#移库任务

zjj

2025-02-17 54b4f53323d0833cbac86fd18932c5fa5a5447a8

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/TaskController.java

@@ -1,22 +1,39 @@
package com.zy.asrs.wcs.core.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.common.annotation.OperationLog;
import com.zy.asrs.wcs.common.domain.BaseParam;
import com.zy.asrs.wcs.common.domain.KeyValVo;
import com.zy.asrs.wcs.common.domain.PageParam;
import com.zy.asrs.wcs.core.domain.param.ShuttleCommandParam;
import com.zy.asrs.wcs.core.domain.param.ShuttleCommandRollbackParam;
import com.zy.asrs.wcs.core.domain.param.ShuttleCommandUpdateCompleteParam;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.entity.MotionLog;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskLog;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.MotionLogService;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.core.service.TaskLogService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.utils.ExcelUtil;
import org.springframework.beans.factory.annotation.Autowired;
@@ -39,6 +56,10 @@
    private MotionService motionService;
    @Autowired
    private MotionLogService motionLogService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private ObjectMapper objectMapper;

    @PreAuthorize("hasAuthority('core:task:list')")
    @PostMapping("/task/page")
@@ -180,6 +201,7 @@
            MotionLog motionLog = new MotionLog();
            motionLog.sync(motion);
            motionLog.setUpdateTime(new Date());
            motionLog.setHostId(null);
            motionLogService.save(motionLog);
        }

@@ -190,4 +212,112 @@

        return R.ok("取消成功");
    }

    @PreAuthorize("hasAuthority('core:task:list')")
    @PostMapping("/task/shuttleCommand")
    public R shuttleCommand(@RequestBody ShuttleCommandParam param) {
        Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo());
        if (object == null) {
            return R.ok();
        }

        ShuttleRedisCommand redisCommand = null;
        try {
            redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
        } catch (JsonProcessingException e) {
            throw new RuntimeException(e);
        }

        if (redisCommand == null) {
            return R.ok();
        }

        HashMap<String, Object> hashMap = new HashMap<>();
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ShuttleCommand> commands = assignCommand.getCommands();
        Integer commandStep = redisCommand.getCommandStep();//当前步序

        ArrayList<JSONObject> list = new ArrayList<>();
        int index = 0;
        for (ShuttleCommand command : commands) {
            JSONObject data = JSON.parseObject(JSON.toJSONString(command));
            data.put("index", index++);
            data.put("commandStep", commandStep);

            ShuttleCommandModeType type = ShuttleCommandModeType.get(command.getMode());
            if (type == null) {
                data.put("mode$", command.getMode());
            }else {
                data.put("mode$", type.desc);
            }

            if (command.getNodes() != null) {
                List<NavigateNode> nodes = command.getNodes();
                NavigateNode start = nodes.get(0);
                NavigateNode target = nodes.get(nodes.size() - 1);
                data.put("start", Utils.getLocNo(start.getX(), start.getY(), start.getZ()));
                data.put("target", Utils.getLocNo(target.getX(), target.getY(), target.getZ()));
            }

            list.add(data);
        }


        hashMap.put("total", commands.size());
        hashMap.put("records", list);
        hashMap.put("commandStep", commandStep);
        return R.ok().add(hashMap);
    }

    @PreAuthorize("hasAuthority('core:task:list')")
    @PostMapping("/task/shuttleCommand/completeSwitch")
    public R shuttleCommandCompleteSwitch(@RequestBody ShuttleCommandUpdateCompleteParam param) {
        Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo());
        if (object == null) {
            return R.error("指令不存在");
        }

        ShuttleRedisCommand redisCommand = null;
        try {
            redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
        } catch (JsonProcessingException e) {
            throw new RuntimeException(e);
        }

        if (redisCommand == null) {
            return R.error("指令不存在");
        }

        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ShuttleCommand> commands = assignCommand.getCommands();
        ShuttleCommand command = commands.get(param.getIndex());
        command.setComplete(param.getComplete());

        redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
        return R.ok();
    }

    @PreAuthorize("hasAuthority('core:task:list')")
    @PostMapping("/task/shuttleCommand/commandRollback")
    public R shuttleCommandRollback(@RequestBody ShuttleCommandRollbackParam param) {
        Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo());
        if (object == null) {
            return R.error("指令不存在");
        }

        ShuttleRedisCommand redisCommand = null;
        try {
            redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
        } catch (JsonProcessingException e) {
            throw new RuntimeException(e);
        }

        if (redisCommand == null) {
            return R.error("指令不存在");
        }

        redisCommand.setCommandStep(param.getIndex());
        redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
        return R.ok();
    }
}