ紪鐮佷慨鏀逛换鍔℃。涓殑杈撻�佺嚎璧峰浣嶇疆鑺傜偣锛屽強浠诲姟妗ｅ鍣ㄥ埌杈剧姸鎬�
- taskService.update(new LambdaUpdateWrapper<Task>()
- .set(Task::getTaskSts, TaskStsType.WCS_CONTAINER_RECEIVE.id)
- //杈撻�佺嚎鑺傜偣缂栫爜锛屼笉鏄簮搴撲綅
- .set(Task::getOriginLoc, arrivedParam.getSlotCode())
- .eq(Task::getBarcode, arrivedParam.getContainerCode()));
- } else {
- //瀹瑰櫒鍒拌揪鏃舵洿鏂颁换鍔＄姸鎬佷负锛氬叆搴撳畬鎴愶紝瀹氭椂浠诲姟鏍规嵁鐘舵�佺爜鏇存柊搴撳瓨
- //褰撶姸鎬佷负鍏ュ簱瀹屾垚鏃讹紝鏇存柊搴撳瓨淇℃伅
-// boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
-// .set(Task::getTaskSts, TaskStsType.COMPLETE_OUT.id)
-// .set(Task::getOriginLoc, arrivedParam.getSlotCode())
-// .eq(Task::getBarcode, arrivedParam.getContainerCode()));
- //fixme 瀹瑰櫒鍒拌揪鐘舵�佹洿鏀逛负鎾涓�...
- boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
- .set(Task::getTaskSts, TaskStsType.WAVE_SEED.id)
- .set(Task::getOriginLoc, arrivedParam.getSlotCode())
- .eq(Task::getBarcode, arrivedParam.getContainerCode()));
- if (!update) {
- throw new CoolException("瀹瑰櫒鍒拌揪浠诲姟鏇存柊澶辫触锛侊紒");
+ if (task.getTaskSts() == 198) {
+ return R.error("鎾涓紒锛�");
}
+ if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_IN.id ) {
+ //DONE 鏍规嵁ESS杩斿洖鐨勫鍣ㄧ紪鐮佷慨鏀逛换鍔℃。涓殑杈撻�佺嚎璧峰浣嶇疆鑺傜偣锛屽強浠诲姟妗ｅ鍣ㄥ埌杈剧姸鎬�
+ taskService.update(new LambdaUpdateWrapper<Task>()
+ .set(Task::getTaskSts, TaskStsType.WCS_CONTAINER_RECEIVE.id)
+ //杈撻�佺嚎鑺傜偣缂栫爜锛屼笉鏄簮搴撲綅
+ .set(Task::getOriginSite, arrivedParam.getSlotCode())
+ .eq(Task::getBarcode, arrivedParam.getContainerCode()));
+ } else {
+ log.warn("{}娌℃湁涓嬪彂浠诲姟",task.getTaskNo());
+ R.error(task.getTaskNo()+"娌℃湁涓嬪彂浠诲姟");
+ }
+ } else {
+ if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_ARRIVED.id
+ || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id ) {
+ // 鍒拌揪鎷ｉ�変綅锛屾帶鍒舵挱绉嶅浜伅
+ List<CacheSite> cacheSites = cacheSiteService.list(new LambdaQueryWrapper<CacheSite>().eq(CacheSite::getBarcode, task.getBarcode()));
+ if(cacheSites.size() == 0) {
+ log.error("鏉＄爜锛歿}锛屾湭鎵惧埌鎾澧欎寒鐏�",task.getBarcode());
+ throw new CoolException("鏈壘鍒版挱绉嶅");
+ }
+ for (CacheSite cacheSite:cacheSites) {
+ SlapLightControlParam slapLightControlParam = new SlapLightControlParam();
+ slapLightControlParam.setControllerCode(cacheSite.getMemo()).setTagCode(cacheSite.getSiteNo())
+ .setColor("GREEN").setMode("LIGHT");
+ // 鍙戣捣浜伅璇锋眰
+ CommonReponse response = HttpEssUtils.post("鍒拌揪鎷ｉ�変綅锛屾挱绉嶅浜伅", HttpEssUtils.PLT_SEND_COMMAND, slapLightControlParam);
+ if (response.getCode().equals(0)) {
+ log.info("浠诲姟{}鍒拌揪鎷ｉ�変綅锛屾挱绉嶅{}浜伅鎴愬姛",task.getTaskNo(),cacheSite.getSiteNo());
+ } else {
+ log.info("浠诲姟{}鍒拌揪鎷ｉ�変綅锛屾挱绉嶅{}浜伅澶辫触",task.getTaskNo(),cacheSite.getSiteNo());
+ }
+ }
+ boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
+ .set(Task::getTaskSts, TaskStsType.WAVE_SEED.id)
+ .set(Task::getOriginSite, arrivedParam.getSlotCode())
+ .eq(Task::getBarcode, arrivedParam.getContainerCode()));
+ if (!update) {
+ throw new CoolException("瀹瑰櫒鍒拌揪浠诲姟鏇存柊澶辫触锛侊紒");
+ }
+ } else if(task.getTaskSts().equals(TaskStsType.UPDATED_OUT.id)) {
