AgvTaskServiceImpl.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.AgvTask;
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.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.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.task.taskHeader.domain.TaskHeader;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
import java.util.*;
@Service
public class AgvTaskServiceImpl extends ServiceImpl<AgvTaskCsMapper, AgvTask> implements AgvTaskService {
@Resource
private AgvPortService agvPortService;
@Resource
private ContainerService containerService;
@Resource
private ConfigService configService;
@Resource
private AddressService addressService;
@Resource
private TaskHeaderService taskHeaderService;
@Override
public AjaxResult createAGVTask(AgvTask agvTask) {
if (StringUtils.isEmpty(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
@Transactional
public AjaxResult sendTaskToAGV(Integer[] agvTaskIds) {
AjaxResult result = null;
boolean finished = false;
AgvTask task = null;
for (Integer taskId : agvTaskIds) {
task = getById(taskId);
if (task.getStatus() >= QuantityConstant.TASK_STATUS_RELEASE) {
result = AjaxResult.error("任务" + taskId + "已经下发，请不要重复下发，操作中止");
finished = true;
break;
}
if (StringUtils.isEmpty(task.getToPort())) {
result = AjaxResult.error("任务没有目标点位，不允许下发");
finished = true;
break;
}
LambdaQueryWrapper<AgvTask> agvTaskLambdaQueryWrapper = new LambdaQueryWrapper();
agvTaskLambdaQueryWrapper.eq(AgvTask::getToPort, task.getToPort())
.eq(AgvTask::getWarehouseCode, task.getWarehouseCode())
.ge(AgvTask::getStatus, QuantityConstant.TASK_STATUS_RELEASE)
.lt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
List<AgvTask> list = list(agvTaskLambdaQueryWrapper);
if (list != null && list.size() > 0) {
result = AjaxResult.error("目标点位存在任务，请更换目标点位");
finished = true;
break;
}
// 给AGV传递任务
AjaxResult ajaxResult = agvTaskAssign(task);
if (ajaxResult != null && ajaxResult.hasErr()) {
result = AjaxResult.error(ajaxResult.getMsg());
finished = true;
break;
}
//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 (!finished) {
result = AjaxResult.success("执行下发任务成功", task);
}else {
throw new RuntimeException("下发失败");
}
return result;
}
@Transactional(rollbackFor = Exception.class)
public AjaxResult agvTaskAssign(AgvTask 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.setContainerCode(agvTask.getContainerCode());
toAgvTask.setFromPort(agvTask.getFromPort());
toAgvTask.setToPort(agvTask.getToPort());
toAgvTask.setPriority(100);
//4、发送数据
return sendDataToAgv(1, warehouseCode, "1", toAgvTask);
}
@Override
public AjaxResult cancelAGVTask(Integer[] agvTaskIds) {
for (int taskId : agvTaskIds) {
AgvTask 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;
LambdaQueryWrapper<AgvTask> agvLambdaQueryWrapper = Wrappers.lambdaQuery();
agvLambdaQueryWrapper.eq(AgvTask::getPreTaskNo, preTaskNo);
AgvTask agvTaskHeader = getOne(agvLambdaQueryWrapper);
if (agvTaskHeader != null) {
return AjaxResult.error("取消任务失败， 有前置任务" + agvTask.getId());
}
//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) {
AgvTask agvTask = new AgvTask();
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<AgvTask> list = list(new LambdaQueryWrapper<AgvTask>().eq(AgvTask::getId, taskNo));
if (CollectionUtils.isNotEmpty(list)) {
AgvTask 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);
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 = HttpUtils.bodypost(url, JsonParam, "CS0001");
if (result == null) {
throw new ServiceException("调用失败");
} 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, AgvTask agvTask) {
AgvTask 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);
updateById(agvTask);
}
if (o3.equals(QuantityConstant.STATUS_TASK_AGV_TASKOVER)) {
agvTask.setStatus(50);
updateById(agvTask);
}
if (o3.equals(QuantityConstant.STATUS_TASK_FINISH)) {
task.setStatus(100);
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(AgvTask 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(AgvTask agvTask) {
TaskHeader containerLKTaskStatus = taskHeaderService.getOne(new LambdaQueryWrapper<TaskHeader>()
.eq(TaskHeader::getContainerCode, agvTask.getContainerCode())
.lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED));
AgvTask containerAgvTaskStatus = getOne(new LambdaQueryWrapper<AgvTask>()
.eq(AgvTask::getContainerCode, agvTask.getContainerCode())
.lt(AgvTask::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(AgvTask 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(AgvTask 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(AgvTask 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);
}
}