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@ -22,6 +22,7 @@ import org.springblade.desk.logistics.service.*; |
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import org.springblade.desk.logistics.utils.AgvTaskTypeUtil; |
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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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import org.springframework.util.StringUtils; |
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import java.util.ArrayList; |
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@ -191,6 +192,15 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec |
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} |
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// 6. 任务走出储位状态，将站点设置为空闲
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if (method.equals(TaskExecuteRecord.STATUS_OUTBIN)){ |
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boolean conCtuReturn = releaseSite(agvCallBack.getTaskCode()); |
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if (!conCtuReturn) { |
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return R.fail("站点释放失败"); |
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} |
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} |
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// 回调处理成功
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log.info("AGV回调成功：任务单号{}的执行记录已更新，状态为{}", agvCallBack.getTaskCode(), method); |
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R r = new R(); |
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@ -199,6 +209,41 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec |
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return r; |
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} |
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@Override |
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public boolean releaseSite(String taskCode) { |
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try { |
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TaskExecuteRecord taskExecuteRecord = baseMapper.selectByTaskCode(taskCode); |
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if (null == taskExecuteRecord) { |
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log.error("未根据taskCode查询到有效数据，请求参数：{}", taskCode); |
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return false; |
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} |
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Station startStation = stationService.getByStationCode(taskExecuteRecord.getStartPos()); |
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Station endStation = stationService.getByStationCode(taskExecuteRecord.getEndPos()); |
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log.info("走出储位,开始位置:{},结束位置:{}", taskExecuteRecord.getStartPos(), taskExecuteRecord.getEndPos()); |
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// 业务规则：起点必须是站点，且终点是传送线(1001)或有效站点时，才释放起点站点
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if (null != startStation && (DROPOFF_CONVEYOR_LINE.equals(taskExecuteRecord.getEndPos()) || null != endStation)) { |
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startStation.setStationStatus(Station.STATUS_FREE); |
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boolean update = stationService.updateById(startStation); |
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if (update) { |
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log.info("站点释放成功：{}", startStation.getStationCode()); |
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return true; |
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} else { |
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log.error("站点释放失败：{}", startStation.getStationCode()); |
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return false; |
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} |
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} |
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return true; |
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} catch (Exception e) { |
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log.error("releaseSite执行异常，taskCode：{}", taskCode, e); |
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return false; |
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} |
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} |
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private boolean updateMesCtuLocation(String taskCode) { |
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log.info("开始执行updateMesCtuLocation，taskCode：{}", taskCode); |
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@ -424,17 +469,17 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec |
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log.info("任务{}不需要送到库位，直接完成", taskCode); |
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log.info("终点位置为站点信息:{}，直接完成", taskExecuteRecord.getEndPos()); |
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Station startStation = stationService.getByStationCode(taskExecuteRecord.getStartPos()); |
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// 起点位置为站点 将站点状态改为空闲
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if(null != startStation){ |
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startStation.setStationStatus(Station.STATUS_FREE); |
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boolean update = stationService.updateById(startStation); |
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if (update) { |
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log.info("站点释放成功：{}", startStation.getStationCode()); |
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} else { |
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log.error("站点释放失败：{}", startStation.getStationCode()); |
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} |
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} |
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// Station startStation = stationService.getByStationCode(taskExecuteRecord.getStartPos());
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// // 起点位置为站点 将站点状态改为空闲
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// if(null != startStation){
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// startStation.setStationStatus(Station.STATUS_FREE);
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// boolean update = stationService.updateById(startStation);
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// if (update) {
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// log.info("站点释放成功：{}", startStation.getStationCode());
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// } else {
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// log.error("站点释放失败：{}", startStation.getStationCode());
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// }
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// }
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// 终点位置为站点将状态修改为占用
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if(null != endStation){ |
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@ -719,65 +764,112 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec |
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} |
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@Override |
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@Transactional(rollbackFor = Exception.class) |
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public boolean genAgvSchedulingTask(String taskType, String startPos, String endPos, String type, Task task) { |
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// 获取虚拟货架
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VirtualShelves virtualShelves = virtualShelvesService.getVirtualShelvesCode(); |
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if (null == virtualShelves) { |
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throw new ServiceException("获取虚拟货架失败"); |
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} |
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VirtualShelves virtualShelves = null; |
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String boundShelvesCode = null; |
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// 站点绑定虚拟货架
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JSONObject response = boundVirtualShelves( |
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virtualShelves.getVirtualShelvesCode(), |
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startPos |
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); |
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String code = response.getString("code"); |
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String message = response.getString("message"); |
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try { |
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// 1. 获取虚拟货架
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virtualShelves = virtualShelvesService.getVirtualShelvesCode(); |
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if (null == virtualShelves) { |
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log.error("获取虚拟货架失败"); |
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return false; |
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} |
