IAgvTaskServiceImpl.java
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package com.huaheng.pc.task.agvTask.service;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.huaheng.common.constant.QuantityConstant;
import com.huaheng.common.exception.service.ServiceException;
import com.huaheng.common.support.Convert;
import com.huaheng.common.utils.DateUtils;
import com.huaheng.common.utils.StringUtils;
import com.huaheng.common.utils.Wrappers;
import com.huaheng.common.utils.http.HttpUtils;
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.pointPosition.domain.PointPosition;
import com.huaheng.pc.config.pointPosition.service.IPointPositionService;
import com.huaheng.pc.task.agvTask.domain.AgvSendParam;
import com.huaheng.pc.task.agvTask.domain.AgvTask;
import com.huaheng.pc.task.agvTask.domain.Shelf;
import com.huaheng.pc.task.agvTask.mapper.AgvTaskMapper;
import com.huaheng.pc.task.taskDetail.domain.TaskDetail;
import com.huaheng.pc.task.taskDetail.service.TaskDetailService;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
import org.apache.commons.collections.CollectionUtils;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.UUID;
/*
* AGVTask任务服务层
* */
@Service
public class IAgvTaskServiceImpl extends ServiceImpl<AgvTaskMapper, AgvTask> implements IAgvTaskService {
@Resource
private IPointPositionService pointPositionService;
@Resource
private ContainerService containerService;
@Resource
private ShelfService shelfService;
@Resource
private ConfigService configService;
@Resource
private AddressService addressService;
@Resource
private TaskHeaderService taskHeaderService;
@Resource
private TaskDetailService taskDetailService;
@Override
public AgvTask getByTaskNo(String taskNo) {
return this.getOne(new LambdaQueryWrapper<AgvTask>()
.eq(AgvTask::getTaskNo,taskNo)
.last("LIMIT 1"));
}
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult createAGVTask(AgvTask agvTask) {
if(StringUtils.isNull(agvTask)){
return AjaxResult.error("agvTask 实体不能为空");
}
//校验请求参数，判断目标点位是否存在任务和是否锁定
AjaxResult ajaxResult = checkAgvTaskPosition(agvTask);
if(ajaxResult.hasErr()){
return ajaxResult;
}
//校验货架是否存在任务及是否锁定，校验起始点位是否锁定
Shelf shelf = checkContainerAndPositionStatus(agvTask);
agvTask.setFromPort(shelf.getPositionName());
agvTask.setStatus(QuantityConstant.TASK_STATUS_BUILD);
agvTask.setWarehouseCode(ShiroUtils.getWarehouseCode());
agvTask.setCompanyCode(ShiroUtils.getCompanyCode());
agvTask.setCreatedBy(ShiroUtils.getLoginName());
agvTask.setTaskType(QuantityConstant.STATUS_TASK_SHELF);
agvTask.setCreatedTime(new Date());
agvTask.setUpdated(new Date());
agvTask.setShelfNo(shelf.getShelfNo());
agvTask.setUpdatedBy(ShiroUtils.getLoginName());
agvTask.setTaskNo(UUID.randomUUID().toString());
shelf.setStatus(QuantityConstant.STATUS_CONTAINER_LOCK);
if (this.save(agvTask)) {
pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_CONTAINER_LOCK, agvTask.getWarehouseCode());
pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_CONTAINER_LOCK, agvTask.getWarehouseCode());
shelfService.updateById(shelf);
} else {
return AjaxResult.error("AGV创建任务失败");
}
return AjaxResult.success("执行生成任务成功", agvTask);
}
@Override
public AjaxResult executeAGVTask(String[] ids) {
if(StringUtils.isEmpty(ids)){
return AjaxResult.error("ids为空");
}
List<Integer> newIds = new ArrayList<>();
for (String id : ids) {
AjaxResult ajaxResult = executeAGVTask(id);
if(!ajaxResult.hasErr()){
newIds.add(Integer.valueOf(ajaxResult.getData().toString()));
}
}
return AjaxResult.success("成功下发【"+newIds.size()+"】条任务。").setData(newIds);
