package com.huaheng.api.acs.service;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.CollectionUtils;
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.domain.ToAgvTask;
import com.huaheng.api.acs.mapper.AcsMapper;
import com.huaheng.api.mes.domain.AgvPortMES;
import com.huaheng.api.mes.service.MESHelper;
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.restful.RestUtil;
import com.huaheng.common.utils.security.ShiroUtils;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.framework.web.domain.RetCode;
import com.huaheng.framework.web.service.ConfigService;
import com.huaheng.pc.agv.domain.AgvInventory;
import com.huaheng.pc.agv.domain.AgvPort;
import com.huaheng.pc.agv.domain.WorkStation;
import com.huaheng.pc.agv.domain.WorkStationFlow;
import com.huaheng.pc.agv.service.IAgvInventoryService;
import com.huaheng.pc.agv.service.IAgvPortService;
import com.huaheng.pc.agv.service.IWorkStationFlowService;
import com.huaheng.pc.agv.service.IWorkStationService;
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.receipt.receiptContainerHeader.domain.ReceiptContainerHeader;
import com.huaheng.pc.receipt.receiptContainerHeader.service.ReceiptContainerHeaderService;
import com.huaheng.pc.receipt.receiptDetail.domain.ReceiptDetail;
import com.huaheng.pc.receipt.receiptDetail.service.ReceiptDetailService;
import com.huaheng.pc.receipt.receiptHeader.domain.ReceiptHeader;
import com.huaheng.pc.receipt.receiptHeader.service.ReceiptHeaderService;
import com.huaheng.pc.shipment.shipmentDetail.domain.ShipmentDetail;
import com.huaheng.pc.task.taskDetail.domain.TaskDetail;
import com.huaheng.pc.task.taskDetail.service.TaskDetailService;
import com.huaheng.pc.task.taskHeader.domain.TaskHeader;
import com.huaheng.pc.task.taskHeader.service.ReceiptTaskService;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
import org.springframework.http.ResponseEntity;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import javax.annotation.Resource;
import java.math.BigDecimal;
import java.util.*;
import java.util.stream.Collectors;
/**
* @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
public AcsService acsService;
@Resource
private ConfigService configService;
@Resource
private AddressService addressService;
@Resource
private IAgvPortService agvPortService;
@Resource
private TaskHeaderService taskHeaderService;
@Resource
private ContainerService containerService;
@Resource
private InventoryHeaderService inventoryHeaderService;
@Resource
private IAgvInventoryService iAgvInventoryService;
@Resource
private IWorkStationService iWorkStationService;
@Resource
private IWorkStationFlowService iiWorkStationFlowService;
@Resource
private IAgvInventoryService agvInventoryService;
@Resource
private TaskDetailService taskDetailService;
@Resource
private ReceiptHeaderService receiptHeaderService;
@Resource
private ReceiptContainerHeaderService receiptContainerHeaderService;
@Resource
private ReceiptTaskService receiptTaskService;
@Resource
private ReceiptDetailService receiptDetailService;
@Resource
private MESHelper mesHelper;
/**
* agv 信息上传
* @param model
* @return
*/
@Override
public AjaxResult stateInfoUpload(StateInfoUploadModel model) {
return null;
}
/**
* agv 信息回传
* @param agvTask
* @return
*/
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult taskConfirm(AgvTask agvTask) { return null;}
@Override
@Transactional(rollbackFor = Exception.class)
public AjaxResult createAGVTask(AgvTask agvTask) {
if(StringUtils.isEmpty(agvTask.getPreTaskNo())){
//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);
}
if(agvTask.getToPort().replace(" ","").toLowerCase().equals("work680")){
AjaxResult ajaxResult = checkP6001Status();
if(ajaxResult.hasErr()){
return ajaxResult;
}
}
agvTask.setStatus(QuantityConstant.TASK_STATUS_BUILD);
if(StringUtils.isNotEmpty(ShiroUtils.getLoginName())){
agvTask.setCreatedBy(ShiroUtils.getLoginName());
}else {
agvTask.setCreatedBy(agvTask.getCreatedBy());
}
