From 27917bf679759fb1aadcbf148db27b0407053db5 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期三, 15 一月 2025 16:36:43 +0800
Subject: [PATCH] 优化库位检索逻辑,移除冗余参数

---
 src/main/java/com/zy/asrs/service/impl/AgvWorkServiceImpl.java |   12 +-
 src/main/java/com/zy/asrs/task/AutoMoveScheduler.java          |  147 +++++++++++++++++------------
 src/main/java/com/zy/asrs/task/handler/AutoMoveHandler.java    |   88 ++++++++++++++++-
 3 files changed, 175 insertions(+), 72 deletions(-)

diff --git a/src/main/java/com/zy/asrs/service/impl/AgvWorkServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/AgvWorkServiceImpl.java
index 595e10c..d95a035 100644
--- a/src/main/java/com/zy/asrs/service/impl/AgvWorkServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/AgvWorkServiceImpl.java
@@ -103,7 +103,7 @@
             List<AgvWaitPakin> agvWaitPakinList = agvWaitPakinService.selectList(new EntityWrapper<AgvWaitPakin>().eq("supp_code", agvBasDevp.getBarcode()));
 
             //妫�绱㈠簱浣嶏紝閫夋嫨鍚堥�傜殑搴撲綅
-            AgvLocMast agvLocMast = agvCommonService.getLocNo(agvBasDevp.getLocType1(), agvBasDevp.getFloor(), false, false, null);
+            AgvLocMast agvLocMast = agvCommonService.getLocNo(agvBasDevp.getLocType1(), agvBasDevp.getFloor(), false, false);
             //鐢熸垚宸ヤ綔妗�
             AgvWrkMast wrkMast = createWrkMast(1, 201L, agvBasDevp.getDevNo(), agvLocMast.getLocNo(), agvBasDevp.getBarcode(), now, userId, agvBasDevp.getLocType2(), agvLocMast.getPltType());
             //鏍囪鏄惁涓鸿緭閫佺嚎鍏ュ簱
@@ -569,19 +569,19 @@
             Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "elevatorTasks"));
             if (Cools.isEmpty(config)) {
                 if (isCurrLev.get()) {
-                    agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, true, factory);
+                    agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, true);
                 } else {
-                    agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, false, factory);
+                    agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, false);
                 }
             } else {
                 List<AgvWrkMast> agvWrkMasts = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>().like("loc_no", "02F1").like("source_loc_no", "F1"));
                 if (Integer.parseInt(config.getValue()) <= agvWrkMasts.size()) {
-                    agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, true, factory);
+                    agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, true);
                 } else {
                     if (isCurrLev.get()) {
-                        agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, true, factory);
+                        agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, true);
                     } else {
-                        agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, false, factory);
+                        agvLocMast = agvCommonService.getLocNo(locType, agvBasDevp.getFloor(), false, false);
