songxiaopeng
8 months ago
10 changed files with 378 additions and 8 deletions
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package org.nl.wms.ext.service.dto.to.iot; |
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import lombok.Data; |
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/** |
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* @author songxiaopeng |
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*/ |
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@Data |
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public class BendReq { |
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//订单号
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private String order; |
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//组盘ID
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private String groupId; |
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//请求点位
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private String endDeviceCode; |
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} |
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@ -0,0 +1,214 @@ |
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package org.nl.wms.sch.task_manage.task.tasks.fj; |
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import cn.hutool.core.util.IdUtil; |
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import cn.hutool.core.util.ObjectUtil; |
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import cn.hutool.http.HttpRequest; |
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import com.alibaba.fastjson.JSON; |
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import com.alibaba.fastjson.JSONObject; |
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; |
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import lombok.extern.slf4j.Slf4j; |
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import org.nl.common.exception.BadRequestException; |
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import org.nl.config.SpringContextHolder; |
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import org.nl.system.service.param.impl.SysParamServiceImpl; |
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import org.nl.wms.ext.service.dto.to.BaseResponse; |
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import org.nl.wms.ext.service.dto.to.iot.AgvStateParam; |
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import org.nl.wms.pdm.service.IPdmBdWorkorderService; |
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import org.nl.wms.sch.group.service.ISchBaseVehiclematerialgroupService; |
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import org.nl.wms.sch.point.service.ISchBasePointService; |
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import org.nl.wms.sch.point.service.dao.SchBasePoint; |
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import org.nl.wms.sch.task.service.ISchBaseTaskService; |
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import org.nl.wms.sch.task.service.ISchBaseTaskconfigService; |
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import org.nl.wms.sch.task.service.dao.SchBaseTask; |
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import org.nl.wms.sch.task.service.dao.SchBaseTaskconfig; |
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import org.nl.wms.sch.task_manage.AbstractTask; |
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import org.nl.wms.sch.task_manage.enums.PointStatusEnum; |
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import org.nl.wms.sch.task_manage.task.TaskType; |
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import org.nl.wms.sch.task_manage.task.core.TaskStatus; |
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import org.nl.wms.util.PointUtils; |
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import org.springframework.beans.factory.annotation.Autowired; |
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import org.springframework.context.annotation.Lazy; |
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import org.springframework.http.HttpStatus; |
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import org.springframework.stereotype.Component; |
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import java.util.Arrays; |
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import java.util.List; |
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/** |
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* @Author: sxp |
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* @Description: 分拣回库 |
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* @Date: 2024/3/11 |
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*/ |
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@Slf4j |
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@Component |
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@TaskType("FJHKTask") |
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@Lazy |
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public class FJHKTask extends AbstractTask { |
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private static String TASK_CONFIG_CODE = "FJHKTask"; |
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@Autowired |
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private ISchBasePointService pointService; |
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@Autowired |
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private ISchBaseTaskService taskService; |
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@Autowired |
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private ISchBaseTaskconfigService taskConfigService; |
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@Autowired |
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private ISchBaseVehiclematerialgroupService vehiclematerialgroupService; |
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@Override |
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protected void create() throws BadRequestException { |
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List<SchBaseTask> tasks = taskService.findTasksByTaskStatus(TASK_CONFIG_CODE, TaskStatus.APPLY); |
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SchBaseTaskconfig taskConfig = taskConfigService.getOne(new LambdaQueryWrapper<SchBaseTaskconfig>() |
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.eq(SchBaseTaskconfig::getConfig_code, TASK_CONFIG_CODE)); |
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for (SchBaseTask task : tasks) { |
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SchBasePoint point = findNextPoint(taskConfig.getNext_region_str(), task.getVehicle_type()); |
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if (ObjectUtil.isEmpty(point)) { |
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task.setRemark("未找到所需点位!"); |
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taskService.update(task); |
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log.info("分拣下料未找到当前符合条件的点位！"); |
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continue; |
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} |
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task.setPoint_code2(point.getPoint_code()); |
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task.setTask_status(TaskStatus.CREATED.getCode()); |
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task.setRemark(""); |
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taskService.update(task); |
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//发起任务时先把点位占用，防止发起重复任务
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point.setIng_task_code(task.getTask_code()); |
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pointService.update(point); |
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this.renotifyAcs(task); |
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} |
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} |
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/** |
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* 判断目标点位 |
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* |
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* @return |
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*/ |
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private SchBasePoint findNextPoint(String nextReginStr, String vehicleType) { |
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String[] reginList = nextReginStr.split(","); |
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LambdaQueryWrapper<SchBasePoint> lam = new LambdaQueryWrapper<>(); |
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lam.in(SchBasePoint::getRegion_code, Arrays.asList(reginList)) |
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.eq(SchBasePoint::getPoint_status, PointStatusEnum.EMPTY_POINT.getCode()) |
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.eq(SchBasePoint::getCan_vehicle_type, vehicleType) |
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.and(la -> la.isNull(SchBasePoint::getIng_task_code) // 当前执行的任务为空或者NULL，有数据表示锁住
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.or() |
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.eq(SchBasePoint::getIng_task_code, "")) |
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.eq(SchBasePoint::getIs_used, true) |
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.orderByAsc(SchBasePoint::getIn_order_seq) |
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.orderByAsc(SchBasePoint::getPoint_code); |
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List<SchBasePoint> schBasePoints = pointService.list(lam); |
