小车
This commit is contained in:
张怡蓉
@@ -127,13 +127,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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param.setJobType("1");
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param.setAgvId(deviceSrgv.getDeviceId().toString());
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List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param);
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if (CollUtil.isNotEmpty(srgvChargingJobs)){
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if (CollUtil.isNotEmpty(srgvChargingJobs)) {
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SrgvChargingJob srgvChargingJob = srgvChargingJobs.get(0);
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String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点
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WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
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wcsSrgvQueueParam.setAgvId(deviceSrgv.getDeviceId().toString());
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List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
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if (CollUtil.isEmpty(wcsSrgvQueues)){
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if (CollUtil.isEmpty(wcsSrgvQueues)) {
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//生成队列
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WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
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wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
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@@ -148,9 +148,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
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WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite);
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if (wcsSrgvMap.getZ().equals(deviceSrgv.getCurrFloor())){
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if (wcsSrgvMap.getZ().equals(deviceSrgv.getCurrFloor())) {
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wcsSrgvQueue.setEndSite(chargingSite);
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}else {
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} else {
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wcsSrgvQueue.setEndSite("tsj");
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}
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wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
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@@ -182,8 +182,91 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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* 生成出库小车队列
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*/
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private void createCarOutQueue() {
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MydoJob mydoJob = new MydoJob();
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mydoJob.setInOut("2");
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mydoJob.setExecutionPhase("0");
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mydoJob.setStatus("1");
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List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
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if (!mydoJobs.isEmpty()) {
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MydoJob mydoJob1 = mydoJobs.get(0);
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// 查询是否有已下发的该任务号队列
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WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
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if (wcsSrgvQueue1 == null) {
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ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
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List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
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.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
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.sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
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- Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
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.collect(Collectors.toList());
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if (!deviceSrgvList.isEmpty()) {
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DeviceSrgv deviceSrgv = null;
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for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
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//优先出库层，如果没有优先邻近层
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if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
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deviceSrgv = deviceSrgv1;
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break;
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} else if (deviceSrgv == null || (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv1.getCurrFloor())) < (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv.getCurrFloor()))) {
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WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
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if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
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deviceSrgv = deviceSrgv1;
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}
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}
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}
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if (deviceSrgv != null) {
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WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
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if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
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//查询小车是否为取货楼层
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String endSite = "";
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String issued = "0";
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String executionStatus = "1";
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WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
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wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
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List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
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//取货地址
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String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
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if (deviceSrgv.getCurrFloor().equals(wcsSrgvMaps.get(0).getTheLayer())) {
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//终点是巷道口到位输送线
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endSite = cargoPickSite;
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if(cargoPickSite.equals(deviceSrgv.getCurrSite())){
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issued="1";
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executionStatus="3";
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}
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} else{
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//终点是提升机
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endSite = "tsj";
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}
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//生成小车取货队列
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WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
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wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
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wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
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wcsSrgvQueue.setTaskType("1");
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wcsSrgvQueue.setPriority(Long.parseLong("2"));
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wcsSrgvQueue.setCargo("1");
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wcsSrgvQueue.setIssued(issued);
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wcsSrgvQueue.setExecutionStatus(executionStatus);
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wcsSrgvQueue.setCargoPickSite(cargoPickSite);
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WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
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wcsSrgvMap1.setRemark(mydoJob1.getExitId());
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List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
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wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
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wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
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wcsSrgvQueue.setEndSite(endSite);
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wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
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wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
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wcsSrgvQueue.setDefault02("4");
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wcsSrgvQueue.setDefault07("1");
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wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
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}
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}
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}
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}
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}
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}
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@@ -200,67 +283,79 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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// 查询是否有已下发的该任务号队列
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WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
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if (wcsSrgvQueue1 == null) {
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ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
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List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream().filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4).collect(Collectors.toList());
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List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
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.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
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.sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
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.collect(Collectors.toList());
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if (!deviceSrgvList.isEmpty()) {
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DeviceSrgv deviceSrgv =null;
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DeviceSrgv deviceSrgv = null;
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for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
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if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
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deviceSrgv = deviceSrgv1;
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break; // 找到了相同楼层的直接选它
