From 73e42333948a8143c54218cd26435c2233daf279 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期五, 16 一月 2026 14:13:14 +0800
Subject: [PATCH] agv出入库逻辑
---
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 382 ++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 350 insertions(+), 32 deletions(-)
diff --git a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
index b82a456..3529881 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -3,30 +3,28 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.core.common.R;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.TaskLog;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.entity.BasDevp;
+import com.zy.asrs.mapper.BasDevpMapper;
import com.zy.asrs.mapper.BasStationMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.TaskLogService;
import com.zy.asrs.service.TaskService;
import com.zy.common.constant.ApiInterfaceConstant;
+import com.zy.common.properties.AgvProperties;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
-import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
-import java.util.function.Function;
-import java.util.function.Predicate;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicInteger;
import java.util.stream.Collectors;
/**
@@ -53,23 +51,82 @@
@Resource
private BasStationMapper basStationMapper;
- @Value("${Agv.sendTask}")
- private boolean agvSendTask;
+ @Resource
+ private BasDevpMapper basDevpMapper;
+
+ @Resource
+ private AgvProperties agvProperties;
+
+ /**
+ * 绔欑偣杞璁℃暟鍣紝鐢ㄤ簬骞冲潎鍒嗛厤绔欑偣
+ * Key: 绔欑偣缁勬爣璇嗭紙濡� "east" 鎴� "west"锛夛紝Value: 褰撳墠杞绱㈠紩
+ */
+ private final Map<String, AtomicInteger> siteRoundRobinCounters = new ConcurrentHashMap<>();
/**
* 鍛煎彨agv鎼繍
*/
public void callAgv(List<Task> taskList) {
- if (!agvSendTask) {
+ if (!agvProperties.isSendTask()) {
return;
}
for (Task task : taskList) {
+ // 濡傛灉浠诲姟娌℃湁鍒嗛厤绔欑偣锛屽厛鍒嗛厤绔欑偣
+ String staNo = task.getStaNo();
+ if (staNo == null || staNo.isEmpty()) {
+ Integer allocatedSite = allocateSiteForTask(task);
+ if (allocatedSite == null) {
+ log.warn("浠诲姟ID锛歿}鏃犳硶鍒嗛厤绔欑偣锛岃烦杩囨湰娆″彂閫�", task.getId());
+ continue; // 鏃犳硶鍒嗛厤绔欑偣锛岃烦杩囨湰娆″彂閫�
+ }
+ staNo = String.valueOf(allocatedSite);
+ task.setStaNo(staNo);
+ taskService.updateById(task);
+ log.info("浠诲姟ID锛歿}宸插垎閰嶇珯鐐癸細{}", task.getId(), staNo);
+ }
+
+ // 妫�鏌ョ洰鏍囩珯鐐规槸鍚︽湁姝ｅ湪鎼繍鐨勫悓绫诲瀷AGV浠诲姟锛堝嚭搴撳拰鍏ュ簱浜掍笉骞叉壈锛�
+ // 鍙湁鐘舵��8锛堝凡鍛煎彨AGV锛屾鍦ㄦ惉杩愶級鐨勪换鍔℃墠浼氶樆濉烇紝鐘舵��7锛堝緟鍛煎彨锛夌殑浠诲姟涓嶉樆濉�
+ // 杩欐牱鍙互閬垮厤鎵�鏈変换鍔￠兘鍗″湪鍛煎彨鐘舵�侊紝鎸塱d鏈�灏忕殑浼樺厛鍛煎彨
+ if (staNo != null && !staNo.isEmpty() && task.getIoType() != null) {
+ // 鏍规嵁褰撳墠浠诲姟绫诲瀷锛屽彧妫�鏌ュ悓绫诲瀷鐨勬鍦ㄦ惉杩愪换鍔★紙鐘舵��8锛�
+ // 鍏ュ簱浠诲姟锛坕oType < 100锛夛細鍙鏌ュ叆搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ // 鍑哄簱浠诲姟锛坕oType >= 100锛夛細鍙鏌ュ嚭搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ List<Integer> ioTypes;
