AgvTaskController.java
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package com.huaheng.api.acs.controller;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.huaheng.api.acs.domain.AgvTask;
import com.huaheng.api.acs.service.AgvTaskService;
import com.huaheng.common.constant.QuantityConstant;
import com.huaheng.common.support.Convert;
import com.huaheng.common.utils.StringUtils;
import com.huaheng.common.utils.security.ShiroUtils;
import com.huaheng.framework.aspectj.lang.annotation.ApiLogger;
import com.huaheng.framework.aspectj.lang.annotation.Log;
import com.huaheng.framework.aspectj.lang.constant.BusinessType;
import com.huaheng.framework.web.controller.BaseController;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.framework.web.page.PageDomain;
import com.huaheng.framework.web.page.TableDataInfo;
import com.huaheng.framework.web.page.TableSupport;
import com.huaheng.pc.config.container.domain.Container;
import com.huaheng.pc.config.container.service.ContainerService;
import com.huaheng.pc.config.containerType.domain.ContainerType;
import com.huaheng.pc.config.containerType.service.ContainerTypeService;
import io.swagger.annotations.ApiOperation;
import io.swagger.annotations.ApiParam;
import org.apache.shiro.authz.annotation.RequiresPermissions;
import org.springframework.stereotype.Controller;
import org.springframework.ui.ModelMap;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
import javax.servlet.http.HttpServletRequest;
import java.util.Date;
import java.util.List;
import java.util.Map;
/**
* @author dell
*/
@Controller("AgvTaskController1")
@RequestMapping("/agv")
public class AgvTaskController extends BaseController {
private String prefix = "task/taskHeader";
@Resource
private AgvTaskService agvTaskService;
@Resource
private ContainerService containerService;
@Resource
private ContainerTypeService containerTypeService;
@RequiresPermissions("task:taskHeader:agvCsView")
@GetMapping()
public String taskHeader(HttpServletRequest request, ModelMap mmap) {
String InternalTaskType = request.getParameter("InternalTaskType");
mmap.put("InternalTaskType", InternalTaskType);
return prefix + "/agvHeader";
}
@RequiresPermissions("task:taskHeader:list")
@Log(title = "任务-上架任务", operating = "查看任务列表", action = BusinessType.GRANT)
@PostMapping("/list")
@ResponseBody
public TableDataInfo list(AgvTask agvTask, @ApiParam(name = "createdBegin", value = "起止时间") String createdBegin,
@ApiParam(name = "createdEnd", value = "结束时间") String createdEnd,
@ApiParam(name = "taskComplete", value = "完成") String taskComplete) {
PageDomain pageDomain = TableSupport.buildPageRequest();
Integer pageNum = pageDomain.getPageNum();
Integer pageSize = pageDomain.getPageSize();
String isAsc = pageDomain.getIsAsc();
String orderByColumn = pageDomain.getOrderByColumn();
LambdaQueryWrapper<AgvTask> lambdaQueryWrapper = new LambdaQueryWrapper<>();
lambdaQueryWrapper.eq(AgvTask::getWarehouseCode, "CS0001")
.eq(StringUtils.isNotNull(agvTask.getId()), AgvTask::getId, agvTask.getId())
.eq(StringUtils.isNotEmpty(agvTask.getContainerCode()), AgvTask::getContainerCode, agvTask.getContainerCode())
.eq(StringUtils.isNotEmpty(agvTask.getFromPort()), AgvTask::getFromPort, agvTask.getFromPort())
.eq(StringUtils.isNotEmpty(agvTask.getToPort()), AgvTask::getToPort, agvTask.getToPort())
.eq(StringUtils.isNotNull(agvTask.getPriority()), AgvTask::getPriority, agvTask.getPriority())
.eq(StringUtils.isNotEmpty(agvTask.getCarNo()), AgvTask::getCarNo, agvTask.getCarNo())
.ge(StringUtils.isNotEmpty(createdBegin), AgvTask::getCreatedTime, createdBegin)
.le(StringUtils.isNotEmpty(createdEnd), AgvTask::getCreatedTime, createdEnd)
.le(StringUtils.isNotEmpty(taskComplete), AgvTask::getStatus, taskComplete)
.last(!StringUtils.isAnyEmpty(isAsc, orderByColumn), "order by" + " " + orderByColumn + " " + isAsc)
.last(StringUtils.isAnyEmpty(isAsc, orderByColumn), "order by id desc");
/**
* 使用分页查询
*/
if (StringUtils.isNotNull(pageNum) && StringUtils.isNotNull(pageSize)) {
Page<AgvTask> page = new Page<>(pageNum, pageSize);
IPage<AgvTask> iPage = agvTaskService.page(page, lambdaQueryWrapper);
List<AgvTask> iPages = iPage.getRecords();
return getMpDataTable(iPages, iPage.getTotal());
} else {
