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src/main/java/com/huaheng/api/acs/service/AcsServiceImpl.java 26.3 KB
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acs接口和货架
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package com.huaheng.api.acs.service;
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import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
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import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
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import com.huaheng.api.acs.domain.AgvTask;
import com.huaheng.api.acs.domain.StateInfoUploadModel;
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import com.huaheng.api.acs.mapper.AcsMapper;
import com.huaheng.common.constant.HttpConstant;
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;
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import com.huaheng.framework.web.domain.AjaxResult;
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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.PointPositionService;
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import com.huaheng.pc.inventory.inventoryHeader.domain.InventoryHeader;
import com.huaheng.pc.inventory.inventoryHeader.service.InventoryHeaderService;
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import com.huaheng.pc.task.taskHeader.domain.TaskHeader;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
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import java.util.*;
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/**
 * @ClassName AcsServiceImpl
 * @Description TODO
 * @Author Administrator
 * @Date 2019/12/2615:38
 */
@Service
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public class AcsServiceImpl extends ServiceImpl<AcsMapper,AgvTask> implements AcsService {
//    public static final  int STATUS_TASK_CARRY=100; 搬运任务
//    public static final  int STATUS_TASK_WALK=200;  行走任务
//    public static final  int STATUS_TASK_PICKUP=300;取货任务
//    public static final  int STATUS_TASK_Release=400;放货任务
//    public static final  String STATUS_POSITION_EMPTY="empty";
//    public static final  String STATUS_POSITION_SOME="some";
//    public static final  String STATUS_POSITION_FULL="full";
//    public static final  String STATUS_POSITION_LOCK="lock";
    @Resource
    private ConfigService configService;
    @Resource
    private AddressService addressService;
    @Resource
    private PointPositionService pointPositionService;
    @Resource
    private TaskHeaderService taskHeaderService;
    @Resource
    private ContainerService containerService;
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    @Resource
    private InventoryHeaderService inventoryHeaderService;
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    //AGV信息上传
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    @Override
    public AjaxResult StateInfoUpload(StateInfoUploadModel model) {
        return null;
    }
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    //AGV信息回传
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    @Override
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    @Transactional(rollbackFor = Exception.class)
    public AjaxResult TaskConfirm(AgvTask agvTask) { return null;}

    @Override
    @Transactional(rollbackFor = Exception.class)
    public AjaxResult createAGVTask(AgvTask agvTask) {

        //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);
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        //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);
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        agvTask.setStatus(QuantityConstant.TASK_STATUS_BUILD);
        agvTask.setCreatedBy(ShiroUtils.getLoginName());
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        agvTask.setTaskType(QuantityConstant.STATUS_TASK_CARRY);
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        agvTask.setCreatedTime(new Date());
        agvTask.setUpdated(new Date());
        agvTask.setUpdatedBy(ShiroUtils.getLoginName());
        if (save(agvTask)) {
            pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_LOCK, agvTask.getWarehouseCode());
            pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_LOCK, agvTask.getWarehouseCode());
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            containerService.updateStatus(agvTask.getContainerCode(),QuantityConstant.STATUS_CONTAINER_LOCK,agvTask.getWarehouseCode());
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        } else {
            throw new ServiceException("AGV创建任务失败");
        }
        return AjaxResult.success("执行生成任务成功", agvTask);
    }

    @Override
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    @Transactional
    public AjaxResult createAGVTask2(TaskHeader taskHeader) {
        try {
            if(taskHeader.getTaskType().equals(QuantityConstant.TASK_TYPE_WHOLESHIPMENT)){
                AgvTask agvTask=new AgvTask();
                agvTask.setTaskType(QuantityConstant.STATUS_TASK_CARRY);
                agvTask.setContainerCode(taskHeader.getContainerCode());
                agvTask.setFromPort(taskHeader.getPort());
                agvTask.setToPort("");
                agvTask.setWarehouseCode(taskHeader.getWarehouseCode());
                agvTask.setStatus(QuantityConstant.TASK_STATUS_BUILD);
                agvTask.setCreatedBy(taskHeader.getCreatedBy());
                agvTask.setCreatedTime(new Date());
                if (save(agvTask)) {
                    pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_LOCK, agvTask.getWarehouseCode());
                    containerService.updateStatus(agvTask.getContainerCode(),QuantityConstant.STATUS_CONTAINER_LOCK,agvTask.getWarehouseCode());
                }
            }
        }catch (Exception e) {
            taskHeader.setUserDef3("新增AGV任务失败了");
            taskHeaderService.updateById(taskHeader);
        }
        return null;
    }


