diff --git a/youchain-system/src/main/java/com/youchain/businessdata/inputJson/AgvTaskJsonBuilder.java b/youchain-system/src/main/java/com/youchain/businessdata/inputJson/AgvTaskJsonBuilder.java deleted file mode 100644 index 00106c2..0000000 --- a/youchain-system/src/main/java/com/youchain/businessdata/inputJson/AgvTaskJsonBuilder.java +++ /dev/null @@ -1,243 +0,0 @@ -package com.youchain.businessdata.inputJson; - -import com.alibaba.fastjson.JSONArray; -import com.alibaba.fastjson.JSONObject; -import com.youchain.basicdata.domain.Point; -import com.youchain.basicdata.service.PointService; -import com.youchain.businessdata.domain.AgvTask; -import com.youchain.utils.BizStatus; -import lombok.RequiredArgsConstructor; -import org.springframework.stereotype.Service; - -import java.util.Arrays; -import java.util.List; -import java.util.stream.Collectors; -@Service -@RequiredArgsConstructor -public class AgvTaskJsonBuilder { - // 常量定义 - private static final String ORG_ID_WMS = "WMS";//组织 - private static final String ORG_ID_WCS = "WCS";//组织 - private static final String PRIORITY = "1";//优先级 - private static final String NODE_POINT = "NODE_POINT";//节点类型 - private static final String NODE_SLOT = "NODE_SLOT";//节点类型 - private static final String PASS_STRATEGY_AUTO = "AUTO";//移动策略 - private static final String PASS_STRATEGY_MANUAL = "MANUAL";//移动策略 - - private final PointService pointService; - - /** - * 创建基础AGV任务JSON对象 - */ - private JSONObject createBaseAgvTaskJson(AgvTask agvTask, String orgId, String missionType, String robotType) { - JSONObject jsonObject = new JSONObject(true); - jsonObject.put("orgId", orgId); - jsonObject.put("requestId", String.valueOf(System.currentTimeMillis())); - jsonObject.put("missionCode", agvTask.getId()); - jsonObject.put("missionType", missionType); - jsonObject.put("viewBoardType", ""); - jsonObject.put("robotType", robotType); - jsonObject.put("priority", PRIORITY); - return jsonObject; - } - - /** - * 创建叉车任务JSON - */ - public String createForkMissionJson(AgvTask agvTask) { - //基础对象 - JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "FORKLIFT"); - jsonObject.put("containerCode", agvTask.getStockCode()); - jsonObject.put("robotId", ""); - - //创建json数组 - JSONArray missionDataArray = new JSONArray(); - - //根据任务类型取节点类型 - boolean isPickTask = BizStatus.PICK.equals(agvTask.getType()); - String startNodeType = isPickTask ? NODE_SLOT : NODE_POINT; - String endNodeType = isPickTask ? NODE_POINT : NODE_SLOT; - - //起点 - missionDataArray.add(createForkMissionNode(1, agvTask.getStartSlotCode(), startNodeType)); - - //终点 - missionDataArray.add(createForkMissionNode(2, agvTask.getEndSlotCode(), endNodeType)); - - //添加任务数据 - jsonObject.put("missionData", missionDataArray); - return jsonObject.toJSONString(); - } - - /** - * 创建叉车任务数据节点 - */ - private JSONObject createForkMissionNode(int sequence, String position, String nodeType) { - JSONObject node = new JSONObject(true); - node.put("sequence", sequence); - node.put("position", position); - node.put("nodeType", nodeType); - node.put("stackNumber", 0); - node.put("actionConfirm", false); - return node; - } - - /** - * 创建货架任务JSON - */ - public String createRackMissionJson(AgvTask agvTask) { - //基础对象 - JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "LIFT"); - - //创建json数组 - JSONArray missionDataArray = new JSONArray(); - - //创建任务数据 - missionDataArray.add(createRackMissionNode(agvTask)); - - //添加任务数据 - jsonObject.put("missionData", missionDataArray); - return