From f97effec07e9ef4ca39d39181487fdabe9c620dc Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 26 三月 2024 16:57:36 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/mapper/MotionMapper.java | 5
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java | 248 +++++++++++++++++++++++++++++++++++
zy-asrs-wcs/src/main/resources/mapper/rcs/MotionMapper.xml | 16 ++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java | 4
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/CraneCommandService.java | 19 ++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java | 5
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java | 10 +
zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml | 14 ++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java | 13 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java | 43 ++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/AgvCommandService.java | 19 ++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java | 10 +
12 files changed, 405 insertions(+), 1 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/AgvCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/AgvCommandService.java
new file mode 100644
index 0000000..254b7e5
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/AgvCommandService.java
@@ -0,0 +1,19 @@
+package com.zy.asrs.wcs.core.kernel.command;
+
+import com.zy.asrs.wcs.rcs.entity.Motion;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * Created by vincent on 2023/10/23
+ */
+@Slf4j
+@Service
+public class AgvCommandService {
+
+ public Boolean accept(Motion motion) {
+
+ return Boolean.TRUE;
+ }
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/CraneCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/CraneCommandService.java
new file mode 100644
index 0000000..35ccf8c
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/CraneCommandService.java
@@ -0,0 +1,19 @@
+package com.zy.asrs.wcs.core.kernel.command;
+
+import com.zy.asrs.wcs.rcs.entity.Motion;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * Created by vincent on 2023/10/23
+ */
+@Slf4j
+@Service
+public class CraneCommandService {
+
+ public Boolean accept(Motion motion) {
+
+ return Boolean.TRUE;
+ }
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java
index bca7c4b..9f79a85 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java
@@ -14,4 +14,8 @@
List<Task> selectOutboundByShuttleNo(@Param("shuttleNo") Integer shuttleNo);
+ List<Task> selectByAnalyzeSts();
+
+ List<Task> selectByExecuteSts();
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java
index 37c2839..daaa99a 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java
@@ -2,7 +2,6 @@
import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.asrs.wcs.core.entity.Task;
-import org.apache.ibatis.annotations.Param;
import java.util.List;
@@ -12,4 +11,8 @@
Boolean hasBusyOutboundByShuttle(Integer shuttleNo);
+ List<Task> selectByAnalyzeSts();
+
+ List<Task> selectByExecuteSts();
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java
index 9103f8f..09163dc 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java
@@ -54,4 +54,14 @@
}
return false;
}
+
+ @Override
+ public List<Task> selectByAnalyzeSts() {
+ return this.baseMapper.selectByAnalyzeSts();
+ }
+
+ @Override
+ public List<Task> selectByExecuteSts() {
+ return this.baseMapper.selectByExecuteSts();
+ }
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java
new file mode 100644
index 0000000..c4ed1af
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java
@@ -0,0 +1,248 @@
+package com.zy.asrs.wcs.core.timer;
+
+import com.zy.asrs.framework.exception.CoolException;
+import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.kernel.command.AgvCommandService;
+import com.zy.asrs.wcs.core.kernel.command.CraneCommandService;
+import com.zy.asrs.wcs.core.kernel.command.ShuttleCommandService;