+ ConveyorStarParam conveyorStarParam = new ConveyorStarParam();
+ conveyorStarParam.setSlotCode(task.getOriginSite())
+ .setContainerCode(task.getBarcode())
+ .setDirection("200");
+ // 鍑哄簱瀹屾垚锛屾竻闄よ緭閫佺嚎鏉＄爜锛屽彇涓嬬瀛�
+ CommonReponse response = HttpEssUtils.post("娓呴櫎杈撻�佺嚎鏉＄爜", HttpEssUtils.CONVEYOR_START, conveyorStarParam);
+ if (response.getCode().equals(200)) {
+ log.info("{}鍑哄簱瀹屾垚锛屾竻闄}杈撻�佺嚎鏉＄爜{}鎴愬姛",task.getTaskNo(),task.getOriginSite(),task.getBarcode());
+ }
+ }
}
return R.success("success");
@@ -126,39 +164,43 @@
.eq(Task::getTaskNo, callbackParam.getTaskCode()));
if (!Collections.isEmpty(list)) {
list.forEach(task -> {
+ log.info("瀹瑰櫒鎵ц鐘舵�佷笂鎶ワ紝浠诲姟鍙凤細{}锛屽綋鍓嶇姸鎬侊細{}锛屼笂鎶ョ姸鎬侊細{}",task.getTaskNo(),task.getTaskSts$(),callbackParam.getEventType());
+ if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_ALLOCATED.event)) {
+ return;
+ }
// ESS鍙兘閰嶇疆涓�涓姸鎬佷笂鎶ユ帴鍙ｏ紝鏍规嵁浠诲姟鍙峰垽鏂槸鍏ュ簱浠诲姟鎴栧嚭搴撲换鍔�
String taskType = task.getTaskType() > 100 ? "outStock":"inStock";
TaskStsType taskStsType = null;
if (taskType.equals("inStock")) { //鍏ュ簱浠诲姟
if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //涓婃姤鍙栫鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_CONVEYOR_START.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_CONVEYOR_START.id) {
taskStsType = TaskStsType.WCS_TOTE_LOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_LOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_LOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //涓婃姤鏀剧鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_TOTE_LOAD.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_TOTE_LOAD.id) {
taskStsType = TaskStsType.WCS_TOTE_UNLOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_UNLOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_TOTE_UNLOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //TODO 闇�纭涓婃姤浠诲姟涓紝浠诲姟瀹屾垚鏄摢涓簨浠讹紝鐩墠鏆傚畾task浜嬩欢
- if (task.getTaskSts() == TaskStsType.WCS_TOTE_UNLOAD.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_TOTE_UNLOAD.id) {
taskStsType = TaskStsType.WCS_PUTAWAY_SUCESS;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_PUTAWAY_SUCESS.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_PUTAWAY_SUCESS.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
}
boolean result = taskService.update(new LambdaUpdateWrapper<Task>()
.set(Task::getRobotCode, callbackParam.getRobotCode())
- .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())
- .set(Task::getTaskSts, taskStsType.id)
+// .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())
+ .set(Task::getTaskSts, taskStsType != null ? taskStsType.id : task.getTaskType())
.set(Task::getExcudeStatus, callbackParam.getStatus())
.set(Task::getTaskDesc, callbackParam.getMessage())
.eq(Task::getBarcode, callbackParam.getContainerCode())
@@ -171,37 +213,36 @@
}
} else { //鍑哄簱浠诲姟
if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //涓婃姤鍙栫鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT.id ) {
