AcsService.java
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package com.huaheng.api.ACS.service;
import com.alibaba.fastjson.JSON;
import com.huaheng.api.ACS.domain.AvgTaskModel;
import com.huaheng.api.ACS.domain.Points;
import com.huaheng.api.ACS.domain.StateInfoUploadModel;
import com.huaheng.common.utils.DataUtils;
import com.huaheng.common.utils.http.HttpUtils;
import com.huaheng.framework.aspectj.lang.annotation.Log;
import com.huaheng.framework.aspectj.lang.constant.BusinessType;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.pc.task.task.domain.Task;
import com.huaheng.pc.task.task.mapper.AgvStateInfoMapper;
import com.huaheng.pc.task.task.mapper.AgvTaskMapper;
import com.huaheng.pc.task.task.service.ITaskService;
import com.huaheng.pc.task.taskDetail.domain.TaskDetail;
import com.huaheng.pc.task.taskDetail.service.ITaskDetailService;
import org.apache.shiro.authz.annotation.RequiresPermissions;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.ResponseBody;
import javax.annotation.Resource;
import java.util.HashMap;
import java.util.Map;
import java.util.UUID;
@Service
public class AcsService {
@Autowired
private ITaskService taskService;
@Autowired
private ITaskDetailService taskDetailService;
@Resource
private AgvTaskMapper agvTaskMapper;
@Resource
private AgvStateInfoMapper agvStateInfoMapper;
@Resource
private PointsService pointsService;
final String interactionId = "6EAB7794-CFD7-449A-A754-FFDB98CE44C7";
/**
* AGV 任务下发
*/
// @RequiresPermissions("api:acs:TaskAssign")
@Log(title = "AGV 任务下发", action = BusinessType.INSERT)
@PostMapping("/TaskAssign")
@ResponseBody
public AjaxResult TaskAssign(String url)
{
//查找下发任务
Task task=new Task();
task.setZoneCode("AGV");
task.setDeleted(false);
task.setFirstStatus((short)1);
task.setLastStatus((short)1);
task=taskService.selectFirstEntity(task);
//查找对应的子任务
TaskDetail taskDetail = new TaskDetail();
taskDetail.setDeleted(false);
taskDetail.setTaskId(task.getId());
taskDetail = taskDetailService.selectFirstEntity(taskDetail);
//查找对应的货架
String code=task.getContainerCode().substring(0,4);
Points points=new Points();
points=pointsService.selectEntity(code);
//货架是否锁定，正在任务中
if(points.getIsLocked().equals(0)) {
AvgTaskModel model = new AvgTaskModel();
model.setInteractionId(interactionId);
model.setTaskHeaderId(taskDetail.getTaskId());
model.setTaskDetailId(taskDetail.getId());
model.setTaskType("pick");
model.setShelfNo(points.getGoodsShelfNo());
model.setStation("ws01");
model.setFromLocationNo(task.getSourceLocation());
model.setToLocationNo(task.getDestinationLocation());
model.setOrientation("A");
model.setPlatform("wms");
String JsonParam = JSON.toJSONString(model);
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
points.setIsLocked(1);
pointsService.updatePoints(points);
return ajaxResult;
}
return AjaxResult.success("货架正在任务中");
}
/**
* AGV 任务取消
*/
public AjaxResult TaskCancel(String message)
{
Map<String, Object> map = new HashMap<>();
map.put("interactionId", interactionId);
map.put("reason", message);
String JsonParam = JSON.toJSONString(map);
String url= "http://172.16.30.242:8081/api/TaskCancel";
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* AGV 信息查询
*/
public AjaxResult StateInfoGET(String carNo)
{
Map<String, String> map = new HashMap<>();
map.put("carNo", carNo);
map.put("interactionId", interactionId);
String JsonParam = JSON.toJSONString(map);
String url= "http://172.16.30.242:8081/api/StateInfoGET";
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* AGV 旋转方向
*/
public AjaxResult TurnOriention(String carNo,String orientation)
{
Map<String, String> map = new HashMap<>();
map.put("carNo", carNo);
map.put("orientation", orientation);
String JsonParam = JSON.toJSONString(map);
String url= "http://172.16.30.242:8081/api/TurnOriention";
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* AGV 任务回传
*/
public AjaxResult TaskConfirm(@RequestBody AvgTaskModel model)
{
try {
agvTaskMapper.insertModel(model);
}catch (Exception e){
return AjaxResult.error("没有数据");
}
return AjaxResult.success(model);
}
/**
* AGV 信息上传
*/
public AjaxResult StateInfoUpload(@RequestBody StateInfoUploadModel model)
{
try {
agvStateInfoMapper.insertModel(model);
}catch (Exception e){
return AjaxResult.error("没有数据");
}
return AjaxResult.success("收到");
}
}