package com.zy.asrs.controller;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.R;
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import com.zy.asrs.entity.AgvWaitPakin;
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import com.zy.asrs.entity.AgvWrkDetl;
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import com.zy.asrs.entity.AgvWrkMast;
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import com.zy.asrs.entity.param.AgvTaskCallBackParam;
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import com.zy.asrs.service.*;
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import com.zy.common.web.BaseController;
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import lombok.Setter;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.RequestBody;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import javax.annotation.PostConstruct;
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import java.lang.reflect.InvocationTargetException;
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import java.lang.reflect.Method;
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import java.util.EnumSet;
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@RestController
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@RequestMapping("/agv")
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public class AgvOpenController extends BaseController {
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@Autowired
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AgvWrkMastService agvWrkMastService;
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@PostMapping("/task/event/status")
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public R taskEventStaus(@RequestBody AgvTaskCallBackParam param){
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int wrkMastCount = agvWrkMastService.selectCount(new EntityWrapper<AgvWrkMast>().eq("wrk_no", param.getTaskCode()));
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if(wrkMastCount < 1){
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return R.error("任务编号错误");
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}
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AgvTask agvTask = AgvTask.valueOf(param.getEventType());
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Class<AgvTask> clz = AgvTask.class;
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try {
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Method method = clz.getDeclaredMethod(param.getStatus(),AgvTaskCallBackParam.class);
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method.invoke(agvTask,param);
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} catch (NoSuchMethodException e) {
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return R.error("任务状态status参数有误");
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} catch (InvocationTargetException e) {
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e.printStackTrace();
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return R.error();
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} catch (IllegalAccessException e) {
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e.printStackTrace();
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return R.error();
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}
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return R.ok();
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}
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}
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enum AgvTask{
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/**
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* 上报任务状态
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*/
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task{
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@Transactional
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public void success(AgvTaskCallBackParam param) {
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int wrkNo = Integer.valueOf(param.getTaskCode());
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String barcode = agvWrkMastService.selectById(wrkNo).getBarcode();
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//生成AGV工作历史档
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agvWrkMastLogService.save(wrkNo);
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//生成AGV工作明细历史档
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agvWrkDetlLogService.save(wrkNo);
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//删除AGV工作档
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agvWrkMastService.deleteById(wrkNo);
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//删除AGV工作明细档
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agvWrkDetlService.delete(new EntityWrapper<AgvWrkDetl>().eq("wrk_no",wrkNo));
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//生成入库通知历史档
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agvWaitPakinLogService.save(barcode);
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//删除入库通知档
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agvWaitPakinService.delete(new EntityWrapper<AgvWaitPakin>().eq("zpallet",barcode));
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}
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public void fail(AgvTaskCallBackParam param) {
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}
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public void cancel(AgvTaskCallBackParam param) {
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}
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public void suspend(AgvTaskCallBackParam param) {
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}
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},
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/**
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* 上报任务分配给机器人
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*/
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task_allocated{
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@Transactional
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public void success(AgvTaskCallBackParam param) {
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}
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public void fail(AgvTaskCallBackParam param) {
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}
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public void cancel(AgvTaskCallBackParam param) {
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}
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public void suspend(AgvTaskCallBackParam param) {
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}
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},
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/**
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* 上报取箱状态
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*/
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tote_load{
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@Transactional
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public void success(AgvTaskCallBackParam param) {
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//修改源站点状态为O.空，以及解绑托盘条码
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agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getStationCode(),"O","");
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//修改AGV工作档的工作状态为2（设备上走）
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agvWrkMastService.updateWrkStsByWrkNo(Integer.valueOf(param.getTaskCode()),2);
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//修改AGV入库通知档状态
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agvWaitPakinService.updateIoStatus(Integer.valueOf(param.getTaskCode()),"Y");
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}
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public void fail(AgvTaskCallBackParam param) {
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}
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public void cancel(AgvTaskCallBackParam param) {
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}
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public void suspend(AgvTaskCallBackParam param) {
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}
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},
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/**
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* 上报放箱状态
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*/
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tote_unload{
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@Transactional
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public void success(AgvTaskCallBackParam param) {