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return ObjectUtil.isNotEmpty(schBasePoints) ? schBasePoints.get(0) : null; |
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} |
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@Override |
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// @Transactional(rollbackFor = Exception.class)
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protected void updateStatus(String task_code, TaskStatus status) { |
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// 校验任务
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SchBaseTask taskObj = taskService.getById(task_code); |
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if (taskObj.getTask_status().equals(TaskStatus.FINISHED.getCode())) { |
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throw new BadRequestException("该任务已完成!"); |
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} |
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if (taskObj.getTask_status().equals(TaskStatus.CANCELED.getCode())) { |
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throw new BadRequestException("该任务已取消!"); |
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} |
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String startPoint = taskObj.getPoint_code1(); // 获取起点
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String endPoint = taskObj.getPoint_code2(); // 获取终点
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SchBasePoint startPointObj = pointService.getById(startPoint); |
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SchBasePoint endPointObj = pointService.getById(endPoint); |
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// 根据传来的类型去对任务进行操作
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if (status.equals(TaskStatus.EXECUTING)) { // 执行中
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taskObj.setTask_status(TaskStatus.EXECUTING.getCode()); |
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taskObj.setRemark("执行中"); |
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} |
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if (status.equals(TaskStatus.FINISHED)) { // 完成
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// 起点清空
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if (ObjectUtil.isNotEmpty(startPointObj)) { |
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PointUtils.clearPoint(startPointObj); |
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} |
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// 终点解锁
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endPointObj.setIng_task_code(""); |
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// endPointObj.setVehicle_code(ObjectUtil.isEmpty(endPointObj.getVehicle_code()) ? vehicle_code + "," : endPointObj.getVehicle_code() + vehicle_code + ",");
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endPointObj.setVehicle_qty(1); |
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pointService.update(endPointObj); |
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// 任务完成
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taskObj.setTask_status(TaskStatus.FINISHED.getCode()); |
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taskObj.setRemark("任务完成"); |
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} |
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if (status.equals(TaskStatus.CANCELED)) { // 取消
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// 终点解锁
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if (ObjectUtil.isNotEmpty(endPointObj)) { |
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endPointObj.setIng_task_code(""); |
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//任务取消把原先占用的位置释放
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pointService.update(endPointObj); |
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} |
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taskObj.setRemark("任务取消"); |
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taskObj.setTask_status(TaskStatus.CANCELED.getCode()); |
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} |
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taskService.update(taskObj); |
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} |
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@Override |
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public void forceFinish(String task_code) { |
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this.updateStatus(task_code, TaskStatus.FINISHED); |
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} |
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@Override |
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public void cancel(String task_code) { |
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this.updateStatus(task_code, TaskStatus.CANCELED); |
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} |
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@Override |
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protected void feedbackTaskState(JSONObject param, SchBaseTask schBaseTask, BaseResponse result) { |
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// 反馈上位系统 反馈上位系统成功后，返回200给acs
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AgvStateParam agvStateParam = new AgvStateParam(); |
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agvStateParam.setTask_code(schBaseTask.getTask_code()); |
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agvStateParam.setDevice_code(schBaseTask.getPoint_code1()); |
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agvStateParam.setVehicle_code(schBaseTask.getVehicle_code()); |
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String phase = param.getString("phase"); |
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String iotUrl = SpringContextHolder.getBean(SysParamServiceImpl.class).findByCode("iot_url").getValue(); |
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SchBasePoint startPoint = pointService.getById(schBaseTask.getPoint_code1()); |
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if ("3".equals(phase)) { |
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agvStateParam.setStatus("1"); |
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//叉车到位 请求取货
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String url = iotUrl + "iot/agvarrive"; |
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applyIot(url, agvStateParam, result); |
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//锁住起点
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startPoint.setIng_task_code(schBaseTask.getTask_code()); |
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pointService.update(startPoint); |
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} |
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if ("5".equals(phase)) { |
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agvStateParam.setStatus("2"); |
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//取货完成，请求离开
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String url = iotUrl + "iot/agvfinish"; |
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applyIot(url, agvStateParam, result); |
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//起点解锁 下发补空托盘任务
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startPoint.setIng_task_code(""); |
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pointService.update(startPoint); |
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} |
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} |
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private void applyIot(String url, AgvStateParam agvStateParam, BaseResponse result) { |
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String jsonParam = JSON.toJSONString(agvStateParam); |
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log.info("请求iot参数为:{}", jsonParam); |
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try { |
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String resultMsg = HttpRequest.post(url) |
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.body(jsonParam) |
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.execute().body(); |
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JSONObject res = JSONObject.parseObject(resultMsg); |
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if ("200".equals(res.getString("code"))) { |
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log.info("请求iot成功,返回结果为:{}", res); |
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result.setCode(HttpStatus.OK.value()); |
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result.setMessage("请求iot成功!"); |
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} else { |
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log.error("请求iot失败:{}", res); |
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result.setCode(HttpStatus.BAD_REQUEST.value()); |
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result.setMessage("请求iot失败!"); |
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} |
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} catch (Exception e) { |
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String msg = e.getMessage(); |
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//请求iot失败
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log.error("请求iot失败:{}", msg); |
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result.setCode(HttpStatus.BAD_REQUEST.value()); |
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result.setMessage("请求iot失败!"); |
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} |
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} |
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} |
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