AgvTaskCSServiceImpl.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.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.CollectionUtils;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.huaheng.api.acs.domain.AgvPort;
import com.huaheng.api.acs.domain.AgvTaskCS;
import com.huaheng.api.acs.domain.ToAgvTask;
import com.huaheng.api.acs.mapper.AgvTaskCsMapper;
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.http.OkHttpUtils;
import com.huaheng.common.utils.security.ShiroUtils;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.framework.web.service.ConfigService;
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.containerType.domain.ContainerType;
import com.huaheng.pc.config.containerType.service.ContainerTypeService;
import com.huaheng.pc.config.location.domain.Location;
import com.huaheng.pc.config.location.service.LocationService;
import com.huaheng.pc.config.station.domain.Station;
import com.huaheng.pc.config.station.service.StationService;
import com.huaheng.pc.task.taskHeader.domain.TaskHeader;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
import javafx.concurrent.Task;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
import java.util.*;
@Service
public class AgvTaskCSServiceImpl extends ServiceImpl<AgvTaskCsMapper, AgvTaskCS> implements AgvTaskCSService {
@Resource
private AgvPortService agvPortService;
@Resource
private ContainerService containerService;
@Resource
private ConfigService configService;
@Resource
private AddressService addressService;
@Resource
private TaskHeaderService taskHeaderService;
@Resource
private LocationService locationService;
@Resource
private ContainerTypeService containerTypeService;
@Resource
private StationService stationService;
@Override
public AjaxResult createAGVTask(AgvTaskCS agvTask) {
if (StringUtils.isNull(agvTask.getPreTaskNo())) {
//校验请求参数
checkAgvTaskPosition(agvTask);
//校验托盘是否存在任务及是否锁定
checkContainerAndPositionStatus(agvTask);
//校验自己生成的任务中源点位的托盘和实际托盘一不一致
checkContainerAndPositionLove(agvTask);
}
agvTask.setStatus(QuantityConstant.TASK_STATUS_BUILD);
agvTask.setCreatedBy(ShiroUtils.getLoginName());
agvTask.setTaskType(QuantityConstant.STATUS_TASK_CARRY);
agvTask.setCreatedTime(new Date());
agvTask.setUpdated(new Date());
agvTask.setUpdatedBy(ShiroUtils.getLoginName());
agvTask.setWarehouseCode("CS0001");
if (save(agvTask)) {
agvPortService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_LOCK);
} else {
throw new ServiceException("AGV创建任务失败");
}
return AjaxResult.success("执行生成任务成功");
}
@Override
public AjaxResult createAGVTaskJLK(AgvTaskCS agvTask) {
if (StringUtils.isEmpty(agvTask.getFromPort())) {
throw new ServiceException("起点为空");
}
if (StringUtils.isEmpty(agvTask.getToPort())) {
throw new ServiceException("终点为空");
}
if (StringUtils.isEmpty(agvTask.getContainerCode())) {
throw new ServiceException("容器为空");
}
if (agvTask.getFromPort().equals(agvTask.getToPort())) {
throw new ServiceException("起点终点不能相同");
}
String warehouseCode = ShiroUtils.getWarehouseCode();
Station station=stationService.getStaionByCode(agvTask.getFromPort(),warehouseCode);
if(station==null){
throw new ServiceException("起点不存在");
}
Station station1=stationService.getStaionByCode(agvTask.getToPort(),warehouseCode);
if(station1==null){
throw new ServiceException("起点不存在");
}
if(station.getStationType().equals(station1.getStationType())){
throw new ServiceException("AGV任务不能工位到工位或同一区域");
}
Container container=containerService.getContainerByCode(agvTask.getContainerCode(),warehouseCode);
if(container==null){
throw new ServiceException("托盘不存在");
}
agvTask.setZoneCode(container.getZoneCode());
agvTask.setNumber("2");
agvTask.setStatus(QuantityConstant.TASK_STATUS_BUILD);
agvTask.setCreatedBy(ShiroUtils.getLoginName());
agvTask.setTaskType(QuantityConstant.STATUS_TASK_CARRY);
