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.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.agv.domain.AgvPort;
import com.huaheng.pc.agv.domain.AgvTaskDetail;
import com.huaheng.pc.agv.service.IAgvTaskDetailService;
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;
@Resource
private IAgvTaskDetailService agvTaskDetailService;
@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:view")
@GetMapping("/detail")
public String taskDetail(HttpServletRequest request, ModelMap mmap) {
String agvTaskId = request.getParameter("agvTaskId");
mmap.put("agvTask", acsService.getById(agvTaskId));
return prefix + "/agvDetail";
}
@RequiresPermissions("task:taskHeader:view")
@PostMapping("/detail/list")
@ResponseBody
public AjaxResult listTaskDetail(int agvTaskId) {
List<AgvTaskDetail> list = agvTaskDetailService.getListByAgvTaskId(agvTaskId);
return AjaxResult.success(list);
}
@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,
@ApiParam(name = "createdBegin2", value = "起止时间") String createdBegin2, @ApiParam(name = "createdEnd2", value = "结束时间") String createdEnd2) {
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)
.ge(StringUtils.isNotEmpty(createdBegin2), AgvTask::getCompleteTime, createdBegin2)
.le(StringUtils.isNotEmpty(createdEnd2), AgvTask::getCompleteTime, createdEnd2)
.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
@ApiLogger(from = "平板", apiName = "平板创建agv任务")
public AjaxResult createAGVTask(String priority, String sourceLocation, String destinationLocation, String containerCode, String taskType) {
AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AgvTask agvTask = new AgvTask();
agvTask.setFromPort(sourceLocation);
agvTask.setToPort(destinationLocation);
agvTask.setContainerCode(containerCode);
agvTask.setWarehouseCode("CS0001");
return acsService.createAGVTask(agvTask);
}
});
return ajaxResult;
}
@ApiOperation(value = "AGV创建任务-电脑", httpMethod = "POST")
@PostMapping("/createAGVTask2")
@ResponseBody
@ApiLogger(from = "平板", apiName = "创建agv任务-电脑")
public AjaxResult createAGVTask2(String sourceLocation, String destinationLocation, String containerCode, String preTaskNo) {
AgvTask agvTask = new AgvTask();
agvTask.setFromPort(sourceLocation);
agvTask.setToPort(destinationLocation);
agvTask.setContainerCode(containerCode);
agvTask.setPreTaskNo(preTaskNo);
agvTask.setWarehouseCode("CS0001");
return acsService.createAGVTask2(agvTask);
}
@ApiOperation(value = "AGV叫空托", httpMethod = "POST")
@PostMapping("/getEmptyContainer")
@ResponseBody
public AjaxResult getEmptyContainer(String destinationLocation, String type) {
return acsService.getEmptyContainer(destinationLocation, type);
}
@ApiOperation(value = "AGV空托叫回", httpMethod = "POST")
@PostMapping("/emptyContainer")
@ResponseBody
@ApiLogger(apiName = "MES空托叫回")
public AjaxResult emptyContainer(@RequestBody AgvTask agvTask) {
if (StringUtils.isEmpty(agvTask.getFromPort())) {
return AjaxResult.error("起始点位为空");
}
if (StringUtils.isEmpty(agvTask.getContainerCode())) {
return AjaxResult.error("托盘为空");
}
agvTask.setPlatform("MES");
return acsService.emptyContainer(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;
}
@Log(title = "回传MES异常", operating = "回传MES异常", action = BusinessType.UPDATE)
@PostMapping("/huichuan")
@ResponseBody
public AjaxResult huichuan(String taskId) throws Exception {
if (StringUtils.isEmpty(taskId)) {
return AjaxResult.error("taskId不能为空");
}
AjaxResult<AgvTask> ajaxResult = acsService.huichuanMesError(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
@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) {
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");
// }
if (agvTask.getStatus().intValue() == QuantityConstant.TASK_STATUS_COMPLETED) {
return AjaxResult.error("任务已经完成");
}
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 = handleMultiProcess(new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AjaxResult ajaxResult = acsService.notifyAGVTask(map);
return ajaxResult;
}
});
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;
}
}