+ String taskType;
+ if (task.getIoType() < 100) {
+ // 鍏ュ簱浠诲姟锛氬彧妫�鏌ュ叆搴撶被鍨嬶紙1, 10, 53, 57锛�
+ ioTypes = Arrays.asList(1, 10, 53, 57);
+ taskType = "鍏ュ簱";
+ } else {
+ // 鍑哄簱浠诲姟锛氬彧妫�鏌ュ嚭搴撶被鍨嬶紙101, 110, 103, 107锛�
+ ioTypes = Arrays.asList(101, 110, 103, 107);
+ taskType = "鍑哄簱";
+ }
+
+ // 鍙鏌ョ姸鎬佷负8锛堝凡鍛煎彨AGV锛屾鍦ㄦ惉杩愶級鐨勫悓绫诲瀷浠诲姟
+ List<Task> transportingTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("sta_no", staNo)
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 鍙鏌ユ鍦ㄦ惉杩愮姸鎬佺殑浠诲姟
+ .in("io_type", ioTypes)
+ .ne("id", task.getId()) // 鎺掗櫎褰撳墠浠诲姟鏈韩
+ );
+
+ if (!transportingTasks.isEmpty()) {
+ log.info("绔欑偣{}鏈墈}涓鍦ㄦ惉杩愮殑{}AGV浠诲姟锛岃烦杩囨湰娆″彂閫侊紝绛夊緟鎼繍瀹屾垚銆傚綋鍓嶄换鍔D锛歿}",
+ staNo, transportingTasks.size(), taskType, task.getId());
+ continue; // 璺宠繃鏈鍙戦�侊紝绛夊緟涓嬫
+ }
+ }
+
// 鍛煎彨agv
String response = "";
boolean success = false;
- String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CALL_CARRY_PATH;
+ String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CREATE_TASK_PATH;
String namespace = "";
switch (task.getIoType()) {
case 1:
@@ -90,24 +147,46 @@
default:
}
String body = getRequest(task,namespace);
+ // 鎵撳嵃璇锋眰淇℃伅
+ log.info("{}鍛煎彨agv鎼繍 - 璇锋眰鍦板潃锛歿}", namespace, url);
+ log.info("{}鍛煎彨agv鎼繍 - 璇锋眰鍙傛暟锛歿}", namespace, body);
try {
+ // 浣跨敤浠欏伐M4鎺ュ彛
response = new HttpHandler.Builder()
.setUri(ApiInterfaceConstant.AGV_IP)
- .setPath(ApiInterfaceConstant.AGV_CALL_CARRY_PATH)
+ .setPath(ApiInterfaceConstant.AGV_CREATE_TASK_PATH)
.setJson(body)
.build()
.doPost();
+ // 鎵撳嵃杩斿洖鍙傛暟
+ log.info("{}鍛煎彨agv鎼繍 - 杩斿洖鍙傛暟锛歿}", namespace, response);
+
+ // 妫�鏌ュ搷搴旀槸鍚︿负绌�
+ if (response == null || response.trim().isEmpty()) {
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛孉GV鎺ュ彛杩斿洖涓虹┖", namespace, task.getId());
+ continue;
+ }
+
JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
+ if (jsonObject == null) {
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛屽搷搴擩SON瑙ｆ瀽澶辫触锛屽搷搴斿唴瀹癸細{}", namespace, task.getId(), response);
+ continue;
+ }
+
+ Integer code = jsonObject.getInteger("code");
+ if (code != null && code.equals(200)) {
success = true;
task.setWrkSts(8L);
taskService.updateById(task);
- log.info(namespace + "鍛煎彨agv鎼繍鎴愬姛锛歿}", task.getId());
+ log.info("{}鍛煎彨agv鎼繍鎴愬姛 - 浠诲姟ID锛歿}", namespace, task.getId());
} else {
- log.error(namespace + "鍛煎彨agv鎼繍澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
+ String message = jsonObject.getString("message");
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛岄敊璇爜锛歿}锛岄敊璇俊鎭細{}",
+ namespace, task.getId(), code, message);
}
} catch (Exception e) {
- log.error(namespace + "鍛煎彨agv鎼繍寮傚父", e);
+ log.error("{}鍛煎彨agv鎼繍寮傚父 - 浠诲姟ID锛歿}锛岃姹傚湴鍧�锛歿}锛岃姹傚弬鏁帮細{}锛屽紓甯镐俊鎭細{}",
