AgvMoveService.java
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package com.huaheng.api.pda.service;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.huaheng.api.pda.domain.AgvMoveDetailDomain;
import com.huaheng.api.pda.domain.AgvMoveDomain;
import com.huaheng.api.pda.domain.AgvMoveHeaderDomain;
import com.huaheng.common.constant.QuantityConstant;
import com.huaheng.common.exception.BusinessException;
import com.huaheng.common.utils.StringUtils;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.pc.config.location.domain.Location;
import com.huaheng.pc.config.location.service.LocationService;
import com.huaheng.pc.task.agvTask.domain.AgvTask;
import com.huaheng.pc.task.agvTask.service.AgvTaskService;
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.TaskHeaderService;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
import java.util.List;
@Component
@Transactional
public class AgvMoveService {
@Resource
private LocationService locationService;
@Resource
private TaskHeaderService taskHeaderService;
@Resource
private TaskDetailService taskDetailService;
@Resource
private AgvTaskService agvTaskService;
/**
* 商片仓，从起点 工作台到终点 自动区或手动去
* 原料仓 从起点 工作台到终点 缓存区，从起点 缓存区到终点 工作台
*
* agv搬运任务
* @param agvMoveDomain
*/
@Transactional
public AjaxResult agvMove(AgvMoveDomain agvMoveDomain){
//创建主任务
if(agvMoveDomain==null){
return AjaxResult.error("接收数据为空");
}
AgvMoveHeaderDomain headerDomain=agvMoveDomain.getHeaderDomain();
List<AgvMoveDetailDomain> detailDomains=agvMoveDomain.getMoveDetailDomains();
if(StringUtils.isEmpty(headerDomain.getWorkCode())){
return AjaxResult.error("请填写工作台");
}
//保存taskheader和taskdetail
TaskHeader task=createTaskHeaderForMove(headerDomain,detailDomains);
//agv搬运任务，生成agv任务
// AgvTask agvTask=agvTaskService.createAgvTaskByTaskHeader(task);
// task.setAgvNo(agvTask.getTaskNo());
// taskHeaderService.updateById(task);
return AjaxResult.success();
}
public TaskHeader createTaskHeaderForMove(AgvMoveHeaderDomain headerDomain,List<AgvMoveDetailDomain> detailDomains){
TaskHeader taskHeader=new TaskHeader();
taskHeader.setWarehouseCode(QuantityConstant.WAREHOUSECODE);
taskHeader.setCompanyCode(QuantityConstant.COMPANYCODE);
taskHeader.setInternalTaskType(QuantityConstant.TASK_INTENERTYPE_RECEIPT);
taskHeader.setZoneCode(headerDomain.getZoneCode());
Location location=null;
location= locationService.getLocationCodeByWorkCodeEmpty(headerDomain.getZoneCode(),headerDomain.getWorkCode(),taskHeader.getIsEmpty());
if(location==null){
throw new BusinessException("找不到该设备对应空闲库位");
}
if(StringUtils.isNotEmpty(headerDomain.getContainerCode())){
//B库区，有托盘，pda选择区域，
if(StringUtils.isNotEmpty(headerDomain.getTaskType())&&headerDomain.getTaskType().equals("1")){
taskHeader.setPort(headerDomain.getWorkCode());
taskHeader.setTaskType(QuantityConstant.TASK_TYPE_WHOLERECEIPT);
taskHeader.setToPort(location.getCode());
}else{
taskHeader.setPort(headerDomain.getWorkCode());
taskHeader.setTaskType(QuantityConstant.TASK_TYPE_WHOLESHIPMENT);
taskHeader.setInternalTaskType(QuantityConstant.TASK_INTENERTYPE_SHIPMENT);
taskHeader.setToPort(location.getCode());
}
}else{
//A库区，无托盘
if(StringUtils.isNotEmpty(headerDomain.getTaskType())&&headerDomain.getTaskType().equals("1")){
taskHeader.setPort(headerDomain.getWorkCode());
taskHeader.setToPort(headerDomain.getWorkCode());
taskHeader.setTaskType(QuantityConstant.TASK_TYPE_AGV_MOVE_RECEIPT);
taskHeader.setToPort(location.getCode());
}else{
taskHeader.setPort(headerDomain.getWorkCode());
taskHeader.setTaskType(QuantityConstant.TASK_TYPE_AGV_MOVE_SHIPMENT);
taskHeader.setInternalTaskType(QuantityConstant.TASK_INTENERTYPE_SHIPMENT);
taskHeader.setToPort(location.getCode());
}
}
taskHeader.setFromLocation(location.getCode());
taskHeader.setToLocation(location.getCode());
taskHeader.setContainerCode(headerDomain.getContainerCode());
taskHeader.setSendTo(QuantityConstant.TASK_SEND_TO_AGV);
//查找该入库口出库口是否有相同的还未完成的任务
LambdaQueryWrapper<TaskHeader> taskHeaderLambdaQueryWrapper = Wrappers.lambdaQuery();
taskHeaderLambdaQueryWrapper.eq(TaskHeader::getPort,taskHeader.getPort());
taskHeaderLambdaQueryWrapper.eq(TaskHeader::getToPort,taskHeader.getToPort());
taskHeaderLambdaQueryWrapper.eq(TaskHeader::getTaskType,taskHeader.getTaskType());
taskHeaderLambdaQueryWrapper.lt(TaskHeader::getStatus,QuantityConstant.TASK_STATUS_COMPLETED);
taskHeaderLambdaQueryWrapper.last("limit 1");
TaskHeader preTaskHeader = taskHeaderService.getOne(taskHeaderLambdaQueryWrapper);
if(preTaskHeader!=null){
throw new BusinessException("该工作台还有未完成的任务，请稍等");
}
if(!taskHeaderService.save(taskHeader)){
throw new BusinessException("创建主任务失败");
}
//保存TaskDetail任务明细
createTaskDetailForMove(detailDomains,taskHeader);
return taskHeader;
}
public void createTaskDetailForMove(List<AgvMoveDetailDomain> detailDomains,TaskHeader task){
for (AgvMoveDetailDomain detailDomain:detailDomains){
TaskDetail taskDetail=new TaskDetail();
taskDetail.setTaskId(task.getId());
taskDetail.setTaskType(task.getTaskType());
taskDetail.setWarehouseCode(task.getWarehouseCode());
taskDetail.setCompanyCode(task.getCompanyCode());
taskDetail.setMaterialCode(detailDomain.getMaterialCode());
taskDetail.setQty(detailDomain.getQyt());
taskDetail.setContainerCode(task.getContainerCode());
taskDetail.setRollNumber(detailDomain.getRollNumber());
if(!taskDetailService.save(taskDetail)){
throw new BusinessException("创建任务明细失败");
}
}
}
}