+import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
+import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
+import com.zy.asrs.wcs.core.model.enums.MotionStsType;
+import com.zy.asrs.wcs.core.model.enums.TaskStsType;
+import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.rcs.entity.Motion;
+import com.zy.asrs.wcs.rcs.service.MotionService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.Date;
+import java.util.List;
+import java.util.Objects;
+
+/**
+ * Created by vincent on 2023/10/10
+ */
+@Slf4j
+@Component
+public class MotionTimer {
+
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private MotionService motionService;
+ @Autowired
+ private AgvCommandService agvCommandService;
+// @Autowired
+// private ConveyorCommandService conveyorCommandService;
+ @Autowired
+ private CraneCommandService craneCommandService;
+// @Autowired
+// private LiftCommandService liftCommandService;
+ @Autowired
+ private ShuttleCommandService shuttleCommandService;
+
+ @Scheduled(cron = "0/1 * * * * ? ")
+ public synchronized void executeWrkMast() {
+ Date now = new Date();
+ // ANALYZE_INBOUND
+ for (Task task : taskService.selectByAnalyzeSts()) {
+ Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
+ if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
+ continue;
+ }
+
+ Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+
+ // 鏇存柊wrkMast
+ switch (TaskStsType.query(task.getTaskSts())) {
+ case ANALYZE_INBOUND:
+ task.setTaskSts(TaskStsType.EXECUTE_INBOUND.sts);
+ break;
+ case ANALYZE_OUTBOUND:
+ task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.sts);
+ break;
+ }
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ log.error("{}宸ヤ綔妗ｆ洿鏂扮姸鎬佸け璐ワ紒", task.getTaskNo());
+ }
+ }
+ }
+ // EXECUTE_INBOUND
+ for (Task task : taskService.selectByExecuteSts()) {
+ if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
+ Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+ } else {
+ if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
+ continue;
+ }
+
+ // 鏇存柊wrkMast
+ switch (TaskStsType.query(task.getTaskSts())) {
+ case EXECUTE_INBOUND:
+ task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts);
+ break;
+ case EXECUTE_OUTBOUND:
+ task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.sts);
+ break;
+ }
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ log.error("{}宸ヤ綔妗ｆ洿鏂扮姸鎬佸け璐ワ紒", task.getTaskNo());
+ }
+ }
+ }
+ }
+ }
+
+// @Scheduled(cron = "0/1 * * * * ? ")
+// public synchronized void executeWrkCharge() {
+// Date now = new Date();
+// // ANALYZE_INBOUND
+// for (WrkCharge wrkCharge : wrkChargeMapper.selectByAnalyzeSts()) {
+// Motion executingMotion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val());
+// if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
+// continue;
+// }
+//
+// Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.INIT.val());
+// if (null != motion) {
+// boolean result = this.executeMotion(motion);
+// if (!result) {
+// continue;
+// }
+// // 鏇存柊wrkMast
+// switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
+// case ANALYZE_CHARGE:
+// wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_CHARGE.sts);
+// break;
+// case ANALYZE_MOVE:
+// wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_MOVE.sts);
+// break;
+// }
+// wrkCharge.setModiTime(now);
+// if (wrkChargeMapper.updateById(wrkCharge) == 0) {
+// log.error("{}鍏朵粬宸ヤ綔妗ｆ洿鏂扮姸鎬佸け璐ワ紒", wrkCharge.getWrkNo());
+// }
+// }
+// }
+// // EXECUTE_INBOUND
+// for (WrkCharge wrkCharge : wrkChargeMapper.selectByExecuteSts()) {
+// if (!motionService.hasRunningMotion(wrkCharge.getUuid())) {
+// Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.WAITING.val());
+// if (null != motion) {
+// boolean result = this.executeMotion(motion);
+// if (!result) {
+// continue;
+// }
+// } else {
+// if (motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val()) != null) {