                     }
                     //agvLocMast = agvCommonService.getLocNo(locType,agvBasDevp.getFloor(),false,false);
                 }
diff --git a/src/main/java/com/zy/asrs/task/AutoMoveScheduler.java b/src/main/java/com/zy/asrs/task/AutoMoveScheduler.java
index 2941e89..406beea 100644
--- a/src/main/java/com/zy/asrs/task/AutoMoveScheduler.java
+++ b/src/main/java/com/zy/asrs/task/AutoMoveScheduler.java
@@ -5,14 +5,12 @@
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.mapper.EntityWrapper;
 import com.core.common.Cools;
-import com.core.exception.CoolException;
 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;
 import com.zy.asrs.task.handler.AutoMoveHandler;
 import com.zy.system.entity.Config;
 import com.zy.system.service.ConfigService;
@@ -67,21 +65,22 @@
      * crnNo :2鐩爣妤煎眰
      */
     @Scheduled(cron = "0/1 * * * * ? ")
-    private synchronized void execute2(){
+    private synchronized void execute2() {
         List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>()
                 .eq("wrk_sts", 22)
-                .andNew().eq("io_type",108)
-                        .andNew()
-                        .eq("crn_no",2).or().eq("crn_no",3)
-                        .orderBy("io_pri",false).orderBy("appe_time",true)
-                );
+                .andNew().eq("io_type", 108)
+                .andNew()
+                .eq("crn_no", 2).or().eq("crn_no", 3)
+                .orderBy("io_pri", false).orderBy("appe_time", true)
+        );
         if (agvWrkMastList.isEmpty()) {
             return;
         }
         for (AgvWrkMast agvWrkMast : agvWrkMastList) {
-            try{
+            try {
+                // TODO 鑷姩鍥炴祦
                 autoMoveHandler.start2(agvWrkMast);
-            } catch (Exception e){
+            } catch (Exception e) {
                 //log.error("宸ヤ綔鍙�"+agvWrkMast.getWrkNo()+"璋冩嫧鍑哄簱,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
             }
         }
@@ -116,20 +115,20 @@
      * ioType 111.鎵嬪姩璋冩嫧
      */
     @Scheduled(cron = "0/2 * * * * ? ")
-    private void execute3(){
+    private void execute3() {
         List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>()
                 .eq("wrk_sts", 22)
-                .andNew().eq("io_type",111)
-                .orderBy("io_pri",false)
-                .orderBy("appe_time",true)
+                .andNew().eq("io_type", 111)
+                .orderBy("io_pri", false)
+                .orderBy("appe_time", true)
         );
         if (agvWrkMastList.isEmpty()) {
             return;
         }
         for (AgvWrkMast agvWrkMast : agvWrkMastList) {
-            try{
+            try {
                 autoMoveHandler.start3(agvWrkMast);
-            } catch (Exception e){
+            } catch (Exception e) {
                 //log.error("宸ヤ綔鍙�"+agvWrkMast.getWrkNo()+"璋冩嫧鍑哄簱,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
             }
         }
@@ -137,21 +136,21 @@
     }
 
