638 lines
31 KiB
Plaintext
638 lines
31 KiB
Plaintext
package com.ruoyi.wms.controller;
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import com.alibaba.fastjson.JSONObject;
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import com.cmeim.common.core.utils.BeanUtil;
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import com.cmeim.common.core.utils.DateUtil;
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import com.cmeim.common.core.utils.ExcelExportUtil;
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import com.cmeim.common.core.web.controller.GenericController;
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import com.cmeim.common.core.web.domain.Respond;
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import com.cmeim.common.core.web.page.PageVo;
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import com.ruoyi.ruiYiController.exception.ServiceException;
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import com.ruoyi.wms.enums.AgvTaskEnum;
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import com.ruoyi.wms.enums.RequestEnum;
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import com.ruoyi.wms.po.*;
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import com.ruoyi.wms.repository.*;
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import com.ruoyi.wms.service.AGVService;
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import com.ruoyi.wms.service.ScheduleService;
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import com.ruoyi.wms.vo.*;
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import com.google.common.collect.Lists;
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import io.swagger.annotations.Api;
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import io.swagger.annotations.ApiOperation;
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import lombok.extern.slf4j.Slf4j;
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import org.apache.commons.lang3.StringUtils;
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import org.apache.poi.xssf.streaming.SXSSFSheet;
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import org.apache.poi.xssf.streaming.SXSSFWorkbook;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.data.domain.Page;
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import org.springframework.data.domain.PageRequest;
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import org.springframework.data.domain.Sort;
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import org.springframework.data.jpa.domain.Specification;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.web.bind.annotation.*;
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import javax.persistence.criteria.CriteriaBuilder;
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import javax.persistence.criteria.CriteriaQuery;
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import javax.persistence.criteria.Predicate;
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import javax.persistence.criteria.Root;
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import javax.servlet.http.HttpServletResponse;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.concurrent.locks.Lock;
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import java.util.concurrent.locks.ReentrantLock;
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/**
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* @Verasion:1.0
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* @Author:DZY
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* @Date:2023/6/26
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**/
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@Api(tags = "数据采集接口")
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@RestController
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@Slf4j
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@RequestMapping(value = "agv")
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public class AgvController extends GenericController {
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@Autowired
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private AgvTaskRepository agvTaskRepository;
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@Autowired
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private AGVService agvService;
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@Autowired
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private ContainerInfoRepository containerInfoRepository;
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@Autowired
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private OrderInfoRepository orderInfoRepository;
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@Autowired
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private StationInfoRepository stationInfoRepository;
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@Autowired
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private ShelfInfoRepository shelfInfoRepository;
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@Autowired
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private ScheduleService scheduleService;
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@ApiOperation(value = "列表")
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@GetMapping(value = "list")
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public Respond list(PageVo pv, AgvTask agvTask) {
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PageRequest pageRequest = PageRequest.of(pv.getPageNo() - 1, pv.getPageSize(),