jsonObject.toJSONString(); - } - - /** - * 创建货架任务数据节点 - */ - private JSONObject createRackMissionNode(AgvTask agvTask) { - JSONObject node = new JSONObject(true); - node.put("sequence", 1);//序号 - node.put("containerCode", agvTask.getStockCode());//容器 - node.put("startPosition", agvTask.getStartSlotCode());//点位 - node.put("startPositionType", "NODE_POINT");// - node.put("endPosition", agvTask.getEndSlotCode());//点位 - node.put("endPositionType", "NODE_POINT");// - return node; - } - - /** - * 创建滚筒任务JSON - */ - public String createRollerJson(AgvTask agvTask) { - //基础对象 - JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "ROLLER"); - jsonObject.put("lockRobotAfterFinish", false); - - //创建json数组 - JSONArray missionDataArray = new JSONArray(); - - //起点 - missionDataArray.add(createRollerNode(1, agvTask.getStartSlotCode(), "ROLLER_RECEIVE", agvTask.getStartSlotCode(), true, "AUTO")); - - //途径点 - missionDataArray.add(createRollerNode(2, "FX001", "", "", false, "MANUAL")); - - //终点 - missionDataArray.add(createRollerNode(3, agvTask.getEndSlotCode(), "ROLLER_SEND", agvTask.getEndSlotCode(), true, "AUTO")); - - //添加任务数据 - jsonObject.put("missionData", missionDataArray); - return jsonObject.toJSONString(); - } - - /** - * 创建滚筒任务数据节点 - */ - private JSONObject createRollerNode(int sequence, String position, String actionType, String deviceCode, boolean actionConfirm, String passStrategy) { - JSONObject node = new JSONObject(true); - node.put("sequence", sequence); - node.put("position", position); - node.put("type", NODE_POINT); - node.put("actionType", actionType); - node.put("binCode", ""); - node.put("rollerLevel", 1); - node.put("deviceCode", deviceCode); - node.put("actionConfirm", actionConfirm); - node.put("passStrategy", passStrategy); - return node; - } - - /** - * 创建牵引车任务JSON - */ - public String createTuggerJson(AgvTask agvTask, List tugModels) { - JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WCS, agvTask.getJobType(), "TUGGER"); - jsonObject.put("templateCode", ""); - jsonObject.put("lockRobotAfterFinish", false); - jsonObject.put("unlockRobotId", ""); - jsonObject.put("unlockMissionCode", ""); - - // 根据区域调整参数 - Point point = pointService.validatePoint(agvTask.getStartSlotCode()); - - //创建json数组 - JSONArray missionDataArray = new JSONArray(); - - // 起点 - missionDataArray.add(createTuggerStartNode(agvTask.getStartSlotCode(), tugModels)); - - //途径点 - List stations = parseStations(agvTask.getEndSlotCode()); - for (int i = 0; i < stations.size(); i++) { - missionDataArray.add(createTuggerWayNode(i + 2, stations.get(i))); - } - - //终点 - missionDataArray.add(createTuggerEndNode(stations.size() + 2, point.getBeatCode())); - - jsonObject.put("missionData", missionDataArray); - return jsonObject.toJSONString(); - } - - /** - * 创建牵引车任务起点数据节点 - */ - private JSONObject createTuggerStartNode(String position, List tugModels) { - JSONObject node = new JSONObject(true); - node.put("sequence", 1); - node.put("type", NODE_POINT); - node.put("position", position); - node.put("actionType", "TUGGER_ATTACH"); - node.put("tugCount", tugModels.size()); - node.put("passStrategy", PASS_STRATEGY_AUTO); - node.put("tugModels", tugModels); - return node; - } - - /** - * 创建牵引车任务途径点节点 - */ - private JSONObject createTuggerWayNode(int sequence, String position) { - JSONObject node = new JSONObject(true); - node.put("sequence", sequence); - node.put("type", NODE_POINT); - node.put("position", position); - node.put("passStrategy", PASS_STRATEGY_MANUAL); - return node; - } - - /** - * 