agvTask.setTaskType(QuantityConstant.STATUS_TASK_CARRY);
agvTask.setCreatedTime(new Date());
agvTask.setUpdated(new Date());
if(StringUtils.isNotEmpty(ShiroUtils.getLoginName())){
agvTask.setUpdatedBy(ShiroUtils.getLoginName());
}else {
agvTask.setUpdatedBy(agvTask.getCreatedBy());
}
agvTask.setWarehouseCode("CS0001");
if (acsService.save(agvTask)) {
if(StringUtils.isEmpty(agvTask.getPreTaskNo())){
agvPortService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_LOCK);
AgvPort desPosition = agvPortService.getAgvportByCode(agvTask.getToPort());
if(desPosition.getUserDef1()){
agvPortService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_LOCK);
}
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");
}
private AjaxResult checkP6001Status() {
HashMap map = new HashMap();
String url="http://192.168.74.200:8026/api/agv_plc/rollersignalread";
map.put("stationName","P6001");
map.put("signalNo",4);
String param = JSON.toJSONString(map);
String result =HttpUtils.bodypost(url,param,"AGV");
if(StringUtils.isNull(result) || StringUtils.isEmpty(result)) {
throw new ServiceException("WCS:接口地址错误或返回为空");
}
JSONObject jsonObject = JSONObject.parseObject(result);
String code = jsonObject.getString("code");
if(code.equals("200")){
JSONObject data = jsonObject.getJSONObject("data");
String flag = data.getBoolean("flag").toString();
if(flag.equals("true")){
return AjaxResult.error("P6001有货，不允许放货");
}else {
return AjaxResult.success();
}
}else {
return AjaxResult.error("P6001读取wcs异常");
}
}
@Override
@Transactional(rollbackFor = Exception.class)
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)) {
agvPortService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_LOCK);
containerService.updateStatus(agvTask.getContainerCode(),QuantityConstant.STATUS_CONTAINER_LOCK,agvTask.getWarehouseCode());
}
}
}catch (Exception e) {
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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) {
AjaxResult result = null;
boolean finished = false;
AgvTask task = null;
for (Integer taskId : agvTaskIds) {
task = getById(taskId);
if (task.getStatus() >= QuantityConstant.TASK_STATUS_RELEASE) {
result = AjaxResult.error("任务" + taskId + "已经下发，请不要重复下发，操作中止");
finished = true;
break;
}
if (StringUtils.isEmpty(task.getToPort())) {
result = AjaxResult.error("任务没有目标点位，不允许下发");
finished = true;
break;
}
LambdaQueryWrapper<AgvTask> agvTaskLambdaQueryWrapper = Wrappers.lambdaQuery();
AgvPort desPosition = agvPortService.getAgvportByCode(task.getToPort());
if(desPosition.getUserDef1()&&StringUtils.isEmpty(task.getPreTaskNo())){
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) {
result = AjaxResult.error("目标点位存在任务，请更换目标点位");
finished = true;
break;
}
}
//此处判断是否需要 有尘车间和无尘车间之间进行任务中转
AgvPort sourcePosition = agvPortService.getAgvportByCode(task.getFromPort());
WorkStation sourceWorkStation = iWorkStationService.getById(sourcePosition.getWorkStationId());
WorkStation desWorkStation = iWorkStationService.getById(desPosition.getWorkStationId());
if(sourceWorkStation.getUserDef1()!=null&&desWorkStation.getUserDef1()!=null){
if(!sourceWorkStation.getUserDef1().trim().equals(desWorkStation.getUserDef1().trim())){
AjaxResult ajax=new AjaxResult();
if(sourceWorkStation.getUserDef1().trim().equals("有尘车间左")&&desWorkStation.getUserDef1().trim().equals("无尘车间")){
ajax= createAfterTask(sourcePosition,task,1);
}
if(sourceWorkStation.getUserDef1().trim().equals("有尘车间右")&&desWorkStation.getUserDef1().trim().equals("无尘车间")){
ajax= createAfterTask(sourcePosition,task,2);
}
if(sourceWorkStation.getUserDef1().trim().equals("无尘车间")&&desWorkStation.getUserDef1().trim().equals("有尘车间左")){
ajax= createAfterTask(sourcePosition,task,3);
}
if(sourceWorkStation.getUserDef1().trim().equals("无尘车间")&&desWorkStation.getUserDef1().trim().equals("有尘车间右")){
ajax= createAfterTask(sourcePosition,task,4);
}
if(ajax.hasErr()){
return ajax;
}
task.setId(taskId);
task.setStatus(QuantityConstant.TASK_STATUS_RELEASE);