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Sort.by(sortOrder(agvTask.getOrders())));
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Page page = agvTaskRepository.findAll(buildSpecification(agvTask), pageRequest);
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List<AgvTask> list = page.getContent();
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pv.setRecordsTotal(page.getTotalElements());
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pv.setData(list);
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return buildSuccess(pv);
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}
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@ApiOperation(value = "导出excel")
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@PostMapping("exportExcel")
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public void export(AgvTask agvTask, HttpServletResponse response) throws Exception {
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List<AgvTask> list = agvTaskRepository.findAll(buildSpecification(agvTask));
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List<AgvTaskExportVo> exportList = new ArrayList<>();
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for (AgvTask task : list) {
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AgvTaskExportVo agvTaskExportVo = BeanUtil.copyProperties(task, AgvTaskExportVo.class);
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exportList.add(agvTaskExportVo);
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}
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// 创建工作簿对象
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SXSSFWorkbook workbook = new SXSSFWorkbook(1000);
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// 创建工作表
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SXSSFSheet sheet = workbook.createSheet("AGV任务列表");
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String[] rowsName = new String[]{"序号", "请求单号", "类型", "json", "任务状态", "处理结果", "创建人", "创建时间"};
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List<Object[]> dataList = new ArrayList<Object[]>();
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Object[] objs = null;
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int i = 1;
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for (AgvTaskExportVo agvTaskExportVo : exportList) {
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if (agvTaskExportVo.getDictType() == 1) {
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agvTaskExportVo.setDictTypeShow("请求空箱");
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} else if (agvTaskExportVo.getDictType() == 2) {
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agvTaskExportVo.setDictTypeShow("入水测");
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} else if (agvTaskExportVo.getDictType() == 3) {
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agvTaskExportVo.setDictTypeShow("出水测");
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} else if (agvTaskExportVo.getDictType() == 4) {
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agvTaskExportVo.setDictTypeShow("送待检");
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} else if (agvTaskExportVo.getDictType() == 5) {
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agvTaskExportVo.setDictTypeShow("送检验");
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} else if (agvTaskExportVo.getDictType() == 6) {
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agvTaskExportVo.setDictTypeShow("回待检");
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} else if (agvTaskExportVo.getDictType() == 7) {
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agvTaskExportVo.setDictTypeShow("送抽检");
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} else if (agvTaskExportVo.getDictType() == 8) {
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agvTaskExportVo.setDictTypeShow("送成品库");
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} else if (agvTaskExportVo.getDictType() == 9) {
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agvTaskExportVo.setDictTypeShow("出成品库");
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} else if (agvTaskExportVo.getDictType() == 10) {
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agvTaskExportVo.setDictTypeShow("空箱入库");
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} else if (agvTaskExportVo.getDictType() == 11) {
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agvTaskExportVo.setDictTypeShow("呼叫空货架");
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}
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if (agvTaskExportVo.getStatus() == 1) {
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agvTaskExportVo.setStatusShow("未发起");
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} else if (agvTaskExportVo.getDictType() == 2) {
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agvTaskExportVo.setStatusShow("进行中");
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} else if (agvTaskExportVo.getDictType() == 3) {
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agvTaskExportVo.setStatusShow("已完成");
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} else if (agvTaskExportVo.getDictType() == 4) {
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agvTaskExportVo.setStatusShow("失败");
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} else if (agvTaskExportVo.getDictType() == 5) {
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agvTaskExportVo.setStatusShow("取消");
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} else if (agvTaskExportVo.getStatus() == 6) {
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agvTaskExportVo.setStatusShow("挂起");