}
@Transactional(rollbackFor = Exception.class)
@Override
public AjaxResult executeAGVTask(String id) {
AgvTask agvTask = this.getById(id);
if(agvTask.getStatus() >= QuantityConstant.TASK_STATUS_RELEASE){
return AjaxResult.error("任务" + id + "已经下发，请不要重复下发，操作中止");
}
if(StringUtils.isEmpty(agvTask.getToPort())){
return AjaxResult.error("任务【" + id + " 】没有目标点位，不允许下发");
}
AgvTask one = this.getOne(new LambdaQueryWrapper<AgvTask>()
.eq(AgvTask::getStatus, QuantityConstant.TASK_STATUS_RUNNING)
.eq(AgvTask::getToPort, agvTask.getToPort())
.last("LIMIT 1"));
if (StringUtils.isNotNull(one)) {
return AjaxResult.error("目标点位存在任务，请更换目标点位");
}
//获取url
String url = addressService.selectAddress(QuantityConstant.AGV_CREATED_TASK,QuantityConstant.WAREHOUSE_CS);
if(StringUtils.isEmpty(url)){
return AjaxResult.error("AGV_CREATED_TASK地址为配置");
}
String key = configService.getKey(QuantityConstant.RULE_CONNECT_AGV,agvTask.getWarehouseCode());
Integer value = Integer.valueOf(key);
if(value == QuantityConstant.RULE_AGV_CONNECT){
int orientation ="A".equals(agvTask.getOrientation()) ? 1 : 2;
String param = new AgvSendParam()
.setFromPort(agvTask.getFromPort())
.setToPort(agvTask.getToPort())
.setTaskNo(agvTask.getTaskNo())
.setTaskType(agvTask.getTaskType())
.setOrientation(orientation).toJSON();
AjaxResult ajaxResult = callAGV(param, url);
if(ajaxResult.hasErr()){
return ajaxResult;
}
}
agvTask.setStatus(QuantityConstant.TASK_STATUS_RELEASE);
agvTask.setUpdatedBy(ShiroUtils.getLoginName());
agvTask.setUpdated(DateUtils.getNowDate());
this.updateById(agvTask);
return AjaxResult.success().setData(id);
}
@Transactional(rollbackFor = Exception.class)
@Override
public AjaxResult cancelAGVTasks(String[] ids) {
for (String id : ids) {
AjaxResult ajaxResult = cancelAGVTask(id);
if(ajaxResult.hasErr()){
return ajaxResult;
}
}
return AjaxResult.success();
}
@Transactional(rollbackFor = Exception.class)
@Override
public AjaxResult cancelAGVTask(String id) {
if(StringUtils.isNull(id)){
return AjaxResult.error("任务号【"+id+"】不能为空");
}
AgvTask agvTask = this.getById(id);
if(StringUtils.isNull(agvTask)){
return AjaxResult.error("任务" + id + "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");
}
//获取url
String url = addressService.selectAddress(QuantityConstant.AGV_CANCEL_TASK, agvTask.getWarehouseCode());
if(StringUtils.isEmpty(url)){
return AjaxResult.error("AGV_CANCEL_TASK地址为配置");
}
String key = configService.getKey(QuantityConstant.RULE_CONNECT_AGV,agvTask.getWarehouseCode());
Integer value = Integer.valueOf(key);
if(value == QuantityConstant.RULE_AGV_CONNECT){
//取消AGV任务
AjaxResult ajaxResult = callAGV(id, url);
if(ajaxResult.hasErr()){
return ajaxResult;
}
}
int preTaskNo = Integer.valueOf(id);
AgvTask agvTask1=new AgvTask();
agvTask1.setPreTaskNo(String.valueOf(preTaskNo));
AgvTask agvTask2 = this.getOne(new LambdaQueryWrapper<AgvTask>()
.eq(AgvTask::getPreTaskNo,preTaskNo)
.last("LIMIT 1"));
if (agvTask2 != null) {
return AjaxResult.error("取消任务失败， 有前置任务" + agvTask.getId());
}
//删除任务
this.removeById(id);
//更新点位信息
cancelPositionStatus(agvTask);
//更新货架信息
cancelShelfStatus(agvTask);
return AjaxResult.success("取消成功",id);
}
@Override
public AjaxResult updateAGVTask(String taskNo,int priority) {
if(StringUtils.isEmpty(taskNo)) {
throw new ServiceException("任务号为空");
}
AgvTask agvTask = this.getByTaskNo(taskNo);
agvTask.setPriority(priority);
agvTask.setUpdated(new Date());
agvTask.setUpdatedBy(ShiroUtils.getLoginName());
if(this.updateById(agvTask)) {
AjaxResult.error("更新优先级失败");
