AcsServiceImpl.java
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package com.huaheng.api.acs.service;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.huaheng.common.constant.QuantityConstant;
import com.huaheng.common.exception.service.ServiceException;
import com.huaheng.common.support.Convert;
import com.huaheng.common.utils.StringUtils;
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.config.address.domain.Address;
import com.huaheng.pc.config.address.service.AddressService;
import com.huaheng.pc.config.container.domain.Container;
import com.huaheng.pc.config.container.service.ContainerService;
import com.huaheng.pc.config.location.domain.LocationPosition;
import com.huaheng.pc.config.points.domain.Points;
import com.huaheng.pc.config.points.service.PointsService;
import com.huaheng.pc.config.pointsRecord.domain.PointsRecord;
import com.huaheng.pc.config.pointsRecord.service.PointsRecordService;
import com.huaheng.pc.monitor.agvcarinfo.domain.StateInfoUploadModel;
import com.huaheng.pc.monitor.agvcarinfo.service.AgvStateInfoService;
import com.huaheng.pc.system.user.domain.User;
import com.huaheng.pc.system.user.service.IUserService;
import com.huaheng.pc.system.user.service.UserServiceImpl;
import com.huaheng.pc.task.agvTask.domain.AgvTask;
import com.huaheng.pc.task.agvTask.service.IAgvTaskService;
import com.huaheng.pc.task.taskDetail.domain.TaskDetail;
import com.huaheng.pc.task.taskDetail.service.TaskDetailService;
import com.huaheng.pc.task.taskHeader.domain.TaskHeader;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderAgvService;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
import io.swagger.models.auth.In;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
/**
* @ClassName AcsServiceImpl
* @Description TODO
* @Author Administrator
* @Date 2019/12/2615:38
*/
@Service
public class AcsServiceImpl implements AcsService {
private static final Logger logger = LoggerFactory.getLogger(AcsServiceImpl.class);
@Autowired
private AddressService addressService;
@Autowired
private PointsService pointsService;
@Autowired
private IUserService userService;
@Autowired
private TaskHeaderService taskHeaderService;
@Autowired
private PointsRecordService pointsRecordService;
@Autowired
private IAgvTaskService agvTaskService;
@Autowired
private TaskHeaderAgvService taskHeaderAgvService;
@Autowired
private TaskDetailService taskDetailService;
@Autowired
private ContainerService containerService;
@Autowired
private AgvStateInfoService agvStateInfoService;
final String interactionId = "6EAB7794-CFD7-449A-A754-FFDB98CE44C7";
@Override
public AjaxResult StateInfoUpload(StateInfoUploadModel model) {
try {
if(StringUtils.isEmpty(model.getWarehouseCode())){
return AjaxResult.error("请填写warehouseCode字段");
}
String json = JSON.toJSONString(model);
logger.info("信息上传改变货架状态1：{}",json);
if(model.getState().equals("2")) {
Points points = new Points();
points.setGoodsShelfNo(model.getShelfNo());
points.setWarehouseCode(model.getWarehouseCode());
// points.setIsLocked(1);
points=pointsService.selectEntity(points);
if(points!=null) {
logger.info("信息上传改变货架状态2：{}",json);
points.setIsLocked(2);
boolean result = pointsService.updateById(points);
if (!result) {
throw new ServiceException("小车回传状态时修改货架状态失败");
}
agvStateInfoService.insertModel(model);
}
}
}catch (Exception e){
return AjaxResult.error("没有数据");
}
return AjaxResult.success("收到");