+// if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT.id ) {
taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //涓婃姤鏀剧鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.id) {
taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
} else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //涓婃姤瀹屾垚鐘舵��
- if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.id || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id) {
+// if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.id || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id) {
//鍑哄簱浠诲姟瀹屾垚锛屼慨鏀圭姸鎬佷负瀹瑰櫒鍒拌揪锛屽畾鏃朵换鍔＄敓鎴愭挱绉嶆尝娆�
taskStsType = TaskStsType.WCS_EXECUTE_OUT_TASK_DONE;
- } else {
- String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.desc + "浠诲姟";
- log.error(errMsg);
- throw new CoolException(errMsg);
- }
+// } else {
+// String errMsg = "浠诲姟缂栧彿锛�" + task.getTaskNo() + "鐘舵�佷负涓嶅尮閰嶏紝" + "涓嶈兘鎵ц锛�" + TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.desc + "浠诲姟";
+// log.error(errMsg);
+// throw new CoolException(errMsg);
+// }
}
-
//鏇存柊鍑哄簱鐘舵�佸強鐩稿叧瀛楁
boolean update = taskService.update(new LambdaUpdateWrapper<Task>()
.set(Task::getRobotCode, callbackParam.getRobotCode())
.set(Task::getSysTaskCode, callbackParam.getSysTaskCode())
- .set(Task::getTaskSts, taskStsType.id)
+ .set(Task::getTaskSts, taskStsType != null ? taskStsType.id : task.getTaskType())
.set(Task::getExcudeStatus, callbackParam.getStatus())
.set(Task::getTaskDesc, callbackParam.getMessage())
.eq(Task::getBarcode, callbackParam.getContainerCode())
@@ -325,7 +366,7 @@
//璋冪敤涓夋柟鎺ュ彛,闂伅涓嶅仛鎿嶄綔
// 璁剧疆璇锋眰鍙傛暟
params.add("params", JSONObject.toJSONString(slapParam));
- log.info("璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
+ log.info("鏈畬鎴愰棯鐏姹傚湴鍧�锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
} else {
//璋冪敤涓夋柟鎺ュ彛,鐏伅閫氱煡瀹瑰櫒娴佸姩锛� 浼犵伃鐏弬鏁�
//todo 鍒ゆ柇褰撳墠璁㈠崟鏄惁瀹屾垚锛屽畬鎴愮伃鐏紝鏈畬鎴愪繚鎸佹嫞璐х姸鎬佷寒鐏�
@@ -360,7 +401,7 @@
}
converyor = true;
params.add("params", JSONObject.toJSONString(slapParam));
- log.info("璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
+ log.info("瀹屾垚鐏伅璇锋眰鍦板潃锛歿}锛岃姹傚弬鏁帮細{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));
}
if (converyor) {
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/utils/HttpEssUtils.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/utils/HttpEssUtils.java
new file mode 100644
index 0000000..b78e1c0
--- /dev/null
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/utils/HttpEssUtils.java
@@ -0,0 +1,79 @@
+package com.zy.asrs.wms.apis.wcs.utils;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.cfg.CoercionAction;
+import com.fasterxml.jackson.databind.cfg.CoercionInputShape;
+import com.zy.asrs.framework.common.SpringUtils;
+import com.zy.asrs.framework.exception.CoolException;
+import com.zy.asrs.wms.apis.wcs.entity.response.CommonReponse;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.http.HttpEntity;