    @Override
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    @Transactional(rollbackFor = Exception.class)
    public AjaxResult sendTaskToAGV(Integer[] AgvTaskIds) {
        AgvTask task = null;
        for (Integer taskId : AgvTaskIds) {
            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");
            }
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            if(StringUtils.isEmpty(task.getToPort())){
                return AjaxResult.error("任务没有目标点位，不允许下发");
            }
            LambdaQueryWrapper<AgvTask> agvTaskLambdaQueryWrapper=Wrappers.lambdaQuery();
            agvTaskLambdaQueryWrapper.eq(AgvTask::getToPort,task.getToPort())
                    .eq(AgvTask::getWarehouseCode,task.getWarehouseCode())
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                    .ge(AgvTask::getStatus,QuantityConstant.TASK_STATUS_RELEASE)
                    .lt(AgvTask::getStatus,QuantityConstant.TASK_STATUS_COMPLETED);
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            List<AgvTask> 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");
            }
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            // 给AGV传递任务
            AjaxResult ajaxResult = agvTaskAssign(task);
            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);
        }
        return AjaxResult.success("执行下发任务成功", task);
    }

    @Override
    @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
        agvTask.setTaskNo(String.valueOf(agvTask.getId()));
        //4、发送数据
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        return  sendDataToAgv(agvTask.getId(),warehouseCode,"1",agvTask);
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    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();
            switch (taskType) {
                case QuantityConstant.STATUS_TASK_CARRY:
                case QuantityConstant.STATUS_TASK_WALK:
                    break;
                case QuantityConstant.STATUS_TASK_PICKUP:
                case QuantityConstant.STATUS_TASK_RELEASE:
                    break;
                default:
                    break;
            }
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            cancelPositionStatus(agvTask);
            cancelContainerStatus(agvTask);
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        }
        return AjaxResult.success("取消任务成功！");
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    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");
        List<Integer> list=new ArrayList<>();
        list.add(id);
        //2、发送数据
        return sendDataToAgv(id,warehouseCode,area,list);
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    public AjaxResult updateAGVTask(String agvTaskId, Integer priority) {
        if(StringUtils.isEmpty(agvTaskId)) throw new ServiceException("任务号为空");
        AgvTask agvTask = getById(Integer.parseInt(agvTaskId));
        agvTask.setPriority(priority);
        agvTask.setUpdated(new Date());
        agvTask.setUpdatedBy(ShiroUtils.getLoginName());
        if(!updateById(agvTask))throw new ServiceException("更新优先级失败");
        return AjaxResult.success();
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    public AjaxResult updateTask(Integer id, String warehouseCode, Integer priority) {
        if(id == null) throw new ServiceException("任务号为空");