}
@Override
public AjaxResult TaskConfirm(AgvTask model) {
// model.setWarehouseCode(ShiroUtils.getWarehouseCode());
if(StringUtils.isEmpty(model.getWarehouseCode())){
return AjaxResult.error("没有填写warehouseCode");
}
boolean result=agvTaskService.save(model);
if(!result){
throw new ServiceException("数据插入失败");
}
String shelfNo = model.getShelfNo().substring(0, 5);
String warehouseCode = ShiroUtils.getWarehouseCode();
Points points=new Points();
// points.setWarehouseCode(warehouseCode);
points.setGoodsShelfNo(shelfNo);
points=pointsService.selectEntity(points);
if(points==null){
throw new ServiceException("没有对应的货架");
}
if(model.getTaskType().equals("pick") && model.getState().equals("1")){
points.setIsLocked(0);
boolean rt=pointsService.updateById(points);
if(!rt){
throw new ServiceException("删除AGV出库任务后修改货架状态失败");
}
}
//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。
return AjaxResult.success(model);
}
private String getUrl(){
Address address =new Address();
address.setParam("AGV");
address.setWarehouseCode(ShiroUtils.getWarehouseCode());
String url=addressService.selectEntity(address).getUrl();
return url;
}
/**
* AGV 任务取消
*/
@Override
@Transactional(rollbackFor = Exception.class)
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= this.getUrl()+"TaskCancel";
String result = HttpUtils.bodypost(url, JsonParam,"KS0001");
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* AGV 旋转方向
*/
@Override
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= this.getUrl()+"TurnOriention";
String result = HttpUtils.bodypost(url, JsonParam,"KS0001");
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
//手动叫车
@Transactional
@Override
public AjaxResult ManualCalling(String station,String shelfNo){
AgvTask model = new AgvTask();
model.setTaskHeaderId(666);
model.setTaskDetailId(666);
model.setWarehouseCode(ShiroUtils.getWarehouseCode());
model.setCompanyId(ShiroUtils.getCompanyIdList().get(0));
model.setCompanyCode(ShiroUtils.getCompanyCodeList().get(0));
model.setTaskType("pick");
model.setShelfNo(shelfNo);
model.setStation(station);
model.setStatus(20);
Points points=new Points();
points.setWarehouseCode(ShiroUtils.getWarehouseCode());
points.setGoodsShelfNo(shelfNo);
AjaxResult ajaxResult=new AjaxResult();
points=pointsService.selectEntity(points);
if(points==null){
throw new ServiceException("没有此货架");
}
if(points.getIsLocked()!=1 && points.getIsLocked()!=2) {
model.setFromLocationNo("");
model.setToLocationNo("");
model.setOrientation("A");
ajaxResult = this.TaskAssign(model);
if (!ajaxResult.hasErr()) {
points.setIsLocked(1);
points.setStation(station);
points.setOIntX(points.getIntX());
points.setOIntY(points.getIntY());
pointsService.updateById(points);
}
}else {
throw new ServiceException("该货架已出库");
}
return ajaxResult;
}
/**
* AGV 任务下发
*/
public AjaxResult TaskAssign(AgvTask model)
{
model.setInteractionId(interactionId);
User user = userService.selectUserByLoginName(ShiroUtils.getLoginName());
if(user == null){
model.setPlatform("wms");
}else {
model.setPlatform(user.getUserName());
}
String url = this.getUrl()+"TaskAssign";
String JsonParam = JSON.toJSONString(model);
logger.info("任务下发：{}",JsonParam);
String result = HttpUtils.bodypost(url, JsonParam,model.getWarehouseCode());
if(StringUtils.isEmpty(result)){
throw new ServiceException("ACS接口地址错误或服务器连接不到或返回为空");
}
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* 设置agv下发任务的实体
