AgvTaskCSController.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.AcsStatus;
import com.huaheng.api.acs.domain.AcsWeightHeight;
import com.huaheng.api.acs.domain.AgvTaskCS;
import com.huaheng.api.acs.service.AcsCSService;
import com.huaheng.api.acs.service.AgvTaskCSService;
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 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 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.HashMap;
import java.util.List;
import java.util.Map;
/**
* @author dell
*/
@Controller("AgvTaskController1")
@RequestMapping("/agv")
public class AgvTaskCSController extends BaseController {
private String prefix = "task/taskHeader";
@Resource
private AgvTaskCSService agvTaskService;
@Resource
private ContainerService containerService;
@Resource
private ContainerTypeService containerTypeService;
@Resource
private TaskHeaderService taskHeaderService;
@Resource
private AcsCSService acsCSService;
@Resource
private LocationService locationService;
@Resource
private StationService stationService;
@RequiresPermissions("task:taskHeader:agvCsView")
@GetMapping()
public String taskHeader(HttpServletRequest request, ModelMap mmap) {
String InternalTaskType = request.getParameter("InternalTaskType");
mmap.put("InternalTaskType", InternalTaskType);
return prefix + "/agvHeader";
}
@GetMapping("/lookAgvTask/{taskNo}")
public String taskDetail(@PathVariable("taskNo") String taskNo, ModelMap mmap) {
mmap.put("taskNo", taskNo);
return prefix + "/agvHeader";
}
@RequiresPermissions("task:taskHeader:agvCsView")
@GetMapping("/setPort/{taskId}")
public String setPort(@PathVariable("taskId") Integer taskId,ModelMap mmap) {
TaskHeader taskHeader=taskHeaderService.getById(taskId);
mmap.put("taskHeader", taskHeader);
String containerCode=taskHeader.getContainerCode();
List<Location> list=locationService.getLocationListByContainerCode(taskHeader.getWarehouseCode(),containerCode,taskHeader.getToLocation());
mmap.put("locationList", list);
List<Station> stationList=stationService.getStationByContainers(taskHeader.getContainerCode(),"3",taskHeader.getWarehouseCode());
mmap.put("stationList", stationList);
return prefix + "/agvSetPort";
}
@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(AgvTaskCS 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<AgvTaskCS> lambdaQueryWrapper = new LambdaQueryWrapper<>();
lambdaQueryWrapper.eq(AgvTaskCS::getWarehouseCode, ShiroUtils.getWarehouseCode())
.eq(StringUtils.isNotNull(agvTask.getId()), AgvTaskCS::getId, agvTask.getId())
.eq(StringUtils.isNotEmpty(agvTask.getContainerCode()), AgvTaskCS::getContainerCode, agvTask.getContainerCode())
.eq(StringUtils.isNotNull(agvTask.getTaskHeaderId()), AgvTaskCS::getTaskHeaderId, agvTask.getTaskHeaderId())
.eq(StringUtils.isNotEmpty(agvTask.getFromPort()), AgvTaskCS::getFromPort, agvTask.getFromPort())
.eq(StringUtils.isNotEmpty(agvTask.getToPort()), AgvTaskCS::getToPort, agvTask.getToPort())
.eq(StringUtils.isNotNull(agvTask.getPriority()), AgvTaskCS::getPriority, agvTask.getPriority())
.eq(StringUtils.isNotEmpty(agvTask.getCarNo()), AgvTaskCS::getCarNo, agvTask.getCarNo())
.eq(StringUtils.isNotNull(agvTask.getStatus()), AgvTaskCS::getStatus, agvTask.getStatus())
.ge(StringUtils.isNotEmpty(createdBegin), AgvTaskCS::getCreatedTime, createdBegin)
.le(StringUtils.isNotEmpty(createdEnd), AgvTaskCS::getCreatedTime, createdEnd)
.le(StringUtils.isNotEmpty(taskComplete), AgvTaskCS::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<AgvTaskCS> page = new Page<>(pageNum, pageSize);
IPage<AgvTaskCS> iPage = agvTaskService.page(page, lambdaQueryWrapper);
List<AgvTaskCS> iPages = iPage.getRecords();
return getMpDataTable(iPages, iPage.getTotal());
} else {
List<AgvTaskCS> 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() {
AgvTaskCS agvTask = new AgvTaskCS();
agvTask.setFromPort(sourceLocation);
agvTask.setToPort(destinationLocation);
agvTask.setContainerCode(containerCode);
agvTask.setWarehouseCode("CS0001");
return agvTaskService.createAGVTask(agvTask);
}
});
return ajaxResult;
}
@RequiresPermissions("task:agvtask:createAGVTaskJLK")
@GetMapping("/createAGVTaskJLK")
public String createAGVTaskJLK() {
return prefix + "/agvCreateJLK";
}
@RequiresPermissions("task:agvtask:createAGVTaskJLK")
@ApiOperation(value = "AGV创建任务", httpMethod = "POST")
@PostMapping("/createAGVTaskJLK")
@ResponseBody
public AjaxResult createAGVTaskJLK( String sourceLocation, String destinationLocation, String containerCode) {
AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AgvTaskCS agvTask = new AgvTaskCS();
agvTask.setFromPort(sourceLocation);