+ namespace, task.getId(), url, body, e.getMessage(), e);
} finally {
try {
// 淇濆瓨鎺ュ彛鏃ュ織
@@ -128,35 +207,186 @@
}
/**
- * 鏋勯�犺姹傚唴瀹�
+ * 鏋勯�犺姹傚唴瀹癸紙浠欏伐M4鏍煎紡锛�
*/
private String getRequest(Task task, String nameSpace) {
JSONObject object = new JSONObject();
- object.put("entityName", "ContainerTransportOrder");
- JSONObject entityValue = new JSONObject();
- entityValue.put("id", task.getId());
+ // taskId浣跨敤浠诲姟ID锛屾牸寮忥細T + 浠诲姟ID
+ object.put("taskId", "T" + task.getId());
+ // fromBin浣跨敤婧愬簱浣嶇紪鍙凤紙sourceLocNo锛夛紝濡傛灉涓虹┖鍒欎娇鐢ㄦ簮绔欑偣缂栧彿锛坰ourceStaNo锛変綔涓哄閫�
+ String fromBin = task.getSourceLocNo();
+ if (fromBin == null || fromBin.isEmpty()) {
+ fromBin = task.getSourceStaNo();
+ }
+ if (fromBin == null || fromBin.isEmpty() || "0".equals(fromBin)) {
+ log.warn("浠诲姟{}鐨勬簮搴撲綅鍜屾簮绔欑偣閮戒负绌猴紝浣跨敤榛樿鍊�", task.getId());
+ fromBin = "0";
+ }
+ object.put("fromBin", fromBin);
+ // toBin浣跨敤鐩爣绔欑偣缂栧彿
+ object.put("toBin", task.getStaNo());
+ // robotGroup浠巌nvWh瀛楁鑾峰彇锛屽鏋滄病鏈夊垯鏍规嵁绔欑偣缂栧彿鍒ゆ柇
+ String robotGroup = task.getInvWh();
+ if (robotGroup == null || robotGroup.isEmpty()) {
+ robotGroup = determineRobotGroupByStation(task.getStaNo());
+ }
+ object.put("robotGroup", robotGroup);
+ // kind鏍规嵁浠诲姟绫诲瀷鏄犲皠
String kind = "";
switch (nameSpace) {
case "鍏ュ簱":
- kind = "inBound";
+ // 鍒ゆ柇鏄惁涓虹┖鎵樺叆搴擄細ioType=10 鎴� emptyMk="Y"
+ if (task.getIoType() == 10 || "Y".equals(task.getEmptyMk())) {
+ kind = "绌烘墭鍏ュ簱";
+ } else {
+ kind = "瀹炴墭鍏ュ簱";
+ }
break;
case "鍑哄簱":
- kind = "outBound";
+ kind = "瀹炴墭鍑哄簱";
break;
case "杞Щ":
- kind = "moveBound";
+ kind = "璐х墿杞繍";
break;
default:
+ kind = "璐х墿杞繍";
}
- entityValue.put("kind", kind);
- entityValue.put("status", "Created");
- entityValue.put("priority", 0);
- entityValue.put("container", task.getBarcode());
- entityValue.put("fromBin", task.getSourceStaNo());
- entityValue.put("toBin", task.getStaNo());
- entityValue.put("emptyFlag", task.getIoType() == 10 ? 1 : 2); // 绌烘墭1锛屾弧鎵�2 agv甯︾潃鍛婅瘔杈撻�佺嚎plc
- object.put("entityValue", entityValue.toJSONString());
+ object.put("kind", kind);
return object.toJSONString();
+ }
+
+ /**
+ * 涓轰换鍔″垎閰嶇珯鐐癸紙瀹氭椂浠诲姟涓皟鐢級
+ * @param task 浠诲姟瀵硅薄
+ * @return 鍒嗛厤鐨勭珯鐐圭紪鍙凤紝濡傛灉鏃犳硶鍒嗛厤鍒欒繑鍥瀗ull
+ */
+ private Integer allocateSiteForTask(Task task) {
+ // 鏍规嵁浠诲姟鐨刬nvWh锛堟満鍣ㄤ汉缁勶級鍒ゆ柇鏄笢渚ц繕鏄タ渚�
+ String robotGroup = task.getInvWh();
+ List<String> targetStations;
+ String groupKey;
+
+ if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupEast())) {
+ // 涓滀晶绔欑偣
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ } else if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupWest())) {
+ // 瑗夸晶绔欑偣
+ targetStations = agvProperties.getWestStations();
+ groupKey = "west";
+ } else {
+ // 榛樿浣跨敤涓滀晶
