AcsServiceImpl.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.Wrappers;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.huaheng.api.acs.domain.AgvTask;
import com.huaheng.api.acs.domain.StateInfoUploadModel;
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;
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.config.pointPosition.domain.PointPosition;
import com.huaheng.pc.config.pointPosition.service.PointPositionService;
import com.huaheng.pc.inventory.inventoryHeader.domain.InventoryHeader;
import com.huaheng.pc.inventory.inventoryHeader.service.InventoryHeaderService;
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.*;
/**
* @ClassName AcsServiceImpl
* @Description TODO
* @Author Administrator
* @Date 2019/12/2615:38
*/
@Service
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;
@Resource
private InventoryHeaderService inventoryHeaderService;
//AGV信息上传
@Override
public AjaxResult StateInfoUpload(StateInfoUploadModel model) {
return null;
}
//AGV信息回传
@Override
@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);
//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());
if (save(agvTask)) {
pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_LOCK, agvTask.getWarehouseCode());
pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_LOCK, agvTask.getWarehouseCode());
containerService.updateStatus(agvTask.getContainerCode(),QuantityConstant.STATUS_CONTAINER_LOCK,agvTask.getWarehouseCode());
} else {
throw new ServiceException("AGV创建任务失败");
}
return AjaxResult.success("执行生成任务成功", agvTask);
}
@Override
@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
@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");
}
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())
.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){
return AjaxResult.error("目标点位存在任务，请更换目标点位");
}
// 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
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;
}
cancelPositionStatus(agvTask);
cancelContainerStatus(agvTask);
}
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));
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);
}
if(agvTask.getStatus().equals(QuantityConstant.TASK_STATUS_COMPLETED)){
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);
}
if(!updateById(agvTask)){ throw new ServiceException("更新失败"); };
return AjaxResult.success();
}
@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());
}
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();
}
//将参数传输给AGV
private AjaxResult sendDataToAgv(Integer id,String warehouseCode,String area,Object object){
String value = configService.getKey(QuantityConstant.RULE_CONNECT_AGV);
int connectAGV = Integer.parseInt(value);
AjaxResult ajaxResult =new AjaxResult();
if (connectAGV == QuantityConstant.RULE_AGV_CONNECT) {
String url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_ASSIGN, warehouseCode, area);
String JsonParam = JSON.toJSONString(object);
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());
}
return ajaxResult;
}
return AjaxResult.success("下发成功");
}
//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())
.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());
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>()
.eq(PointPosition::getContainerCode, agvTask.getContainerCode())
.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");
}
}
//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");
}
// if (StringUtils.isNull(agvTask.getTaskType())) {
// throw new ServiceException("任务类型无");
// }
// int taskType = agvTask.getTaskType().intValue();
int taskType=100;
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)){
throw new ServiceException("目标点位：" + desPosition + "禁用");
}
if(StringUtils.isNotEmpty(desPosition.getContainerCode())){
throw new ServiceException("目标点位：" + desPosition + "存在托盘:"+desPosition.getContainerCode());
}
if (QuantityConstant.STATUS_CONTAINER_FULL.equals(desPosition.getStatus())) {
throw new ServiceException("目标点位：" + desPosition + "已满");
}
}
}
//更新点位状态
private void cancelPositionStatus(AgvTask agvTask) {
if (agvTask.getFromPort() != null) {
//更新点位状态
PointPosition pointPosition = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>().eq(PointPosition::getPositionName, agvTask.getFromPort()));
if(pointPosition!=null&&StringUtils.isNotEmpty(pointPosition.getContainerCode())){
pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_SOME,agvTask.getWarehouseCode());
} else {
pointPositionService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY,agvTask.getWarehouseCode());
}
}
if (agvTask.getToPort() != null) {
//更新点位状态
PointPosition pointPosition = pointPositionService.getOne(new LambdaQueryWrapper<PointPosition>().eq(PointPosition::getPositionName, agvTask.getToPort()));
if(pointPosition!=null&&StringUtils.isNotEmpty(pointPosition.getContainerCode())){
pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_SOME,agvTask.getWarehouseCode());
} else {
pointPositionService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_EMPTY,agvTask.getWarehouseCode());
}
}
}
//更新容器状态
private void cancelContainerStatus(AgvTask agvTask){
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);
}
}
LambdaUpdateWrapper<Container> containerUpdateWrapper = Wrappers.lambdaUpdate();
containerUpdateWrapper.eq(Container::getCode, agvTask.getContainerCode());
containerService.update(container, containerUpdateWrapper);
}
//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();
}
//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()));
if(pointPosition!=null&&StringUtils.isNotEmpty(pointPosition.getContainerCode())){
if(!agvTask.getContainerCode().equals(pointPosition.getContainerCode())){
throw new ServiceException("源点位上托盘数据和分配的托盘不一致，请核对");
}
}
}
}