}
return AjaxResult.success();
}
@Override
public AjaxResult notifyAGVTask(String taskNo, String carNo, Integer status, String updateBy) {
if(StringUtils.isNull(taskNo)) {
return AjaxResult.error("任务号为空");
}
if(StringUtils.isNull(carNo)) {
return AjaxResult.error("小车编号为空");
}
if(StringUtils.isNull(status)) {
return AjaxResult.error("任务状态为空");
}
if(StringUtils.isNull(updateBy)) {
return AjaxResult.error("更新人不能为空");
}
AgvTask agvTask = this.getByTaskNo(taskNo);
agvTask.setCarNo(carNo);
AjaxResult ajaxResult = agvTaskStatusNowStart(status.toString(), agvTask);
return ajaxResult;
}
@Override
public AjaxResult notifyAGVPort(String taskNo, String carNo, String oldPort, String newPort, String createdBy) {
if(StringUtils.isNull(taskNo)) {
return AjaxResult.error("任务号为空");
}
if(StringUtils.isNull(carNo)) {
return AjaxResult.error("小车编号为空");
}
if(StringUtils.isNull(oldPort)) {
return AjaxResult.error("起点为空");
}
if(StringUtils.isNull(newPort)) {
return AjaxResult.error("终点为空");
}
AgvTask agvTask = this.getById(taskNo);
if(StringUtils.isNull(agvTask)){
return AjaxResult.error("没有找到任务为:【"+taskNo+"】的任务");
}
AjaxResult ajaxResult = checkPointPositionExist(oldPort, newPort);
if(ajaxResult.hasErr()){
return ajaxResult;
}
agvTask.setCarNo(carNo);
agvTask.setFromPort(oldPort);
agvTask.setToPort(newPort);
if(this.updateById(agvTask)){
return AjaxResult.error("更新失败");
}
return AjaxResult.success();
}
@Transactional(rollbackFor = Exception.class)
@Override
public AjaxResult completeAGVTask(String[] ids) {
List<String> newIds = new ArrayList<>();
if(StringUtils.isNull(ids)){
return AjaxResult.error("任务号【"+ids+"】不能为空");
}
for (String id : ids) {
AjaxResult ajaxResult = completeAGVTask(id);
if(!ajaxResult.hasErr()){
newIds.add(id);
}
}
return AjaxResult.success("完成AGV【"+newIds.size()+"】条任务。").setData(newIds);
}
@Transactional(rollbackFor = Exception.class)
@Override
public AjaxResult completeAGVTask(String id) {
if(StringUtils.isNull(id)){
return AjaxResult.error("任务号【"+id+"】不能为空");
}
AgvTask agvTask = this.getById(id);
if(StringUtils.isNull(agvTask)){
return AjaxResult.error("任务" + id + "未找到，操作中止");
}
String value = configService.getKey(QuantityConstant.RULE_CONNECT_AGV,agvTask.getWarehouseCode());
int connectAGV = Integer.parseInt(value);
if(connectAGV == QuantityConstant.RULE_AGV_CONNECT){
return AjaxResult.error("AGV任务不可手动完成");
}
//更新点位和托盘信息
if(StringUtils.isNotEmpty(agvTask.getFromPort())){
PointPosition sourcePosition = pointPositionService.getPositionByPositionName(agvTask.getFromPort(), agvTask.getWarehouseCode());
if(StringUtils.isNull(sourcePosition)){
return AjaxResult.error("源点位未找到");
}
pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_CONTAINER_EMPTY,agvTask.getWarehouseCode());
pointPositionService.setContainerCode(agvTask.getFromPort(),null,agvTask.getWarehouseCode());
}
if(StringUtils.isNotEmpty(agvTask.getToPort())){
PointPosition desPosition = pointPositionService.getPositionByPositionName(agvTask.getToPort(), agvTask.getWarehouseCode());
if(StringUtils.isNull(desPosition)){
return AjaxResult.error("目标点位未找到");
}
pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_CONTAINER_SOME,agvTask.getWarehouseCode());
pointPositionService.setContainerCode(agvTask.getToPort(),agvTask.getContainerCode(),agvTask.getWarehouseCode());
containerService.updateLocationCodeAndStatus(agvTask.getContainerCode(),agvTask.getToPort(), QuantityConstant.STATUS_CONTAINER_EMPTY);
}
//更新agv任务状态
agvTask.setStatus(QuantityConstant.TASK_STATUS_COMPLETED);
agvTask.setUpdated(new Date());