task.setUpdated(new Date());
task.setUpdatedBy(ShiroUtils.getLoginName());
task.setFromUserDef1(sourceWorkStation.getUserDef1());
task.setToUserDef1(desWorkStation.getUserDef1());
saveOrUpdate(task);
return ajax;
}
}
// 给AGV传递任务
AjaxResult ajaxResult = agvTaskAssign(task);
if (ajaxResult != null && ajaxResult.hasErr()) {
result = AjaxResult.error(ajaxResult.getMsg());
finished = true;
break;
}
//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);
}
if (!finished) {
result = AjaxResult.success("执行下发任务成功", task);
}
return result;
}
private AjaxResult createAfterTask(AgvPort sourcePosition,AgvTask task,int i) {
AjaxResult ajaxResult=new AjaxResult();
String url=null;
String param=null;
if(i==1){
HashMap map = new HashMap();
url="http://192.168.74.200:8026/api/agv_plc/carputsignalread";
map.put("stationName","P4001");
map.put("signalNo",4);
param=JSON.toJSONString(map);
}
if(i==2){
HashMap map = new HashMap();
url="http://192.168.74.200:8026/api/agv_plc/carputsignalread";
map.put("stationName","P4004");
map.put("signalNo",4);
param=JSON.toJSONString(map);
}
if(i==3){
HashMap map = new HashMap();
url="http://192.168.74.200:8026/api/agv_plc/carputsignalread";
map.put("stationName","P4002");
map.put("signalNo",4);
param=JSON.toJSONString(map);
}
if(i==4){
HashMap map = new HashMap();
url="http://192.168.74.200:8026/api/agv_plc/carputsignalread";
map.put("stationName","P4003");
map.put("signalNo",4);
param=JSON.toJSONString(map);
}
String result =HttpUtils.bodypost(url,param,"AGV");
// HashMap map = new HashMap();
// HashMap map1 = new HashMap();
// map.put("code","200");
// map1.put("flag","true");
// map.put("data",map1);
// String result = JSON.toJSONString(map);
if(StringUtils.isNull(result) || StringUtils.isEmpty(result)) {
throw new ServiceException("WCS:接口地址错误或返回为空");
}
JSONObject jsonObject = JSONObject.parseObject(result);
String code = jsonObject.getString("code");
if(code.equals("200")){
JSONObject data = jsonObject.getJSONObject("data");
String flag = data.getBoolean("flag").toString();
if(flag.equals("true")){
AgvTask agvTask=new AgvTask();
agvTask.setFromPort(sourcePosition.getCode());
if(i==1){
agvTask.setToPort("Work 776");
// List<AgvTask> agvTasks=list(new LambdaQueryWrapper<AgvTask>().eq(AgvTask::getToPort,"Work 776").lt(AgvTask::getStatus,100));
// if(CollectionUtils.isNotEmpty(agvTasks)){
// return AjaxResult.error("接驳位P4001有任务去");
// }
}
if(i==2){
agvTask.setToPort("Work 775");
}
if(i==3){
agvTask.setToPort("Work 633");
// List<AgvTask> agvTasks=list(new LambdaQueryWrapper<AgvTask>().eq(AgvTask::getToPort,"Work 633").lt(AgvTask::getStatus,100));
// if(CollectionUtils.isNotEmpty(agvTasks)){
// return AjaxResult.error("接驳位P4002有任务去");
// }
}
if(i==4){
agvTask.setToPort("Work 630");
}
agvTask.setContainerCode(task.getContainerCode());
agvTask.setWarehouseCode("CS0001");
agvTask.setPreTaskNo(task.getId().toString());
ajaxResult= createAGVTask(agvTask);
if(!ajaxResult.hasErr()){
return AjaxResult.success("生成任务成功");
}
}else {
if(i==1){
return AjaxResult.error("接驳位P4001不允许放货");
}
if(i==2){
return AjaxResult.error("接驳位P4004不允许放货");
}
if(i==3){
return AjaxResult.error("接驳位P4002不允许放货");
}
if(i==4){
return AjaxResult.error("接驳位P4003不允许放货");
}
}
}else {
return AjaxResult.error("读取wcs异常");
}
return AjaxResult.error("程序未执行");
}
@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()));
ToAgvTask toAgvTask=new ToAgvTask();
ArrayList<String> containers=new ArrayList<>();
ArrayList<String> fromports=new ArrayList<>();
ArrayList<String> toports=new ArrayList<>();
containers.add(agvTask.getContainerCode());
toAgvTask.setContainerCode(containers);
fromports.add(agvTask.getFromPort());
toAgvTask.setFromPort(fromports);
toports.add(agvTask.getToPort());
toAgvTask.setToPort(toports);
AgvPort desPosition =agvPortService.getAgvportByCode(agvTask.getToPort());
WorkStation workStation= iWorkStationService.getById(desPosition.getWorkStationId());
toAgvTask.setTaskType(workStation.getTaskType());