agvTask.setToPort(destinationLocation);
agvTask.setContainerCode(containerCode);
return agvTaskService.createAGVTaskJLK(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<AgvTaskCS> ajaxResult = agvTaskService.sendTaskToAGV(Convert.toIntArray(taskId),false);
return ajaxResult;
}
@GetMapping("/editagv/{id}")
public String edit(@PathVariable("id") Integer id, ModelMap mmap) {
AgvTaskCS 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(AgvTaskCS agvTask) {
AgvTaskCS 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");
// }
AgvTaskCS one = agvTaskService.getOne(new LambdaQueryWrapper<AgvTaskCS>().eq(AgvTaskCS::getToPort, agvTask.getToPort()).lt(AgvTaskCS::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) {
AgvTaskCS 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(StringUtils.isNotNull(agvTask.getPreTaskNo())){
AgvTaskCS agvTaskPre = agvTaskService.getById(agvTask.getPreTaskNo());
if(agvTaskPre!=null){
return AjaxResult.error("AGV前置任务还存在，不能删除");
}
}
if (agvTask.getStatus().intValue() == QuantityConstant.TASK_STATUS_COMPLETED) {
return AjaxResult.error("任务已经完成");
}
//判断任务id不为空，则将taskheader表状态改成10
if(StringUtils.isNotNull(agvTask.getTaskHeaderId())){
TaskHeader taskHeader = taskHeaderService.getById(agvTask.getTaskHeaderId());
if(taskHeader!=null){
if(taskHeader.getStatus().intValue()<QuantityConstant.TASK_STATUS_COMPLETED){
TaskHeader taskHeader1 = new TaskHeader();
taskHeader1.setId(taskHeader.getId());
taskHeader1.setStatus(10);
taskHeaderService.updateById(taskHeader1);
}
}
}
//将agvtask任务删除
agvTaskService.removeById(id);
// 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 AjaxResult.success("取消成功");
// 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 AcsStatus acsStatus) {
if(acsStatus == null) {
return AjaxResult.error("入库组盘信息为空");
}
String taskNo = acsStatus.getTaskNo();
String carNo = acsStatus.getCarNo();
int status = acsStatus.getStatus();
String updateBy = acsStatus.getUpdateBy();
updateBy = "acs";
if(StringUtils.isEmpty(taskNo) ) {
return AjaxResult.error("更新AGV状态,任务号为空");
}
/*if(StringUtils.isEmpty(carNo)) {
return AjaxResult.error("更新AGV状态,车辆编号为空");
}*/
if(StringUtils.isEmpty(acsStatus.getWarehouseCode())){
// return AjaxResult.error("更新AGV状态,仓库为空");
}
if(status == 0) {
return AjaxResult.error("更新AGV状态,状态信息为空");
}
if(StringUtils.isEmpty(updateBy)) {
return AjaxResult.error("更新AGV状态,更新者信息为空");
}
String finalUpdateBy = updateBy;
AjaxResult ajaxResult = handleMultiProcessV1("notifyAGVTask",new BaseController.MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AjaxResult ajaxResult = acsCSService.notifyAGVTask(taskNo, carNo, status, finalUpdateBy);
return ajaxResult;
}
});
return ajaxResult;
}
@Log(title = "任务-任务管理", operating = "AGV任务完成", action = BusinessType.UPDATE)
@PostMapping("/completeTaskByWMS")
@ResponseBody
@ApiLogger(apiName = "AGV任务完成", from = "WMSS")
public AjaxResult completeTaskByWMS(String taskId) {
AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
Map map=new HashMap();
map.put("taskNo",taskId);
map.put("status","100");
AjaxResult ajaxResult = acsCSService.notifyAGVTask(taskId, "", 100, "qq");
return ajaxResult;
}
});
return ajaxResult;
}
@PostMapping("/weightAndHeightByContainer")
@ApiOperation("agv请求库位")
@ResponseBody
@ApiLogger(apiName = "agv请求库位", from="acs")
public AjaxResult weightAndHeightByContainer(@RequestBody AcsWeightHeight acsWeightHeight) {
AjaxResult ajaxResult = handleMultiProcessV1("weightAndHeightByContainer",new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AjaxResult ajaxResult = acsCSService.weightAndHeightByContainer(acsWeightHeight);
return ajaxResult;
}
});
return ajaxResult;
}
@ApiOperation(value = "AGV设置站台库位", httpMethod = "POST")
@PostMapping("/setAgvPort")
@ResponseBody
public AjaxResult setAgvPort(TaskHeader taskHeader) {
AjaxResult ajaxResult = handleMultiProcessV1("setAgvPort",new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
return agvTaskService.setAgvPort(taskHeader);
}
});
return ajaxResult;
}
@Log(title = "任务-任务管理", operating = "下发AGV任务", action = BusinessType.UPDATE)
@PostMapping("/executeByContainerCode")
@ResponseBody
public AjaxResult executeByContainerCode(@RequestBody AcsWeightHeight acsWeightHeight) {
if (StringUtils.isNull(acsWeightHeight)) {
return AjaxResult.error("数据不能为空");
}
String containerCode=acsWeightHeight.getContainerCode();
if (StringUtils.isEmpty(containerCode)) {
return AjaxResult.error("容器号不能为空");
}
AjaxResult ajaxResult = handleMultiProcessV1("executeByContainerCode",new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
return agvTaskService.excuteAgvContainer(containerCode);
}
});
return ajaxResult;
}
}