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}
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objs = new Object[rowsName.length];
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objs[0] = i;
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objs[1] = agvTaskExportVo.getRequestCode();
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objs[2] = agvTaskExportVo.getDictTypeShow();
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objs[3] = agvTaskExportVo.getJson();
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objs[4] = agvTaskExportVo.getStatusShow();
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objs[5] = agvTaskExportVo.getMessage();
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objs[6] = agvTaskExportVo.getCreatedBy();
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objs[7] = agvTaskExportVo.getCreatedDt();
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dataList.add(objs);
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i += 1;
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}
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ExcelExportUtil.getExportWorkbook(workbook, sheet, rowsName, dataList);
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ExcelExportUtil.sendHttpResponse(response, "Agv", workbook);
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}
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private Specification buildSpecification(AgvTask agvTask) {
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Specification<AgvTask> specification = new Specification<AgvTask>() {
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@Override
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public Predicate toPredicate(Root<AgvTask> root, CriteriaQuery<?> criteriaQuery, CriteriaBuilder cb) {
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List<Predicate> predicates = Lists.newArrayList();
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if (agvTask.getRequestCode() != null) {
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predicates.add(cb.like(root.get("requestCode").as(String.class), "%" + agvTask.getRequestCode() + "%"));
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}
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if (agvTask.getMessage() != null) {
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predicates.add(cb.like(root.get("message").as(String.class), "%" + agvTask.getMessage() + "%"));
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}
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if (agvTask.getDictType() != null) {
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predicates.add(cb.equal(root.get("dictType").as(Integer.class), agvTask.getDictType()));
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}
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if (agvTask.getStatus() != null) {
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predicates.add(cb.equal(root.get("status").as(Integer.class), agvTask.getStatus()));
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}
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if (StringUtils.isNotBlank(agvTask.getCreatedDtStart())) {
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predicates.add(cb.greaterThanOrEqualTo(root.get("createdDt").as(String.class), agvTask.getCreatedDtStart()));
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}
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if (StringUtils.isNotBlank(agvTask.getCreatedDtEnd())) {
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predicates.add(cb.lessThanOrEqualTo(root.get("createdDt").as(String.class), agvTask.getCreatedDtEnd()));
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}
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if (agvTask.getStatusArr() != null) {
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CriteriaBuilder.In<Integer> in = cb.in(root.get("status").as(Integer.class));
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for (Integer status : agvTask.getStatusArr()) {
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in.value(status);
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}
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predicates.add(in);
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}
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if (agvTask.getDictTypeArr() != null) {
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CriteriaBuilder.In<Integer> in = cb.in(root.get("dictType").as(Integer.class));
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for (Integer status : agvTask.getDictTypeArr()) {
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in.value(status);
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}
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predicates.add(in);
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}
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return cb.and(predicates.toArray(new Predicate[predicates.size()]));
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}
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};
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return specification;
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}
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/**
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* AGV任务回调
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*
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* @param jsonObject 回调参数
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* @return 结果返回