+// continue;
+// }
+//
+// // 鏇存柊wrkMast
+// switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
+// case EXECUTE_CHARGE:
+// wrkCharge.setWrkSts(WrkMastStsType.CHARGE_WORKING.sts);
+// break;
+// case EXECUTE_MOVE:
+// wrkCharge.setWrkSts(WrkMastStsType.COMPLETE_MOVE.sts);
+// break;
+// }
+// wrkCharge.setModiTime(now);
+// if (wrkChargeMapper.updateById(wrkCharge) == 0) {
+// log.error("{}浠栧伐浣滄。鏇存柊鐘舵�佸け璐ワ紒", wrkCharge.getWrkNo());
+// }
+// }
+// }
+// }
+// }
+
+ @Scheduled(cron = "0/1 * * * * ? ")
+ public void scanMotionByExecuting() {
+ List<Motion> motionList = motionService.selectBySts(MotionStsType.EXECUTING.val());
+ for (Motion motion : motionList) {
+ this.finishMotion(motion);
+ }
+ }
+
+ private synchronized boolean executeMotion(Motion motion) {
+ Boolean executeRes = Boolean.FALSE;
+ switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).deviceCtg) {
+ case CONVEYOR:
+// executeRes = conveyorCommandService.accept(motion);
+ break;
+ case CRANE:
+ executeRes = craneCommandService.accept(motion);
+ break;
+ case SHUTTLE:
+ executeRes = shuttleCommandService.accept(motion);
+ break;
+ case LIFT:
+// executeRes = liftCommandService.accept(motion);
+ break;
+ case AGV:
+ executeRes = agvCommandService.accept(motion);
+ break;
+ default:
+ break;
+ }
+
+ if (executeRes) {
+ Date now = new Date();
+ motion.setMotionSts(MotionStsType.EXECUTING.val());
+ motion.setUpdateTime(now);
+ motion.setIoTime(now);
+ if (!motionService.updateById(motion)) {
+ throw new CoolException(motion.generateFlag() + "鍔ㄤ綔鏇存柊澶辫触鐘舵��");
+ }
+ motionService.theNextBeWaiting(motion.getUuid(), motion);
+ return true;
+ }
+
+ return false;
+ }
+
+ private synchronized void finishMotion(Motion motion) {
+ Boolean executeRes = Boolean.FALSE;
+ switch (Objects.requireNonNull(DeviceCtgType.get(motion.getDeviceCtgEl()))){
+ case AGV:
+ break;
+ case CRANE:
+ break;
+ case LIFT:
+// executeRes = liftCommandService.finish(motion);
+ break;
+ case SHUTTLE:
+ executeRes = shuttleCommandService.finish(motion);
+ break;
+ case CONVEYOR:
+// executeRes = conveyorCommandService.finish(motion);
+ break;
+ default:
+ break;
+ }
+ if (executeRes) {
+ Date now = new Date();
+ motion.setMotionSts(MotionStsType.COMPLETE.val());
+ motion.setUpdateTime(now);
+ if (!motionService.updateById(motion)) {
+ throw new CoolException(motion.generateFlag() + "鍔ㄤ綔鏇存柊澶辫触鐘舵��");
+ }
+ }
+ }
+
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java
index d508c7b..b51d92c 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java
@@ -468,5 +468,18 @@
return null;
}
+ public String generateFlag() {
+ return this.getUuid() + "銆�" + this.getPriority() + " - " + this.getMotionCtg$() + "銆�";
+ }
+
+ public String getDeviceCtgEl(){
+ DeviceCtgService service = SpringUtils.getBean(DeviceCtgService.class);
+ DeviceCtg entity = service.getById(this.deviceCtg);
+ if (!Cools.isEmpty(entity)){
+ return String.valueOf(entity.getFlag());
+ }
+ return null;
+ }
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/mapper/MotionMapper.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/mapper/MotionMapper.java
index 45d4aac..7f66193 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/mapper/MotionMapper.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/mapper/MotionMapper.java
@@ -3,10 +3,15 @@
import com.zy.asrs.wcs.rcs.entity.Motion;
import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;
@Mapper
@Repository
public interface MotionMapper extends BaseMapper<Motion> {
+ Motion selectOfTop1(@Param("uuid") String uuid, @Param("motionSts") Long motionSts, @Param("hostId") Long hostId);
+
+ Motion selectOfNext(@Param("uuid") String uuid, @Param("priority") Integer priority, @Param("hostId") Long hostId);
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java
index 8bf4ae8..cabcb8f 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java