agvTask.setCreatedTime(new Date());
agvTask.setUpdated(new Date());
agvTask.setUpdatedBy(ShiroUtils.getLoginName());
agvTask.setWarehouseCode(warehouseCode);
if (save(agvTask)) {
} else {
throw new ServiceException("AGV创建任务失败");
}
return AjaxResult.success("执行生成任务成功");
}
/**
* 自动下发不下发agv库地面站台的入库任务;手动则不受限制
* @return
*/
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult excuteAgvContainer(String containerCode) {
//查找出库任务，未完成任务的agv任务
LambdaQueryWrapper<AgvTaskCS> agvTaskLambdaQueryWrapper = new LambdaQueryWrapper();
agvTaskLambdaQueryWrapper.eq(AgvTaskCS::getContainerCode, containerCode)
.eq(AgvTaskCS::getWarehouseCode, ShiroUtils.getWarehouseCode())
.isNotNull(AgvTaskCS::getFromPort)
.isNotNull(AgvTaskCS::getToPort)
.eq(AgvTaskCS::getTaskType,QuantityConstant.AGV_TYPE_TAKE)
.lt(AgvTaskCS::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
agvTaskLambdaQueryWrapper.last("limit 1");
AgvTaskCS agvTaskCS = getOne(agvTaskLambdaQueryWrapper);
if(agvTaskCS!=null){
if(agvTaskCS.getStatus()>1){
return AjaxResult.success("任务已下发");
}else{
return sendTaskToAGV(Convert.toIntArray(agvTaskCS.getId().toString()),false);
}
}else{
return AjaxResult.success("找不到该托盘的入库任务");
}
}
/**
* @param agvTaskIds
* @param flag flag为true是自动下发；flag为flase为手动下发
* 自动下发不下发agv库地面站台的入库任务;手动则不受限制
* @return
*/
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult sendTaskToAGV(Integer[] agvTaskIds,boolean flag) {
AjaxResult result = null;
boolean finished = false;
AgvTaskCS task = null;
Integer taskId=agvTaskIds[0];
task = getById(taskId);
if (task.getStatus() >= QuantityConstant.TASK_STATUS_RELEASE) {
return AjaxResult.error("任务" + taskId + "已经下发，请不要重复下发，操作中止");
}
if (StringUtils.isEmpty(task.getToPort())) {
return AjaxResult.error("任务没有目标点位，不允许下发");
}
if(StringUtils.isNotNull(task.getPreTaskNo())){
AgvTaskCS agvTaskCS=getById(task.getPreTaskNo());
if(agvTaskCS!=null&&agvTaskCS.getStatus()!=100){
//当前置任务未完成，则不下发agv任务
return AjaxResult.error("出库任务未完成，还不能下发agv任务");
}
}
//为1时，地面站台不自动回库；演示用
String value= configService.getKey("AUTO_AGV_BACK",task.getWarehouseCode());
if(StringUtils.isNotEmpty(value)&&value.equals("1")){
//agv库，地面站台分拣任务的入库任务，手动状态下发任务;自动状态下不下发
if (task.getWarehouseCode().equals(QuantityConstant.WAREHOUSE_CS)&&task.getZoneCode().equals("V")) {
if(task.getTaskType().equals(QuantityConstant.AGV_TYPE_TAKE)&&!task.getFromPort().equals(QuantityConstant.AGV_PORT_CS)){
return AjaxResult.error("agv入库任务不自动下发，需手动点击agv页面执行");
}
}
}
LambdaQueryWrapper<AgvTaskCS> agvTaskLambdaQueryWrapper = new LambdaQueryWrapper();
agvTaskLambdaQueryWrapper.eq(AgvTaskCS::getToPort, task.getToPort())
.eq(AgvTaskCS::getWarehouseCode, task.getWarehouseCode())
.ge(AgvTaskCS::getStatus, QuantityConstant.TASK_STATUS_RELEASE)
.lt(AgvTaskCS::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
List<AgvTaskCS> list = list(agvTaskLambdaQueryWrapper);
if (list != null && list.size() > 0) {
return AjaxResult.error("目标点位存在任务，请更换目标点位");
}
if(StringUtils.isNotNull(task.getTaskHeaderId())){
LambdaQueryWrapper<TaskHeader> wrapper = new LambdaQueryWrapper();
wrapper .gt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_RELEASE)
.lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED)
.eq(TaskHeader::getPort, task.getToPort());
List<TaskHeader> list1 = taskHeaderService.list(wrapper);
if (list1 != null && list1.size() > 0) {
return AjaxResult.error("目标点位存在任务，请更换目标点位");
}
}
// 给AGV传递任务
AjaxResult ajaxResult = agvTaskAssign(task);
if (ajaxResult==null){
return AjaxResult.error("下发失败");
}
if (ajaxResult != null && ajaxResult.hasErr()) {
return AjaxResult.error(ajaxResult.getMsg());
}
//修改任务头表
task.setId(taskId);
task.setStatus(QuantityConstant.TASK_STATUS_RELEASE);
task.setUpdated(new Date());
task.setUpdatedBy(ShiroUtils.getLoginName());
saveOrUpdate(task);
if(StringUtils.isNotNull(task.getTaskHeaderId())){