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*/
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@ApiOperation(value = "AGV任务回调")
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@PostMapping(value = "TaskStatusCallback")
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public JSONObject TaskStatusCallback(@RequestBody JSONObject jsonObject) {
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//log.info("回调任务all：" + jsonObject);
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String taskCode = jsonObject.getString("taskCode");
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final AgvTask agvTask = agvTaskRepository.findByRequestCode(taskCode);
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String status = jsonObject.getString("status");
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if (StringUtils.isNotBlank(status)) {
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if (status.equals("fail")) {
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agvService.updateAgvTask(taskCode, agvTask.getDictType(), agvTask.getJson(), AgvTaskEnum.FAIL.getCode(), jsonObject.getString("message"));
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} else if (status.equals("success")) {
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//获取回调类型
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String eventType = jsonObject.getString("eventType");
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if (eventType.equals("task")) {
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log.info("回调任务task：" + jsonObject);
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//更新任务状态
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agvService.updateAgvTask(taskCode, agvTask.getDictType(), agvTask.getJson(), AgvTaskEnum.FINISH.getCode(), jsonObject.getString("message"));
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//成功回调
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agvService.callBackSuccess(agvTask, jsonObject);
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}
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//取箱完成时，修改工位状态
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else if (eventType.equals("tote_load") && agvTask.getDictType() > 3) {
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String locationCode = jsonObject.getString("locationCode");
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agvService.updateStationStatus(locationCode);
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}
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//放箱完成回调，滚筒线请求空箱
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else if (eventType.equals("tote_unload") && agvTask.getDictType() == 1) {
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String param = jsonObject.toJSONString();
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agvService.noticeToPlc(param);
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}
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} else if (status.equals("cancel")) {
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agvService.updateAgvTask(taskCode, agvTask.getDictType(), agvTask.getJson(), AgvTaskEnum.CANCEL.getCode(), jsonObject.getString("message"));
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} else if (status.equals("suspend")) {
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agvService.updateAgvTask(taskCode, agvTask.getDictType(), agvTask.getJson(), AgvTaskEnum.PENDING.getCode(), jsonObject.getString("message"));
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}
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}
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JSONObject result = new JSONObject();
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result.put("code", 0);
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result.put("msg", "success");
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result.put("data", "");
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return result;
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}
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@ApiOperation(value = "空箱入库")
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@PostMapping(value = "EmptyContainerInStore")
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@Transactional
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public Respond EmptyContainerInStore(@RequestBody AgvRequestVo requestVo) {
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//校验周转箱是否存在以及状态
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ContainerInfo containerInfo = containerInfoRepository.findByContainerNumber(requestVo.getContainerCode());
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if (containerInfo == null) {
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throw new ServiceException("周转箱号不存在:" + requestVo.getContainerCode());
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}
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if (containerInfo.getContainerStatus() != 15 && containerInfo.getContainerStatus() != 20 && containerInfo.getContainerStatus() != 25) {
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throw new ServiceException("周转箱号状态不是入库中的状态:" + requestVo.getContainerCode());
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}
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requestVo.setType(1);
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requestVo.setRequestType(RequestEnum.NULLBOXINSTORE.getCode());
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requestVo.setFromLocationCode(requestVo.getFromLocationCode());