        AgvTask agvTask=new AgvTask();
        agvTask.setTaskNo(String.valueOf(id));
        agvTask.setPriority(priority);
        return sendDataToAgv(id,warehouseCode,"1",agvTask);
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    public AjaxResult notifyAGVPort(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("oldPort");
        Object o4=map.get("newPort");
        if(StringUtils.isNull(o1)) return AjaxResult.error("任务号为空");
        if(StringUtils.isNull(o2)) return AjaxResult.error("小车编号为空");
        if(StringUtils.isNull(o3)) return AjaxResult.error("起点为空");
        if(StringUtils.isNull(o4)) return AjaxResult.error("终点为空");
        Integer taskNo=Integer.valueOf(o1.toString());
        String carNo=o2.toString();
        String fromPort=o3.toString();
        String toPort=o4.toString();
        agvTask.setId(taskNo);
        agvTask.setCarNo(carNo);
        agvTask.setFromPort(fromPort);
        agvTask.setToPort(toPort);
        AjaxResult ajaxResult = checkPointPositionExist(agvTask);
        if(ajaxResult.hasErr()) return ajaxResult;
        if(!updateById(agvTask)){ throw new ServiceException("更新失败"); };
        return ajaxResult;
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    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");
        if(StringUtils.isNull(o2)) return AjaxResult.error("小车编号为空");
        if(StringUtils.isNull(o3)) return AjaxResult.error("任务状态为空");
        Integer taskNo=Integer.valueOf(o1.toString());
        String carNo=o2.toString();
        String status=o3.toString();
        agvTask.setId(taskNo);
        agvTask.setCarNo(carNo);
        agvTask.setStatus(Integer.parseInt(status));
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        AgvTask task = getById(taskNo);
        if(task==null)return AjaxResult.error("任务号"+taskNo+"不存在");
        if(task.getStatus().equals(QuantityConstant.TASK_STATUS_COMPLETED))return AjaxResult.error("任务"+taskNo+"已经完成");
        if(agvTask.getStatus().equals(QuantityConstant.TASK_STATUS_RUNNING)){
            pointPositionService.updateStatus(task.getFromPort(),QuantityConstant.STATUS_POSITION_EMPTY,task.getWarehouseCode());
            pointPositionService.setContainerCode(task.getFromPort(),null,task.getWarehouseCode());
            updateById(agvTask);
        }
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        if(agvTask.getStatus().equals(QuantityConstant.TASK_STATUS_COMPLETED)){
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            pointPositionService.updateStatus(task.getFromPort(),QuantityConstant.STATUS_POSITION_EMPTY,task.getWarehouseCode());
            pointPositionService.updateStatus(task.getToPort(),QuantityConstant.STATUS_POSITION_SOME,task.getWarehouseCode());
            pointPositionService.setContainerCode(task.getFromPort(),null,task.getWarehouseCode());
            pointPositionService.setContainerCode(task.getToPort(),task.getContainerCode(),task.getWarehouseCode());
            containerService.updateLocationCodeAndStatus(task.getContainerCode(),task.getToPort(),QuantityConstant.STATUS_CONTAINER_EMPTY,task.getWarehouseCode());
            updateById(agvTask);
            cancelContainerStatus(task);
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        }
        if(!updateById(agvTask)){ throw new ServiceException("更新失败"); };
        return AjaxResult.success();
    }
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    @Override
    @Transactional(rollbackFor = Exception.class)
    public AjaxResult completeTaskByWMS(String taskId) {
        if(StringUtils.isEmpty(taskId)){
            return AjaxResult.error("任务id为空");
        }
        AgvTask agvTask = getById(taskId);
        if (agvTask.getStatus() == QuantityConstant.TASK_STATUS_BUILD) {
            return AjaxResult.error("任务" + taskId + "未下发，请不要直接完成");
        }
        //更新点位和托盘信息
        if(StringUtils.isNotEmpty(agvTask.getFromPort())){
            PointPosition sourcePosition = pointPositionService.getPositionByCode(agvTask.getFromPort(), agvTask.getWarehouseCode());
            if(StringUtils.isNull(sourcePosition)){
                return AjaxResult.error("源点位未找到");
            }
            pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY,agvTask.getWarehouseCode());
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            pointPositionService.setContainerCode(agvTask.getFromPort(),null,agvTask.getWarehouseCode());
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        }
        if(StringUtils.isNotEmpty(agvTask.getToPort())){
            PointPosition desPosition = pointPositionService.getPositionByCode(agvTask.getToPort(), agvTask.getWarehouseCode());
            if(StringUtils.isNull(desPosition)){
                return AjaxResult.error("目标点位未找到");
            }
            pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_SOME,agvTask.getWarehouseCode());
            pointPositionService.setContainerCode(agvTask.getToPort(),agvTask.getContainerCode(),agvTask.getWarehouseCode());
            containerService.updateLocationCodeAndStatus(agvTask.getContainerCode(),agvTask.getToPort(),QuantityConstant.STATUS_CONTAINER_EMPTY,agvTask.getWarehouseCode());
        }
        //更新agv任务状态
        agvTask.setStatus(QuantityConstant.TASK_STATUS_COMPLETED);
        agvTask.setUpdated(new Date());
        agvTask.setUpdatedBy(ShiroUtils.getLoginName());
        if(!updateById(agvTask))throw new ServiceException("完成任务失败");
        return AjaxResult.success();
    }
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    //将参数传输给AGV
    private AjaxResult sendDataToAgv(Integer id,String warehouseCode,String area,Object object){
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        String value = configService.getKey(QuantityConstant.RULE_CONNECT_AGV);
        int connectAGV = Integer.parseInt(value);
        AjaxResult ajaxResult =new AjaxResult();
        if (connectAGV == QuantityConstant.RULE_AGV_CONNECT) {
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            String url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_ASSIGN, warehouseCode, area);
            String JsonParam = JSON.toJSONString(object);
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            System.out.println(JsonParam);
            String result = HttpUtils.bodypost(url, JsonParam, warehouseCode);
            if (StringUtils.isEmpty(result)) {
                throw new ServiceException("接口地址错误或返回为空");
            }
            ajaxResult = JSON.parseObject(result, AjaxResult.class);
            if (ajaxResult.getCode() != HttpConstant.OK) {
                return AjaxResult.error(ajaxResult.getMsg());
            }
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            return ajaxResult;
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        }
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        return AjaxResult.success("下发成功");
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    }

