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.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.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.Date;
/**
* @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;
//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);
agvTask.setStatus(QuantityConstant.TASK_STATUS_BUILD);
agvTask.setCreatedBy(ShiroUtils.getLoginName());
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());
} 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(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");
}
// 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
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, "1");
String JsonParam = JSON.toJSONString(agvTask);
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.success(agvTask);
}
//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())
.eq(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::getContainCode, 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();
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：" + sourcePosition + "禁用");
}
if (QuantityConstant.STATUS_CONTAINER_FULL.equals(desPosition.getStatus())) {
throw new ServiceException("目标点位：" + desPosition + "已满");
}
}
}
}