+import org.springframework.http.HttpHeaders;
+import org.springframework.http.HttpMethod;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.client.RestTemplate;
+
+/**
+ * @author pang.jiabao
+ * @description 璋冪敤ESS鎺ュ彛灏佽宸ュ叿绫�
+ * @createDate 2025/3/12 11:26
+ */
+@Slf4j
+public class HttpEssUtils {
+
+ /**
+ * 鍩虹ip+port
+ */
+ public static final String baseUrl = "http://192.168.2.200:9046";
+
+ /**
+ * 璇锋眰澶�
+ */
+ private static final HttpHeaders headers = new HttpHeaders();
+
+ static {
+ headers.add("Content-Type", "application/json");
+ }
+
+ /**
+ * 閫氱煡杈撻�佺嚎娴佸姩
+ */
+ public static final String CONVEYOR_START = baseUrl + "/conveyor/moveContainer";
+
+ /**
+ * 鎺у埗鎾澧欎寒/鐏�/闂伅
+ */
+ public static final String PLT_SEND_COMMAND = baseUrl + "/expand/api/equipment/ptl/sendCommand";
+
+ /**
+ * 鍙戦�乸ost璇锋眰璋冪敤ESS鎺ュ彛
+ *
+ * @param name 璋冪敤鎺ュ彛鍚�
+ * @param url 鎺ュ彛鍦板潃
+ * @param param 鍙傛暟
+ * @param <T> 鍙傛暟绫诲瀷鑼冨寲
+ * @return 杩斿洖缁撴灉
+ */
+ public static <T> CommonReponse post(String name, String url, T param) {
+ log.info("{}锛岃姹傚湴鍧�锛歿}锛岃姹傚弬鏁帮細{}", name, url, param);
+ HttpEntity httpEntity = new HttpEntity<>(param, headers);
+ RestTemplate restTemplate = SpringUtils.getBean(RestTemplate.class);
+ ResponseEntity<String> exchange = restTemplate.exchange(url, HttpMethod.POST, httpEntity, String.class);
+ log.info("{}锛岃繑鍥炵粨鏋滐細{}", name, exchange);
+ if (exchange.getBody() == null) {
+ throw new CoolException(name + "杩斿洖缁撴灉寮傚父锛侊紒");
+ } else {
+ ObjectMapper objectMapper = new ObjectMapper();
+ objectMapper.coercionConfigDefaults()
+ .setCoercion(CoercionInputShape.EmptyString, CoercionAction.AsEmpty);
+ try {
+ return objectMapper.readValue(exchange.getBody(), CommonReponse.class);
+ } catch (JsonProcessingException e) {
+ log.error("{}锛岃繑鍥炵粨鏋滆В鏋愬紓甯竰}", name, e.getMessage());
+ e.printStackTrace();
+ throw new CoolException(name + "杩斿洖缁撴灉瑙ｆ瀽寮傚父锛侊紒");
+ }
+ }
+ }
+}
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/manage/OutManage.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/manage/OutManage.java
index b1d6fe3..1e9d0dc 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/manage/OutManage.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/manage/OutManage.java
@@ -1158,7 +1158,8 @@
throw new CoolException("褰撳墠娉㈡璁㈠崟涓嶅瓨鍦紒锛�");
}
- List<CacheSite> cacheSites = cacheSiteService.list(new LambdaQueryWrapper<CacheSite>().eq(CacheSite::getSiteStatus, CacheSiteStatusType.O.id).orderByAsc(CacheSite::getChannel));
+ List<CacheSite> cacheSites = cacheSiteService.list(new LambdaQueryWrapper<CacheSite>()
+ .eq(CacheSite::getSiteStatus, CacheSiteStatusType.O.id).eq(CacheSite::getChannel,task.getTargetSite()));
if (cacheSites.isEmpty()) {
throw new CoolException("缂撳瓨绔欑┖闂翠笉瓒筹紝璇风◢鍚庡啀璇�");
@@ -1173,6 +1174,7 @@
cacheSite.setOrderId(orders.get(i).getId());