LambdaQueryWrapper<TaskHeader> wrapper = new LambdaQueryWrapper();
wrapper.eq(TaskHeader::getId,task.getTaskHeaderId());
TaskHeader taskHeader=new TaskHeader();
taskHeader.setStatus(QuantityConstant.TASK_STATUS_RUNNING);
taskHeaderService.update(taskHeader,wrapper);
}
return AjaxResult.success("执行下发任务成功", task);
}
@Transactional(rollbackFor = Exception.class)
public AjaxResult agvTaskAssign(AgvTaskCS agvTask) {
//1、判断agvHeader是否为空
if (agvTask == null) {
return AjaxResult.error("Agv任务为空");
}
//2、判断必填字段是否满足
if (agvTask.getId() == null) {
return AjaxResult.error("Agv任务号Id为空");
}
if (agvTask.getTaskType() == null) {
return AjaxResult.error("Agv任务类型为空");
}
String containerCode = agvTask.getContainerCode();
if (StringUtils.isEmpty(containerCode)) {
return AjaxResult.error("Agv任务中容器为空");
}
String warehouseCode = agvTask.getWarehouseCode();
//3、转换实体，初始化Agv任务实体
ToAgvTask toAgvTask = new ToAgvTask();
toAgvTask.setTaskNo(String.valueOf(agvTask.getId()));
toAgvTask.setTaskType(agvTask.getTaskType());
toAgvTask.setTaskHeaderType(agvTask.getTaskHeaderType());
toAgvTask.setContainerCode(agvTask.getContainerCode());
toAgvTask.setFromPort(agvTask.getFromPort());
toAgvTask.setToPort(agvTask.getToPort());
toAgvTask.setPriority(100);
//agv发送任务地址
String numbers="1";
if(StringUtils.isNotEmpty(agvTask.getNumber())){
numbers=agvTask.getNumber();
}
//4、发送数据
return sendDataToAgv(1, warehouseCode, numbers, toAgvTask);
}
@Override
public AjaxResult cancelAGVTask(Integer[] agvTaskIds) {
for (int taskId : agvTaskIds) {
AgvTaskCS agvTask = getById(taskId);
if (agvTask == null) {
return AjaxResult.error("任务" + taskId + "未找到，操作中止");
}
if (agvTask.getStatus() >=QuantityConstant.TASK_STATUS_RELEASE) {
return AjaxResult.error("存在任务" + agvTask.getId() + "已下发或执行，操作中止");
}
// int preTaskNo = taskId;
if(StringUtils.isNotNull(agvTask.getPreTaskNo())){
AgvTaskCS agvTaskPre = this.getById(agvTask.getPreTaskNo());
if(agvTaskPre!=null){
return AjaxResult.error("AGV前置任务还存在，不能删除");
}
}
// LambdaQueryWrapper<AgvTaskCS> agvLambdaQueryWrapper = Wrappers.lambdaQuery();
// agvLambdaQueryWrapper.eq(AgvTaskCS::getPreTaskNo, preTaskNo);
// AgvTaskCS agvTaskHeader = getOne(agvLambdaQueryWrapper);
// if (agvTaskHeader != null) {
// return AjaxResult.error("取消任务失败， 有前置任务" + agvTask.getId());
// }
if(StringUtils.isNotNull(agvTask.getTaskHeaderId())){
TaskHeader taskHeader=taskHeaderService.getById(agvTask.getTaskHeaderId());
if(taskHeader!=null&&agvTask.getTaskType()!=200){
//删除主任务
String ids=agvTask.getTaskHeaderId().toString();
taskHeaderService.cancelTask(Convert.toIntArray(ids));
}
}
//查出任务明细
//删除子任务
//删除主任务
removeById(taskId);
//盘点取消任务，恢复明细状态为1
int taskType = agvTask.getTaskType().intValue();
cancelPositionStatus(agvTask);
cancelContainerStatus(agvTask);
}
return AjaxResult.success("取消任务成功！");
}
@Override
public AjaxResult cancelTask(Integer id, String warehouseCode, String area) {
//1、判断参数是否为空
if (id == null) {
throw new ServiceException("任务号为空");
}
HashMap<String, Object> map = new HashMap();
List<Integer> list = new ArrayList<>();
list.add(id);
map.put("taskNo", list);
//2、发送数据
return sendDataToAgv(2, warehouseCode, area, map);
}
@Override
public AjaxResult notifyAGVTask(Map map) {
AgvTaskCS agvTask = new AgvTaskCS();
if (map.isEmpty()) {
return AjaxResult.error("请求数据为空");
}
Object o1 = map.get("taskNo");
Object o2 = map.get("carNo");
Object o3 = map.get("status");
if (StringUtils.isNull(o1)) {
return AjaxResult.error("任务号为空");
}
Integer taskNo = Integer.valueOf(o1.toString());
List<AgvTaskCS> list = list(new LambdaQueryWrapper<AgvTaskCS>().eq(AgvTaskCS::getId, taskNo));
if (CollectionUtils.isNotEmpty(list)) {
AgvTaskCS agvTask1 = list.get(0);
if (agvTask1.getStatus().equals(100)) {
return AjaxResult.success("任务已经是完成了的");
}
} else {
return AjaxResult.success("任务不存在");
}
if (StringUtils.isNotNull(o2)) {
