From 0fc62ab3d5d038235b328d91cda0192a34617fb9 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 19 五月 2025 20:17:30 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/TaskController.java | 232 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 227 insertions(+), 5 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/TaskController.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/TaskController.java
index dec5eff..2a51fe1 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/TaskController.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/TaskController.java
@@ -1,25 +1,48 @@
-package com.zy.asrs.wcs.system.controller;
+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;
import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;
import javax.servlet.http.HttpServletResponse;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
@RestController
@RequestMapping("/api")
@@ -27,6 +50,16 @@
@Autowired
private TaskService taskService;
+ @Autowired
+ private TaskLogService taskLogService;
+ @Autowired
+ private MotionService motionService;
+ @Autowired
+ private MotionLogService motionLogService;
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private ObjectMapper objectMapper;
@PreAuthorize("hasAuthority('core:task:list')")
@PostMapping("/task/page")
@@ -98,4 +131,193 @@
ExcelUtil.build(ExcelUtil.create(taskService.list(), Task.class), response);
}
+ @PreAuthorize("hasAuthority('core:task:complete')")
+ @OperationLog("鎵嬪姩瀹屾垚浠诲姟")
+ @PostMapping("/task/complete/{id}")
+ @Transactional
+ public synchronized R complete(@PathVariable Long id) {
+ Task task = taskService.getById(id);
+ if (task == null) {
+ return R.error("浠诲姟涓嶅瓨鍦�");
+ }
+ switch (TaskStsType.query(task.getTaskSts())) {
+ case NEW_INBOUND:
+ case ANALYZE_INBOUND:
+ case EXECUTE_INBOUND:
+ task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts);
+ break;
+ case NEW_OUTBOUND:
+ case ANALYZE_OUTBOUND:
+ case EXECUTE_OUTBOUND:
+ task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.sts);
+ break;
+ case NEW_CHARGE:
+ case ANALYZE_CHARGE:
+ case EXECUTE_CHARGE:
+ task.setTaskSts(TaskStsType.CHARGE_WORKING.sts);
+ break;
+ case NEW_MOVE:
+ case ANALYZE_MOVE:
+ case EXECUTE_MOVE:
+ task.setTaskSts(TaskStsType.COMPLETE_MOVE.sts);
+ break;
+ case NEW_MANUAL:
+ case ANALYZE_MANUAL:
+ case EXECUTE_MANUAL:
+ task.setTaskSts(TaskStsType.COMPLETE_MANUAL.sts);
+ break;
+ default:
+ return R.error("褰撳墠鐘舵�佷笉鍙瀹屾垚");
+ }
+ task.setUpdateTime(new Date());
+ task.setUpdateBy(getLoginUserId());
+ if (!taskService.updateById(task)) {
+ return R.error("瀹屾垚澶辫触");
+ }
+ return R.ok("浠诲姟瀹屾垚");
+ }
+
+ @PreAuthorize("hasAuthority('core:task:cancel')")
+ @OperationLog("鎵嬪姩鍙栨秷浠诲姟")
+ @PostMapping("/task/cancel/{id}")
+ @Transactional
+ public synchronized R cancel(@PathVariable Long id) {
+ Task task = taskService.getById(id);
+ if (task == null) {
+ return R.error("浠诲姟涓嶅瓨鍦�");
+ }
+
+ //鍒涘缓鍘嗗彶妗�
+ TaskLog taskLog = new TaskLog();
+ taskLog.sync(task);
+ taskLog.setUpdateTime(new Date());
+ taskLog.setUpdateBy(getLoginUserId());
+ taskLog.setHostId(null);
+ taskLogService.save(taskLog);
+
+ List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
+ for (Motion motion : motions) {
+ //鍒涘缓鍔ㄤ綔鍘嗗彶妗�
+ MotionLog motionLog = new MotionLog();
+ motionLog.sync(motion);
+ motionLog.setUpdateTime(new Date());
+ motionLog.setHostId(null);
+ motionLogService.save(motionLog);
+ }
+
+ //鍒犻櫎婧愪换鍔�
+ taskService.removeById(task.getId());
+ //鍒犻櫎鍔ㄤ綔
+ motionService.remove(new LambdaQueryWrapper<Motion>().eq(Motion::getTaskNo, task.getTaskNo()).eq(Motion::getHostId, task.getHostId()));
+
+ return R.ok("鍙栨秷鎴愬姛");
+ }
+
+ @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();//褰撳墠姝ュ簭
+
+ 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("鎸囦护涓嶅瓨鍦�");
+ }
+
+ 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("鎸囦护涓嶅瓨鍦�");
+ }
+
+ 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("鎸囦护涓嶅瓨鍦�");
+ }
+
+ 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("鎸囦护涓嶅瓨鍦�");
+ }
+
+ redisCommand.setCommandStep(param.getIndex());
+ redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + param.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
+ return R.ok();
+ }
}
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