@@ -10,4 +10,14 @@
List<Motion> selectUnCompleteByUuidAndDeviceCtg(String uuid, DeviceCtgType deviceCtgType);
+ Motion selectOfTop1(String uuid, Long motionSts, Long hostId);
+
+ Boolean hasRunningMotion(String uuid, Long hostId);
+
+ List<Motion> selectBySts(Long motionSts);
+
+ Boolean theNextBeWaiting(String uuid, Motion motion);
+
+ Motion selectOfNext(String uuid, Motion motion);
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java
index 57df7a0..5a492a1 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java
@@ -1,6 +1,7 @@
package com.zy.asrs.wcs.rcs.service.impl;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.service.DeviceCtgService;
@@ -12,6 +13,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import java.util.Date;
import java.util.List;
@Service("motionService")
@@ -31,4 +33,45 @@
.orderByDesc(Motion::getPriority)
);
}
+
+ @Override
+ public Motion selectOfTop1(String uuid, Long motionSts, Long hostId) {
+ return this.baseMapper.selectOfTop1(uuid, motionSts, hostId);
+ }
+
+ @Override
+ public Boolean hasRunningMotion(String uuid, Long hostId) {
+ return null != this.selectOfTop1(uuid, MotionStsType.EXECUTING.val(), hostId)
+ || null != this.selectOfTop1(uuid, MotionStsType.ERROR.val(), hostId);
+ }
+
+ @Override
+ public List<Motion> selectBySts(Long motionSts) {
+ return this.list(new LambdaQueryWrapper<Motion>()
+ .eq(Motion::getMotionSts, motionSts)
+ .orderByDesc(Motion::getPriority));
+ }
+
+ @Override
+ public Boolean theNextBeWaiting(String uuid, Motion motion) {
+ Motion next = null;
+ if (null == motion) {
+ next = this.baseMapper.selectOfTop1(uuid, MotionStsType.INIT.val(), motion.getHostId());
+ } else {
+ next = this.selectOfNext(uuid, motion);
+ }
+ if (null != next) {
+ next.setMotionSts(MotionStsType.WAITING.val());
+ next.setUpdateTime(new Date());
+ if (!this.updateById(next)) {
+ throw new CoolException(uuid + " - [" + (motion == null ? 0 : (motion.getPriority() - 1)) + "] 鍔ㄤ綔鏇存柊鐘舵�佸け璐�");
+ }
+ }
+ return Boolean.TRUE;
+ }
+
+ @Override
+ public Motion selectOfNext(String uuid, Motion motion) {
+ return this.baseMapper.selectOfNext(uuid, motion.getPriority(), motion.getHostId());
+ }
}
diff --git a/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml b/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
index dd069ab..6cc04aa 100644
--- a/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
+++ b/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
@@ -10,4 +10,18 @@
order by priority desc,start_time,task_no asc
</select>
+ <select id="selectByAnalyzeSts" resultType="com.zy.asrs.wcs.core.entity.Task">
+ select * from wcs_task
+ where 1=1
+ and task_sts in (2, 102, 202, 302)
+ order by priority desc,start_time,task_no asc
+ </select>
+
+ <select id="selectByExecuteSts" resultType="com.zy.asrs.wcs.core.entity.Task">
+ select * from wcs_task
+ where 1=1
+ and task_sts in (3, 103, 203, 303)
+ order by priority desc,start_time,task_no asc
+ </select>
+
</mapper>
diff --git a/zy-asrs-wcs/src/main/resources/mapper/rcs/MotionMapper.xml b/zy-asrs-wcs/src/main/resources/mapper/rcs/MotionMapper.xml
index 15a23bb..8a2d64c 100644
--- a/zy-asrs-wcs/src/main/resources/mapper/rcs/MotionMapper.xml
+++ b/zy-asrs-wcs/src/main/resources/mapper/rcs/MotionMapper.xml
@@ -2,4 +2,20 @@
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.wcs.rcs.mapper.MotionMapper">
+ <select id="selectOfTop1" resultType="com.zy.asrs.wcs.rcs.entity.Motion">
+ select top 1 * from rcs_motion
+ where 1=1
+ and uuid = #{uuid}
+ and motion_sts = #{motionSts}
+ order by priority desc
+ </select>
+
+ <select id="selectOfNext" resultType="com.zy.asrs.wcs.rcs.entity.Motion">
+ select * from rcs_motion
+ where 1=1
+ and uuid = #{uuid}
+ and priority = #{priority} - 1
+ order by priority desc
+ </select>
+
</mapper>
--
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