toAgvTask.setTaskNo(agvTask.getId().toString());
//4、发送数据
return sendDataToAgv(1,warehouseCode,"1",toAgvTask);
}
@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");
}
HashMap<String,Object> map=new HashMap();
List<Integer> list=new ArrayList<>();
list.add(id);
map.put("taskNo",list);
//2、发送数据
return sendDataToAgv(2,warehouseCode,area,map);
}
@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(3,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");
}
Integer taskNo=Integer.valueOf(o1.toString());
List<AgvTask> list = list(new LambdaQueryWrapper<AgvTask>().eq(AgvTask::getId, taskNo));
if(CollectionUtils.isNotEmpty(list)){
AgvTask agvTask1 = list.get(0);
if(agvTask1.getStatus().equals(100)){
return AjaxResult.success("任务已经是完成了的");
}
}else {
return AjaxResult.success("任务不存在");
}
if(StringUtils.isNotNull(o2)) {
String carNo=o2.toString();
agvTask.setCarNo(carNo);
}
if(StringUtils.isNull(o3)) {
return AjaxResult.error("任务状态为空");
}
String status=o3.toString();
agvTask.setId(taskNo);
agvTaskStatusNowStart(status,agvTask);
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(StringUtils.isNotEmpty(agvTask.getPreTaskNo())){
agvTask.setStatus(100);
agvTask.setCarNo(agvTask.getCarNo());
String toPort=agvTask.getToPort();
updateById(agvTask);
agvTask = getById(agvTask.getPreTaskNo());
if(!toPort.equals(agvTask.getToPort())){
return AjaxResult.success();
}
}
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())){
AgvPort sourcePosition = agvPortService.getAgvportByCode(agvTask.getFromPort());
if(StringUtils.isNull(sourcePosition)){
return AjaxResult.error("源点位未找到");
}
agvPortService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY);
agvPortService.setContainerCode(agvTask.getFromPort(),null);
}
if(StringUtils.isNotEmpty(agvTask.getToPort())){
AgvPort agvPort = agvPortService.getAgvportByCode(agvTask.getToPort());
agvPortService.updateStatus(agvTask.getToPort(),QuantityConstant.STATUS_POSITION_EMPTY);
if(agvPort.getUserDef1()){
containerService.updateLocationCodeAndStatus(agvTask.getContainerCode(),agvTask.getToPort(),QuantityConstant.STATUS_CONTAINER_EMPTY,agvTask.getWarehouseCode());
agvPortService.setContainerCode(agvTask.getToPort(),agvTask.getContainerCode());
WorkStation workStation = iWorkStationService.getOne(new LambdaQueryWrapper<WorkStation>().eq(WorkStation::getId, agvPort.getWorkStationId()));
List<AgvInventory> agvInventories = iAgvInventoryService.getListByContainerCode(agvTask.getContainerCode());
agvInventories.forEach((agvInventory)->{
agvInventory.setWorkStationId(workStation.getId());
agvInventory.setWorkStationCode(workStation.getCode());
agvInventory.setAgvPortId(agvPort.getId());
agvInventory.setAgvPortCode(agvPort.getCode());
agvInventory.setStatus("empty");
iAgvInventoryService.updateById(agvInventory);
});
}else {
Container container= containerService.getContainerByCode(agvTask.getContainerCode(),"CS0001");
container.setStatus("empty");
container.setLocationCode(null);
containerService.updateById(container);
agvPortService.setContainerCode(agvTask.getToPort(),null);
iAgvInventoryService.removeByPortCode(agvTask.getFromPort());
}
}
//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
* @param
* @param warehouseCode
* @param area
* @param object
* @return
*/
private AjaxResult sendDataToAgv(int i,String warehouseCode,String area,Object object){
String value = configService.getKey(QuantityConstant.RULE_CONNECT_AGV);
int connectAGV = Integer.parseInt(value);
String url=null;
if (connectAGV == QuantityConstant.RULE_AGV_CONNECT) {
if(i==1) {
url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_ASSIGN, warehouseCode, area);
}else if(i==2){
url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_CANCEL, warehouseCode, area);
}else {
}
String JsonParam = JSON.toJSONString(object);
System.out.println(JsonParam);
// ResponseEntity<JSONObject> result = RestUtil.request_post(url, warehouseCode, JsonParam);
String result = HttpUtils.bodypost(url, JsonParam, "CS0001");