    //检查托盘和点位是否存在未完成的任务
    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())
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                .lt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_COMPLETED));
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        if (StringUtils.isNotNull(containerLKTaskStatus)||StringUtils.isNotNull(containerAgvTaskStatus)) {
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            throw  new ServiceException("托盘"+agvTask.getContainerCode()+"存在未完成的任务");
        }

        Container containerStatus = containerService.getContainerByCode(agvTask.getContainerCode());
        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");
        }

        PointPosition pointPosition = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>()
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                .eq(PointPosition::getContainerCode, agvTask.getContainerCode())
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                .eq(PointPosition::getStatus, QuantityConstant.STATUS_CONTAINER_LOCK));
        if (pointPosition != null) {
            throw  new ServiceException("点位"+pointPosition.getPositionName()+"已锁定，托盘在此位置不能生成任务");
        }
    }
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    //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");
        }
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//        if (StringUtils.isNull(agvTask.getTaskType())) {
//            throw new ServiceException("任务类型无");
//        }
//        int taskType = agvTask.getTaskType().intValue();
        int taskType=100;
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        PointPosition sourcePosition = pointPositionService.getPositionByCode(agvTask.getFromPort(), agvTask.getWarehouseCode());
        PointPosition desPosition = pointPositionService.getPositionByCode(agvTask.getToPort(), agvTask.getWarehouseCode());
        if (taskType == QuantityConstant.STATUS_TASK_CARRY || taskType == QuantityConstant.STATUS_TASK_WALK
                || taskType == QuantityConstant.STATUS_TASK_PICKUP) {
            if (StringUtils.isEmpty(agvTask.getFromPort())) {
                throw  new ServiceException("源点位为空");
            }
            if (StringUtils.isNull(sourcePosition)) {
                throw new ServiceException("源点位：" + sourcePosition + "未找到");
            }
            if(sourcePosition.getStatus().equals(QuantityConstant.STATUS_POSITION_LOCK)){
                throw new ServiceException("源点位：" + sourcePosition + "禁用");
            }
        }
        if (taskType == QuantityConstant.STATUS_TASK_CARRY || taskType == QuantityConstant.STATUS_TASK_WALK
                || taskType == QuantityConstant.STATUS_TASK_RELEASE) {
            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 + "未找到");
            }
            if(desPosition.getStatus().equals(QuantityConstant.STATUS_POSITION_LOCK)){
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                throw new ServiceException("目标点位：" + desPosition + "禁用");
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            }
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            if(StringUtils.isNotEmpty(desPosition.getContainerCode())){
                throw new ServiceException("目标点位：" + desPosition + "存在托盘:"+desPosition.getContainerCode());
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            }
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            if (QuantityConstant.STATUS_CONTAINER_FULL.equals(desPosition.getStatus())) {
                throw new ServiceException("目标点位：" + desPosition + "已满");
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            }
        }
    }
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    //更新点位状态
    private void cancelPositionStatus(AgvTask agvTask) {
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        if (agvTask.getFromPort() != null) {
            //更新点位状态
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            PointPosition pointPosition = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>().eq(PointPosition::getPositionName, agvTask.getFromPort()));
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            if(pointPosition!=null&&StringUtils.isNotEmpty(pointPosition.getContainerCode())){