String carNo = o2.toString();
agvTask.setCarNo(carNo);
}
if (StringUtils.isNull(o3)) {
return AjaxResult.error("任务状态为空");
}
Integer status = Integer.valueOf(o3.toString());
agvTask.setId(taskNo);
agvTaskStatusNowStart(status, agvTask);
return AjaxResult.success();
}
/**
* 将参数传输给AGV
*
* @param
* @param warehouseCode
* @param area
* @param object
* @return
*/
private AjaxResult sendDataToAgv(int i, String warehouseCode, String area, Object object) {
String value = configService.getKey(QuantityConstant.RULE_CONNECT_AGV,warehouseCode);
int connectAGV = Integer.parseInt(value);
String url = null;
if (connectAGV == QuantityConstant.RULE_AGV_CONNECT) {
if (i == 1) {
url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_ASSIGN, warehouseCode, area);
} else if (i == 2) {
url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_CANCEL, warehouseCode, area);
} else {
}
String JsonParam = JSON.toJSONString(object);
System.out.println(JsonParam);
String result = OkHttpUtils.bodypost(url, JsonParam, warehouseCode);
if (result == null) {
return AjaxResult.error("调用失败:接口地址连接失败");
} else {
return AjaxResult.success(result);
}
}
return AjaxResult.success("下发成功");
}
//根据agv的任务状态来判断
private AjaxResult agvTaskStatusNowStart(Integer o3, AgvTaskCS agvTask) {
AgvTaskCS task = getById(agvTask.getId());
if (task == null) {
return AjaxResult.error("任务号" + agvTask.getId() + "不存在");
}
if (task.getStatus()==QuantityConstant.TASK_STATUS_COMPLETED) {
return AjaxResult.error("任务" + agvTask.getId() + "已经完成");
}
if (o3.equals(QuantityConstant.STATUS_TASK_AGV_START)) {
agvTask.setStatus(20);
task.setUpdated(new Date());
updateById(agvTask);
}
if (o3.equals(QuantityConstant.STATUS_TASK_AGV_TASKOVER)) {
agvTask.setStatus(50);
task.setUpdated(new Date());
updateById(agvTask);
}
if (o3.equals(QuantityConstant.STATUS_TASK_FINISH)) {
task.setStatus(100);
task.setUpdated(new Date());
updateById(task);
agvPortService.updateStatus(task.getToPort(), QuantityConstant.STATUS_POSITION_EMPTY);
return AjaxResult.success();
}
return AjaxResult.success();
}
//根据任务类型检验参数
private void checkAgvTaskPosition(AgvTaskCS agvTask) {
if (StringUtils.isNull(agvTask)) {
throw new ServiceException("任务数据为空，请重新下发");
}
if (StringUtils.isEmpty(agvTask.getContainerCode())) {
throw new ServiceException("托盘为空");
}
AgvPort sourcePosition = agvPortService.getAgvportByCode(agvTask.getFromPort());
AgvPort desPosition = agvPortService.getAgvportByCode(agvTask.getToPort());
if (StringUtils.isEmpty(agvTask.getFromPort())) {
throw new ServiceException("源点位为空");
}
if (StringUtils.isNull(sourcePosition)) {
throw new ServiceException("源点位：" + sourcePosition.getName() + "未找到");
}
// if(sourcePosition.getStatus().equals(QuantityConstant.STATUS_POSITION_LOCK)){
// throw new ServiceException("源点位：" + sourcePosition.getName() + "禁用");
// }
if (StringUtils.isEmpty(agvTask.getToPort())) {
throw new ServiceException("目标点位为空");
}
if (StringUtils.isNull(desPosition)) {
throw new ServiceException("目标点位：" + desPosition.getName() + "未找到");
}
if (!desPosition.getUserDef1()) {
return;
}
if (desPosition.getStatus().equals(QuantityConstant.STATUS_POSITION_LOCK)) {
throw new ServiceException("目标点位：" + desPosition.getName() + "禁用");
}
// if (StringUtils.isNotEmpty(desPosition.getContainerCode())) {
// throw new ServiceException("目标点位：" + desPosition.getName() + "存在托盘:" + desPosition.getContainerCode());
// }
if (QuantityConstant.STATUS_CONTAINER_FULL.equals(desPosition.getStatus())) {
throw new ServiceException("目标点位：" + desPosition.getName() + "已满");
}
}
/**
* 检查托盘和点位是否存在未完成的任务
*
* @param agvTask
*/
private void checkContainerAndPositionStatus(AgvTaskCS agvTask) {
TaskHeader containerLKTaskStatus = taskHeaderService.getOne(new LambdaQueryWrapper<TaskHeader>()
.eq(TaskHeader::getContainerCode, agvTask.getContainerCode())
.lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED));
AgvTaskCS containerAgvTaskStatus = getOne(new LambdaQueryWrapper<AgvTaskCS>()
.eq(AgvTaskCS::getContainerCode, agvTask.getContainerCode())
.lt(AgvTaskCS::getStatus, QuantityConstant.TASK_STATUS_COMPLETED));
if (StringUtils.isNotNull(containerLKTaskStatus) || StringUtils.isNotNull(containerAgvTaskStatus)) {
throw new ServiceException("托盘" + agvTask.getContainerCode() + "存在未完成的任务");
}
Container containerStatus = containerService.getContainerByCode(agvTask.getContainerCode(),"CS0001");
if (StringUtils.isNull(containerStatus)) {
throw new ServiceException("托盘" + agvTask.getContainerCode() + "不存在");
}
if (QuantityConstant.STATUS_CONTAINER_LOCK.equals(containerStatus.getStatus())) {
throw new ServiceException("托盘" + agvTask.getContainerCode() + "已锁定");
}
AgvPort pointPosition = agvPortService.getOne(new LambdaQueryWrapper<AgvPort>()
.eq(AgvPort::getContainerCode, agvTask.getContainerCode())
.eq(AgvPort::getStatus, QuantityConstant.STATUS_CONTAINER_LOCK)
.orderByAsc(AgvPort::getType).last("limit 1"));
if (pointPosition != null) {
throw new ServiceException("点位" + pointPosition.getCode() + "已锁定，托盘在此位置不能生成任务");
}
}
//校验自己生成的任务中源点位的托盘和实际托盘一不一致
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private void checkContainerAndPositionLove(AgvTaskCS agvTask) {
AgvPort agvPort = agvPortService.getAgvportByCode(agvTask.getFromPort());
if (agvPort != null && StringUtils.isNotEmpty(agvPort.getContainerCode())) {
if (!agvTask.getContainerCode().equals(agvPort.getContainerCode())) {
throw new ServiceException("源点位上托盘数据和分配的托盘不一致，请核对");
}
}
}
//更新点位状态
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private void cancelPositionStatus(AgvTaskCS agvTask) {
if (agvTask.getFromPort() != null) {
//更新点位状态
AgvPort agvPort = agvPortService.getAgvportByCode(agvTask.getFromPort());
if (agvPort != null && StringUtils.isNotEmpty(agvPort.getContainerCode())) {
agvPortService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY);
} else {
agvPortService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY);
}
}
if (agvTask.getToPort() != null) {
//更新点位状态
AgvPort agvPort = agvPortService.getAgvportByCode(agvTask.getToPort());
if (agvPort != null && StringUtils.isNotEmpty(agvPort.getContainerCode())) {
agvPortService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_EMPTY);
} else {
agvPortService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_EMPTY);
}
}
}
//更新容器状态
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private void cancelContainerStatus(AgvTaskCS agvTask) {
Container container = new Container();
container.setStatus(QuantityConstant.STATUS_CONTAINER_EMPTY);
LambdaUpdateWrapper<Container> containerUpdateWrapper = Wrappers.lambdaUpdate();
containerUpdateWrapper.eq(Container::getCode, agvTask.getContainerCode());
containerService.update(container, containerUpdateWrapper);
}
@Override
public AgvTaskCS getAgvTaskByHeaderId(TaskHeader taskHeader,Integer taskType){
LambdaQueryWrapper<AgvTaskCS> lambda = com.huaheng.common.utils.Wrappers.lambdaQuery();
lambda.eq(AgvTaskCS::getTaskHeaderId, taskHeader.getId())
.eq(AgvTaskCS::getWarehouseCode,taskHeader.getWarehouseCode())
.eq(AgvTaskCS::getTaskType,taskType)
.orderByDesc(AgvTaskCS::getId).last("Limit 1");
return this.getOne(lambda);
}
public AgvTaskCS getAgvTaskByTaskHeaderId(TaskHeader taskHeader,Integer taskType){
LambdaQueryWrapper<AgvTaskCS> lambda = com.huaheng.common.utils.Wrappers.lambdaQuery();
lambda.eq(AgvTaskCS::getTaskHeaderId, taskHeader.getId())
.eq(AgvTaskCS::getWarehouseCode,taskHeader.getWarehouseCode())
.lt(AgvTaskCS::getStatus,100)
.orderByDesc(AgvTaskCS::getId).last("Limit 1");
return this.getOne(lambda);
}
/**
* 第1段任务
* @param taskHeader
* @return
*/
@Override
public AgvTaskCS saveAGVTaskByTask(TaskHeader taskHeader) {