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requestVo.setToLocationCode("LA_SHELF_STORAGE");
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requestVo.setContainerCode(requestVo.getContainerCode());
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String result = agvService.taskParamCreate(requestVo);
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if (JSONObject.parseObject(result).getInteger("code") == 0) {
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return buildSuccess("请求成功");
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}
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return buildFailure(JSONObject.parseObject(result).getString("msg"));
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}
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@ApiOperation(value = "空料箱出库")
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@PostMapping(value = "EmptyContainerOutStore")
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public Respond EmptyContainerOutStore(@RequestBody AgvRequestVo agvRequestVo) {
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//判断空箱出库任务是否唯一
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List<AgvTask> agvTaskList = agvTaskRepository.findByDictTypeAndStatus(RequestEnum.NULLBOX.getCode(), 2);
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if (agvTaskList.size() > 6) {
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return buildFailure("还有正在执行的出库任务：" + agvTaskList);
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}
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//设置agv请求类型
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agvRequestVo.setRequestType(RequestEnum.NULLBOX.getCode());
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agvRequestVo.setType(0);
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agvService.EmptyContainerOutStore(agvRequestVo);
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return buildSuccess();
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}
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@ApiOperation(value = "料箱入库")
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@PostMapping(value = "ContainerInStore")
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public Respond ContainerInStore(@RequestBody AgvRequestVo requestVo) {
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//校验周转箱是否存在以及状态
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ContainerInfo containerInfo = containerInfoRepository.findByContainerNumber(requestVo.getContainerCode());
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if (containerInfo == null) {
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throw new ServiceException("周转箱号不存在:" + requestVo.getContainerCode());
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}
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if (containerInfo.getContainerStatus() != 15 && containerInfo.getContainerStatus() != 20 && containerInfo.getContainerStatus() != 25) {
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throw new ServiceException("该料箱在入库状态！" + requestVo.getContainerCode());
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}
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requestVo.setType(1);
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requestVo.setRequestType(RequestEnum.INSTORE.getCode());
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requestVo.setToStationCode("LA_SHELF_STORAGE");
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String result = agvService.taskParamCreate(requestVo);
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if (JSONObject.parseObject(result).getInteger("code") == 0) {
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//final ContainerInfo containerInfo = containerInfoRepository.findByContainerNumber(requestVo.getContainerCode());
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//containerInfo.setProductionTask(requestVo.productionTask);
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//containerInfo.setOnInstoreTime(DateUtil.getCurrentDate());
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//final OrderInfo orderInfo = orderInfoRepository.findByProductionTask(requestVo.getProductionTask());
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//Integer qty = orderInfo.getPlanQty() - (orderInfo.getInQty() + orderInfo.getOngoingQty() + orderInfo.getOutQty() + orderInfo.getOnoutingCheckQty());
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//if (qty > 6) {
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// qty = 6;
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//}
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////入库中数量
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//orderInfo.setOngoingQty(orderInfo.getOngoingQty() + qty);
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//containerInfo.setQty(qty);
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//orderInfoRepository.save(orderInfo);
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//containerInfoRepository.save(containerInfo);
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return buildSuccess("请求成功");
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} else {
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return buildSuccess(JSONObject.parseObject(result).getString("msg"));
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}
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}
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@ApiOperation(value = "送待检缓存区")
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@PostMapping(value = "sendWaitCheck")
