wms / wms_guangzhouwanbao · Files

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.AgvTask;
import com.huaheng.api.acs.service.AcsService;

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.pointPosition.domain.PointPosition;
import com.huaheng.pc.config.pointPosition.service.PointPositionService;

import com.huaheng.pc.task.taskHeader.domain.TaskHeader;

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.List;

import java.util.Map;

/**
 * @author dell
 */

@Controller("AgvTaskController1")

@RequestMapping("/agv")

public class AgvTaskController extends BaseController {

    private String prefix="task/taskHeader";

    @Resource
    private AcsService acsService;

    @Resource
    private ContainerService containerService;
    @Resource
    private ContainerTypeService containerTypeService;

    @Resource
    private PointPositionService pointPositionService;

    @RequiresPermissions("task:taskHeader:view")
    @GetMapping()
    public String taskHeader(HttpServletRequest request, ModelMap mmap) {
        String InternalTaskType= request.getParameter("InternalTaskType");
        mmap.put("InternalTaskType",InternalTaskType);
        return prefix + "/agvHeader";
    }

    @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(AgvTask 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<AgvTask> lambdaQueryWrapper = Wrappers.lambdaQuery();
        lambdaQueryWrapper.eq(AgvTask::getWarehouseCode,ShiroUtils.getWarehouseCode())
                .eq(StringUtils.isNotNull(agvTask.getId()),AgvTask::getId,agvTask.getId())
                .eq(StringUtils.isNotEmpty(agvTask.getContainerCode()),AgvTask::getContainerCode,agvTask.getContainerCode())
                .eq(StringUtils.isNotEmpty(agvTask.getFromPort()),AgvTask::getFromPort,agvTask.getFromPort())
                .eq(StringUtils.isNotEmpty(agvTask.getToPort()),AgvTask::getToPort,agvTask.getToPort())
                .eq(StringUtils.isNotNull(agvTask.getPriority()),AgvTask::getPriority,agvTask.getPriority())

                .eq(StringUtils.isNotEmpty(agvTask.getCarNo()),AgvTask::getCarNo,agvTask.getCarNo())

                .ge(StringUtils.isNotEmpty(createdBegin),AgvTask::getCreatedTime,createdBegin)
                .le(StringUtils.isNotEmpty(createdEnd),AgvTask::getCreatedTime,createdEnd)
                .le(StringUtils.isNotEmpty(taskComplete),AgvTask::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<AgvTask> page = new Page<>(pageNum, pageSize);
            IPage<AgvTask> iPage = acsService.page(page, lambdaQueryWrapper);
            List<AgvTask> iPages = iPage.getRecords();
            return getMpDataTable(iPages, iPage.getTotal());
        } else {
            List<AgvTask> list = acsService.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) {

        AgvTask agvTask=new AgvTask();
        agvTask.setFromPort(sourceLocation);
        agvTask.setToPort(destinationLocation);
        agvTask.setContainerCode(containerCode);

//        agvTask.setPriority(Integer.valueOf(priority));

        agvTask.setWarehouseCode("CS0001");

        return acsService.createAGVTask(agvTask);
    }

    @ApiOperation(value = "AGV叫空托", httpMethod = "POST")
    @PostMapping("/getEmptyContainer")
    @ResponseBody
    public AjaxResult getEmptyContainer (String destinationLocation,String type) {
        return acsService.getEmptyContainer(destinationLocation,type);
    }

    @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<AgvTask> ajaxResult = acsService.sendTaskToAGV(Convert.toIntArray(taskId));
        return ajaxResult;
    }

    @GetMapping( "/editagv/{id}")
    public String edit(@PathVariable("id") Integer id, ModelMap mmap){
        AgvTask agvTask = acsService.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(AgvTask agvTask) {
        AgvTask agvTaskResult = acsService.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");

        }
        AgvTask one = acsService.getOne(new LambdaQueryWrapper<AgvTask>().eq(AgvTask::getToPort, agvTask.getToPort()).lt(AgvTask::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(acsService.updateById(agvTask));
    }

    @Log(title = "任务-任务管理", operating = "取消AGV任务", action = BusinessType.DELETE)
    @PostMapping( "/cancelAGVTask")
    @ResponseBody

    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) {
            AgvTask agvTask = acsService.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");
            }

            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 = acsService.cancelTask(id,
                    agvTask.getWarehouseCode(), containerType.getArea());
            if (ajaxResult.hasErr()) {
                return ajaxResult;
            }
        }

        return acsService.cancelAGVTask(Convert.toIntArray(ids));

    }

    @Log(title = "任务-任务管理", operating = "下发AGV任务", action = BusinessType.DELETE)
    @PostMapping( "/updateAGVTask")
    @ResponseBody
    public AjaxResult updateAGVTask(String taskId,Integer priority)
    {
        if (StringUtils.isEmpty(taskId)) {
        return AjaxResult.error("taskId不能为空");
        }
        Integer id = Integer.valueOf(taskId);
        AgvTask agvTask = acsService.getById(id);
        if(agvTask.getStatus().intValue()  > QuantityConstant.TASK_STATUS_BUILD) {
            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 = acsService.updateTask(id, agvTask.getWarehouseCode(), priority);
            if (ajaxResult.hasErr()) {
                return ajaxResult;
            }
        }
        return acsService.updateAGVTask(taskId,priority);

    }

    @Log(title = "任务-任务管理", operating = "更新AGV点位信息", action = BusinessType.UPDATE)
    @PostMapping( "/notifyAGVPort")
    @ResponseBody
    public AjaxResult notifyAGVPort(@RequestBody Map map)
    {
       AjaxResult ajaxResult=acsService.notifyAGVPort(map);
       return ajaxResult;
    }

    @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 Map map)
    {
        AjaxResult ajaxResult=acsService.notifyAGVTask(map);
        return ajaxResult;
    }

    @Log(title = "任务-任务管理", operating = "AGV完成任务", action = BusinessType.UPDATE)
    @PostMapping( "/completeTaskByWMS")
    @ResponseBody
    public AjaxResult completeTaskByWMS(String taskId)
    {
        AjaxResult ajaxResult=acsService.completeTaskByWMS(taskId);
        return ajaxResult;
    }

}