cacheSite.setOrderNo(orders.get(i).getOrderNo());
cacheSite.setSiteStatus(CacheSiteStatusType.R.id);
+ cacheSite.setBarcode(loc.getBarcode());
cacheSite.setUpdateTime(new Date());
if (!cacheSiteService.updateById(cacheSite)) {
throw new CoolException("缂撳瓨绔欐洿鏂板け璐�");
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/service/impl/WorkServiceImpl.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/service/impl/WorkServiceImpl.java
index 6b9e1eb..04a9034 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/service/impl/WorkServiceImpl.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/service/impl/WorkServiceImpl.java
@@ -2,6 +2,7 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wms.asrs.entity.*;
@@ -684,8 +685,12 @@
if (loc == null) {
throw new CoolException("娌℃湁绌哄簱浣�");
}
+ // 鑾峰彇鏂颁换鍔″彿
+ String taskNo = generateTaskNo(53L);
+ // 璁剧疆鏂颁换鍔″彿
+ task.setTaskNo(taskNo);
//102鎷ｆ枡姝ゅ闇�淇敼涓篧CS_CONTAINER_RECEIVE,瀹氭椂浠诲姟鏌ヨ鍚庯紝鑷姩涓嬪彂鍏ュ簱浠诲姟鑷矱SS
- task.setTaskSts(TaskStsType.WCS_CONTAINER_RECEIVE.id);//1.鐢熸垚鍏ュ簱浠诲姟
+ task.setTaskSts(TaskStsType.GENERATE_IN.id);//1.鐢熸垚鍏ュ簱浠诲姟
task.setTaskType(taskType);
//鍘熷簱浣嶅彉鐩爣搴撲綅, 鍘熺珯鐐瑰彉鐩爣绔欑偣
//todo 闇�纭鍘熺珯鐐逛负绌猴紝璇ユ�庝箞澶勭悊
@@ -694,6 +699,9 @@
if (!taskService.updateById(task)) {
throw new CoolException("鎷ｆ枡澶辫触");
}
+ // 鏇存柊浠诲姟鏄庣粏鏂颁换鍔″彿
+ UpdateWrapper<TaskDetl> updateWrapper = new UpdateWrapper<>();
+ updateWrapper.set("task_no",taskNo).eq("task_id",task.getId());
//搴撲綅鐘舵�佹敼涓洪绾﹀叆搴� R => S
loc.setLocStsId(LocStsType.S.val());
loc.setUpdateTime(new Date());
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskLogTimer.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskLogTimer.java
index f86ad18..1f32782 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskLogTimer.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskLogTimer.java
@@ -171,16 +171,16 @@
return;
}
- Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "taskLogDiffDays").eq(Dict::getStatus, 1));
- if (dict == null) {
- return;
- }
+// Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "taskLogDiffDays").eq(Dict::getStatus, 1));
+// if (dict == null) {
+// return;
+// }
for (Task task : list) {
- int diff = DateUtils.diff(task.getCreateTime(), new Date());
- int taskLogDiffDays = Integer.parseInt(dict.getValue());
- if (diff < taskLogDiffDays) {
- continue;
- }
+// int diff = DateUtils.diff(task.getCreateTime(), new Date());
+// int taskLogDiffDays = Integer.parseInt(dict.getValue());
+// if (diff < taskLogDiffDays) {
+// continue;
+// }
Long hostId = task.getHostId();
diff --git a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskWaveTimer.java b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskWaveTimer.java
index 7ddd363..bf8d372 100644
--- a/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskWaveTimer.java
+++ b/zy-asrs-wms/src/main/java/com/zy/asrs/wms/asrs/timer/TaskWaveTimer.java
