堆垛机调度初始化
This commit is contained in:
liuhanqing
@@ -18,7 +18,6 @@ import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest
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import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
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import com.ruoyi.api.domain.agv.genAgvSchedulingTask.PositionCodeData;
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import com.ruoyi.api.domain.wcs2wms.JobParam;
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import com.ruoyi.api.domain.wcs2wms.MydoJob;
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import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
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import com.ruoyi.api.service.IApiService;
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import com.ruoyi.bas.fluent.domain.BasFluentFrame;
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@@ -26,14 +25,14 @@ import com.ruoyi.bas.fluent.service.IBasFluentFrameService;
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import com.ruoyi.bas.port.domain.WcsPort;
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import com.ruoyi.bas.port.service.IWcsPortService;
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import com.ruoyi.common.core.domain.AjaxResult;
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import com.ruoyi.device.agv.domain.AgvQueue;
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import com.ruoyi.device.agv.service.IAgvQueueService;
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import com.ruoyi.job.domain.MydoJob;
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import com.ruoyi.queue.agv.domain.AgvQueue;
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import com.ruoyi.queue.agv.service.IAgvQueueService;
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import com.ruoyi.device.ssj.domain.DeviceSsj;
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import com.ruoyi.schedule.plcRead.ssj.PlcRead;
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import com.ruoyi.schedule.plcRead.ssj.domain.SendData;
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import com.ruoyi.schedule.plcRead.util.Tools;
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import lombok.extern.slf4j.Slf4j;
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import org.jetbrains.annotations.NotNull;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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@@ -230,150 +229,12 @@ public class ApiServiceImpl implements IApiService {
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* @param request
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*/
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private void agvCallbackInfo(AgvCallbackRequest request) {
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String taskCode = request.getTaskCode();
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AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(taskCode);
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//通知wms agv搬运阶段完成
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Map<String, Object> param = new HashMap<>();
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if (ObjUtil.isNotNull(agvQueue)) {
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switch (request.getMethod()) {
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case "start":
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//任务开始
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agvQueue.setStatus("2");
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agvQueueService.updateAgvQueue(agvQueue);
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log.info("【AGV任务开始】任务号：{}", taskCode);
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//通知wms
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param.put("taskNo", agvQueue.getWmsTaskNo());
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param.put("wmsType", agvQueue.getWmsTaskType());
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sendOutMydoJobStatus(param);
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break;
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case "outbin":
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//走出储位
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agvQueue.setStatus("3");
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agvQueueService.updateAgvQueue(agvQueue);
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log.info("【AGV走出储位】任务号：{}", taskCode);
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break;
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case "end":
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//任务结束
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agvQueue.setStatus("4");
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agvQueueService.updateAgvQueue(agvQueue);
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param.put("wmsType", agvQueue.getWmsTaskType());
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if ("1".equals(agvQueue.getWmsTaskType())) {
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param.put("taskNo", agvQueue.getWmsTaskNo());
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param.put("trayCode", agvQueue.getWmsTraycode());
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//入库任务 暂无特殊逻辑
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RequestLog requestLog = requestLogService.getRequestLog(JOB_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
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if ("1".equals(requestLog.getIsSuccessful())) {
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agvQueue.setFinishTime(DateUtil.formatDateTime(new Date()));
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agvQueueService.updateAgvQueue(agvQueue);
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//插入历史
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agvQueueService.insertHistory(agvQueue.getReqCode());
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//删除队列
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agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
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log.info("【AGV入库任务结束】任务号：{}", taskCode);
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}
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} else if ("2".equals(agvQueue.getWmsTaskType())) {
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if (agvQueue.getPositionCode2().startsWith("fluent")){
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//流利架出库 同步电子标签
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Map<String, Object> fluentPickParam = new HashMap<>();
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fluentPickParam.put("taskNo", agvQueue.getWmsTaskNo());
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fluentPickParam.put("wmsType", "2");
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fluentPickParam.put("pickSsj", agvQueue.getPositionCode2());
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RequestLog requestLog = finishMydoJob(JOB_FINISH_URL, "流利架任务到达拣选口", fluentPickParam);
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agvQueue.setFinishTime(DateUtil.formatDateTime(new Date()));
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agvQueueService.updateAgvQueue(agvQueue);
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//插入历史
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agvQueueService.insertHistory(agvQueue.getReqCode());
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//删除队列
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agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
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log.info("【AGV出库任务结束】任务号：{}", taskCode);