AgvTaskCS agvTask = new AgvTaskCS();
agvTask.setWarehouseCode(taskHeader.getWarehouseCode());
agvTask.setContainerCode(taskHeader.getContainerCode());
switch (taskHeader.getTaskType()) {
case QuantityConstant.TASK_TYPE_WHOLERECEIPT:
case QuantityConstant.TASK_TYPE_EMPTYRECEIPT:
agvTask.setTaskType(QuantityConstant.AGV_TYPE_TAKE);
agvTask.setPriority(100);
agvTask.setFromPort(taskHeader.getPort());
agvTask.setToPort(taskHeader.getToLocation());
break;
case QuantityConstant.TASK_TYPE_WHOLESHIPMENT:
case QuantityConstant.TASK_TYPE_EMPTYSHIPMENT:
agvTask.setTaskType(QuantityConstant.AGV_TYPE_RELEASE);
agvTask.setPriority(100);
agvTask.setFromPort(taskHeader.getFromLocation());
agvTask.setToPort(taskHeader.getPort());
break;
case QuantityConstant.TASK_TYPE_SUPPLEMENTRECEIPT:
case QuantityConstant.TASK_TYPE_SORTINGSHIPMENT:
case QuantityConstant.TASK_TYPE_VIEW:
agvTask.setTaskType(QuantityConstant.AGV_TYPE_RELEASE);
agvTask.setPriority(100);
agvTask.setFromPort(taskHeader.getFromLocation());
agvTask.setToPort(taskHeader.getPort());
break;
}
agvTask.setPriority(100);
AgvTaskCS taskCS=this.getAgvTaskByHeaderId(taskHeader,agvTask.getTaskType());
if(taskCS!=null){
//有agv任务则不重新生成
return taskCS;
}
agvTask.setTaskHeaderId(taskHeader.getId());
agvTask.setTaskHeaderType(taskHeader.getTaskType());
Container container=containerService.getContainerByCode(taskHeader.getContainerCode(),taskHeader.getWarehouseCode());
agvTask.setZoneCode(taskHeader.getZoneCode());
agvTask.setNumber(container.getNumber());
agvTask.setWarehouseCode(taskHeader.getWarehouseCode());
agvTask.setStatus(QuantityConstant.AGV_TASK_STATUS_BUILD);
agvTask.setCreatedTime(new Date());
agvTask.setCreatedBy(taskHeader.getCreatedBy());
if (!this.save(agvTask)) {
throw new ServiceException("保存AGV任务失败");
}
return agvTask;
}
/**
* 第2段任务
* @param taskHeader
* @param agvTaskCS
* @return
*/
public AgvTaskCS saveAGVTaskByTaskReturn(TaskHeader taskHeader,AgvTaskCS agvTaskCS) {
AgvTaskCS agvTask = new AgvTaskCS();
agvTask.setWarehouseCode(taskHeader.getWarehouseCode());
agvTask.setContainerCode(taskHeader.getContainerCode());
switch (taskHeader.getTaskType()) {
case QuantityConstant.TASK_TYPE_SUPPLEMENTRECEIPT:
case QuantityConstant.TASK_TYPE_SORTINGSHIPMENT:
case QuantityConstant.TASK_TYPE_VIEW:
//补充入库，分拣出库，出库查看，agv回库
agvTask.setTaskType(QuantityConstant.AGV_TYPE_TAKE);
agvTask.setFromPort(taskHeader.getPort());
if(agvTaskCS.getZoneCode().equals("V")&&taskHeader.getPort().equals(QuantityConstant.AGV_PORT_CS)){
agvTask.setToPort("");
}else{
agvTask.setToPort(taskHeader.getToLocation());
}
agvTask.setPriority(100);
break;
default:
break;
}
AgvTaskCS taskCS=this.getAgvTaskByHeaderId(taskHeader,agvTask.getTaskType());
if(taskCS!=null){
//有agv任务则不重新生成
return taskCS;
}
agvTask.setPreTaskNo(agvTaskCS.getId());
agvTask.setTaskHeaderType(taskHeader.getTaskType());
Container container=containerService.getContainerByCode(taskHeader.getContainerCode(),taskHeader.getWarehouseCode());
agvTask.setZoneCode(taskHeader.getZoneCode());
agvTask.setNumber(container.getNumber());
agvTask.setWarehouseCode(taskHeader.getWarehouseCode());
agvTask.setTaskHeaderId(taskHeader.getId());
agvTask.setStatus(QuantityConstant.AGV_TASK_STATUS_BUILD);//1
agvTask.setCreatedTime(new Date());
agvTask.setCreatedBy(ShiroUtils.getLoginName());
if (!this.save(agvTask)) {
throw new ServiceException("保存AGV任务失败");
}
return agvTask;
}
/**
* 长沙大立库，单车agv任务：入库选择站台：保存站台，生成agv点到点任务
* @param taskHeader
* @return
*/
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult setLKPort(TaskHeader taskHeader){
if(taskHeader.getId()==null||taskHeader.getId()==0){
return AjaxResult.error("任务id为空");
}
TaskHeader task=taskHeaderService.getById(taskHeader.getId());
if(task==null){
return AjaxResult.error("找不到任务");
}
if(task.getZoneCode().equals("V")){
//叉车库建立agv任务