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public Respond sendWaitCheck(@RequestBody AgvRequestVo agvRequestVo) {
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//校验
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if (StringUtils.isBlank(agvRequestVo.getContainerCode())) {
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throw new ServiceException("无货架编码，请检查！");
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}
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if (StringUtils.isBlank(agvRequestVo.getProductionTask())) {
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throw new ServiceException("无生产工单号，请检查！");
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}
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if (StringUtils.isBlank(agvRequestVo.getFromLocationCode())) {
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throw new ServiceException("无起始点位置，请检查！");
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}
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if (agvRequestVo.getBoxNumber() == null) {
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throw new ServiceException("无货架数量，请检查！");
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}
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agvRequestVo.setType(0);
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agvRequestVo.setRequestType(RequestEnum.SENDWAITCHECK.getCode());
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String toLocationCode = findToLocationCode(15);
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agvRequestVo.setToLocationCode(toLocationCode);
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final String result = agvService.taskParamCreate(agvRequestVo);
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if (JSONObject.parseObject(result).getInteger("code") == 0) {
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//修改起点位状态为空闲
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StationInfo stationInfo = stationInfoRepository.findByStationCode(agvRequestVo.getFromLocationCode());
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if (stationInfo != null) {
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stationInfo.setStationStatus(5);
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stationInfo.setUpdatedDt(DateUtil.getCurrentDate());
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stationInfoRepository.save(stationInfo);
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}
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//修改终点点位状态为待占用
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StationInfo stationInfo1 = stationInfoRepository.findByStationCode(toLocationCode);
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stationInfo1.setStationStatus(10);
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stationInfo1.setUpdatedDt(DateUtil.getCurrentDate());
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stationInfoRepository.save(stationInfo1);
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//修改货架信息
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ShelfInfo shelfInfo = shelfInfoRepository.findByShelfCode(agvRequestVo.getContainerCode());
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if (shelfInfo != null) {
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shelfInfo.setStationCode(agvRequestVo.getFromLocationCode());
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shelfInfo.setProductionTask(agvRequestVo.getProductionTask());
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shelfInfo.setQty(agvRequestVo.getBoxNumber());
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shelfInfo.setUpdatedDt(DateUtil.getCurrentDate());
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shelfInfo.setPriority(0);
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shelfInfo.setStationCode(agvRequestVo.getFromLocationCode());
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shelfInfoRepository.save(shelfInfo);
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} else {
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ShelfInfo shelfInfo1 = new ShelfInfo();
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shelfInfo1.setShelfCode(agvRequestVo.getContainerCode());
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shelfInfo1.setStationCode(agvRequestVo.getFromLocationCode());
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shelfInfo1.setProductionTask(agvRequestVo.getProductionTask());
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shelfInfo1.setQty(agvRequestVo.getBoxNumber());
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shelfInfo1.setUpdatedDt(DateUtil.getCurrentDate());
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shelfInfo1.setPriority(0);
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shelfInfo1.setStationCode(agvRequestVo.getFromLocationCode());
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shelfInfoRepository.save(shelfInfo);
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}
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return buildSuccess("请求成功");
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}
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return buildFailure(JSONObject.parseObject(result).getString("msg"));
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}
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@ApiOperation(value = "从缓存库位到检验库位")
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@PostMapping(value = "sendCheck")
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@Transactional