agvTask.setUpdatedBy(ShiroUtils.getLoginName());
if(!this.updateById(agvTask)) {
throw new ServiceException("完成任务失败");
}
return AjaxResult.success();
}
//根据任务类型检验参数
@SuppressWarnings({"AlibabaRemoveCommentedCode", "AlibabaCommentsMustBeJavadocFormat"})
private AjaxResult checkAgvTaskPosition(AgvTask agvTask){
//校验托盘
if (StringUtils.isNull(agvTask)) {
return AjaxResult.error("任务数据为空，请重新下发");
}
if (StringUtils.isEmpty(agvTask.getContainerCode())) {
return AjaxResult.error("托盘为空");
}
//校验目标点位
if (StringUtils.isEmpty(agvTask.getToPort())) {
return AjaxResult.error("目标点位为空");
}
PointPosition desPosition = pointPositionService.getPositionByPositionName(agvTask.getToPort(), agvTask.getWarehouseCode());
if (StringUtils.isNull(desPosition)) {
return AjaxResult.error("目标点位：" + agvTask.getToPort() + "未找到");
}
List<AgvTask> agvTasks = this.list(new LambdaQueryWrapper<AgvTask>()
.eq(AgvTask::getStatus,110)
.eq(AgvTask::getToPort,desPosition.getPositionName()));
if(CollectionUtils.isNotEmpty(agvTasks)){
return AjaxResult.error("目标点位：" + agvTask.getToPort() + "存在任务");
}
if(desPosition.getStatus().equals(QuantityConstant.STATUS_CONTAINER_LOCK)){
return AjaxResult.error("目标点位：" + agvTask.getToPort() + "禁用");
}
if(StringUtils.isNotEmpty(desPosition.getShelfNo())){
return AjaxResult.error("目标点位：" + agvTask.getToPort() + "存在货架:"+desPosition.getShelfNo());
}
return AjaxResult.success();
}
/**
* 检查托盘和点位是否存在未完成的任务
* @param agvTask
*/
private Shelf checkContainerAndPositionStatus(AgvTask agvTask){
Container containerStatus = containerService.getContainerByCode(agvTask.getContainerCode(),QuantityConstant.WAREHOUSE_CS);
if(StringUtils.isNull(containerStatus)){
throw new ServiceException("托盘"+agvTask.getContainerCode()+"不存在");
}
//拿到货架编号
String shelfNo = containerStatus.getGoodsShelfNo();
List<AgvTask> list = this.list(new LambdaQueryWrapper<AgvTask>()
.eq(AgvTask::getStatus, 110)
.eq(AgvTask::getShelfNo, shelfNo));
//判断此货架是否有任务存在
if (CollectionUtils.isNotEmpty(list)) {
throw new ServiceException("货架"+shelfNo+"存在未完成的任务");
}
//判断货架是否锁定
Shelf shelfOne = shelfService.getOne(new LambdaQueryWrapper<Shelf>()
.eq(Shelf::getShelfNo, shelfNo)
.last("LIMIT 1"));
if(StringUtils.isNotNull(shelfOne) && "lock".equals(shelfOne.getStatus())){
throw new ServiceException("货架"+shelfNo+"已锁定");
}
//判断起始点位是否锁定
PointPosition one = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>()
.eq(PointPosition::getStatus, QuantityConstant.STATUS_CONTAINER_LOCK)
.eq(PointPosition::getPositionName, shelfOne.getPositionName())
.last("LIMIT 1"));
if(StringUtils.isNotNull(one)){
throw new ServiceException("起始点位"+shelfNo+"已锁定");
}
return shelfOne;
}
//更新点位状态
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private void cancelPositionStatus(AgvTask agvTask) {
if (agvTask.getFromPort() != null) {
//更新点位状态
PointPosition pointPosition= pointPositionService.getPositionByPositionName(agvTask.getFromPort(),agvTask.getWarehouseCode());
if(pointPosition!=null&& StringUtils.isNotEmpty(pointPosition.getShelfNo())){
pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_CONTAINER_SOME,agvTask.getWarehouseCode());
} else {
pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_CONTAINER_EMPTY,agvTask.getWarehouseCode());
}
}
if (agvTask.getToPort() != null) {
//更新点位状态
PointPosition pointPosition=pointPositionService.getPositionByPositionName(agvTask.getToPort(),agvTask.getWarehouseCode());
if(pointPosition!=null&& StringUtils.isNotEmpty(pointPosition.getShelfNo())){
pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_CONTAINER_SOME,agvTask.getWarehouseCode());