AjaxResult ajaxResult=setAgvPort( taskHeader);
return ajaxResult;
}
AjaxResult ajaxResult=checkLocationData(taskHeader,task);
if(ajaxResult.hasErr()){
return ajaxResult;
}
task.setPort(taskHeader.getPort());
task.setToPort(taskHeader.getToPort());
taskHeaderService.updateById(task);
switch (task.getTaskType()) {
case QuantityConstant.TASK_TYPE_WHOLERECEIPT:
case QuantityConstant.TASK_TYPE_EMPTYRECEIPT:
//入库从开始就创建，出库等立库任务完成再创建
AgvTaskCS agvTask2=saveAgvTaskBySimpleAgv(task,null);
break;
default:
return AjaxResult.success("不需要创建AGV任务");
}
return AjaxResult.success();
}
/**
* 机加库，单车agv任务：入库选择站台：保存站台，生成agv点到点任务
* @param task
* @return
*/
@Override
@Transactional(rollbackFor = Exception.class)
public TaskHeader setJLKPort(TaskHeader task){
if(!task.getZoneCode().equals("JLK")){
return task;
}
if(StringUtils.isNotEmpty(task.getPickingCartPos())){
task.setToPort(task.getPickingCartPos());
}
switch (task.getTaskType()) {
case QuantityConstant.TASK_TYPE_WHOLERECEIPT:
case QuantityConstant.TASK_TYPE_EMPTYRECEIPT:
task.setPort(QuantityConstant.JIJIA_PORT);
AgvTaskCS agvTask2=saveAgvTaskBySimpleAgv(task,null);
break;
case QuantityConstant.TASK_TYPE_SORTINGSHIPMENT:
case QuantityConstant.TASK_TYPE_WHOLESHIPMENT:
case QuantityConstant.TASK_TYPE_SUPPLEMENTRECEIPT:
case QuantityConstant.TASK_TYPE_EMPTYSHIPMENT:
case QuantityConstant.TASK_TYPE_CYCLECOUNT:
case QuantityConstant.TASK_TYPE_VIEW:
task.setPort(QuantityConstant.JIJIA_PORT_SORTING);
//入库从开始就创建，出库等立库任务完成再创建
AgvTaskCS agvTask3=saveAgvTaskBySimpleAgv(task,null);
break;
default:
break;
}
return task;
}
/**
* agv搬运任务
* @param task
* @param agvtask
* @return
*/
@Override
public AgvTaskCS saveAgvTaskBySimpleAgv(TaskHeader task,AgvTaskCS agvtask){
if(StringUtils.isNotEmpty(task.getToPort())){
Station station=stationService.getStaionByCode(task.getToPort(),task.getWarehouseCode());
if(station.getStationType()==2){
AgvTaskCS agvTaskCS=new AgvTaskCS();
agvTaskCS.setZoneCode(task.getZoneCode());
agvTaskCS.setContainerCode(task.getContainerCode());
agvTaskCS.setPriority(100);
agvTaskCS.setTaskType(QuantityConstant.AGV_TYPE_MOVE);
agvTaskCS.setInternalTaskType(task.getInternalTaskType());
agvTaskCS.setTaskHeaderId(task.getId());
agvTaskCS.setStatus(QuantityConstant.AGV_TASK_STATUS_BUILD);//1
agvTaskCS.setWarehouseCode(task.getWarehouseCode());
agvTaskCS.setCreatedTime(new Date());
agvTaskCS.setCreatedBy(ShiroUtils.getLoginName());
//长沙agv单车
agvTaskCS.setNumber("2");
if(agvtask!=null){
agvTaskCS.setPreTaskNo(agvtask.getId());
}
Station stationA=stationService.getStaionByCode(task.getPort(),task.getWarehouseCode());
switch (task.getTaskType()) {
case QuantityConstant.TASK_TYPE_WHOLERECEIPT:
case QuantityConstant.TASK_TYPE_EMPTYRECEIPT:
agvTaskCS.setToPort(task.getPort());
if(stationA!=null&&StringUtils.isNotEmpty(stationA.getConnectCode())){
agvTaskCS.setToPort(stationA.getConnectCode());
}
agvTaskCS.setFromPort(task.getToPort());
break;
case QuantityConstant.TASK_TYPE_WHOLESHIPMENT:
case QuantityConstant.TASK_TYPE_EMPTYSHIPMENT:
agvTaskCS.setFromPort(task.getPort());
if(stationA!=null&&StringUtils.isNotEmpty(stationA.getConnectCode())){
agvTaskCS.setFromPort(stationA.getConnectCode());
}
agvTaskCS.setToPort(task.getToPort());
break;
default:
break;
}
AgvTaskCS taskCS=this.getAgvTaskByHeaderId(task,agvTaskCS.getTaskType());
if(taskCS!=null){
return taskCS;
}
if(!this.save(agvTaskCS)){
throw new ServiceException("保存AGV任务失败");
}
return agvTaskCS;
}
}
return null;
}
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult setAgvPort(TaskHeader taskHeader){
if(taskHeader.getId()==null||taskHeader.getId()==0){
return AjaxResult.error("任务id为空");
}
if(StringUtils.isEmpty(taskHeader.getPort())){
return AjaxResult.error("库区站台为空");
}
// if(StringUtils.isEmpty(taskHeader.getToPort())){
// return AjaxResult.error("地面站台为空");
// }
