AcsService.java
16.3 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
package com.huaheng.api.ACS.service;
import com.alibaba.fastjson.JSON;
import com.huaheng.api.ACS.domain.Points;
import com.huaheng.api.ACS.domain.StateInfoUploadModel;
import com.huaheng.common.exception.service.ServiceException;
import com.huaheng.common.utils.http.HttpUtils;
import com.huaheng.common.utils.security.ShiroUtils;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.pc.inventory.inventory.domain.Inventory;
import com.huaheng.pc.inventory.inventory.service.IInventoryService;
import com.huaheng.pc.receipt.receiptDetail.domain.ReceiptDetail;
import com.huaheng.pc.receipt.receiptDetail.service.IReceiptDetailService;
import com.huaheng.pc.receipt.receiptHeader.domain.ReceiptHeader;
import com.huaheng.pc.receipt.receiptHeader.service.IReceiptHeaderService;
import com.huaheng.pc.shipment.shipmentDetail.domain.ShipmentDetail;
import com.huaheng.pc.shipment.shipmentDetail.service.IShipmentDetailService;
import com.huaheng.pc.shipment.shipmentHeader.domain.ShipmentHeader;
import com.huaheng.pc.shipment.shipmentHeader.service.IShipmentHeaderService;
import com.huaheng.pc.task.agvTask.domain.AgvTask;
import com.huaheng.pc.task.agvTask.mapper.AgvStateInfoMapper;
import com.huaheng.pc.task.agvTask.mapper.AgvTaskMapper;
import com.huaheng.pc.task.task.domain.Task;
import com.huaheng.pc.task.task.service.ITaskService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.RequestBody;
import javax.annotation.Resource;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@Service
public class AcsService {
@Autowired
private ITaskService taskService;
@Resource
private AgvTaskMapper agvTaskMapper;
@Resource
private AgvStateInfoMapper agvStateInfoMapper;
@Resource
private PointsService pointsService;
@Autowired
private IReceiptHeaderService receiptHeaderService;
@Autowired
private IShipmentHeaderService shipmentHeaderService;
@Autowired
private IReceiptDetailService receiptDetailService;
@Autowired
private IShipmentDetailService shipmentDetailService;
@Autowired
private IInventoryService iInventoryService;
final String interactionId = "6EAB7794-CFD7-449A-A754-FFDB98CE44C7";
//pick任务下发
@Transactional
public AjaxResult Task(String code,String station){
//查找下发任务
AgvTask agvTask=new AgvTask();
agvTask.setTaskType("pick");
agvTask.setStation(station);
ReceiptHeader receiptHeader=new ReceiptHeader();
ReceiptDetail receiptDetail=new ReceiptDetail();
ShipmentHeader shipmentHeader=new ShipmentHeader();
ShipmentDetail shipmentDetail=new ShipmentDetail();
Inventory inventory=new Inventory();
receiptHeader.setCode(code);
receiptHeader=receiptHeaderService.selectFirstEntity(receiptHeader);
//判断code是否属于入库单，不属于则查找出库单
if(receiptHeader==null){
shipmentHeader.setCode(code);
shipmentHeader=shipmentHeaderService.selectFirstEntity(shipmentHeader);
shipmentDetail.setShipmentCode(code);
shipmentDetail.setWarehouseId(ShiroUtils.getWarehouseId());
//查找AGV的子单
List<ShipmentDetail> shipmentDetails=shipmentDetailService.selectListAgvDetail(shipmentDetail);
for(ShipmentDetail item:shipmentDetails){
if(item.getQty().compareTo(item.getQtyCompleted())!=0) {
inventory.setMaterialCode(item.getMaterialCode());
inventory.setWarehouseCode(ShiroUtils.getWarehouseCode());
//查找物料对应的满盘的库存，没有则查找不满盘的库存
inventory.setContainerStatus("full");
Inventory inventorie = iInventoryService.selectFirstEntity(inventory);
if (inventorie == null) {
inventory.setContainerStatus("some");
inventorie = iInventoryService.selectFirstEntity(inventory);
if (inventorie == null) {
throw new ServiceException(item.getMaterialCode() + "没有库存，无法出库");
}
}
agvTask.setTaskHeaderId(shipmentHeader.getId());
agvTask.setTaskDetailId(item.getId());
agvTask.setWarehouseId(item.getWarehouseId());
