AcsServiceImpl.java
22.6 KB
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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.toolkit.Wrappers;
import com.huaheng.api.acs.domain.AgvDomain;
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.OkHttpUtils;
import com.huaheng.common.utils.restful.RestUtil;
import com.huaheng.framework.aspectj.lang.annotation.ApiLogger;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.pc.config.address.service.AddressService;
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 org.springframework.http.ResponseEntity;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.List;
/**
* @ClassName AcsServiceImpl
* @Description TODO
* @Author youjie
* @Date 2019/12/2615:38
*/
@Service
public class AcsServiceImpl implements AcsService {
@Resource
private AgvTaskService agvTaskService;
@Resource
private AddressService addressService;
@Resource
private LocationService locationService;
@Override
public AjaxResult createAGVTask(AgvTask agvTask) {
return null;
}
@Override
@ApiLogger(apiName = "执行AGV任务", from="acs")
public AjaxResult executeAGVTask(AgvTask agvTask) {
String toLocationCode = agvTask.getToPort();
String fromLocationCode = agvTask.getFromPort();
if(StringUtils.isEmpty(fromLocationCode)) {
return AjaxResult.error("创建AGV任务失败,起点为空");
}
if(StringUtils.isEmpty(toLocationCode)) {
return AjaxResult.error("创建AGV任务失败,终点为空");
}
Location fromLocation = locationService.getLocationByCode(
fromLocationCode, QuantityConstant.DEFAULT_WAREHOUSE);
int preTaskNo = 0;
if(fromLocation != null) {
String zoneCode = fromLocation.getZoneCode();
if(zoneCode.equals(QuantityConstant.ZONE_RECEIPT_MANY_CONTAINER) ||
zoneCode.equals(QuantityConstant.ZONE_RECEIPT_CACHE)) {
AjaxResult ajaxResult = fromReceiptZone(fromLocation); //起点是入库缓存区、空托盘组区
if (ajaxResult.hasErr()) {
return ajaxResult;
}
preTaskNo = (int) ajaxResult.getData();
}
}
Location toLocation = locationService.getLocationByCode(
toLocationCode, QuantityConstant.DEFAULT_WAREHOUSE);
if(toLocation != null) {
String zoneCode = toLocation.getZoneCode();
if(zoneCode.equals(QuantityConstant.ZONE_RECEIPT_MANY_CONTAINER) ||
zoneCode.equals(QuantityConstant.ZONE_RECEIPT_CACHE)) {
AjaxResult ajaxResult = toReceiptZone(toLocation); //终点是入库缓存区、空托盘组区
if (ajaxResult.hasErr()) {
return ajaxResult;
}
preTaskNo = (int) ajaxResult.getData();
} else if(zoneCode.equals(QuantityConstant.ZONE_STOCK_UP)) {
AjaxResult ajaxResult = toStockUpZone(toLocation); //终点是备货区、空托盘组区
if (ajaxResult.hasErr()) {
return ajaxResult;
}
preTaskNo = (int) ajaxResult.getData();
}
}
AgvDomain agvDomain = new AgvDomain();
agvDomain.setPreTaskNo(preTaskNo);
agvDomain.setTaskNo(String.valueOf(agvTask.getId()));
agvDomain.setTaskType(agvTask.getTaskType());
agvDomain.setFromPort(agvTask.getFromPort());
agvDomain.setToPort(agvTask.getToPort());
agvDomain.setPriority(10);
//库区是A的是入库那边
if (agvTask.getZoneCode().equals(QuantityConstant.ZONE_RECEIPT_MANY_CONTAINER)) {
if (agvTask.getToPort().equals("P6") || agvTask.getToPort().equals(QuantityConstant.PORTGROUP_P3)) {
agvDomain.setPriority(22);
}
}
else if (agvTask.getZoneCode().equals(QuantityConstant.ZONE_STOCK_UP))
//备货区
{
//如果去向里面包含P是取货
if (agvTask.getFromPort().contains("P")) {
//备货区放货的
//先查到当前任务去向地址库位
Location locationByCode = locationService.getLocationByCode(agvTask.getToPort());
LambdaQueryWrapper<AgvTask> agvTaskLambdaQueryWrapper = Wrappers.lambdaQuery();
agvTaskLambdaQueryWrapper.gt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_BUILD)
.lt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_COMPLETED).eq(AgvTask::getZoneCode,"D")
.like(AgvTask::getFromPort,"P");
List<AgvTask> agvTasks = agvTaskService.list(agvTaskLambdaQueryWrapper);//获取第一层任务的信
//查到当前所有agv任务
//优先级范围是1-23初始值设置为23
int min=23;
for (AgvTask agvTaskx : agvTasks) {
//查到每一个agv任务对应库位
