AcsController.java
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package com.huaheng.api.acs.controller;
import java.math.BigDecimal;
import java.util.List;
import java.util.Map;
import javax.annotation.Resource;
import cn.hutool.core.convert.Convert;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.huaheng.api.acs.domain.*;
import com.huaheng.api.wcs.controller.EmptyContainerController;
import com.huaheng.api.wcs.domain.ManyEmptyDomain;
import com.huaheng.common.exception.service.ServiceException;
import com.huaheng.framework.multi.service.IHuahengMultiHandlerService;
import com.huaheng.framework.web.service.ConfigService;
import com.huaheng.pc.task.agvTask.domain.AgvTask;
import com.huaheng.pc.task.agvTask.domain.AgvTaskAssignSort;
import com.huaheng.pc.task.agvTask.service.AgvTaskService;
import com.huaheng.pc.task.agvTask.service.IAgvTaskAssignSortService;
import com.huaheng.pc.task.taskHeader.domain.TaskHeader;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
import org.springframework.web.bind.annotation.*;
import com.huaheng.api.acs.service.AcsReceiptService;
import com.huaheng.api.acs.service.AcsService;
import com.huaheng.common.constant.QuantityConstant;
import com.huaheng.common.utils.StringUtils;
import com.huaheng.common.utils.http.OkHttpUtils;
import com.huaheng.framework.aspectj.lang.annotation.ApiLogger;
import com.huaheng.framework.web.controller.BaseController;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.pc.sap.domain.WeightRollNumberInfo;
import com.huaheng.pc.sap.service.WeightRollNumberInfoService;
import io.swagger.annotations.ApiOperation;
@RestController
@RequestMapping("/agv")
public class AcsController extends BaseController {
@Resource
private AcsService acsService;
@Resource
private WeightRollNumberInfoService weightRollNumberInfoService;
@Resource
private AcsReceiptService acsReceiptService;
@Resource
private EmptyContainerController emptyContainerController;
@Resource
private ConfigService configService;
@Resource
private AgvTaskService agvTaskService;
@Resource
private TaskHeaderService taskHeaderService;
@Resource
private IHuahengMultiHandlerService huahengMultiHandlerService;
@Resource
private IAgvTaskAssignSortService agvTaskAssignSortService;
@Resource
private StackCaller stackCaller;
/**
* status 20 任务执行中；
* 50 取货完成；
* 90 任务完成；
* @param acsStatus
* @return
*/
@PostMapping("/notifyAGVTask")
@ApiOperation("更新AGV状态")
@ResponseBody
@ApiLogger(apiName = "更新AGV状态", from = "acs")
public AjaxResult notifyAGVTask(@RequestBody AcsStatus acsStatus) {
if(acsStatus.getStatus() > 0){
switch (acsStatus.getStatus()){
case 100:
AgvTask agvTask = new AgvTask();
agvTask.setTaskNo(Integer.valueOf(acsStatus.getTaskNo()));
agvTask.setState(acsStatus.getStatus());
agvTask.setZoneCode("AGV");
return huahengMultiHandlerService.busTaskFinish(agvTask);
default:
return AjaxResult.success();
}
}
AjaxResult ajaxResult = handleMultiProcess("notifyAGVTask", new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AjaxResult ajaxResult = acsService.notifyAGVTask(acsStatus);
return ajaxResult;
}
});
return ajaxResult;
}
/**
* status 20 任务执行中；
* 50 取货完成；
* 90 任务完成；
* @param acsStatus
* @return
*/
@PostMapping("/bindContainer")
@ApiOperation("玻璃布物料绑定托盘")
@ResponseBody
@ApiLogger(apiName = "玻璃布物料绑定托盘", from = "acs")