     @Scheduled(cron = "0/2 * * * * ? ")
-    private void execute4(){
+    private void execute4() {
         List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>()
                 .eq("wrk_sts", 22)
-                .andNew().eq("io_type",114)
-                .orderBy("io_pri",false)
-                .orderBy("appe_time",true)
+                .andNew().eq("io_type", 114)
+                .orderBy("io_pri", false)
+                .orderBy("appe_time", true)
         );
         if (agvWrkMastList.isEmpty()) {
             return;
         }
         for (AgvWrkMast agvWrkMast : agvWrkMastList) {
-            try{
+            try {
                 autoMoveHandler.start4(agvWrkMast);
-            } catch (Exception e){
-                log.error("宸ヤ綔鍙�"+agvWrkMast.getWrkNo()+"璋冩嫧鍑哄簱,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
+            } catch (Exception e) {
+                log.error("宸ヤ綔鍙�" + agvWrkMast.getWrkNo() + "璋冩嫧鍑哄簱,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細" + e.getMessage());
             }
         }
 
@@ -185,21 +184,21 @@
      * ioType 113.绌烘墭鐩樻墜鍔ㄥ洖娴�
      */
     @Scheduled(cron = "0/2 * * * * ? ")
-    private void autoEmptyBack3(){
+    private void autoEmptyBack3() {
         // 宸ヤ綔妗d负201 涓� 鍏ュ嚭搴撶被鍨嬩负109
         List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>()
                 .eq("wrk_sts", 214)
-                .eq("loc_no","")
-                .eq("io_type",113)
-                .orderBy("io_pri",false));
+                .eq("loc_no", "")
+                .eq("io_type", 113)
+                .orderBy("io_pri", false));
         if (agvWrkMastList.isEmpty()) {
             return;
         }
         for (AgvWrkMast agvWrkMast : agvWrkMastList) {
-            try{
+            try {
                 autoMoveHandler.autoEmptyBack3(agvWrkMast);
-            } catch (Exception e){
-                log.error("宸ヤ綔鍙�"+agvWrkMast.getWrkNo()+"绌烘澘鑷姩鍥炲簱  鎺ラ┏鐐� - 1妤煎簱浣�,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
+            } catch (Exception e) {
+                log.error("宸ヤ綔鍙�" + agvWrkMast.getWrkNo() + "绌烘澘鑷姩鍥炲簱  鎺ラ┏鐐� - 1妤煎簱浣�,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細" + e.getMessage());
             }
         }
     }
@@ -233,38 +232,65 @@
      * 2妤兼垨3妤肩珯鐐瑰彲鍏ヤ俊鍙峰叏閮ㄦ病鏈夛紝浠h〃璧扮數姊嚜鍔ㄦ惉杩愭ā寮�
      */
     @Scheduled(cron = "0/2 * * * * ? ")
-    private void autoEmptyBack4(){
+    private void autoEmptyBack4() {
         // 鏌ヨ 涓嶄负1妤肩殑绌鸿揣鏋�
         List<AgvLocMast> agvLocMasts = agvLocMastService.selectList(
                 new EntityWrapper<AgvLocMast>()
+                        // TODO 鍥涙湡
+                        .eq("loc_sts", "D")
+                        .eq("loc_type1", 3)
                         .ne("floor", 1)
-                        .eq("loc_sts","D")
-                        .eq("loc_type1",3));
+                        .ne("lve1", 1));
         if (agvLocMasts.isEmpty()) {
             return;
         }
         for (AgvLocMast agvLocMast : agvLocMasts) {
-            try{
+            try {
                 autoMoveHandler.autoEmptyBack4(agvLocMast);
-            } catch (Exception e){
-                log.error("搴撲綅鍙�"+agvLocMast.getLocNo()+"绌烘澘鑷姩鍥炲簱 搴撲綅-鎺ラ┏鐐�  搴撲綅-鍚稿杞﹂棿,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
+            } catch (Exception e) {
+                log.error("搴撲綅鍙�" + agvLocMast.getLocNo() + "绌烘澘鑷姩鍥炲簱 搴撲綅-鎺ラ┏鐐�  搴撲綅-鍚稿杞﹂棿,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細" + e.getMessage());
             }
         }
     }
 