agvTask.setWarehouseCode(item.getWarehouseCode());
agvTask.setCompanyId(item.getCompanyId());
agvTask.setCompanyCode(item.getCompanyCode());
this.TaskModel(inventorie.getContainerCode(),agvTask);
}
}
}else {
receiptDetail.setReceiptCode(code);
receiptDetail.setWarehouseCode(ShiroUtils.getWarehouseCode());
List<ReceiptDetail> receiptDetails=receiptDetailService.selectListAgvEntity(receiptDetail);
for(ReceiptDetail item: receiptDetails){
if(item.getQty().compareTo(item.getQtyCompleted())!=0) {
inventory.setMaterialCode(item.getMaterialCode());
inventory.setWarehouseCode(ShiroUtils.getWarehouseCode());
//查找物料对应的不满盘的库存
inventory.setContainerStatus("some");
Inventory inventorie = iInventoryService.selectFirstEntity(inventory);
if (inventorie == null) {
throw new ServiceException("请用出库查看手动叫车");
}
agvTask.setTaskHeaderId(receiptHeader.getId());
agvTask.setTaskDetailId(item.getId());
agvTask.setWarehouseId(item.getWarehouseId());
agvTask.setWarehouseCode(item.getWarehouseCode());
agvTask.setCompanyId(item.getCompanyId());
agvTask.setCompanyCode(item.getCompanyCode());
this.TaskModel(inventorie.getContainerCode(),agvTask);
}
}
}
return AjaxResult.success("成功");
}
/**
* 设置agv下发任务的实体
*
*/
@Transactional
public AjaxResult TaskModel(String containerCode,AgvTask agvTask){
AjaxResult ajaxResult=new AjaxResult();
AgvTask model=new AgvTask();
String code=containerCode.substring(0,4);
Points points=new Points();
points=pointsService.selectEntity(code);
//任务下发实体
model.setTaskHeaderId(agvTask.getTaskHeaderId());
model.setTaskDetailId(agvTask.getTaskDetailId());
model.setTaskType(agvTask.getTaskType());
model.setStation(agvTask.getStation());
if(containerCode.substring(5,7).equals("1")) {
model.setOrientation("A");
}else {
model.setOrientation("C");
}
//判断货架是否处于1阶段，1阶段为pick阶段。
if (points == null) {
throw new ServiceException("货架不存在！");
}
if(points.getIsLocked()!=1){
model.setShelfNo(points.getGoodsShelfNo());
model.setFromLocationNo(points.getXpos().toString());
model.setToLocationNo(points.getYpos().toString());
ajaxResult=this.TaskAssign(model);
if(!ajaxResult.hasErr()){
points.setIsLocked(1);
pointsService.updatePoints(points);
model.setCompanyId(agvTask.getCompanyId());
model.setCompanyCode(agvTask.getCompanyCode());
model.setWarehouseId(agvTask.getWarehouseId());
model.setCompanyCode(agvTask.getCompanyCode());
if(agvTaskMapper.insertModel(model)<1){
throw new ServiceException("agv任务下发失败");
}
}
}
return ajaxResult;
}
/**
* AGV 任务下发
*/
public AjaxResult TaskAssign(AgvTask model)
{
// AvgTaskModel model = new AvgTaskModel();
model.setInteractionId(interactionId);
// model.setTaskHeaderId(100);
// model.setTaskDetailId(200);
// model.setTaskType("pick");
// model.setShelfNo("H0001");
// model.setStation("ws01");
// model.setFromLocationNo("14");
// model.setToLocationNo("54");
// model.setOrientation("A");
model.setPlatform("wms");
String url = "http://172.16.30.48:8081/api/TaskAssign";
String JsonParam = JSON.toJSONString(model);
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
// public AjaxResult TaskAssign(String url)
// {
// AvgTaskModel model = new AvgTaskModel();
// model.setInteractionId(interactionId);
// model.setTaskHeaderId(100);
// model.setTaskDetailId(200);
// model.setTaskType("pick");
// model.setShelfNo("H0001");
// model.setStation("ws01");
// model.setFromLocationNo("14");
// model.setToLocationNo("54");
// model.setOrientation("A");
// model.setPlatform("wms");
//// String url = "http://172.16.30.48:8081/api/TaskAssign";
// String JsonParam = JSON.toJSONString(model);
// String result = HttpUtils.sendPost(url, JsonParam);
// AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
// return ajaxResult;
// }
/**
* agv putway任务下发
*
*/
@Transactional