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int wrkNo = Integer.valueOf(param.getTaskCode());
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String barcode = agvWrkMastService.selectById(wrkNo).getBarcode();
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//修改目标库位状态为F.在库
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agvLocMastService.updateLocStsByLocNo(param.getLocationCode(),"F");
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//更新目标库位明细
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agvLocDetlService.addLocDetlInfo(param.getLocationCode(),wrkNo);
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//修改工作档状态为14（入库完成）
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agvWrkMastService.updateWrkStsByWrkNo(wrkNo,14);
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}
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public void fail(AgvTaskCallBackParam param) {
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}
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public void cancel(AgvTaskCallBackParam param) {
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}
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public void suspend(AgvTaskCallBackParam param) {
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}
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},
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robot_reach{
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@Transactional
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public void success(AgvTaskCallBackParam param) {
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}
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public void fail(AgvTaskCallBackParam param) {
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}
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public void cancel(AgvTaskCallBackParam param) {
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}
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public void suspend(AgvTaskCallBackParam param) {
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}
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},
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weight{
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@Transactional
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public void success(AgvTaskCallBackParam param) {
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}
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public void fail(AgvTaskCallBackParam param) {
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}
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public void cancel(AgvTaskCallBackParam param) {
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}
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public void suspend(AgvTaskCallBackParam param) {
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}
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},
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rfid{
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@Transactional
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public void success(AgvTaskCallBackParam param) {
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}
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public void fail(AgvTaskCallBackParam param) {
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}
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public void cancel(AgvTaskCallBackParam param) {
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}
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public void suspend(AgvTaskCallBackParam param) {
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}
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};
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//任务状态为成功
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public abstract void success(AgvTaskCallBackParam param);
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//任务状态为失败
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public abstract void fail(AgvTaskCallBackParam param);
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//任务状态为取消
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public abstract void cancel(AgvTaskCallBackParam param);
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//任务状态为挂起
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public abstract void suspend(AgvTaskCallBackParam param);
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@Setter
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AgvBasDevpService agvBasDevpService;
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@Setter
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AgvLocMastService agvLocMastService;
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@Setter
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AgvLocDetlService agvLocDetlService;
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@Setter
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AgvWrkMastService agvWrkMastService;
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@Setter
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AgvWrkDetlService agvWrkDetlService;
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@Setter
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AgvWaitPakinService agvWaitPakinService;
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@Setter
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AgvWaitPakinLogService agvWaitPakinLogService;
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@Setter
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AgvWrkMastLogService agvWrkMastLogService;
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@Setter
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AgvWrkDetlLogService agvWrkDetlLogService;
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@Component
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public static class ReportTypeServiceInjector {
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@Autowired
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AgvBasDevpService agvBasDevpService;
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@Autowired
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AgvLocMastService agvLocMastService;
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@Autowired
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AgvLocDetlService agvLocDetlService;
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@Autowired
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AgvWrkMastService agvWrkMastService;
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@Autowired
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AgvWrkDetlService agvWrkDetlService;
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@Autowired
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AgvWaitPakinService agvWaitPakinService;
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@Autowired
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AgvWaitPakinLogService agvWaitPakinLogService;
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@Autowired
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AgvWrkMastLogService agvWrkMastLogService;
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@Autowired
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AgvWrkDetlLogService agvWrkDetlLogService;
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@PostConstruct
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public void postConstruct(){
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for(AgvTask task : EnumSet.allOf(AgvTask.class)){
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task.setAgvBasDevpService(agvBasDevpService);
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task.setAgvLocDetlService(agvLocDetlService);
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task.setAgvLocMastService(agvLocMastService);
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task.setAgvWrkMastService(agvWrkMastService);
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task.setAgvWaitPakinService(agvWaitPakinService);
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task.setAgvWaitPakinLogService(agvWaitPakinLogService);
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task.setAgvWrkMastLogService(agvWrkMastLogService);
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task.setAgvWrkDetlLogService(agvWrkDetlLogService);
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task.setAgvWrkDetlService(agvWrkDetlService);
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}
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}
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}
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}
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