Location location = locationService.getLocationByCode(agvTaskx.getToPort());
if (location.getIRow().equals(locationByCode.getIRow())&&location.getIColumn()>locationByCode.getIColumn())
{
throw new ServiceException("执行失败,执行的任务中前方有库位挡住");
}
if (location.getIRow().equals(locationByCode.getIRow())&& location.getIColumn().equals(locationByCode.getIColumn()) &&locationByCode.getILayer()>location.getILayer())
{
if (agvTaskx.getPriority()<=min)
{
min=agvTaskx.getPriority()-1;
}
agvDomain.setPriority(min);
}
//行相等 总任务列小于当前任务列
if (location.getIRow().equals(locationByCode.getIRow())&&location.getIColumn()<locationByCode.getIColumn())
{
if (agvTaskx.getPriority()<=min)
{
min=agvTaskx.getPriority()-1;
}
agvDomain.setPriority(min);
}
}
}
}
agvTask.setPreTaskNo(preTaskNo);
if(!agvTaskService.updateById(agvTask)) {
throw new ServiceException("更新AGV任务状态");
}
agvTask.setPriority(agvDomain.getPriority());
agvDomain.setCreatedBy(agvTask.getCreatedBy());
agvDomain.setQty(agvTask.getQty());
// agvDomain.setCreatedTime(agvTask.getCreated());
agvDomain.setContainerCode(agvTask.getContainerCode());
String warehouseCode = agvTask.getWarehouseCode();
String url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_ASSIGN,
warehouseCode, null);
String jsonParam = JSON.toJSONString(agvDomain);
String result = OkHttpUtils.bodypost(url, jsonParam);
if(StringUtils.isEmpty(result)) {
throw new ServiceException("接口地址错误或返回为空");
}
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
if(ajaxResult.getCode() != HttpConstant.OK) {
return AjaxResult.error(ajaxResult.getMsg());
}
return AjaxResult.success("创建AGV任务成功");
}
private AjaxResult toStockUpZone(Location toLocation) {
int layer = toLocation.getILayer(); //层
int column = toLocation.getIColumn(); //列
int row = toLocation.getIRow(); //行
String zoneCode = toLocation.getZoneCode(); //库区
int preTaskNo = 0;
if(layer == 2) {
// 搬到入库缓存区搬走货，需要先搬下层托盘
Location location = getLocation(zoneCode, row, column, 1);
if (location != null) {
String locationCode = location.getCode();
AgvTask agvTask1 = getAgvTask(null,locationCode);
if (agvTask1 != null) {
preTaskNo = agvTask1.getId();
}
}
}
// 搬到入库缓存区搬走货，需要先搬内侧托盘
Location location = getLocation(zoneCode, row, column-1, true);
if(location != null) {
String locationCode = location.getCode();
AgvTask agvTask1 = getAgvTask(null,locationCode);
if (agvTask1 != null) {
preTaskNo = agvTask1.getId();
}
}
LambdaQueryWrapper<Location> locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.ne(Location::getContainerCode, "")
.lt(Location::getIColumn, column + 2)
.gt(Location::getIColumn, column);
List<Location> locationList = locationService.list(locationLambdaQueryWrapper);
if(locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,前方有库位挡住");
}
locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.eq(Location::getStatus, QuantityConstant.STATUS_LOCATION_EMPTY)
.ne(Location::getContainerCode, "")
.lt(Location::getIColumn, column + 1)
.gt(Location::getIColumn, column);
locationList = locationService.list(locationLambdaQueryWrapper);
if(locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,前方有库位挡住");
}
if(layer == 2) {
locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.eq(Location::getILayer, 1)
.eq(Location::getIColumn, column)
.eq(Location::getStatus, QuantityConstant.STATUS_LOCATION_EMPTY)
.eq(Location::getContainerCode, "")
.ne(Location::getZoneCode,QuantityConstant.ZONE_STOCK_UP);
locationList = locationService.list(locationLambdaQueryWrapper);
if (locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,库位下方没有货");
}
}
return AjaxResult.success("创建AGV任务成功").setData(preTaskNo);
}
private AjaxResult toReceiptZone(Location toLocation) {
int layer = toLocation.getILayer(); //层
int column = toLocation.getIColumn(); //列
int row = toLocation.getIRow(); //行
String zoneCode = toLocation.getZoneCode(); //库区
int preTaskNo = 0;
