#

luxiaotao1123

2024-10-18 fd1c390222642abd57e0662d2328a008d0a0c845

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -3,6 +3,9 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.AvoidWaveCalculator;
@@ -10,18 +13,12 @@
import com.zy.acs.manager.core.service.ThreadPoolRegulator;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.ActionStsType;
import com.zy.acs.manager.manager.enums.LocStsType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
@@ -38,7 +35,7 @@
 */
@Slf4j
@RestController
@RequestMapping("/handler")
@RequestMapping("/api/handler")
public class HandlerController extends BaseController {

    public static final String APP_KEY = "xltys1995";
@@ -68,11 +65,11 @@
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;

    @RequestMapping(value = "/publish", method = {RequestMethod.GET, RequestMethod.POST})
    @RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
    @Transactional
    public R publish(@RequestHeader String appKey,
    public R controlAgv(@RequestHeader String appKey,
                     @RequestBody HandlerPublishParam param) {
        if (Cools.isEmpty(param.getAgvNo(), param.getTaskType(), appKey)) {
        if (Cools.isEmpty(param.getAgvNo(), param.getTaskMode(), appKey)) {
            return R.error();
        }
        if (!APP_KEY.equals(appKey)) {
@@ -101,36 +98,58 @@
        }

        // generate
        switch (param.getTaskType()) {
        switch (param.getTaskMode()) {
            case MOVE:
                if (Cools.isEmpty(param.getEndCode())) {
                Code endCode = null;
                if (!Cools.isEmpty(param.getEndCode())) {
                    endCode = codeService.getById(param.getEndCode());
                }
                if (!Cools.isEmpty(param.getEndCodeStr())) {
                    endCode = codeService.selectByData(param.getEndCodeStr());
                }
                if (null == endCode) {
                    return R.error();
                }
                if (null == codeService.selectByData(param.getEndCode())) {
                    return R.error();
                }
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskType(), param.getEndCode())) {
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), endCode.getData())) {
                    return R.error();
                }
                break;
            case TO_CHARGE:
            case TO_STANDBY:
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskType(), null)) {
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), null)) {
                    return R.error();
                }
                break;
            case LOC_TO_LOC:
                if (Cools.isEmpty(param.getStartLocNo(), param.getEndLocNo())) {
                    return R.error();
                // oriLoc
                Loc oriLoc = null;
                if (!Cools.isEmpty(param.getStartLocNo())) {
                    oriLoc = locService.getById(param.getStartLocNo());
                }
                Loc oriLoc = locService.selecatByLocNo(param.getStartLocNo());
                if (!Cools.isEmpty(param.getStartLocNoStr())) {
                    oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
                }
                if (null == oriLoc) {
                    return R.error();
                }
                Loc destLoc = locService.selecatByLocNo(param.getEndLocNo());
                if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
                }
                // destLoc
                Loc destLoc = null;
                if (!Cools.isEmpty(param.getEndLocNo())) {
                    destLoc = locService.getById(param.getEndLocNo());
                }
                if (!Cools.isEmpty(param.getEndLocNoStr())) {
                    destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
                }
                if (null == destLoc) {
                    return R.error();
                }
                if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
                }


                // task
                Task task = new Task();
@@ -142,7 +161,7 @@
                task.setOriLoc(oriLoc.getId());
                task.setDestLoc(destLoc.getId());

                task.setTaskType(param.getTaskType().val());
                task.setTaskType(param.getTaskMode().val());
                task.setTaskSts(TaskStsType.WAITING.val());

                task.setPriority(999);
@@ -153,26 +172,16 @@
                }

                // loc
                oriLoc = locService.getById(task.getOriLoc());
                if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 不是在库状态");
                }
                oriLoc.setLocSts(LocStsType.PAKOUT.val());
                oriLoc.setUpdateTime(now);
                if (!locService.updateById(oriLoc)) {
                    throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 修改库位状态失败");
                }

                destLoc = locService.getById(task.getDestLoc());
                if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    throw new BusinessException("destLoc：" + task.getDestLoc$() + " 不是空闲状态");
                }
                destLoc.setLocSts(LocStsType.PAKIN.val());
                destLoc.setUpdateTime(now);
                if (!locService.updateById(destLoc)) {
                    throw new BusinessException("destLoc：" + task.getDestLoc$() + " 修改库位状态失败");
                }

                break;
            default:
                break;