@@ -21,6 +21,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
+import java.util.stream.Collectors;
@Component
public class TaskWaveTimer {
@@ -47,7 +48,7 @@
* original : fetch datasource of task type on WCS_EXECUTE_OUT_TASK_DONE
* now: Fetch datasource of task type on WCS_EXECUTE_OUT_ARRIVED, After completing the task and for setting the task type equal to GENERATE_WAVE_SEED
*/
- @Scheduled(cron = "0/15 * * * * ? ")
+ @Scheduled(cron = "0/3 * * * * ? ")
@Transactional(rollbackFor = Exception.class)
public void taskWave() {
InterceptorIgnoreHelper.handle(IgnoreStrategy.builder().tenantLine(true).build());
@@ -62,8 +63,7 @@
}
//鏌ヨ鐘舵�佷负RCS浠诲姟瀹屾垚鎵�鏈変换鍔″崟鎹�
// List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskSts, TaskStsType.WAVE_SEED.id));
- List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskSts, TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id));
- HashSet<String> sycMatnrs = new HashSet<>();
+ List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskSts, TaskStsType.WCS_EXECUTE_OUT.id)); HashSet<String> sycMatnrs = new HashSet<>();
if (taskList.isEmpty()) {
// throw new CoolException("娌℃湁鍙挱绉嶄换鍔★紒锛�");
} else {
@@ -72,6 +72,11 @@
List<TaskDetl> taskDetls = taskDetlService.list(new LambdaQueryWrapper<TaskDetl>().eq(TaskDetl::getTaskId, task.getId()).eq(TaskDetl::getHostId, hostId));
if (taskDetls.isEmpty()) {
+ continue;
+ }
+ // 杩囨护宸茬粡鐢熸垚娉㈡鎾鏁版嵁鐨勪换鍔� 璇ヤ换鍔＄殑浠诲姟鏄庣粏鍙蜂笉鑳藉湪鎾鏁版嵁琛ㄩ噷闈�
+ long count = waveSeedService.count(new LambdaQueryWrapper<WaveSeed>().in(WaveSeed::getTaskDetlId, taskDetls.stream().map(TaskDetl::getId).collect(Collectors.toList())).eq(WaveSeed::getHostId, hostId));
+ if (count > 0) {
continue;
}
@@ -153,11 +158,11 @@
}
}
- task.setTaskSts(TaskStsType.GENERATE_WAVE_SEED.id);
- task.setUpdateTime(new Date());
- if (!taskService.updateById(task)) {
- throw new CoolException("浠诲姟鏇存柊澶辫触");
- }
+// task.setTaskSts(TaskStsType.GENERATE_WAVE_SEED.id);
+// task.setUpdateTime(new Date());
+// if (!taskService.updateById(task)) {
+// throw new CoolException("浠诲姟鏇存柊澶辫触");
+// }
}
}
} catch (Exception e) {
diff --git a/zy-asrs-wms/src/main/resources/mapper/asrs/TaskMapper.xml b/zy-asrs-wms/src/main/resources/mapper/asrs/TaskMapper.xml
index ca5b588..9a79a01 100644
--- a/zy-asrs-wms/src/main/resources/mapper/asrs/TaskMapper.xml
+++ b/zy-asrs-wms/src/main/resources/mapper/asrs/TaskMapper.xml
@@ -34,10 +34,11 @@
mws.wave_no,
SUM( mws.work_qty ) work_qty,
mws.batch,
- mws.task_detl_id ,
- mcs.site_no
+ mws.task_detl_id
+-- ,mcs.site_no
FROM
- man_wave_seed mws LEFT JOIN man_cache_site mcs ON mws.order_id = mcs.order_id
+ man_wave_seed mws
+-- man_wave_seed mws LEFT JOIN man_cache_site mcs ON mws.order_id = mcs.order_id
WHERE
task_detl_id IN ( SELECT mtd.id FROM man_task mt INNER JOIN man_task_detl mtd ON mt.id = mtd.task_id
<if test="taskNo != null and taskNo != ''">
--
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