List<AgvTask> list = agvTaskService.list(lambdaQueryWrapper);
return getDataTable(list);
}
}
@GetMapping("/createAGVTask")
public String create() {
return prefix + "/agvCreate";
}
@ApiOperation(value = "AGV创建任务", httpMethod = "POST")
@PostMapping("/createAGVTask")
@ResponseBody
public AjaxResult createAGVTask(String priority, String sourceLocation, String destinationLocation, String containerCode, String taskType) {
AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AgvTask agvTask = new AgvTask();
agvTask.setFromPort(sourceLocation);
agvTask.setToPort(destinationLocation);
agvTask.setContainerCode(containerCode);
agvTask.setWarehouseCode("CS0001");
return agvTaskService.createAGVTask(agvTask);
}
});
return ajaxResult;
}
@Log(title = "任务-任务管理", operating = "下发AGV任务", action = BusinessType.UPDATE)
@PostMapping("/execute")
@ResponseBody
public AjaxResult execute(String taskId) {
if (StringUtils.isEmpty(taskId)) {
return AjaxResult.error("taskId不能为空");
}
AjaxResult<AgvTask> ajaxResult = agvTaskService.sendTaskToAGV(Convert.toIntArray(taskId));
return ajaxResult;
}
@GetMapping("/editagv/{id}")
public String edit(@PathVariable("id") Integer id, ModelMap mmap) {
AgvTask agvTask = agvTaskService.getById(id);
mmap.put("agvTask", agvTask);
return prefix + "/editagv";
}
@RequiresPermissions("task:taskHeader:edit")
@PostMapping("/editagv")
@ResponseBody
@Log(title = "任务-任务管理", operating = "编辑agv任务", action = BusinessType.UPDATE)
public AjaxResult edit(AgvTask agvTask) {
AgvTask agvTaskResult = agvTaskService.getById(agvTask.getId());
if (agvTaskResult.getStatus() >= QuantityConstant.TASK_STATUS_RELEASE) {
return AjaxResult.error("任务已经下发了，不允许修改");
}
agvTask.setUpdated(new Date());
// PointPosition pointPosition = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>().eq(PointPosition::getPositionName, agvTask.getToPort()));
// if (pointPosition == null) {
// return AjaxResult.error("目标点位不存在");
// }
// if (pointPosition != null && StringUtils.isNotEmpty(pointPosition.getContainerCode())) {
// return AjaxResult.error("目标点位有托盘，请选择其他点位");
// }
AgvTask one = agvTaskService.getOne(new LambdaQueryWrapper<AgvTask>().eq(AgvTask::getToPort, agvTask.getToPort()).lt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_COMPLETED));
if (one != null) {
return AjaxResult.error("目标点位存在未完成的任务");
}
return toAjax(agvTaskService.updateById(agvTask));
}
@Log(title = "任务-任务管理", operating = "取消AGV任务", action = BusinessType.DELETE)
@PostMapping("/cancelAGVTask")
@ResponseBody
@RequiresPermissions("task:agvTask:remove")
@ApiLogger(apiName = "删除AGV任务")
public AjaxResult cancelAGVTask(String ids) {
if (StringUtils.isEmpty(ids)) {
return AjaxResult.error("taskId不能为空");
}
Integer[] idList = Convert.toIntArray(ids);
for (int id : idList) {
AgvTask agvTask = agvTaskService.getById(id);
if (agvTask.getStatus().intValue() <= QuantityConstant.TASK_STATUS_BUILD) {
continue;
}
// if(agvTask.getStatus().intValue()>QuantityConstant.TASK_STATUS_RELEASE){
// return AjaxResult.error("任务已经下发，不能删除");
// }
if (agvTask.getStatus().intValue() == QuantityConstant.TASK_STATUS_COMPLETED) {
return AjaxResult.error("任务已经完成");
}
String containerCode = agvTask.getContainerCode();
if (StringUtils.isEmpty(containerCode)) {
return AjaxResult.error("空托盘");
}
Container container = containerService.getContainerByCode(
containerCode, agvTask.getWarehouseCode());
LambdaQueryWrapper<ContainerType> containerTypeLambdaQueryWrapper = Wrappers.lambdaQuery();
containerTypeLambdaQueryWrapper.eq(ContainerType::getCode, container.getContainerType());
ContainerType containerType = containerTypeService.getContainerTypeByCode(
container.getContainerType(), container.getWarehouseCode());
AjaxResult ajaxResult = agvTaskService.cancelTask(id,
agvTask.getWarehouseCode(), containerType.getArea());
if (ajaxResult.hasErr()) {
return ajaxResult;
}
}
return agvTaskService.cancelAGVTask(Convert.toIntArray(ids));
}
@Log(title = "任务-任务管理", operating = "AGV任务状态通知", action = BusinessType.UPDATE)
@PostMapping("/notifyAGVTask")
@ResponseBody
@ApiLogger(apiName = "更新AGV任务状态", from = "AGV")
public AjaxResult notifyAGVTask(@RequestBody Map map) {
AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AjaxResult ajaxResult = agvTaskService.notifyAGVTask(map);
return ajaxResult;
}
});
return ajaxResult;
}
}