AcsServiceImpl.java
18.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
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");
}
AgvDomain agvDomain = new AgvDomain();
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();
}
}
if(preTaskNo != 0) {
agvDomain.setPreTaskNo(preTaskNo);
}
agvDomain.setTaskNo(String.valueOf(agvTask.getId()));
agvDomain.setTaskType(agvTask.getTaskType());
agvDomain.setFromPort(agvTask.getFromPort());
agvDomain.setToPort(agvTask.getToPort());
agvDomain.setPriority(agvTask.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(locationCode, null);
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(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 == 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 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);
if (location != null) {
String locationCode = location.getCode();
AgvTask agvTask1 = getAgvTask(locationCode, null);
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(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 == 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();
}
}
}
// 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.isEmpty(fromLocationCode), AgvTask::getFromPort, fromLocationCode)
.eq(StringUtils.isEmpty(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");
}
}