-    private boolean determineFloorConnection(Integer floor){
-        try{
+
+    /**
+     // TODO 鍥涙湡
+     */
+    @Scheduled(cron = "0/2 * * * * ? ")
+    private void autoEmptyBackSiqi() {
+        // 鏌ヨ 浜屽巶鐨勭殑鍗婃垚鍝佺澹崇被鍨嬬殑绌鸿揣鏋�
+        List<AgvLocMast> agvLocMasts = agvLocMastService.selectList(
+                new EntityWrapper<AgvLocMast>()
+                        .eq("loc_sts", "D")
+                        .eq("loc_type1", 6)
+                        .eq("floor", 2));
+        if (agvLocMasts.isEmpty()) {
+            return;
+        }
+        for (AgvLocMast agvLocMast : agvLocMasts) {
+            try {
+                autoMoveHandler.autoEmptyBackSiqi(agvLocMast);
+            } catch (Exception e) {
+                log.error("搴撲綅鍙�" + agvLocMast.getLocNo() + "绌烘澘鑷姩鍥炲簱 搴撲綅-鎺ラ┏鐐�  搴撲綅-鍚稿杞﹂棿,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細" + e.getMessage());
+            }
+        }
+    }
+
+
+    private boolean determineFloorConnection(Integer floor) {
+        try {
             List<AgvBasDevp> agvBasDevps = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>().eq("floor", floor).like("dev_no", "DB_"));
-            if (!agvBasDevps.isEmpty()){
-                for (AgvBasDevp agvBasDevp:agvBasDevps){
-                    if (agvBasDevp.getInEnable().equals("Y")){
+            if (!agvBasDevps.isEmpty()) {
+                for (AgvBasDevp agvBasDevp : agvBasDevps) {
+                    if (agvBasDevp.getInEnable().equals("Y")) {
                         return false;
                     }
                 }
                 return true;
             }
-        }catch (Exception e){
-            log.error("鍒ゆ柇褰撳墠妤煎眰鎺ラ┏浣嶆槸鍚﹀叏閮ㄥ叧闂紝寮傚父"+e.getMessage());
+        } catch (Exception e) {
+            log.error("鍒ゆ柇褰撳墠妤煎眰鎺ラ┏浣嶆槸鍚﹀叏閮ㄥ叧闂紝寮傚父" + e.getMessage());
         }
         return false;
     }
@@ -277,7 +303,7 @@
      *
      */
     @Scheduled(cron = "0/2 * * * * ? ")
-    private void autoEmptyBack5(){
+    private void autoEmptyBack5() {
         List<AgvBasDevp> agvBasDevps = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>()
                 .ne("floor", 1)
                 .eq("loc_sts", "F")
@@ -286,10 +312,10 @@
             return;
         }
         for (AgvBasDevp agvBasDevp : agvBasDevps) {
-            try{
+            try {
                 autoMoveHandler.autoEmptyBack5(agvBasDevp);
-            } catch (Exception e){
-                log.error("绔欑偣鍙�"+agvBasDevp.getDevNo()+"绔欑偣鏄惁鑷姩 浼樺厛閫夋嫨鍏堝埌鎺ラ┏浣嶏紙鎺ラ┏浣嶅彲鍏ワ級 鍚庨�夋嫨鐩存帴鍥炲簱,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
+            } catch (Exception e) {
+                log.error("绔欑偣鍙�" + agvBasDevp.getDevNo() + "绔欑偣鏄惁鑷姩 浼樺厛閫夋嫨鍏堝埌鎺ラ┏浣嶏紙鎺ラ┏浣嶅彲鍏ワ級 鍚庨�夋嫨鐩存帴鍥炲簱,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細" + e.getMessage());
             }
         }
     }
@@ -299,7 +325,7 @@
      * 鎵嬪姩锛� 鐢熸垚 113 鎵嬪姩鍥炴祦
      */
     @Scheduled(cron = "0/2 * * * * ? ")
-    private void autoEmptyBack6(){
+    private void autoEmptyBack6() {
         List<AgvBasDevp> agvBasDevps = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>()
                 .eq("floor", 1)
                 .eq("loc_sts", "F")
@@ -308,10 +334,10 @@
             return;
         }
         for (AgvBasDevp agvBasDevp : agvBasDevps) {
-            try{
+            try {
                 autoMoveHandler.autoEmptyBack6(agvBasDevp);
-            } catch (Exception e){
-                log.error("绔欑偣鍙�"+agvBasDevp.getDevNo()+"妫�娴�1妤兼帴椹崇偣 鐢熸垚 113 鎵嬪姩鍥炴祦,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
+            } catch (Exception e) {
+                log.error("绔欑偣鍙�" + agvBasDevp.getDevNo() + "妫�娴�1妤兼帴椹崇偣 鐢熸垚 113 鎵嬪姩鍥炴祦,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細" + e.getMessage());
             }
         }
     }
@@ -341,11 +367,10 @@
             long time3 = time - time1;
 
 
+            if (time3 > 0 && time3 < (1000 * 60 * 10)) {
 
-            if (time3 > 0 && time3 < (1000* 60 * 10)) {
-
-                List<AgvWrkMast> agvWrkMasts = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>().like("loc_no", "02F1").like("source_loc_no", "F1").eq("io_type",12));
-                if (maxTansk <= agvWrkMasts.size()){
+                List<AgvWrkMast> agvWrkMasts = agvWrkMastService.selectList(new EntityWrapper<AgvWrkMast>().like("loc_no", "02F1").like("source_loc_no", "F1").eq("io_type", 12));
+                if (maxTansk <= agvWrkMasts.size()) {
                     return;
                 }
 
