AgvTaskController.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.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.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;
@Controller
@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="InternalTaskType",value="类型") Integer InternalTaskType,
@ApiParam(name="createdTime",value="类型") String createdTime,@ApiParam(name="updated",value="类型") String updated
,@ApiParam(name = "taskComplete",value = "任务是否完成100-完成 1-未完成") Integer taskComplete) {
LambdaQueryWrapper<AgvTask> lambdaQueryWrapper = Wrappers.lambdaQuery();
lambdaQueryWrapper.eq(AgvTask::getWarehouseCode,ShiroUtils.getWarehouseCode())
.eq(StringUtils.isNotNull(InternalTaskType),AgvTask::getInternalTaskType,InternalTaskType)
.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())
.gt(StringUtils.isNotEmpty(createdTime),AgvTask::getCreatedTime,createdTime)
.lt(StringUtils.isNotEmpty(updated),AgvTask::getUpdated,updated)
.orderByAsc(AgvTask::getStatus);
if(StringUtils.isNotNull(taskComplete)){
if(taskComplete==100){
lambdaQueryWrapper.eq(AgvTask::getStatus,taskComplete);
}
}
if(StringUtils.isNotNull(taskComplete)){
if(taskComplete<100){
lambdaQueryWrapper.lt(AgvTask::getStatus,100);
}
}
PageDomain pageDomain = TableSupport.buildPageRequest();
Integer pageNum = pageDomain.getPageNum();
Integer pageSize = pageDomain.getPageSize();
/**
* 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);
}
@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;
}
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
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;
}
}