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ log.warn("浠诲姟ID锛歿}鐨勬満鍣ㄤ汉缁剓}鏈瘑鍒紝浣跨敤榛樿涓滀晶绔欑偣", task.getId(), robotGroup);
+ }
+
+ if (targetStations.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙敤鐨勭洰鏍囩珯鐐归厤缃�", task.getId());
+ return null;
+ }
+
+ // 灏嗙珯鐐瑰瓧绗︿覆鍒楄〃杞崲涓烘暣鏁板垪琛�
+ List<Integer> siteIntList = targetStations.stream()
+ .map(Integer::parseInt)
+ .collect(Collectors.toList());
+
+ // 鍒ゆ柇鑳藉叆绔欑偣锛坕n_enable="Y"琛ㄧず鑳藉叆锛�
+ List<Integer> sites = basDevpMapper.selectList(
+ new EntityWrapper<BasDevp>()
+ .eq("in_enable", "Y")
+ .in("dev_no", siteIntList)
+ ).stream().map(BasDevp::getDevNo).collect(Collectors.toList());
+
+ if (sites.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鑳藉叆绔欑偣", task.getId());
+ return null;
+ }
+
+ // 鑾峰彇娌℃湁鍑哄簱浠诲姟鐨勭珯鐐�
+ List<Integer> canInSites = basDevpMapper.getCanInSites(sites);
+ if (canInSites.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙叆绔欑偣锛堣绛夊緟鍑哄簱瀹屾垚锛�", task.getId());
+ return null;
+ }
+
+ // 瀵绘壘鍏ュ簱浠诲姟鏈�灏戠殑绔欑偣锛堜笖蹇呴』in_enable="Y"鑳藉叆 鍜� canining="Y"鍙叆锛�
+ List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", canInSites)
+ .eq("in_enable", "Y")
+ .eq("canining", "Y")
+ );
+
+ if (devList.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙叆绔欑偣锛坕n_enable='Y'涓攃anining='Y'锛�", task.getId());
+ return null;
+ }
+
+ // 鍏ュ簱浠诲姟鏁版帓搴�
+ devList.sort(Comparator.comparing(BasDevp::getInQty));
+
+ // 閫夋嫨绔欑偣
+ BasDevp basDevp;
+ int minInQty = devList.get(0).getInQty();
+
+ // 绛涢�夊嚭浠诲姟鏁版渶灏戠殑绔欑偣鍒楄〃
+ List<BasDevp> minTaskSites = devList.stream()
+ .filter(dev -> dev.getInQty() == minInQty)
+ .collect(Collectors.toList());
+
+ // 鏍规嵁閰嶇疆閫夋嫨鍒嗛厤绛栫暐
+ String strategy = agvProperties.getSiteAllocation().getStrategy();
+ boolean enableRoundRobin = agvProperties.getSiteAllocation().isEnableRoundRobin();
+
+ if (minTaskSites.size() > 1 && enableRoundRobin && "round-robin".equals(strategy)) {
+ // 杞鍒嗛厤
+ AtomicInteger counter = siteRoundRobinCounters.computeIfAbsent(groupKey, k -> new AtomicInteger(0));
+ int index = counter.getAndIncrement() % minTaskSites.size();
+ basDevp = minTaskSites.get(index);
+ log.info("浣跨敤杞鍒嗛厤绛栫暐锛岀珯鐐圭粍锛歿}锛岃疆璇㈢储寮曪細{}锛岄�変腑绔欑偣锛歿}", groupKey, index, basDevp.getDevNo());
+ } else if (minTaskSites.size() > 1 && enableRoundRobin && "random".equals(strategy)) {
+ // 闅忔満鍒嗛厤
+ Random random = new Random();
+ int index = random.nextInt(minTaskSites.size());
+ basDevp = minTaskSites.get(index);
+ log.info("浣跨敤闅忔満鍒嗛厤绛栫暐锛岄�変腑绔欑偣锛歿}", basDevp.getDevNo());
+ } else {
+ // 榛樿锛氶�夋嫨绗竴涓紙浠诲姟鏈�灏戠殑锛�
+ basDevp = devList.get(0);
+ }
+
+ Integer endSite = basDevp.getDevNo();
+
+ // 鍏ュ簱鏆傚瓨+1
+ basDevpMapper.incrementInQty(endSite);
+
+ log.info("浠诲姟ID锛歿}宸插垎閰嶇珯鐐癸細{}", task.getId(), endSite);
+ return endSite;
+ }
+
+ /**
+ * 鏍规嵁绔欑偣缂栧彿鍒ゆ柇鏈哄櫒浜虹粍