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} else if (deviceSrgv == null || deviceSrgv1.getCurrFloor() < deviceSrgv.getCurrFloor()) {
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if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
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deviceSrgv = deviceSrgv1;
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break; // 找到了相同楼层的直接选它
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} else if (deviceSrgv == null || deviceSrgv1.getCurrFloor() < deviceSrgv.getCurrFloor()) {
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WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
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if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
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deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
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}
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}
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}
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WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
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if (wcsSrgvQueue2 == null && deviceSrgv.getStatus()==1) {
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if (deviceSrgv != null) {
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//查询小车是否为1楼,且1楼小车不在入库站点
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String endSite = "";
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WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
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wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
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List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
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//取货地址
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String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
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WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
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if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
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if (deviceSrgv.getCurrFloor() == 1 && !cargoPickSite.equals(deviceSrgv.getCurrSite())) {
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//终点是巷道口到位输送线
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endSite = cargoPickSite;
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//查询小车是否为1楼,且1楼小车不在入库站点
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String endSite = "";
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String issued = "0";
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String executionStatus = "1";
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WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
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wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
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List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
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//取货地址
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String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
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} else if (deviceSrgv.getCurrFloor() != 1 ) {
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//终点是提升机
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endSite = "tsj";
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} else {
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return;
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if (deviceSrgv.getCurrFloor() == 1) {
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endSite = cargoPickSite;
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if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
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// 小车已在取货点
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issued = "1";
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executionStatus = "3";
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}
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} else {
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// 小车不在1楼
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endSite = "tsj";
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}
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//生成小车取货队列
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WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
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wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
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wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
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wcsSrgvQueue.setTaskType("1");
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wcsSrgvQueue.setPriority(Long.parseLong("2"));
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wcsSrgvQueue.setCargo("1");
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wcsSrgvQueue.setIssued(issued);
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wcsSrgvQueue.setExecutionStatus(executionStatus);
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wcsSrgvQueue.setCargoPickSite(cargoPickSite);
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WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
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wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
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List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
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wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
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wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
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wcsSrgvQueue.setEndSite(endSite);
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wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
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wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
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wcsSrgvQueue.setDefault02("4");
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wcsSrgvQueue.setDefault07("1");
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wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
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}
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}
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//生成小车取货队列
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WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
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wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
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wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
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wcsSrgvQueue.setTaskType("1");
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wcsSrgvQueue.setPriority(Long.parseLong("2"));
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wcsSrgvQueue.setCargo("1");
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wcsSrgvQueue.setIssued("0");
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wcsSrgvQueue.setExecutionStatus("1");
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wcsSrgvQueue.setCargoPickSite(cargoPickSite);
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WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
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wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
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List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
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wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
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wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
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wcsSrgvQueue.setEndSite(endSite);
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wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
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wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
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wcsSrgvQueue.setDefault02("4");
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wcsSrgvQueue.setDefault07("1");
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wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
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}
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}
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}
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}
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@@ -515,7 +610,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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* 2、处理终点不是提升机站点的
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* */
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finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
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finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
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}
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}
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@@ -594,6 +689,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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break;
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}
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//删除队列，插入历史表
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wcsSrgvQueue.setExecutionStatus("4");
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wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
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wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
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@@ -137,14 +137,16 @@ public class SsjThread implements Runnable {
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mydoJob.setExecutionPhase("1");
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mydoJob.setCreateTime(new Date());
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if("GS1002".equals(deviceSsj.getDeviceCode())) {
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mydoJob.setEntranceId("GS1002");
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mydoJob.setEntranceId("L1004");
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}else{
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mydoJob.setEntranceId("GS1007");
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mydoJob.setEntranceId("L1005");
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}
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mydoJobService.insertMydoJob(mydoJob);
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int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
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if (i == 1) {
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mydoJob.setStatus("3");
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mydoJobService.updateMydoJob(mydoJob);
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log.info(deviceSsj.getDeviceCode()+"输送机下发任务号成功:{}", mydoJob.getTaskNo());
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}
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} else {
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Block a user