// if (result != null && result.getBody() != null) {
// String code = result.getBody().getString("code");
// String msg = result.getBody().getString("msg");
// if (Integer.parseInt(code) != HttpConstant.OK) {
// return AjaxResult.error(msg);
// }
// } else {
// throw new ServiceException("接口地址错误或返回为空");
// }
// String data = result.getBody().getString("data");
// AjaxResult ajaxResult = JSON.parseObject(data, AjaxResult.class);
// if(ajaxResult.getCode() != HttpConstant.OK) {
// return AjaxResult.error(ajaxResult.getMsg());
// }
if(result==null){
throw new ServiceException("调用失败");
}else {
return AjaxResult.success(result);
}
}
return AjaxResult.success("下发成功");
}
/**
* 检查托盘和点位是否存在未完成的任务
* @param agvTask
*/
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");
}
AgvPort pointPosition = agvPortService.getOne(new LambdaQueryWrapper<AgvPort>()
.eq(AgvPort::getContainerCode, agvTask.getContainerCode())
.eq(AgvPort::getStatus, QuantityConstant.STATUS_CONTAINER_LOCK)
.orderByAsc(AgvPort::getType).last("limit 1"));
if (pointPosition != null) {
throw new ServiceException("点位"+pointPosition.getCode()+"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
@SuppressWarnings({"AlibabaRemoveCommentedCode", "AlibabaCommentsMustBeJavadocFormat"})
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");
}
AgvPort sourcePosition = agvPortService.getAgvportByCode(agvTask.getFromPort());
AgvPort desPosition = agvPortService.getAgvportByCode(agvTask.getToPort());
if (StringUtils.isEmpty(agvTask.getFromPort())) {
throw new ServiceException("源点位为空");
}
if (StringUtils.isNull(sourcePosition)) {
throw new ServiceException("源点位：" + sourcePosition.getName() + "未找到");
}
// if(sourcePosition.getStatus().equals(QuantityConstant.STATUS_POSITION_LOCK)){
// throw new ServiceException("源点位：" + sourcePosition.getName() + "禁用");
// }
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.getName() + "未找到");
}
if(!desPosition.getUserDef1()){
return;
}
if(desPosition.getStatus().equals(QuantityConstant.STATUS_POSITION_LOCK)){
throw new ServiceException("目标点位：" + desPosition.getName() + "禁用");
}
if(StringUtils.isNotEmpty(desPosition.getContainerCode())){
throw new ServiceException("目标点位：" + desPosition.getName() + "存在托盘:"+desPosition.getContainerCode());
}
if (QuantityConstant.STATUS_CONTAINER_FULL.equals(desPosition.getStatus())) {
throw new ServiceException("目标点位：" + desPosition.getName() + "已满");
}
}
//更新点位状态
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private void cancelPositionStatus(AgvTask agvTask) {
if (agvTask.getFromPort() != null) {
//更新点位状态
AgvPort agvPort = agvPortService.getAgvportByCode(agvTask.getFromPort());
if(agvPort!=null&&StringUtils.isNotEmpty(agvPort.getContainerCode())){
agvPortService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY);
} else {
agvPortService.updateStatus(agvTask.getFromPort(), QuantityConstant.STATUS_POSITION_EMPTY);
}
}
if (agvTask.getToPort() != null) {
//更新点位状态
AgvPort agvPort = agvPortService.getAgvportByCode(agvTask.getToPort());
if(agvPort!=null&&StringUtils.isNotEmpty(agvPort.getContainerCode())){
agvPortService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_EMPTY);
} else {
agvPortService.updateStatus(agvTask.getToPort(), QuantityConstant.STATUS_POSITION_EMPTY);
}
}
}
//更新容器状态
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
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
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private AjaxResult checkPointPositionExist(AgvTask agvTask){
AgvPort sourcePosition = agvPortService.getAgvportByCode(agvTask.getFromPort());
AgvPort desPosition = agvPortService.getAgvportByCode(agvTask.getToPort());
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");
}
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
@SuppressWarnings("AlibabaCommentsMustBeJavadocFormat")
private void checkContainerAndPositionLove(AgvTask agvTask){
AgvPort agvPort = agvPortService.getAgvportByCode(agvTask.getFromPort());