if(layer == 2) {
// 搬到入库缓存区搬走货，需要先搬下层托盘
Location location = getLocation(zoneCode, row, column, 1);//获取一层的库位
if (location != null) {
String locationCode = location.getCode();
AgvTask agvTask1 = getAgvTask(null,locationCode);
if (agvTask1 != null) {
preTaskNo = agvTask1.getId(); //一层库位有任务则获得任务id
}
LambdaQueryWrapper<AgvTask> agvTaskLambdaQueryWrapper = Wrappers.lambdaQuery();
agvTaskLambdaQueryWrapper.eq(AgvTask::getFromPort, locationCode)
.gt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_BUILD)
.lt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
AgvTask agvTask = agvTaskService.getOne(agvTaskLambdaQueryWrapper);//获取第一层任务的信息
if(agvTask != null) {
throw new ServiceException("执行AGV任务失败,需要先执行完上方任务");
}
}
}
// 搬到入库缓存区搬走货，需要先搬内侧托盘
Location location = getLocation(zoneCode, row, column+1, true);
if(location != null) {
String locationCode = location.getCode();
AgvTask agvTask1 = getAgvTask(null,locationCode);
if (agvTask1 != null) {
preTaskNo = agvTask1.getId();
}
}
LambdaQueryWrapper<Location> locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.ne(Location::getContainerCode, "")
.le(Location::getIColumn, column - 2);
List<Location> locationList = locationService.list(locationLambdaQueryWrapper);
if(locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,前方有库位挡住");
}
locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.eq(Location::getStatus, QuantityConstant.STATUS_LOCATION_EMPTY)
.ne(Location::getContainerCode, "")
.le(Location::getIColumn, column - 1);
locationList = locationService.list(locationLambdaQueryWrapper);
if(locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,前方有库位挡住");
}
if(layer == 2) {
locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.eq(Location::getILayer, 1)
.eq(Location::getIColumn, column)
.eq(Location::getStatus, QuantityConstant.STATUS_LOCATION_EMPTY)
.eq(Location::getContainerCode, "");
locationList = locationService.list(locationLambdaQueryWrapper);
if (locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,库位下方没有货");
}
}
return AjaxResult.success("创建AGV任务成功").setData(preTaskNo);
}
private AjaxResult fromReceiptZone(Location fromLocation) {
int layer = fromLocation.getILayer(); //层
int column = fromLocation.getIColumn(); //列
int row = fromLocation.getIRow(); //行
String zoneCode = fromLocation.getZoneCode(); //库区
int preTaskNo = 0;
if(layer == 1) {
// 从入库缓存区搬走货，需要先搬走上层托盘
Location location = getLocation(zoneCode, row, column, 2);
if(location != null) {
String locationCode = location.getCode();
AgvTask agvTask1 = getAgvTask(locationCode, null);
if (agvTask1 != null) {
preTaskNo = agvTask1.getId();
}
// 寻找上层任务
LambdaQueryWrapper<AgvTask> agvTaskLambdaQueryWrapper = Wrappers.lambdaQuery();
agvTaskLambdaQueryWrapper.lt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_COMPLETED)
.gt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_BUILD)
.eq(AgvTask::getToPort, locationCode);
AgvTask agvTask = agvTaskService.getOne(agvTaskLambdaQueryWrapper);
if(agvTask != null) {
throw new ServiceException("执行AGV任务失败,需要先执行完上方任务");
}
}
}
// 从入库缓存区搬走货，需要先搬走前方托盘
Location location = getLocation(zoneCode, row, column-1, false);
if(location != null) {
String locationCode = location.getCode();
AgvTask agvTask1 = getAgvTask(locationCode, null);
if (agvTask1 != null) {
preTaskNo = agvTask1.getId();
}
}
LambdaQueryWrapper<Location> locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.ne(Location::getContainerCode, "")
.le(Location::getIColumn, column - 2);
List<Location> locationList = locationService.list(locationLambdaQueryWrapper);
if(locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,前方有库位挡住");
}
locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.eq(Location::getStatus, QuantityConstant.STATUS_LOCATION_EMPTY)
.ne(Location::getContainerCode, "")
.le(Location::getIColumn, column - 1);