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// 2. 绑定虚拟货架
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JSONObject response = boundVirtualShelves( |
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virtualShelves.getVirtualShelvesCode(), |
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startPos |
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); |
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String code = response.getString("code"); |
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String message = response.getString("message"); |
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if ("0".equals(code)) { |
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log.info("绑定虚拟货架成功，虚拟货架：{}，站点：{}", virtualShelves.getVirtualShelvesCode(), startPos); |
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if ("0".equals(code)) { |
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// 绑定成功，记录绑定的货架号
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boundShelvesCode = virtualShelves.getVirtualShelvesCode(); |
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log.info("绑定虚拟货架成功，虚拟货架：{}，站点：{}", boundShelvesCode, startPos); |
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} else { |
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// 绑定失败，尝试使用错误消息中的货架号
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log.warn("首次绑定失败，响应：{}", response); |
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virtualShelves.setIsBound(VirtualShelves.BOUND_YES); |
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virtualShelvesService.updateById(virtualShelves); |
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// 提取货架号
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String number = extractShelfCodeFromMessage(message); |
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if (number == null) { |
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log.error("绑定失败且无法解析货架号：" + message); |
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return false; |
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} |
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} else { |
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log.error("绑定虚拟货架失败，虚拟货架：{}，站点：{}，响应：{}", |
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virtualShelves.getVirtualShelvesCode(), startPos, response); |
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VirtualShelves existedShelves = virtualShelvesService.selectByVirtualShelvesCode(number); |
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if (existedShelves == null) { |
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log.error("指定的虚拟货架不存在：" + number); |
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return false; |
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} |
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//修改Task状态
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task.setTaskStatus(Task.BOUND_VIRTUAL_SHELVES); |
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task.setRemark(message); |
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taskService.updateById(task); |
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// 使用已存在的货架重新绑定
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JSONObject retryResponse = boundVirtualShelves(number, startPos); |
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String retryCode = retryResponse.getString("code"); |
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String retryMessage = retryResponse.getString("message"); |
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if (!"0".equals(retryCode)) { |
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// 重试失败，更新任务状态
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task.setTaskStatus(Task.BOUND_VIRTUAL_SHELVES); |
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task.setRemark(retryMessage); |
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taskService.updateById(task); |
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log.error("重新绑定虚拟货架失败：" + retryMessage); |
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return false; |
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} |
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return false; |
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} |
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// 重试成功，使用重试的货架
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boundShelvesCode = number; |
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virtualShelves = existedShelves; |
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log.info("重新绑定虚拟货架成功，虚拟货架：{}，站点：{}", boundShelvesCode, startPos); |
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} |
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// 3. 调用AGV调度
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AgvSchedulingTaskVO agvSchedulingTaskVO = genAgvSchedulingTask( |
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taskType, |
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startPos, |
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endPos, |
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type, |
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boundShelvesCode |
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); |
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if (null == agvSchedulingTaskVO || !"0".equals(agvSchedulingTaskVO.getCode())) { |
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throw new ServiceException("调用AGV调度失败"); |
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} |
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// 4. 入库记录
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if (null == task) { |
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throw new ServiceException("任务信息为空"); |
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} |
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boolean record = inboundRecord(agvSchedulingTaskVO, task, boundShelvesCode); |
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if (!record) { |
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throw new ServiceException("入库记录保存失败"); |
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} |
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// 调用AGV
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AgvSchedulingTaskVO agvSchedulingTaskVO = genAgvSchedulingTask( |
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taskType, |
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startPos, |
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endPos, |
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type, |
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virtualShelves.getVirtualShelvesCode() |
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); |
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if (null == agvSchedulingTaskVO || !"0".equals(agvSchedulingTaskVO.getCode())) { |
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throw new ServiceException("调用AGV调度失败"); |
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} |
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// 5. 所有步骤成功后，更新虚拟货架状态
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virtualShelves.setIsBound(VirtualShelves.BOUND_YES); |
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virtualShelvesService.updateById(virtualShelves); |
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// 入库记录
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if (null == task) { |
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return false; |
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} |
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return true; |
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boolean record = inboundRecord(agvSchedulingTaskVO, task, virtualShelves.getVirtualShelvesCode()); |
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if (!record) { |
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throw new ServiceException("入库记录保存失败"); |
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} catch (Exception e) { |
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log.error("genAgvSchedulingTask执行异常", e); |
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if (boundShelvesCode != null) { |
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log.warn("流程失败，已绑定的虚拟货架：{} 可能需要手动解绑", boundShelvesCode); |
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} |
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throw e; |
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} |
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} |
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return true; |
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private String extractShelfCodeFromMessage(String message) { |
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if (message == null || !message.contains(":")) { |
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return null; |
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} |
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return message.substring(message.lastIndexOf(":") + 1).trim(); |
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} |
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} |
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liweidong-hj
2 weeks ago