TaskHeader task=taskHeaderService.getById(taskHeader.getId());
if(task==null){
return AjaxResult.error("找不到任务");
}
AjaxResult ajaxResult=checkLocationData(taskHeader,task);
if(ajaxResult.hasErr()){
return ajaxResult;
}
task.setPort(taskHeader.getPort());
task.setToPort(taskHeader.getToPort());
if(StringUtils.isNotEmpty(taskHeader.getToLocation())){
task.setToLocation(taskHeader.getToLocation());
}
// task.setStatus(QuantityConstant.TASK_STATUS_RELEASE);
String tolocation=task.getToLocation();
AgvTaskCS agvTaskCS=null;
String warehouseCode=task.getWarehouseCode();
if(warehouseCode.equals(QuantityConstant.WAREHOUSE_CS)&&task.getZoneCode().equals("V")){
AgvTaskCS agvTask=this.saveAGVTaskByTask(task);
switch (task.getTaskType()) {
case QuantityConstant.TASK_TYPE_SORTINGSHIPMENT:
case QuantityConstant.TASK_TYPE_SUPPLEMENTRECEIPT:
case QuantityConstant.TASK_TYPE_VIEW:
AgvTaskCS agvTask1=this.saveAGVTaskByTaskReturn(task,agvTask);
break;
case QuantityConstant.TASK_TYPE_WHOLERECEIPT:
case QuantityConstant.TASK_TYPE_EMPTYRECEIPT:
if(StringUtils.isNotEmpty(task.getToPort())){
AgvTaskCS agvTask2=saveAgvTaskBySimpleAgv(task,null);
if(agvTask2!=null){
agvTask.setPreTaskNo(agvTask2.getId());
this.updateById(agvTask);
}
}
break;
default:
break;
}
}
if(StringUtils.isNotEmpty(taskHeader.getToLocation())){
//任务表有目的库位，任务表目的库位和起点库位不同，则释放目的库位
if(StringUtils.isNotEmpty(tolocation)&&!task.getFromLocation().equals(tolocation)){
locationService.updateContainerCodeAndStatus(tolocation,"",QuantityConstant.STATUS_LOCATION_EMPTY,task.getWarehouseCode());
}
Location location=locationService.getLocationByCode(taskHeader.getToLocation(),task.getWarehouseCode());
if(StringUtils.isNotEmpty(location.getContainerCode())){
locationService.updateContainerCodeAndStatus(taskHeader.getToLocation(),location.getContainerCode(),QuantityConstant.STATUS_LOCATION_LOCK,task.getWarehouseCode());
}else{
locationService.updateContainerCodeAndStatus(taskHeader.getToLocation(),"",QuantityConstant.STATUS_LOCATION_LOCK,task.getWarehouseCode());
}
}
taskHeaderService.updateById(task);
return AjaxResult.success();
}
public AjaxResult checkLocationData(TaskHeader taskHeader,TaskHeader task){
if(task.getWarehouseCode().equals(QuantityConstant.WAREHOUSE_CS)&&task.getZoneCode().equals("V")){
}else{
return AjaxResult.success("不需要设置AGV站台");
}
Station station=stationService.getStaionByCode(taskHeader.getPort(),task.getWarehouseCode());
if(station==null){
return AjaxResult.error(taskHeader.getPort()+"站台不存在");
}
if(StringUtils.isNotEmpty(taskHeader.getToPort())){
Station station1=stationService.getStaionByCode(taskHeader.getToPort(),task.getWarehouseCode());
if(station1==null){
return AjaxResult.error(taskHeader.getToPort()+"站台不存在");
}
}
//库位不为空时，验证库位容器是否匹配
if(StringUtils.isNotEmpty(taskHeader.getToLocation())){
Location location=locationService.getLocationByCode(taskHeader.getToLocation(),task.getWarehouseCode());
if(location==null){
return AjaxResult.error("库位不存在，请填写正确库位");
}
if(StringUtils.isNotEmpty(task.getFromLocation())&&task.getFromLocation().equals(taskHeader.getToLocation())){
}else{
if(!location.getStatus().equals(QuantityConstant.STATUS_LOCATION_EMPTY)){
return AjaxResult.error("库位不是空闲状态，请输入空闲库位");
}
if(StringUtils.isNotEmpty(location.getContainerCode())){
return AjaxResult.error("库位上有托盘，请填写正确库位");
}
}
if(!location.getZoneCode().equals(task.getZoneCode())){
return AjaxResult.error("库位不是AGV库区的，请填写正确库位");
}
Container container=containerService.getContainerByCode(task.getContainerCode(),task.getWarehouseCode());
ContainerType containerType=containerTypeService.getContainerTypeByCode(container.getContainerType(),task.getWarehouseCode());
//库位 托盘类型匹配
if(!containerType.getLocationType().contains(location.getLocationType())){
return AjaxResult.error("库位类型与托盘类型不匹配，请填写正确库位");
}
}
return AjaxResult.success();
}
}