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public Respond sendCheck(@RequestBody AgvRequestVo agvRequestVo) {
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//校验
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if (StringUtils.isNotBlank(agvRequestVo.getLastRequestCode())) {
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AgvTask agvTask = agvTaskRepository.findByRequestCode(agvRequestVo.getLastRequestCode());
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if (agvTask != null) {
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if (agvTask.getStatus() <= 2) {
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throw new ServiceException("上次任务还在执行中，任务号：" + agvRequestVo.getLastRequestCode());
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}
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}
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}
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if (StringUtils.isBlank(agvRequestVo.getProductionTask())) {
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throw new ServiceException("无生产工单号，请检查！");
|
||
}
|
||
if (StringUtils.isBlank(agvRequestVo.getToLocationCode())) {
|
||
throw new ServiceException("无终点位置，请检查！");
|
||
}
|
||
List<ShelfInfo> shelfInfoList = shelfInfoRepository.findByProductionTaskAndOrderStatus(agvRequestVo.getProductionTask(), 5);
|
||
if (shelfInfoList.size() == 0) {
|
||
throw new ServiceException("该订单没有货架在缓存库位！");
|
||
}
|
||
agvRequestVo.setType(0);
|
||
agvRequestVo.setContainerCode(shelfInfoList.get(0).getShelfCode());
|
||
agvRequestVo.setFromLocationCode(shelfInfoList.get(0).getStationCode());
|
||
agvRequestVo.setRequestType(RequestEnum.SENDCHECK.getCode());
|
||
String result = agvService.taskParamCreate(agvRequestVo);
|
||
if (JSONObject.parseObject(result).getInteger("code") == 0) {
|
||
//修改起始点位状态为空闲
|
||
StationInfo stationInfo = stationInfoRepository.findByStationCode(agvRequestVo.getFromLocationCode());
|
||
if (stationInfo != null) {
|
||
stationInfo.setStationStatus(5);
|
||
stationInfo.setUpdatedDt(DateUtil.getCurrentDate());
|
||
stationInfoRepository.save(stationInfo);
|
||
}
|
||
//修改终点工位待占用状态
|
||
StationInfo stationInfo1 = stationInfoRepository.findByStationCode(agvRequestVo.getToLocationCode());
|
||
if (stationInfo1 != null) {
|
||
stationInfo1.setStationStatus(10);
|
||
stationInfo1.setUpdatedDt(DateUtil.getCurrentDate());
|
||
stationInfoRepository.save(stationInfo1);
|
||
}
|
||
//修改货架的工单状态
|
||
ShelfInfo shelfInfo = shelfInfoList.get(0);
|
||
shelfInfo.setOrderStatus(10);
|
||
shelfInfo.setUpdatedDt(DateUtil.getCurrentDate());
|
||
ShelfInfo save = shelfInfoRepository.save(shelfInfo);
|
||
String data = JSONObject.parseObject(result).getString("data");
|
||
SpotCheckVo spotCheckVo = BeanUtil.copyProperties(save, SpotCheckVo.class);
|
||
data = data.replaceAll("\\\"","");
|
||
data = data.replace("{", "").replace("}","");
|
||
spotCheckVo.setRequestCode(data.substring(0, data.indexOf(":")));
|
||
return buildSuccess(spotCheckVo);
|
||
}
|
||
return buildFailure(JSONObject.parseObject(result).getString("msg"));
|
||
}
|
||
|
||
Lock lock = new ReentrantLock();
|
||
|
||
@ApiOperation(value = "送抽检")
|
||
@PostMapping(value = "sendSpotCheck")
|
||
public Respond sendSpotCheck(@RequestBody AgvRequestVo agvRequestVo) {
|
||
if (StringUtils.isBlank(agvRequestVo.getFromLocationCode())) {
|
||
throw new ServiceException("无起始位置，请检查！");
|
||
}
|
||
agvRequestVo.setType(0);
|
||
agvRequestVo.setRequestType(RequestEnum.SENDSPOTCHECK.getCode());
|
||
String result = null;
|
||
lock.lock();
|
||
try {
|
||
//查起始点位对应的货架编码
|
||
List<ShelfInfo> shelfInfoList = shelfInfoRepository.findByStationCode(agvRequestVo.getFromLocationCode());
|
||
if (shelfInfoList.size() > 0) {
|
||
agvRequestVo.setContainerCode(shelfInfoList.get(0).getShelfCode());
|
||
} else {
|
||
throw new ServiceException("该位置无货架：" + agvRequestVo.getFromLocationCode());
|
||
}
|
||
final List<StationInfo> stationInfos = stationInfoRepository.findByStationTypeAndStationStatus(25, 5);
|
||
if (stationInfos.size() > 0) {
|
||
agvRequestVo.setToLocationCode(stationInfos.get(0).getStationCode());
|
||
} else {
|
||
agvRequestVo.setRequestType(RequestEnum.BACKWAITCHECK.getCode());
|
||
}
|
||
result = agvService.taskParamCreate(agvRequestVo);
|
||
//查找任务单号
|
||
if (JSONObject.parseObject(result).getInteger("code") == 0) {
|
||
if (stationInfos.size() > 0) {
|
||
//修改起始点位状态为空闲
|
||
StationInfo stationInfo = stationInfoRepository.findByStationCode(agvRequestVo.getFromLocationCode());
|
||
stationInfo.setStationStatus(5);
|
||
stationInfo.setUpdatedDt(DateUtil.getCurrentDate());
|
||
stationInfoRepository.save(stationInfo);
|
||
//修改抽检工位待占用状态
|
||
stationInfos.get(0).setStationStatus(10);
|
||
stationInfoRepository.save(stationInfos.get(0));
|
||
}
|
||
String data = JSONObject.parseObject(result).getString("data");
|
||
SpotCheckVo spotCheckVo = BeanUtil.copyProperties(shelfInfoList.get(0), SpotCheckVo.class);
|
||
data = data.replaceAll("\\\"","");
|
||
data = data.replace("{", "").replace("}","");
|
||
spotCheckVo.setRequestCode(data.substring(0, data.indexOf(":")));
|
||
return buildSuccess(spotCheckVo);
|
||
}
|
||
} finally {
|
||
lock.unlock();
|
||
}
|
||
return buildFailure(JSONObject.parseObject(result).getString("msg"));
|
||
}
|
||
|
||
@ApiOperation(value = "送成品库")
|
||
@PostMapping(value = "sendProdStore")
|
||
@Transactional
|
||
public Respond sendProdStore(@RequestBody AgvRequestVo agvRequestVo) {
|
||
//校验
|
||
if (StringUtils.isBlank(agvRequestVo.getContainerCode())) {
|
||
throw new ServiceException("无货架编码，请检查！");
|
||
}
|
||
|
||