if(agvPort!=null&&StringUtils.isNotEmpty(agvPort.getContainerCode())){
if(!agvTask.getContainerCode().equals(agvPort.getContainerCode())){
throw new ServiceException("源点位上托盘数据和分配的托盘不一致，请核对");
}
}
}
//根据agv的任务状态来判断
private AjaxResult agvTaskStatusNowStart(String o3,AgvTask agvTask){
AgvTask task = getById(agvTask.getId());
if(task==null) {
return AjaxResult.error("任务号"+agvTask.getId()+"不存在");
}
if(task.getStatus().equals(QuantityConstant.TASK_STATUS_COMPLETED)) {
return AjaxResult.error("任务"+agvTask.getId()+"已经完成");
}
/* if(!updateById(agvTask)){ throw new ServiceException("更新失败"); };*/
// if(o3.equals(QuantityConstant.STATUS_TASK_WAITING)){
// agvTask.setStatus(10);
// updateById(agvTask);
// }
if(o3.equals(QuantityConstant.STATUS_TASK_AGV_START)){
agvTask.setStatus(15);
updateById(agvTask);
}
// if(o3.equals(QuantityConstant.STATUS_TASK_DISPATCHED)){
// agvTask.setStatus(18);
// updateById(agvTask);
// }
if(o3.equals(QuantityConstant.STATUS_TASK_AGV_TASKOVER)){
agvTask.setStatus(20);
agvPortService.updateStatus(task.getFromPort(),QuantityConstant.STATUS_POSITION_EMPTY);
agvPortService.setContainerCode(task.getFromPort(),null);
updateById(agvTask);
AgvInventory agvInventory=new AgvInventory();
agvInventory.setStatus("lock");
LambdaQueryWrapper<AgvInventory> lambdaQueryWrapper=Wrappers.lambdaQuery();
lambdaQueryWrapper.eq(AgvInventory::getContainerCode,task.getContainerCode());
iAgvInventoryService.update(agvInventory,lambdaQueryWrapper);
}
if(o3.equals(QuantityConstant.STATUS_TASK_FINISH)){
if(StringUtils.isNotEmpty(task.getPreTaskNo())){
task.setStatus(100);
if(StringUtils.isNotEmpty(agvTask.getCarNo())){
task.setCarNo(agvTask.getCarNo());
}
String toport=task.getToPort();
updateById(task);
task = getById(task.getPreTaskNo());
if(!toport.equals(task.getToPort())){
return AjaxResult.success();
}
}
task.setStatus(100);
if(StringUtils.isNotEmpty(agvTask.getCarNo())){
task.setCarNo(agvTask.getCarNo());
}
AgvPort fromPort= agvPortService.getAgvportByCode(task.getFromPort());
WorkStation fromWorkStation = iWorkStationService.getOne(new LambdaQueryWrapper<WorkStation>().eq(WorkStation::getId, fromPort.getWorkStationId()));
if(fromWorkStation!=null&&fromWorkStation.getTaskType().equals("1")){
agvPortService.updateStatus(task.getFromPort(),QuantityConstant.STATUS_POSITION_EMPTY);
agvPortService.setContainerCode(task.getFromPort(),null);
}
updateById(task);
//处理一下agv_inventory
AgvPort toPort = agvPortService.getAgvportByCode(task.getToPort());
agvPortService.updateStatus(task.getToPort(),QuantityConstant.STATUS_POSITION_EMPTY);
if(toPort.getUserDef1()){
containerService.updateLocationCodeAndStatus(task.getContainerCode(),task.getToPort(),QuantityConstant.STATUS_CONTAINER_EMPTY,task.getWarehouseCode());
agvPortService.setContainerCode(task.getToPort(),task.getContainerCode());
WorkStation workStation = iWorkStationService.getOne(new LambdaQueryWrapper<WorkStation>().eq(WorkStation::getId, toPort.getWorkStationId()));
List<AgvInventory> agvInventories = iAgvInventoryService.getListByContainerCode(task.getContainerCode());
agvInventories.forEach((agvInventory)->{
agvInventory.setWorkStationId(workStation.getId());
agvInventory.setWorkStationCode(workStation.getCode());
agvInventory.setAgvPortId(toPort.getId());
agvInventory.setAgvPortCode(toPort.getCode());
agvInventory.setStatus("empty");
iAgvInventoryService.updateById(agvInventory);
});
}else {
Container container = containerService.getContainerByCode(task.getContainerCode());
containerService.updateSetLocationNullByCode(container.getCode(),QuantityConstant.STATUS_POSITION_EMPTY);
String containerCode= task.getContainerCode();
if(task.getToPort().equals("Work 830")){
List<AgvInventory> agvInventories = iAgvInventoryService.getListByContainerCode(containerCode);
if(CollectionUtils.isNotEmpty(agvInventories)){
ReceiptHeader receiptHeader=new ReceiptHeader();
receiptHeader.setReceiptType("PPI");
receiptHeader.setCompanyCode("WB");