locationList = locationService.list(locationLambdaQueryWrapper);
if(locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,前方有库位挡住");
}
if(layer == 1) {
locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIRow, row)
.eq(Location::getILayer, 2)
.eq(Location::getIColumn, column)
.eq(Location::getStatus, QuantityConstant.STATUS_LOCATION_EMPTY)
.ne(Location::getContainerCode, "");
locationList = locationService.list(locationLambdaQueryWrapper);
if (locationList.size() > 0) {
return AjaxResult.error("创建AGV任务失败,库位上方有货挡住");
}
}
return AjaxResult.success("创建AGV任务成功").setData(preTaskNo);
}
private AgvTask getAgvTask(String fromLocationCode, String toLocationCode) {
LambdaQueryWrapper<AgvTask> agvTaskLambdaQueryWrapper = Wrappers.lambdaQuery();
agvTaskLambdaQueryWrapper.eq(StringUtils.isNotEmpty(fromLocationCode), AgvTask::getFromPort, fromLocationCode)
.eq(StringUtils.isNotEmpty(toLocationCode), AgvTask::getToPort, toLocationCode)
.lt(AgvTask::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
AgvTask agvTask = agvTaskService.getOne(agvTaskLambdaQueryWrapper);
return agvTask;
}
private Location getLocation(String zoneCode, int row, int column, boolean asc) {
LambdaQueryWrapper<Location> locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getIRow, row)
.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIColumn, column);
if(asc) {
locationLambdaQueryWrapper.orderByAsc(Location::getILayer);
} else {
locationLambdaQueryWrapper.orderByDesc(Location::getILayer);
}
locationLambdaQueryWrapper.last(" limit 1");
Location location = locationService.getOne(locationLambdaQueryWrapper);
return location;
}
private Location getLocation(String zoneCode, int row, int column, int layer) {
LambdaQueryWrapper<Location> locationLambdaQueryWrapper = Wrappers.lambdaQuery();
locationLambdaQueryWrapper.eq(Location::getIRow, row)
.eq(Location::getZoneCode, zoneCode)
.eq(Location::getIColumn, column)
.eq(Location::getILayer, layer);
Location location = locationService.getOne(locationLambdaQueryWrapper);
return location;
}
@Override
public AjaxResult cancelAGVTask(AgvTask agvTask) {
List<String> ids = new ArrayList<String>();
ids.add(String.valueOf(agvTask.getId()));
AgvDomain agvDomain = new AgvDomain();
agvDomain.setTaskNo(String.valueOf(agvTask.getId()));
String url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_CANCEL);
String jsonParam = JSON.toJSONString(agvDomain);
String result = OkHttpUtils.bodypost(url, jsonParam);
if(StringUtils.isEmpty(result)) {
throw new ServiceException("接口地址错误或返回为空");
}
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
if(ajaxResult.getCode() != HttpConstant.OK) {
return AjaxResult.error(ajaxResult.getMsg());
}
return AjaxResult.success("取消AGV任务成功");
}
@Override
public AjaxResult updateAGVTask(AgvTask agvTask) {
AgvDomain agvDomain = new AgvDomain();
agvDomain.setTaskNo(String.valueOf(agvTask.getId()));
agvDomain.setPriority(agvTask.getPriority());
String url = addressService.selectAddress(QuantityConstant.ADDRESS_AGV_TASK_UPDATE);
String jsonParam = JSON.toJSONString(agvDomain);
String result = OkHttpUtils.bodypost(url, jsonParam);
if(StringUtils.isEmpty(result)) {
throw new ServiceException("接口地址错误或返回为空");
}
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
if(ajaxResult.getCode() != HttpConstant.OK) {
return AjaxResult.error(ajaxResult.getMsg());
}
return AjaxResult.success("更新AGV任务成功");
}
@Override
public AjaxResult notifyAGVTask(String taskNo, String carNo, int status, String updateBy) {
AgvTask agvTask = agvTaskService.getById(taskNo);
if(agvTask == null) {
return AjaxResult.error("没有找到对应AGV任务，任务号为" + taskNo);
}
agvTask.setStatus(status);
agvTask.setCarNo(carNo);
agvTask.setLastUpdatedBy(updateBy);
boolean result = agvTaskService.updateById(agvTask);
if(!result) {
return AjaxResult.error("更新任务信息失败 ");
}
return AjaxResult.success("更新任务信息成功");
}
}