113 lines
3.7 KiB
Java
113 lines
3.7 KiB
Java
package com.ruoyi.api.controller;
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import cn.hutool.core.date.DateUtil;
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import cn.hutool.core.util.IdUtil;
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import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
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import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
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import com.ruoyi.api.domain.agv.cancelTask.CancelTaskRequest;
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import com.ruoyi.api.domain.agv.cancelTask.CancelTaskResponse;
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import com.ruoyi.api.service.IApiService;
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import com.ruoyi.common.core.controller.BaseController;
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import com.ruoyi.common.core.domain.AjaxResult;
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import com.ruoyi.queue.agv.domain.AgvQueue;
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import com.ruoyi.queue.agv.service.IAgvQueueService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import java.util.Map;
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/**
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* Agv操作请求
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*/
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@RestController
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@RequestMapping("/agv/api")
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@Slf4j
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public class AgvController extends BaseController {
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@Autowired
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private IApiService apiService;
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@Autowired
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private IAgvQueueService agvQueueService;
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/**
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* agv执行状态返回接口
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* @param request
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* @return
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*/
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@PostMapping("/agvCallback")
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public AgvCallbackResponse agvCallback(@RequestBody AgvCallbackRequest request) {
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return apiService.agvCallback(request);
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}
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/**
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* agv搬运作业
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* @param param{
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* startPoint:起始点
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* endPoint:结束点
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* containerCode:容器编号
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* taskNo:任务号
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* }
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* @return
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*/
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@PostMapping("/receiveAgvMoveJob")
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public AjaxResult receiveAgvMoveJob(@RequestBody Map<String, String> param) {
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return apiService.receiveAgvMoveJob(param);
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}
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@PostMapping("/deleteAgvTray")
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public AjaxResult deleteAgvTray(@RequestBody Map<String, String> param) {
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AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(param.get("taskCode"));
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if(agvQueue==null){
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return AjaxResult.error("AGV任务队列不存在！");
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}else{
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return apiService.deleteAgvTray(agvQueue);
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}
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}
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@PostMapping("/continueTask")
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public AjaxResult continueTask(@RequestBody Map<String, String> param) {
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AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(param.get("taskCode"));
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if(agvQueue==null){
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return AjaxResult.error("AGV任务队列不存在！");
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}else{
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return apiService.continueTask(agvQueue);
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}
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}
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/**
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* 前端手动操作完成/取消AGV作业时，请求rcs，取消当前AGV正执行的作业
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* @param param
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* @return
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*/
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@PostMapping("/cancelTask")
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public AjaxResult cancelTask(@RequestBody Map<String, String> param) {
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AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(param.get("taskCode"));
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if(agvQueue==null){
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return AjaxResult.error("AGV任务队列不存在！");
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}else{
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CancelTaskRequest cancelTaskRequest = new CancelTaskRequest();
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cancelTaskRequest.setReqCode(IdUtil.fastSimpleUUID());
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cancelTaskRequest.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
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cancelTaskRequest.setTaskCode(agvQueue.getTaskCode());
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//取消rcs中指定的agv任务
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CancelTaskResponse cancelTaskResponse = apiService.cancelTask(cancelTaskRequest);
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if(cancelTaskResponse.getCode() == 0 && "成功".equals(cancelTaskResponse.getMsg()) && cancelTaskResponse.getReqCode() == cancelTaskRequest.getReqCode()){
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return AjaxResult.success("AGV任务队列取消成功！", cancelTaskResponse);
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}
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return AjaxResult.error("取消RCS-AGV任务队列失败！");
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}
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}
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}
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