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                pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_SOME,agvTask.getWarehouseCode());
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            } else {
                pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY,agvTask.getWarehouseCode());
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            }
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        }
        if (agvTask.getToPort() != null) {
            //更新点位状态
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            PointPosition pointPosition = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>().eq(PointPosition::getPositionName, agvTask.getToPort()));
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            if(pointPosition!=null&&StringUtils.isNotEmpty(pointPosition.getContainerCode())){
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                pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_SOME,agvTask.getWarehouseCode());
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            } else {
                pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_EMPTY,agvTask.getWarehouseCode());
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            }
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        }
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    }
    //更新容器状态
    private void cancelContainerStatus(AgvTask agvTask){
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        LambdaQueryWrapper<InventoryHeader> inventoryHeaderLambdaQueryWrapper = Wrappers.lambdaQuery();
        inventoryHeaderLambdaQueryWrapper.eq(InventoryHeader::getContainerCode, agvTask.getContainerCode());
        InventoryHeader inventoryHeader = inventoryHeaderService.getOne(inventoryHeaderLambdaQueryWrapper);
        Container container = new Container();
        container.setStatus(QuantityConstant.STATUS_CONTAINER_EMPTY);
        if (inventoryHeader != null) {
            if (QuantityConstant.STATUS_CONTAINER_SOME.equals(inventoryHeader.getContainerStatus())) {
                container.setStatus(QuantityConstant.STATUS_CONTAINER_SOME);
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            }
        }
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        LambdaUpdateWrapper<Container> containerUpdateWrapper = Wrappers.lambdaUpdate();
        containerUpdateWrapper.eq(Container::getCode, agvTask.getContainerCode());
        containerService.update(container, containerUpdateWrapper);
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    }
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    //检查点位是否存在
    private AjaxResult checkPointPositionExist(AgvTask agvTask){
        PointPosition sourcePosition = pointPositionService.getPositionByCode(agvTask.getFromPort(), "CS0001");
        PointPosition desPosition = pointPositionService.getPositionByCode(agvTask.getToPort(), "CS0001");
        if (StringUtils.isNull(sourcePosition)) {
            return AjaxResult.error("源点位：" + sourcePosition + "未找到");
        }
        if (StringUtils.isNull(desPosition)) {
            return AjaxResult.error("目标点位：" + desPosition + "未找到");
        }
        /*if(desPosition.getStatus().equals(QuantityConstant.STATUS_POSITION_LOCK)){
            return AjaxResult.error("目标点位：" + sourcePosition + "禁用");
        }
        if (QuantityConstant.STATUS_CONTAINER_FULL.equals(desPosition.getStatus())) {
            return AjaxResult.error("目标点位：" + desPosition + "已满");
        }*/
        return AjaxResult.success();
    }
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    //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
    private void  checkContainerAndPositionLove(AgvTask agvTask){
        PointPosition pointPosition = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>().eq(PointPosition::getPositionName, agvTask.getFromPort()));
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        if(pointPosition!=null&&StringUtils.isNotEmpty(pointPosition.getContainerCode())){
            if(!agvTask.getContainerCode().equals(pointPosition.getContainerCode())){
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                throw  new ServiceException("源点位上托盘数据和分配的托盘不一致，请核对");
            }
        }

    }
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}