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}else {
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//输送机出库 PLC写入任务号
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//通知wms 任务结束
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param.put("taskNo", agvQueue.getWmsTaskNo());
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param.put("trayCode", agvQueue.getWmsTraycode());
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//写入对应的plc 任务号
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DeviceSsj deviceSsj = PlcRead.deviceMap.get(agvQueue.getPositionCode2());
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if (ObjUtil.isNotNull(deviceSsj)) {
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SendData rwh = new SendData(Tools.DINT, agvQueue.getWmsTaskNo());
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byte[] bytes = Tools.sendData(rwh);
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//写入信息 取货完成
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int i = PlcRead.WriteToSSJ(deviceSsj.getPlcDbWriteAddress(), bytes);
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if (i == 1) {
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agvQueue.setFinishTime(DateUtil.formatDateTime(new Date()));
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agvQueueService.updateAgvQueue(agvQueue);
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//插入历史
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agvQueueService.insertHistory(agvQueue.getReqCode());
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//删除队列
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agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
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log.info("【AGV出库任务结束】任务号：{}", taskCode);
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}
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}
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}
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} else if ("3".equals(agvQueue.getWmsTaskType())) {
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param.put("positionCode1", agvQueue.getPositionCode1());
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param.put("positionCode2", agvQueue.getPositionCode2());
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param.put("containerCode", agvQueue.getWmsTraycode());
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//绑定点位和料架
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RequestLog requestLog = requestLogService.getRequestLog(JOB_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
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if ("1".equals(requestLog.getIsSuccessful())) {
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//插入历史
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agvQueueService.insertHistory(agvQueue.getReqCode());
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//删除队列
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agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
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//修改点位状态
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WcsPort wcsPort = wcsPortService.selectWcsPortByPortCode(agvQueue.getPositionCode2());
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wcsPort.setStatus("1");
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wcsPortService.updateWcsPort(wcsPort);
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log.info("【AGV任务结束】任务号：{}", taskCode);
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}
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}
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break;
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case "cancel":
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//任务单取消
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agvQueue.setStatus("5");
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agvQueueService.updateAgvQueue(agvQueue);
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//插入历史
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agvQueueService.insertHistory(agvQueue.getReqCode());
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//删除队列
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agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
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log.info("【AGV任务单取消】任务号：{}", taskCode);
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break;
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case "apply":
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//CTU料箱取放申请
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//请求放货
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if ("0".equals(agvQueue.getRequest())) {
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agvQueue.setRequest("1");
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agvQueueService.updateAgvQueue(agvQueue);
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}
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log.info("【AGV料箱取放申请】任务号：{}", taskCode);
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break;
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case "takeCompleted":
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//ctu取货完成
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HashMap<String, Object> takeCompletedParam = new HashMap<>();
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takeCompletedParam.put("portCode",agvQueue.getPositionCode1());
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takeCompletedParam.put("wmsType",agvQueue.getWmsTaskType());
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takeCompleted(takeCompletedParam);
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if ("3".equals(agvQueue.getWmsTaskType())){
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//修改点位状态
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WcsPort wcsPort = wcsPortService.selectWcsPortByPortCode(agvQueue.getPositionCode1());
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wcsPort.setStatus("0");
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wcsPortService.updateWcsPort(wcsPort);
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}
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break;
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default:
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log.info("未知方法");
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}
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}
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}
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/**
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* 推送AGV任务
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* @param receiveOutJob
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@@ -451,6 +312,16 @@ public class ApiServiceImpl implements IApiService {
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return AjaxResult.success();
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}
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@Override
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public AjaxResult reAssignMydoJob(JobParam jobParam) {
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return null;
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}
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@Override
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public AjaxResult reAssignMydoJob2(JobParam jobParam) {
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return null;
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}
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/**
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* 生成agv队列
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