*
*/
@Transactional
@Override
public AjaxResult TaskModel(String station,Integer id){
AjaxResult ajaxResult=new AjaxResult();
AgvTask model=new AgvTask();
//通过id查找任务
TaskHeader task= taskHeaderService.getById(id);
if(task==null){
return AjaxResult.error("任务不存在");
}
String containerCode=task.getContainerCode();
// String code=containerCode.substring(0,4);
Container container=containerService.getContainerByCode(containerCode,task.getWarehouseCode());
Points points=new Points();
points.setWarehouseCode(ShiroUtils.getWarehouseCode());
points.setGoodsShelfNo(container.getGoodsShelfNo());
points=pointsService.selectEntity(points);
//任务下发实体
model.setTaskHeaderId(task.getId());
model.setTaskDetailId(task.getId());
model.setTaskType("pick");
model.setStation(station);
model.setWarehouseId(task.getWarehouseId());
model.setWarehouseCode(task.getWarehouseCode());
model.setCompanyId(task.getCompanyId());
model.setCompanyCode(task.getCompanyCode());
model.setStatus(10);
if(containerCode.substring(5,6).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！");
}
//如果其他人有这个货架的任务已下发，则提示该货架有任务
List<TaskHeader> agvUncompletedTasks = taskHeaderService.list(
new LambdaQueryWrapper<TaskHeader>()
.eq(TaskHeader::getGoodsShelfNo, points.getGoodsShelfNo())
.ne(TaskHeader::getCreatedBy, task.getCreatedBy())
.eq(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_RELEASE)
);
if (agvUncompletedTasks!=null&&agvUncompletedTasks.size()>0) {
throw new ServiceException("货架存在其他任务，请稍后下发！");
}
Integer[] ids=null;
if(points.getGoodsShelfNo()!=null){
List<TaskHeader> agvUncompletedTask = taskHeaderService.list(
new LambdaQueryWrapper<TaskHeader>()
.eq(TaskHeader::getGoodsShelfNo, points.getGoodsShelfNo())
.eq(TaskHeader::getCreatedBy, task.getCreatedBy())
.ge(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_BUILD)
.lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED)
);
/*if(!agvUncompletedTask.isEmpty()){
return AjaxResult.error(""+points.getGoodsShelfNo()+"有在执行任务");
}*/
List<Integer> codeList = agvUncompletedTask.stream().map(t -> t.getId()).collect(Collectors.toList());
ids=codeList.toArray(new Integer[codeList.size()]);
}
// String ids=id.toString();
//islocked 1出库中2在站台3在库内
if((points.getIsLocked()==0 || points.getIsLocked()==3) || !station.equals(points.getStation())){
model.setShelfNo(points.getGoodsShelfNo());
model.setFromLocationNo("");
model.setToLocationNo("");
model.setDate(new Date());
ajaxResult=this.TaskAssign(model);
// ajaxResult=AjaxResult.success();
if(!ajaxResult.hasErr()){
//修改points表，设为出库状态,修改出库前位置
points.setIsLocked(1);
points.setOIntX(points.getIntX());
points.setOIntY(points.getIntY());
points.setStation(station);
pointsService.updateById(points);
if(!agvTaskService.save(model)){
throw new ServiceException("agv任务下发失败");
}
if(taskHeaderAgvService.sendTaskToAGV(ids,station).hasErr()){
throw new ServiceException("执行任务失败");
}
PointsRecord pointsRecord = new PointsRecord();
pointsRecord.setCode(points.getGoodsShelfNo());
pointsRecord.setStation(station);
pointsRecord.setCreated(new Date());
pointsRecord.setCreatedby(ShiroUtils.getLoginName());
pointsRecordService.save(pointsRecord);
}else{
return ajaxResult;
}
}else{
if(taskHeaderAgvService.sendTaskToAGV(ids,station).hasErr()){
throw new ServiceException("执行任务失败");
}
return AjaxResult.success("任务执行成功，该货架已出库");
}
return ajaxResult;
}
/**
* agv putway任务下发