public AjaxResult bindContainer(@RequestBody AcsStatus acsStatus) {
AjaxResult ajaxResult = handleMultiProcess("bindContainer", new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AjaxResult ajaxResult = acsService.bindContainer(acsStatus);
return ajaxResult;
}
});
return ajaxResult;
}
/**
* pltype 1->片状托架0->卷状托架,2->特殊托架
* containerType 1.请求入库卷托盘;2.请求入库片托盘；
* 3.请求出库卷托盘；0.请求出片状托盘
* @param param
* @return
*/
@PostMapping("/agvCallEmptyOut")
@ApiOperation("ACS呼叫空托盘出库")
@ResponseBody
@ApiLogger(apiName = "ACS呼叫空托盘出库", from = "acs")
public AjaxResult agvCallEmptyOut(@RequestBody AGVCallParam param) {
Integer containerType = param.getContainerType();
Integer taskId = param.getTaskId();
String port = param.getPort();
int area = param.getArea();
String warehouseCode = param.getWarehouseCode();
if (area == 0) {
return AjaxResult.error("库区不嫩为空");
}
// if (area == 1) {
// containerType = 0;
// }
if (containerType == null) {
return AjaxResult.error("容器类型不存在");
}
if (StringUtils.isEmpty(port)) {
return AjaxResult.error("站台不能为空");
}
if (StringUtils.isEmpty(warehouseCode)) {
return AjaxResult.error("仓库不能为空");
}
if(area == 2){
containerType = 1;
}
AjaxResult ajaxResult = null;
Integer finalContainerType = containerType;
if(area == 1){
//判断AGV回库任务是否有保留托盘
AgvTask agvTask = agvTaskService.getById(taskId);
if(agvTask == null){
return AjaxResult.error("AGV任务id；"+taskId+"不存在。");
}
if(agvTask.getTaskId() > 0){
return AjaxResult.success();
}
LambdaQueryWrapper<TaskHeader> queryWrapper = Wrappers.lambdaQuery();
queryWrapper.lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED)
.eq(TaskHeader::getPort,port)
.eq(TaskHeader::getInternalTaskType,QuantityConstant.TASK_INTENERTYPE_SHIPMENT);
List<TaskHeader> list = taskHeaderService.list(queryWrapper);
if(!list.isEmpty()){
return AjaxResult.error("有未出库完成的出库任务，等待托盘到达");
}
ManyEmptyDomain domain = new ManyEmptyDomain();
domain.setWarehouseCode(QuantityConstant.WAREHOUSECODE);
domain.setArea("1");
domain.setPort(port);
domain.setTaskId(taskId);
ajaxResult = emptyContainerController.wcsCallEmptyOut(domain);
if(!ajaxResult.hasErr()){
Integer taskHeaderId = (Integer)ajaxResult.getData();
TaskHeader taskHeader = taskHeaderService.getById(taskHeaderId);
agvTask.setPalletNo(taskHeader.getContainerCode());
agvTask.setTaskId(taskHeaderId);
agvTaskService.updateById(agvTask);
}
}else{
ajaxResult = handleQuest("agvCallEmptyOut", new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AjaxResult ajaxResult = acsService.agvCallEmptyOut(area, port, warehouseCode, finalContainerType);
return ajaxResult;
}
});
}
return ajaxResult;
}
@PostMapping("/getReceiptContainerByB")
@ApiOperation("ACS传入入库数据")
@ResponseBody
@ApiLogger(apiName = "ACS传入入库数据", from = "acs")
public AjaxResult getReceiptContainerByB(@RequestBody RobotDomain robotDomain) {
if(robotDomain == null){
return AjaxResult.error("请求内容不能为空");
}
// 容器
String containerCode = robotDomain.getContainerCode();
// 位置
Integer position = robotDomain.getPosition();
Integer palletType = robotDomain.getPalletType();
Integer height = robotDomain.getHeight();
Integer boxType = robotDomain.getBoxType();
Integer stackTypeTotal = robotDomain.getStackTypeTotal();
String allCode = robotDomain.getAllCode();
if(StringUtils.isEmpty(allCode)){
return AjaxResult.error("条码为空！");
}
String[] codes = allCode.split(" ");