receiptHeaderService.saveReceiptHeader(receiptHeader);
List<ReceiptDetail> receiptDetailList = new ArrayList<>();
agvInventories.forEach((agvInventory)->{
ReceiptDetail receiptDetail=new ReceiptDetail();
receiptDetail.setCompanyCode("WB");
receiptDetail.setInventorySts("good");
receiptDetail.setQcCheck("0");
receiptDetail.setReceiptCode(receiptHeader.getCode());
receiptDetail.setReceiptId(receiptHeader.getId());
receiptDetail.setMaterialCode(agvInventory.getMaterialCode());
receiptDetail.setTotalQty(BigDecimal.valueOf(agvInventory.getQty()));
receiptDetailList.add(receiptDetail);
receiptDetailService.saveReceiptDetaial(receiptDetail);
});
if(CollectionUtils.isNotEmpty(receiptDetailList)){
List<ReceiptContainerHeader> receiptContainerHeaders = new ArrayList<>();
receiptDetailList.forEach(receiptDetail -> {
ReceiptContainerHeader receiptContainerHeader=new ReceiptContainerHeader();
AjaxResult ajaxResult = receiptContainerHeaderService.saveContainer(receiptDetail.getReceiptCode(), containerCode, receiptDetail.getId(),
"", receiptDetail.getTotalQty(), "");
receiptContainerHeaders.add((ReceiptContainerHeader)ajaxResult.getData());
});
if(CollectionUtils.isNotEmpty(receiptContainerHeaders)){
List<Integer> list=new ArrayList<>();
for (ReceiptContainerHeader receiptContainerHeader : receiptContainerHeaders) {
list.add(receiptContainerHeader.getId());
}
list = list.stream().distinct().collect(Collectors.toList());
receiptTaskService.createReceiptTask(list);
}
}
}else {
inventoryHeaderService.createEmptyIn(task.getContainerCode(), null);
}
}
agvPortService.setContainerCode(task.getToPort(),null);
iAgvInventoryService.removeByPortCode(task.getFromPort());
}
cancelContainerStatus(task);
}
if(o3.equals(QuantityConstant.STATUS_TASK_ERROR)){
agvTask.setStatus(110);
updateById(agvTask);
}
if(o3.equals(QuantityConstant.STATUS_TASK_WAITING_CANCEL)){
agvTask.setStatus(120);
updateById(agvTask);
}
// if(o3.equals(QuantityConstant.STATUS_TASK_CANCEL_FINISH)){
// agvTask.setStatus(130);
// updateById(agvTask);
// }
// if(o3.equals(QuantityConstant.STATUS_TASK_WAITING_MANUALLY_FINISH)){
// agvTask.setStatus(140);
// updateById(agvTask);
// }
// if(o3.equals(QuantityConstant.STATUS_TASK_MANUALLY_FINISH)){
// agvTask.setStatus(150);
// agvPortService.updateStatus(task.getFromPort(),QuantityConstant.STATUS_POSITION_EMPTY);
// agvPortService.updateStatus(task.getToPort(),QuantityConstant.STATUS_POSITION_EMPTY);
// agvPortService.setContainerCode(task.getFromPort(),null);
// agvPortService.setContainerCode(task.getToPort(),task.getContainerCode());
// containerService.updateLocationCodeAndStatus(task.getContainerCode(),task.getToPort(),QuantityConstant.STATUS_CONTAINER_EMPTY,task.getWarehouseCode());
// updateById(agvTask);
// cancelContainerStatus(task);
// }
return AjaxResult.success();
}
@Override
public AjaxResult getEmptyContainer(String destinationLocation,String type) {
if(type.trim().equals("1")){
AgvPort agvPort = agvPortService.getAgvportByCode(destinationLocation);
List<WorkStationFlow> workStationFlows = iiWorkStationFlowService.list(new LambdaQueryWrapper<WorkStationFlow>().eq(WorkStationFlow::getWorkStationId, agvPort.getWorkStationId()));
workStationFlows = workStationFlows.stream().filter(workStationFlow -> workStationFlow.getFlowType().trim().equals("next")).collect(Collectors.toList());
List<Long> workStationIdRelateds = workStationFlows.stream().map(workStationFlow -> workStationFlow.getWorkStationIdRelated()).collect(Collectors.toList());
for (Long workStationIdRelated : workStationIdRelateds) {
List<AgvPort> list = agvPortService.list(new LambdaQueryWrapper<AgvPort>().eq(AgvPort::getWorkStationId, workStationIdRelated));
list = list.stream().collect(Collectors.collectingAndThen(Collectors.toCollection(() -> new TreeSet<>(Comparator.comparing(o -> o.getName()))), ArrayList::new));
list = list.stream().filter(agvPort1 -> StringUtils.isNotEmpty(agvPort1.getContainerCode())).collect(Collectors.toList());