ShelfInfo byShelfCode = shelfInfoRepository.findByShelfCode(agvRequestVo.getContainerCode());
|
||
agvRequestVo.setFromLocationCode(byShelfCode.getStationCode());
|
||
agvRequestVo.setType(0);
|
||
agvRequestVo.setRequestType(RequestEnum.SENDPRODSTORE.getCode());
|
||
String toLocationCode = findToLocationCode(30);
|
||
agvRequestVo.setToLocationCode(toLocationCode);
|
||
final String result = agvService.taskParamCreate(agvRequestVo);
|
||
if (JSONObject.parseObject(result).getInteger("code") == 0) {
|
||
//修改起始点位状态为空闲
|
||
StationInfo stationInfo = stationInfoRepository.findByStationCode(agvRequestVo.getFromLocationCode());
|
||
stationInfo.setStationStatus(5);
|
||
stationInfo.setUpdatedDt(DateUtil.getCurrentDate());
|
||
stationInfoRepository.save(stationInfo);
|
||
//修改终点点位状态为待占用
|
||
StationInfo stationInfo1 = stationInfoRepository.findByStationCode(toLocationCode);
|
||
stationInfo1.setStationStatus(10);
|
||
stationInfo1.setUpdatedDt(DateUtil.getCurrentDate());
|
||
stationInfoRepository.save(stationInfo1);
|
||
final ShelfInfo shelfInfo = shelfInfoRepository.findByShelfCode(agvRequestVo.getContainerCode());
|
||
final OrderInfo orderInfo = orderInfoRepository.findByProductionTask(shelfInfo.getProductionTask());
|
||
orderInfo.setProductOngoingQty(orderInfo.getProductOngoingQty() + shelfInfo.getQty());
|
||
orderInfo.setUpdatedDt(DateUtil.getCurrentDate());
|
||
orderInfoRepository.save(orderInfo);
|
||
return buildSuccess("请求成功");
|
||
}
|
||
return buildFailure(JSONObject.parseObject(result).getString("msg"));
|
||
}
|
||
|
||
@ApiOperation(value = "空货架送回(不用，用tcpUtil的空箱入库方法)")
|
||
@PostMapping(value = "sendNullShelf")
|
||
public Respond sendNullShelf(@RequestBody AgvRequestVo agvRequestVo) {
|
||
agvRequestVo.setType(0);
|
||
agvRequestVo.setRequestType(RequestEnum.SENDNULLSHELF.getCode());
|
||
final String result = agvService.taskParamCreate(agvRequestVo);
|
||
if (JSONObject.parseObject(result).getInteger("code") == 0) {
|
||
return buildSuccess("请求成功");
|
||
}
|
||
return buildFailure(JSONObject.parseObject(result).getString("msg"));
|
||
}
|
||
|
||
@ApiOperation(value = "呼叫空货架")
|
||
@PostMapping(value = "callNullShelf")
|
||
public Respond callNullShelf(@RequestBody AgvRequestVo agvRequestVo) {
|
||
//校验
|
||
if (StringUtils.isBlank(agvRequestVo.getToLocationCode())) {
|
||
throw new ServiceException("无终点位置，请检查！");
|
||
}
|
||
if (StringUtils.isBlank(agvRequestVo.getContainerCode())) {
|
||
throw new ServiceException("无货架编码，请检查！");
|
||
}
|
||
agvRequestVo.setType(0);
|
||
agvRequestVo.setRequestType(RequestEnum.CALLNULLSHELF.getCode());
|
||
String result = null;
|
||
lock.lock();
|
||
try {
|
||
final List<ShelfInfo> shelfInfos = shelfInfoRepository.findByProductionTaskIsNullAndStationCodeIsNotNull();
|
||
if (shelfInfos.size() == 0) {
|
||
return buildFailure("暂无空货架");
|
||
}
|
||
agvRequestVo.setContainerCode(shelfInfos.get(0).getShelfCode());
|
||
StationInfo stationInfo = stationInfoRepository.findByStationCode(shelfInfos.get(0).getStationCode());
|
||
agvRequestVo.setFromLocationCode(stationInfo.getStationCode());
|
||
result = agvService.taskParamCreate(agvRequestVo);
|
||
if (JSONObject.parseObject(result).getInteger("code") == 0) {
|
||
shelfInfos.get(0).setProductionTask("待绑定");
|
||
shelfInfoRepository.save(shelfInfos.get(0));
|
||
return buildSuccess("请求成功");
|
||
}
|
||
} finally {
|
||
lock.unlock();
|
||
}
|
||
|
||
return buildFailure(JSONObject.parseObject(result).getString("msg"));
|
||
}
|
||
|
||
@ApiOperation(value = "取消AGV任务")
|
||
@GetMapping(value = "cancelTask")
|
||
public Respond cancelTask(@RequestParam("taskCode") String taskCode) {
|
||
agvService.taskCancel(taskCode);
|
||
|
||
return buildSuccess();
|
||
}
|
||
|
||
@ApiOperation(value = "机器人是否允许取走/放置周转箱")
|
||
@PostMapping(value = "allowOperation")
|
||
public String allowOperation(@RequestBody String Bash) {
|
||
String result = agvService.allowOperation(Bash);
|
||
return result;
|
||
}
|
||
|
||
@ApiOperation(value = "料箱出库（定时任务测试）")
|
||
@PostMapping(value = "waterTest")
|
||
public void waterTest() {
|
||
scheduleService.waterTest();
|
||
}
|
||
|
||
@ApiOperation(value = "成品出库（测试）")
|
||
@GetMapping(value = "outProdStore")
|
||
public void outProdStore(String status) {
|
||
agvService.outProdStore(status);
|
||
}
|
||
|
||
@ApiOperation(value = "空货架入库（测试）")
|
||
@GetMapping(value = "sendNullShelf")
|
||
public void sendNullShelf(String status) {
|
||
agvService.sendNullShelf(status);
|
||
}
|
||
|
||
@ApiOperation(value = "空车入库（PDA）")
|
||
@GetMapping(value = "nullShelfIn")
|
||
public Respond nullShelfIn(@RequestParam("containerCode") String containerCode, @RequestParam("positionCode") String positionCode) {
|
||
String result = agvService.moveIn(containerCode, positionCode);
|
||
if (JSONObject.parseObject(result).getInteger("code") == 0) {
|
||
ShelfInfo shelfInfo = shelfInfoRepository.findByShelfCode(containerCode);
|
||
if (shelfInfo != null) {
|
||
shelfInfo.setStationCode(positionCode);
|
||
}
|
||
} else {
|
||
return buildFailure("海柔报错：" + JSONObject.parseObject(result).getString("msg"));
|
||
}
|
||
return buildSuccess();
|
||
}
|
||
|
||
@ApiOperation(value = "找终点位置")
|
||
@PostMapping(value = "findToLocationCode")
|
||
public String findToLocationCode(Integer storeType) {
|
||
String toLocationCode = null;
|
||
List<StationInfo> stationInfoList = stationInfoRepository.findByStationTypeAndStationStatus(storeType, 5);
|
||
if (stationInfoList.size() > 0) {
|
||
toLocationCode = stationInfoList.get(0).getStationCode();
|
||
} else {
|
||
throw new ServiceException("暂无空闲的点位！");
|
||
}
|
||
return toLocationCode;
|
||
}
|
||
|
||
}
|