@@ -353,16 +378,16 @@
                         new EntityWrapper<AgvLocMast>()
                                 .eq("floor", 1)
                                 .eq("lev1", 1)
-                                .eq("loc_sts","F")
-                                .eq("loc_type1",3));
+                                .eq("loc_sts", "F")
+                                .eq("loc_type1", 3));
                 if (agvLocMasts.isEmpty()) {
                     return;
                 }
                 for (AgvLocMast agvLocMast : agvLocMasts) {
-                    try{
-                        autoMoveHandler.autoTransfers(agvLocMast,maxTansk);
-                    } catch (Exception e){
-                        log.error("搴撲綅鍙�"+agvLocMast.getLocNo()+"瀹氭椂绉诲簱浠诲姟 鍚稿涓�妤� --> 鍚稿浜屾ゼ,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細"+e.getMessage());
+                    try {
+                        autoMoveHandler.autoTransfers(agvLocMast, maxTansk);
+                    } catch (Exception e) {
+                        log.error("搴撲綅鍙�" + agvLocMast.getLocNo() + "瀹氭椂绉诲簱浠诲姟 鍚稿涓�妤� --> 鍚稿浜屾ゼ,澶勭悊澶辫触锛�===銆嬪紓甯稿師鍥狅細" + e.getMessage());
                     }
                 }
             }
diff --git a/src/main/java/com/zy/asrs/task/handler/AutoMoveHandler.java b/src/main/java/com/zy/asrs/task/handler/AutoMoveHandler.java
index a1eccd5..e72bb68 100644
--- a/src/main/java/com/zy/asrs/task/handler/AutoMoveHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AutoMoveHandler.java
@@ -217,7 +217,7 @@
     private ReturnT<String> doAutoMove3(AgvWrkMast agvWrkMast) {
         Date now = new Date();
         //妫�绱㈠簱浣嶏紝閫夋嫨鍚堥�傜殑搴撲綅
-        AgvLocMast locMast = agvCommonService.getLocNo(3,agvWrkMast.getCrnNo(),false,false,null);
+        AgvLocMast locMast = agvCommonService.getLocNo(3,agvWrkMast.getCrnNo(),false,false);
         if (Cools.isEmpty(locMast)) {
             log.info("鏆傛棤搴撲綅");
             return FAIL;
@@ -328,7 +328,7 @@
         Date now = new Date();
         AgvBasDevp agvBasDevp = agvBasDevpService.selectByDevNo(agvWrkMast.getSourceLocNo());
         //妫�绱㈢┖闂叉帴椹充綅锛岄�夋嫨鍚堥�傜殑鎺ラ┏浣�
-        AgvLocMast locMast = agvCommonService.getLocNo(3, 1,true,true,null);
+        AgvLocMast locMast = agvCommonService.getLocNo(3, 1,true,true);
         if (Cools.isEmpty(locMast)) {
             throw new CoolException("1妤兼殏鏃犵┖搴撲綅");
         }
@@ -420,7 +420,7 @@
             ioType = 109;
         } else {
             //妫�绱㈠簱浣嶏紝閫夋嫨鍚堥�傜殑搴撲綅
-            locMast = agvCommonService.getLocNo(3,1,true,true,null);
+            locMast = agvCommonService.getLocNo(3,1,true,true);
             locNo = locMast.getLocNo();
             wrkSts = 201L;
             ioType = 109;
@@ -465,6 +465,84 @@
         return SUCCESS;
     }
 