if(codes.length != 3){
throw new ServiceException("解析条码规则不正确（例子 '物料 数量 批次 = 4ANN7628M195N1900A 150 1600LHHS01A'）："+allCode);
}
if(StringUtils.isNull(stackTypeTotal)){
return AjaxResult.error("码垛总数不能为空！");
}
if(stackTypeTotal == null || stackTypeTotal.intValue() <= 0){
return AjaxResult.error("码垛总数为空!");
}
if(StringUtils.isEmpty(containerCode)){
return AjaxResult.error("托盘号不能为空！");
}
if(StringUtils.isNull(position)){
return AjaxResult.error("位置号不能为空！");
}
if(position.intValue() <= 0){
return AjaxResult.error("位置号不能小于0！");
}
if(StringUtils.isNull(height)){
return AjaxResult.error("木托高度不能为空！");
}
if(height.intValue() <= 0){
return AjaxResult.error("木托高度不能小于0！");
}
robotDomain.setMaterialCode(codes[0]);
robotDomain.setQty(Convert.convert(BigDecimal.class,codes[1]));
robotDomain.setLot(codes[2]);
String stackType = StackProcessor.processStack(boxType, stackTypeTotal, palletType, stackCaller);
robotDomain.setStackType(Integer.valueOf(stackType));
robotDomain.setSapPort("2B03");
AjaxResult ajaxResult = handleQuest("getReceiptContainerByB", new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
return acsReceiptService.saveReceiptDetail(robotDomain);
}
});
return ajaxResult;
}
@PostMapping("/pushWeightRollNumber")
@ApiOperation("推送卷号重量信息")
@ResponseBody
@ApiLogger(apiName = "推送卷号重量信息", from = "acs")
public AjaxResult pushWeightRollNumber(@RequestBody WeightRollNumberInfo weightRollNumberInfo) {
String rollNumber = weightRollNumberInfo.getRollNumber();
if (StringUtils.isEmpty(rollNumber)) {
return AjaxResult.error("卷号不为空：");
}
AjaxResult ajaxResult = handleQuest("pushWeightRollNumber", new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
boolean save = weightRollNumberInfoService.save(weightRollNumberInfo);
Map<String,String> headerBodyPost = null;
try {
String url = configService.getKey(QuantityConstant.WEIGHT_ROLLNUMBER_URL);
url = url + "?charg="+rollNumber+"&werks=SC00";
headerBodyPost = OkHttpUtils.sendGet(url);
weightRollNumberInfo.setSend(1);
weightRollNumberInfoService.updateById(weightRollNumberInfo);
} catch (Exception e) {
e.printStackTrace();
} finally {
return AjaxResult.toAjax(save).setData(headerBodyPost);
}
}
});
return ajaxResult;
}
@PostMapping("/sortAGVTask")
@ApiOperation("排序AGV任务")
@ResponseBody
@ApiLogger(apiName = "排序AGV任务", from = "acs")
public AjaxResult sortAGVTask(@RequestBody RobotDomain robotDomain) {
String containerCode = robotDomain.getContainerCode();
LambdaQueryWrapper<AgvTask> lambdaQuery = Wrappers.lambdaQuery();
lambdaQuery.eq(AgvTask::getFromPoint,"P31152")
.eq(AgvTask::getPalletNo,containerCode)
.lt(AgvTask::getState,90);
AgvTask task = agvTaskService.getOne(lambdaQuery);
if(task == null){
return AjaxResult.error("未查询到托盘号为："+containerCode+"的任务。清补充任务");
}
AjaxResult result = handleMultiProcess("sortAGVTask", new MultiProcessListener() {
@Override
public AjaxResult doProcess() {
AgvTaskAssignSort taskAssignSort = agvTaskAssignSortService.findByTaskNo(task.getTaskNo());
if(StringUtils.isNull(taskAssignSort)){
AgvTaskAssignSort agvTaskAssignSort = new AgvTaskAssignSort();
agvTaskAssignSort.setTaskNo(task.getTaskNo());
agvTaskAssignSort.setCreatedBy("ACS");
AjaxResult result = agvTaskAssignSortService.saveAgvTaskAssignSort(agvTaskAssignSort);
return result;
}
return AjaxResult.success();
}
});
return result;
}
}