} else {
pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_CONTAINER_EMPTY,agvTask.getWarehouseCode());
}
}
}
//更新货架状态
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private void cancelShelfStatus(AgvTask agvTask){
Shelf shelf = shelfService.getByShelfNo(agvTask.getShelfNo());
shelf.setStatus("relax");
shelfService.updateById(shelf);
}
/**
* 将参数传输给AGV
* @return
*/
private AjaxResult callAGV(String params,String url){
String value = configService.getKey(QuantityConstant.RULE_CONNECT_AGV,QuantityConstant.WAREHOUSE_KS);
int connectAGV = Integer.parseInt(value);
if (connectAGV == QuantityConstant.RULE_AGV_CONNECT) {
String result = HttpUtils.bodypost(url, params,QuantityConstant.WAREHOUSE_KS);
AjaxResult ajaxResult= JSONObject.parseObject(result, AjaxResult.class);
if(StringUtils.isEmpty(result)){
throw new ServiceException("AGV接口地址错误或服务器连接不到或返回为空");
}
if(ajaxResult.hasErr()){
AjaxResult.error("AGV: " + ajaxResult.getMsg());
}
}
return AjaxResult.success("下发成功");
}
//根据agv的任务状态来判断
private AjaxResult agvTaskStatusNowStart(String status, AgvTask agvTask){
AgvTask task = this.getByTaskNo(agvTask.getTaskNo());
if(task==null) {
return AjaxResult.error("任务号"+agvTask.getId()+"不存在");
}
if(task.getStatus().equals(QuantityConstant.TASK_STATUS_COMPLETED)) {
return AjaxResult.error("任务"+agvTask.getId()+"已经完成");
}
task.setStatus(Integer.valueOf(status));
if("100".equals(status)){
//货架写入点位数据，状态为relax
Shelf shelf = shelfService.getByPositionName(agvTask.getShelfNo());
shelf.setStatus("relax");
shelf.setPositionName(agvTask.getToPort());
shelfService.updateById(shelf);
//源点位货架数据清空，状态empty
PointPosition pointPosition = pointPositionService.getPositionByPositionName(agvTask.getFromPort(),agvTask.getWarehouseCode());
pointPositionService.clearShelfByPositionName(pointPosition.getPositionName());
//目标点位货架写入，状态some
pointPositionService.fillShelfByPositionName(agvTask.getToPort(),agvTask.getShelfNo());
}
//agv任务完成
return AjaxResult.toAjax(this.updateById(task));
}
//检查点位是否存在
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private AjaxResult checkPointPositionExist(String sourcePort,String destPort){
PointPosition sourcePosition = pointPositionService.getPositionByPositionName(sourcePort, QuantityConstant.WAREHOUSE_CS);
PointPosition desPosition = pointPositionService.getPositionByPositionName(destPort, QuantityConstant.WAREHOUSE_CS);
if (StringUtils.isNull(sourcePosition)) {
return AjaxResult.error("源点位：" + sourcePort + "未找到");
}
if (StringUtils.isNull(desPosition)) {
return AjaxResult.error("目标点位：" + destPort + "未找到");
}
return AjaxResult.success();
}
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult completTasks(String id){
if (StringUtils.isNull(id)) {
return AjaxResult.error("任务详情id为空");
}
TaskDetail taskDetail=taskDetailService.getById(id);
taskDetail.setNumber(2);
taskDetailService.updateById(taskDetail);
Boolean tag=isAllComplete(taskDetail.getTaskId());
if(tag){
AjaxResult ajaxResult = taskHeaderService.completeTaskByWMS(Convert.toIntArray(taskDetail.getTaskId().toString()),null);
if(ajaxResult.hasErr()){
throw new ServiceException(ajaxResult.getMsg());
}
return ajaxResult;
}
return AjaxResult.success("成功");
}
public Boolean isAllComplete(Integer taskid){
LambdaQueryWrapper<TaskDetail> queryWrapper = Wrappers.lambdaQuery();
queryWrapper.eq(TaskDetail::getTaskId, taskid);
queryWrapper.eq(TaskDetail::getNumber,1);
int detailSize= taskDetailService.list(queryWrapper).size();
if(detailSize==0){
//全部完成0
return true;
}
return false;
}
}