*
*/
@Override
@Transactional
public AjaxResult TaskAssigns(Integer taskId,String shlfNo,String station,String row,String line)
{
//查找下发任务
int result=0;
String warehouseCode=ShiroUtils.getWarehouseCode();
AgvTask agvTask=new AgvTask();
if(taskId==null){
agvTask.setTaskHeaderId(666);
agvTask.setTaskDetailId(666);
}else {
TaskDetail task = taskDetailService.getById(taskId);
agvTask.setTaskHeaderId(task.getId());
agvTask.setTaskDetailId(task.getId());
agvTask.setCompanyId(task.getCompanyId());
agvTask.setCompanyCode(task.getCompanyCode());
}
agvTask.setWarehouseCode(ShiroUtils.getWarehouseCode());
agvTask.setTaskType("putway");
AjaxResult ajaxResult = new AjaxResult();
//查找需要回去的对应的货架
String containCode=shlfNo.substring(0, 5);
Points points=new Points();
points.setWarehouseCode(warehouseCode);
points.setGoodsShelfNo(containCode);
points.setIsLocked(2);
points=pointsService.selectEntityV(points);
if(points!=null) {
AgvTask model = new AgvTask();
model.setTaskHeaderId(agvTask.getTaskHeaderId());
model.setTaskDetailId(agvTask.getTaskDetailId());
model.setTaskType("putway");
model.setShelfNo(points.getGoodsShelfNo());
model.setStation(station);
model.setFromLocationNo("");
//给出目的位置
//找出已出库的货架
Points point=new Points();
point.setWarehouseCode(warehouseCode);
point.setGoodsShelfNo(points.getGoodsShelfNo());
// Integer number=pointsService.selectRanking(point);
// if(number == null){
// return AjaxResult.error("该货架不处于在站台状态，无法回库");
// }
//
// List<Points> pointsList = pointsService.selectILPointsList();
// point = pointsList.get(number-1);
point=pointsService.selectEntity(point);
//如果查找到的货架和回库任务的货架相同，就不做操作
if(point.getOIntX().equals(points.getIntX()) && point.getOIntY().equals(points.getIntY())){
model.setToLocationNo("");
}else {
//如果不同，则目的位置为该货架的oIntX，oIntY
model.setToLocationNo(point.getOIntX() + "," + point.getOIntY());
}
model.setOrientation("A");
//#####################
ajaxResult = this.TaskAssign(model);
String jsons = JSON.toJSONString(ajaxResult);
logger.info("回库回传信息：{}",jsons);
String shelfNo=points.getGoodsShelfNo().substring(1, 5);
LocationPosition lps=new LocationPosition();
lps.setWarehouseCode(warehouseCode);
lps.setIntX(point.getOIntX());
lps.setIntY(point.getOIntY());
LocationPosition lpss=new LocationPosition();
lpss.setWarehouseCode(warehouseCode);
lpss.setIntX(points.getIntX());
lpss.setIntY(points.getIntY());
if (!ajaxResult.hasErr()) {
//回去位置与货架位置不一样时
if(!lps.getIntX().equals(points.getIntX()) || !lps.getIntY().equals(points.getIntY()) ) {
//位置不同时，修改回库货架的x，y值
points.setIntX(lps.getIntX());
points.setIntY(lps.getIntY());
pointsService.updateById(points);
//位置不同，货架编号不同时，修改回去位置的货架的o属性x，y值
if(!point.getGoodsShelfNo().equals(points.getGoodsShelfNo())) {
point.setOIntX(points.getOIntX());
point.setOIntY(points.getOIntY());
pointsService.updateById(point);
}
}
points.setIsLocked(3);
points.setNum(points.getNum()+1);
points.setStation("");
pointsService.updateById(points);
String json = JSON.toJSONString(points);
logger.info("回库后货架信息：{}",json);
// model.setCompanyId(agvTask.getCompanyId());
// model.setCompanyCode(agvTask.getCompanyCode());
// model.setWarehouseId(agvTask.getWarehouseId());
// model.setWarehouseCode(agvTask.getWarehouseCode());
// if (agvTaskMapper.insertModel(model) < 1) {
// throw new ServiceException("agv任务下发失败");
// }
}
}else {
throw new ServiceException("该货架已建立回库任务");
}
return ajaxResult;
}
}