if(CollectionUtils.isNotEmpty(list)){
for (AgvPort port : list) {
AgvTask agvTask=new AgvTask();
agvTask.setFromPort(port.getCode());
agvTask.setToPort(destinationLocation);
agvTask.setContainerCode(port.getContainerCode());
List<AgvInventory> list1 = iAgvInventoryService.list(new LambdaQueryWrapper<AgvInventory>().eq(AgvInventory::getContainerCode, port.getContainerCode()));
if(CollectionUtils.isNotEmpty(list1)){
continue;
}
try{
AjaxResult ajax = createAGVTask(agvTask);
if(ajax.getCode()==RetCode.FAIL.getValue()){
continue;
}
}catch (Exception e){
continue;
}
return AjaxResult.success("创建成功");
}
}else {
return AjaxResult.error("没有空托盘可以叫");
}
}
}else if(type.trim().equals("2")){
// AgvPort agvPort = agvPortService.getAgvportByCode(destinationLocation);
// List<WorkStationFlow> workStationFlows = iiWorkStationFlowService.list(new LambdaQueryWrapper<WorkStationFlow>().eq(WorkStationFlow::getWorkStationId, agvPort.getWorkStationId()));
// workStationFlows = workStationFlows.stream().filter(workStationFlow -> workStationFlow.getFlowType().trim().equals("prev")).collect(Collectors.toList());
// List<Long> workStationIdRelateds = workStationFlows.stream().map(workStationFlow -> workStationFlow.getWorkStationIdRelated()).collect(Collectors.toList());
// for (Long workStationIdRelated : workStationIdRelateds) {
// List<AgvPort> list = agvPortService.list(new LambdaQueryWrapper<AgvPort>().eq(AgvPort::getWorkStationId, workStationIdRelated));
// list = list.stream().collect(Collectors.collectingAndThen(Collectors.toCollection(() -> new TreeSet<>(Comparator.comparing(o -> o.getName()))), ArrayList::new));
// list = list.stream().filter(agvPort1 -> StringUtils.isEmpty(agvPort1.getContainerCode())).collect(Collectors.toList());
// if(CollectionUtils.isNotEmpty(list)){
// AgvTask agvTask=new AgvTask();
// agvTask.setFromPort(destinationLocation);
// agvTask.setToPort(list.get(0).getCode());
// agvTask.setContainerCode(agvPort.getContainerCode());
// createAGVTask(agvTask);
// return AjaxResult.success("创建成功");
// }else {
// return AjaxResult.error("没有空托盘可以送");
// }
// }
}
return null;
}
@Override
public void shipmentAgvPortContext(TaskHeader task){
List<Container> containers = containerService.list(new LambdaQueryWrapper<Container>().eq(Container::getLocationCode,"Work 831"));
containers.forEach(container -> {
if(container!=null&&container.getLocationCode()!=null&&container.getLocationCode().startsWith("Work")){
container.setLocationCode("");
containerService.updateById(container);
}
});
agvPortService.clearContainerCodeByCode("Work 831");
agvInventoryService.removeByPortCode("Work 831");
//绑定托盘数据
agvPortService.setContainerCode("Work 831", task.getContainerCode());
//获取任务明细
List<TaskDetail> taskDetails = taskDetailService.findByTaskId(task.getId());
List<AgvInventory> agvInventories=new ArrayList<>();
taskDetails.forEach(taskDetail -> {
AgvInventory a=new AgvInventory();
a.setAgvPortCode("Work 831");
a.setAgvPortId(Long.valueOf("910"));
a.setContainerCode(task.getContainerCode());
a.setMaterialCode(taskDetail.getMaterialCode());
a.setMaterialName(taskDetail.getMaterialName());
a.setWorkStationCode("LK");
a.setWorkStationId(Long.valueOf("58"));
a.setQty(Long.valueOf(taskDetail.getQty().toString()));
agvInventories.add(a);
});
agvInventoryService.addInventory(agvInventories);
}
@Override
public AjaxResult emptyContainer(AgvTask agvTask) {
agvTask.setToPort("Work 830");
agvTask.setWarehouseCode("CS0001");
return createAGVTask(agvTask);
}
@Override
public AjaxResult<AgvTask> huichuanMesError(Integer[] toIntArray) throws Exception {
for (Integer integer : toIntArray) {
AgvTask agvTask = acsService.getById(integer);
AgvPortMES agvPortMES=new AgvPortMES();
agvPortMES.setCode(agvTask.getCode());
agvPortMES.setStatus("error");
String s = JSONObject.toJSONString(agvPortMES);
mesHelper.returnMESEmptyFinsh(s);
agvTask.setSendToMes(1);
agvTask.setStatus(110);
acsService.updateById(agvTask);
}
return AjaxResult.success("");
}
}