+
+    public ReturnT<String> autoEmptyBackSiqi(AgvLocMast agvLocMast) {
+        Date now = new Date();
+        //鏌ヨ宸ヤ綔妗�
+        AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(agvLocMast.getBarcode());
+        if(!Cools.isEmpty(agvWrkMast)){
+            throw new CoolException("褰撳墠"+agvLocMast.getBarcode()+"璐ф灦鐮佸凡鍦ㄥ伐浣滄。涓�");
+        }
+        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).like("source_loc_no", floor).or().eq("io_type", 113));
+        if (agvWrkMasts.size() >= 5) {
+            //log.error("鏆傚仠鍥炴祦");
+            return FAIL;
+            //throw new CoolException("鏆傚仠鍥炴祦");
+        }
+        //妫�绱㈢┖闂插彲鍏ユ帴椹充綅 娌℃湁绌洪棽鍙叆鎺ラ┏浣� 鐩存帴鎵惧簱浣�
+        AgvBasDevp devpNo = agvCommonService.getDevpNo(6, agvLocMast.getFloor(),"Y","Y");
+        if (!Cools.isEmpty(devpNo)) {
+            locNo = devpNo.getDevNo();
+            wrkSts = 21L;
+            ioType = 109;
+        } else {
+            //妫�绱㈠簱浣嶏紝閫夋嫨鍚堥�傜殑搴撲綅
+            locMast = agvCommonService.getLocNo(6,1,true,true);
+            locNo = locMast.getLocNo();
+            wrkSts = 201L;
+            ioType = 109;
+        }
+
+        //鐢熸垚宸ヤ綔妗�
+        AgvWrkMast mast = new AgvWrkMast();
+        //宸ヤ綔鐘舵��
+        mast.setWrkSts(wrkSts);
+        //鍏ュ嚭搴撶被鍨�
+        mast.setIoType(ioType);
+        mast.setIoTime(now);
+        //浼樺厛绾�
+        mast.setIoPri(300.0);
+        //婧愮珯鐐�
+        mast.setSourceLocNo(agvLocMast.getLocNo());
+        //鐩爣绔欑偣
+        mast.setLocNo(locNo);
+        //璐ф灦缂栫爜
+        mast.setBarcode(agvLocMast.getBarcode());
+        //璐ф灦绫诲瀷
+        mast.setWhsType(30);
+
+        mast.setAppeUser(9527L);
+        mast.setAppeTime(now);
+        mast.setModiUser(9527L);
+        mast.setModiTime(now);
+        mast.setLogErrMemo("autoEmptyBack4");
+        if (!agvWrkMastService.insertByIncrease(mast)) {
+            throw new CoolException("淇濆瓨宸ヤ綔妗eけ璐�");
+        }
+
+        //鏇存柊鐩爣搴撲綅鐘舵��
+        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) {
         //鏌ヨ宸ヤ綔妗�
         AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(agvBasDevp.getBarcode());
@@ -495,7 +573,7 @@
             //鍏ュ嚭搴撶被鍨�
             mast.setIoType(109);
             //妫�绱㈠簱浣嶏紝閫夋嫨鍚堥�傜殑搴撲綅
-            AgvLocMast locMast = agvCommonService.getLocNo(3,1,true,true,null);
+            AgvLocMast locMast = agvCommonService.getLocNo(3,1,true,true);
             mast.setLocNo(locMast.getLocNo());
             updateAgvLocMast(locMast,"S");
         } else {
@@ -569,7 +647,7 @@
             throw new CoolException("褰撳墠"+agvLocMast.getBarcode()+"璐ф灦鐮佸凡鍦ㄥ伐浣滄。涓�");
         }
         //妫�绱㈠簱浣嶏紝閫夋嫨鍚堥�傜殑搴撲綅
-        AgvLocMast LocMast = agvCommonService.getLocNo(3,1,false,false,null);
+        AgvLocMast LocMast = agvCommonService.getLocNo(3,1,false,false);
         if (LocMast.getLev1() != 2) {
             throw new CoolException("鐩爣妤煎眰涓嶆槸鍚稿浜屾ゼ");
         }

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