小车
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张怡蓉
@@ -27,6 +27,9 @@ public interface IWcsSrgvQueueService
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/**
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* 查询四向小车任务队列列表
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*
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@@ -50,6 +50,8 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
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return wcsSrgvQueueMapper.selectWcsSrgvQueueByAgvId(agvId);
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}
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/**
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* 查询四向小车任务队列列表
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*
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@@ -236,7 +236,56 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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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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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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String cargoPlaceSite = wcsSrgvMaps1.get(0).getSiteId();
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List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
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.filter(d -> d.getWorkMode() == 4
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&& d.getStatus() == 1
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&& d.getCurrSite().equals(cargoPlaceSite))
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.collect(Collectors.toList());
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if(!sameSiteDevices.isEmpty() &&!Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())){
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WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
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wcsSrgvMap3.setRemark("cache");
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List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
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for(WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3){
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//deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
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if(deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
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//生成小车到缓存点队列
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WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
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WcsSrgvQueue wcsSrgvQueue=new WcsSrgvQueue();
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wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
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List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
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if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
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WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
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wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
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wcsSrgvQueue3.setTaskNo("9999");
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wcsSrgvQueue3.setTaskType("1");
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wcsSrgvQueue3.setPriority(Long.parseLong("2"));
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wcsSrgvQueue3.setCargo("1");
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wcsSrgvQueue3.setIssued(issued);
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wcsSrgvQueue3.setExecutionStatus(executionStatus);
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wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
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wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
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wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
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wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
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wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
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wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
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wcsSrgvQueue3.setDefault02("4");
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wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
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wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
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}
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}
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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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@@ -246,10 +295,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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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.setCargoPlaceSite(cargoPlaceSite);
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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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@@ -330,6 +377,53 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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// 小车不在1楼
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endSite = "tsj";
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}
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//筛选出deviceSrgvMap中deviceSrgv.getWorkMode() == 4并且deviceSrgv.getStatus() == 1并且deviceSrgv.getCurrSite() == cargoPickSite得对象，并排除掉其中deviceId与deviceSrgv.getDeviceId()相同的对象
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List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
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.filter(d -> d.getWorkMode() == 4
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&& d.getStatus() == 1
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&& d.getCurrSite().equals(cargoPickSite))
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.collect(Collectors.toList());
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if(!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())){
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WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
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wcsSrgvMap3.setRemark("cache");
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List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
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for(WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3){
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//deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
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if(deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
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WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
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WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
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wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
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List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
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if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
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//生成占位小车到缓存点队列
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WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
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wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
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wcsSrgvQueue3.setTaskNo(mydoJob1.getTaskNo());
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wcsSrgvQueue3.setTaskType("1");
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wcsSrgvQueue3.setPriority(Long.parseLong("2"));
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wcsSrgvQueue3.setCargo("1");
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wcsSrgvQueue3.setIssued(issued);
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wcsSrgvQueue3.setExecutionStatus(executionStatus);
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wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
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wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
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wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
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wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
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wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
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wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
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wcsSrgvQueue3.setDefault02("4");
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wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
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wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
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}
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}
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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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@@ -679,14 +773,37 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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* @param wcsSrgvQueue
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* @return
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*/
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private boolean finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
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private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
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//当前在放货站点
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//当前在终点
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if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) {
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String taskType = wcsSrgvQueue.getTaskType();
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String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
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String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
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WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
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wcsSrgvMap.setRemark("outCache");
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List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
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if(wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))){
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//生成小车从避让点到放货/取货位置，如果是空车就到取货位置，如果是满车就到放货位置
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wcsSrgvQueue.setExecutionStatus("4");
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wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
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wcsSrgvQueue.setIssued("0");
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wcsSrgvQueue.setExecutionStatus("1");
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wcsSrgvQueue.setStartSite(currSite);
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if("1".equals(taskType)){
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wcsSrgvQueue.setEndSite(cargoPickSite);
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}else if("2".equals(taskType)){
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wcsSrgvQueue.setEndSite(cargoPlaceSite);
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}
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wcsSrgvQueue.setTheFloor("1");
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wcsSrgvQueue.setDefault07("1");
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wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
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return;
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}
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//空车现在位置是取货位置（移库取货，入库取货，出库取货），满车现在是放货位置
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if ("1".equals(taskType) && cargoPickSite.equals(currSite)) {
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@@ -749,13 +866,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
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} else {
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//充电之类得 不知道用不用
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//充电之类的，不知道用不用
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}
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}
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return false;
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}
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/**
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