public AjaxResult TaskAssigns(String code,String containerCode,String materialCode,String station)
{
//查找下发任务
ReceiptHeader receiptHeader=new ReceiptHeader();
ReceiptDetail receiptDetail=new ReceiptDetail();
ShipmentHeader shipmentHeader=new ShipmentHeader();
ShipmentDetail shipmentDetail=new ShipmentDetail();
AgvTask agvTask=new AgvTask();
agvTask.setTaskType("putway");
receiptHeader.setCode(code);
receiptHeader=receiptHeaderService.selectFirstEntity(receiptHeader);
//判断code是否属于入库单，不属于则查找出库单
if(receiptHeader==null){
shipmentHeader.setCode(code);
shipmentHeader=shipmentHeaderService.selectFirstEntity(shipmentHeader);
shipmentDetail.setShipmentCode(code);
shipmentDetail.setWarehouseCode(ShiroUtils.getWarehouseCode());
shipmentDetail.setMaterialCode(materialCode);
shipmentDetail=shipmentDetailService.selectFirstEntity(shipmentDetail);
agvTask.setTaskHeaderId(shipmentHeader.getId());
agvTask.setTaskDetailId(shipmentDetail.getId());
agvTask.setWarehouseId(shipmentDetail.getWarehouseId());
agvTask.setWarehouseCode(shipmentDetail.getWarehouseCode());
agvTask.setCompanyId(shipmentDetail.getCompanyId());
agvTask.setCompanyCode(shipmentDetail.getCompanyCode());
}else {
receiptDetail.setReceiptCode(code);
receiptDetail.setMaterialCode(materialCode);
receiptDetail.setWarehouseCode(ShiroUtils.getWarehouseCode());
receiptDetail=receiptDetailService.selectFirstEntity(receiptDetail);
agvTask.setTaskHeaderId(receiptHeader.getId());
agvTask.setTaskDetailId(receiptDetail.getId());
agvTask.setWarehouseId(receiptDetail.getWarehouseId());
agvTask.setWarehouseCode(receiptDetail.getWarehouseCode());
agvTask.setCompanyId(receiptDetail.getCompanyId());
agvTask.setCompanyCode(receiptDetail.getCompanyCode());
}
AjaxResult ajaxResult = new AjaxResult();
//查找对应的货架
String containCode=containerCode.substring(0,4);
Points points=new Points();
points=pointsService.selectEntity(code);
if(points.getIsLocked()==1) {
AgvTask model = new AgvTask();
model.setTaskHeaderId(agvTask.getTaskHeaderId());
model.setTaskDetailId(agvTask.getTaskDetailId());
model.setTaskType("putway");
model.setShelfNo(points.getGoodsShelfNo());
model.setStation(station);
model.setFromLocationNo(points.getXpos().toString());
model.setToLocationNo(points.getYpos().toString());
if (containerCode.substring(5, 7).equals("1")) {
model.setOrientation("A");
} else {
model.setOrientation("C");
}
ajaxResult = this.TaskAssign(model);
if (!ajaxResult.hasErr()) {
points.setIsLocked(2);
pointsService.updatePoints(points);
model.setCompanyId(agvTask.getCompanyId());
model.setCompanyCode(agvTask.getCompanyCode());
model.setWarehouseId(agvTask.getWarehouseId());
model.setCompanyCode(agvTask.getCompanyCode());
if (agvTaskMapper.insertModel(model) < 1) {
throw new ServiceException("agv任务下发失败");
}
}
}
return ajaxResult;
}
/**
* 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://172.16.30.48:8081/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://172.16.30.48:8081/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://172.16.30.48:8081/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(AgvTask model)
{
try {
model.getTaskHeaderId();
model.getTaskDetailId();
model.getTaskType();
AgvTask avgTaskModel=agvTaskMapper.selectModel(model);
if(avgTaskModel!=null){
model.setId(avgTaskModel.getId());
agvTaskMapper.updateModel(model);
//回传任务为putway时，查找到改货架中物料为agv的任务，并完成任务。
if(model.getTaskType().equals("putway")){
String shelfNo=model.getShelfNo().substring(1,5);
String warehouseCode=ShiroUtils.getWarehouseCode();
List<Task> list = taskService.selectAgvListByLike(shelfNo,warehouseCode);
Integer[] ids = list.stream().map(x->x.getId()).toArray(Integer[]::new);
taskService.completeTaskByWMS(ids);
}
}
}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");
}
}