+ * @param staNo 绔欑偣缂栧彿
+ * @return 鏈哄櫒浜虹粍鍚嶇О
+ */
+ private String determineRobotGroupByStation(String staNo) {
+ if (staNo == null || staNo.isEmpty()) {
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
+
+ // 浠庨厤缃腑鑾峰彇绔欑偣鍒楄〃
+ Set<String> eastStations = new HashSet<>(agvProperties.getEastStations());
+ Set<String> westStations = new HashSet<>(agvProperties.getWestStations());
+
+ // 鍒ゆ柇绔欑偣灞炰簬鍝竴渚�
+ if (eastStations.contains(staNo)) {
+ return agvProperties.getRobotGroupEast(); // 涓滀晶鏈哄櫒浜�
+ } else if (westStations.contains(staNo)) {
+ return agvProperties.getRobotGroupWest(); // 瑗夸晶鏈哄櫒浜�
+ } else {
+ log.warn("绔欑偣缂栧彿涓嶅湪閰嶇疆鍒楄〃涓紝浣跨敤榛樿鏈哄櫒浜虹粍锛歿}", staNo);
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
}
/**
@@ -225,4 +455,92 @@
basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(endSite)), "S");
}
}
+
+ /**
+ * 鍙栨秷AGV浠诲姟锛堜粰宸4鎺ュ彛锛�
+ * @param task 浠诲姟瀵硅薄
+ * @return 鏄惁鎴愬姛
+ */
+ public boolean cancelAgvTask(Task task) {
+ if (!agvProperties.isSendTask()) {
+ return false;
+ }
+
+ if (task == null || task.getId() == null) {
+ log.error("鍙栨秷AGV浠诲姟澶辫触锛氫换鍔℃垨浠诲姟ID涓虹┖");
+ return false;
+ }
+
+ String response = "";
+ boolean success = false;
+ String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CANCEL_TASK_PATH;
+ String namespace = "";
+ String kind = "";
+
+ // 鏍规嵁浠诲姟绫诲瀷纭畾kind鍜宯amespace
+ switch (task.getIoType()) {
+ case 1:
+ case 10:
+ case 53:
+ case 57:
+ namespace = "鍏ュ簱";
+ kind = "瀹炴墭鍏ュ簱";
+ break;
+ case 3:
+ namespace = "杞Щ";
+ kind = "璐х墿杞繍";
+ break;
+ case 101:
+ case 110:
+ case 103:
+ case 107:
+ namespace = "鍑哄簱";
+ kind = "瀹炴墭鍑哄簱";
+ break;
+ default:
+ kind = "璐х墿杞繍";
+ }
+
+ // 鏋勯�犲彇娑堜换鍔¤姹�
+ JSONObject cancelRequest = new JSONObject();
+ cancelRequest.put("taskId", "T" + task.getId());
+ cancelRequest.put("kind", kind);
+ String body = cancelRequest.toJSONString();
+
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(ApiInterfaceConstant.AGV_IP)
+ .setPath(ApiInterfaceConstant.AGV_CANCEL_TASK_PATH)
+ .setJson(body)
+ .build()
+ .doPost();
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code") != null && jsonObject.getInteger("code").equals(200)) {
+ success = true;
+ log.info(namespace + "鍙栨秷AGV浠诲姟鎴愬姛锛歿}", task.getId());
+ } else {
+ log.error(namespace + "鍙栨秷AGV浠诲姟澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
+ }
+ } catch (Exception e) {
+ log.error(namespace + "鍙栨秷AGV浠诲姟寮傚父", e);
+ } finally {
+ try {
+ // 淇濆瓨鎺ュ彛鏃ュ織
+ apiLogService.save(
+ namespace + "鍙栨秷AGV浠诲姟",
+ url,
+ null,
+ "127.0.0.1",
+ body,
+ response,
+ success
+ );
+ } catch (Exception e) {
+ log.error(namespace + "鍙栨秷AGV浠诲姟淇濆瓨鎺ュ彛鏃ュ織寮傚父:", e);
+ }
+ }
+
+ return success;
+ }
}
--
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