创建牵引车任务终点节点 - */ - private JSONObject createTuggerEndNode(int sequence, String position) { - JSONObject node = new JSONObject(true); - node.put("sequence", sequence); - node.put("type", NODE_POINT); - node.put("position", position); - node.put("actionType", "TUGGER_DETACH"); - node.put("passStrategy", PASS_STRATEGY_AUTO); - node.put("waitingMillis", 0); - return node; - } - - /** - * 解析站点字符串 - */ - private List parseStations(String stationString) { - return Arrays.stream(stationString.split(",")) - .map(String::trim) - .filter(s -> !s.isEmpty()) - .collect(Collectors.toList()); - } - - -} diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java index b9daad2..eb81d1b 100644 --- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java +++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/KMReServiceImpl.java @@ -1,13 +1,13 @@ package com.youchain.businessdata.service.impl; import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import com.youchain.basicdata.domain.Point; import com.youchain.basicdata.domain.Stock; import com.youchain.basicdata.service.PointService; import com.youchain.basicdata.service.StockService; import com.youchain.businessdata.domain.AgvTask; -import com.youchain.businessdata.inputJson.AgvTaskJsonBuilder; import com.youchain.businessdata.inputJson.Dolly; import com.youchain.businessdata.inputJson.UpdateTuggerTrailerInfo; import com.youchain.businessdata.service.*; @@ -28,12 +28,20 @@ import java.util.stream.Collectors; @Slf4j @RequiredArgsConstructor public class KMReServiceImpl implements KMReService { + // 常量定义 + private static final String ORG_ID_WMS = "WMS";//组织 + private static final String ORG_ID_WCS = "WCS";//组织 + private static final String PRIORITY = "1";//优先级 + private static final String NODE_POINT = "NODE_POINT";//节点类型 + private static final String NODE_SLOT = "NODE_SLOT";//节点类型 + private static final String PASS_STRATEGY_AUTO = "AUTO";//移动策略 + private static final String PASS_STRATEGY_MANUAL = "MANUAL";//移动策略 + private final DictService dictService; private final StockService stockService; private final PointService pointService; private final AgvTaskService agvTaskService; private final LesService lesService; - private final AgvTaskJsonBuilder agvTaskJsonBuilder; /** @@ -162,6 +170,20 @@ public class KMReServiceImpl implements KMReService { } + /** + * 创建基础AGV任务JSON对象 + */ + private JSONObject createBaseAgvTaskJson(AgvTask agvTask, String orgId, String missionType, String robotType) { + JSONObject jsonObject = new JSONObject(true); + jsonObject.put("orgId", orgId); + jsonObject.put("requestId", String.valueOf(System.currentTimeMillis())); + jsonObject.put("missionCode", agvTask.getId()); + jsonObject.put("missionType", missionType); + jsonObject.put("viewBoardType", ""); + jsonObject.put("robotType", robotType); + jsonObject.put("priority", PRIORITY); + return jsonObject; + } /** * 叉车任务Json @@ -170,7 +192,42 @@ public class KMReServiceImpl implements KMReService { */ @Override public String createForkMissionJson(AgvTask agvTask) { - return agvTaskJsonBuilder.createForkMissionJson(agvTask); + //基础对象 + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "FORKLIFT"); + jsonObject.put("containerCode", agvTask.getStockCode()); + jsonObject.put("robotId", ""); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + //根据任务类型取节点类型 + boolean isPickTask = BizStatus.PICK.equals(agvTask.getType()); + String startNodeType = isPickTask ? NODE_SLOT : NODE_POINT; + String endNodeType = isPickTask ? NODE_POINT : NODE_SLOT; + + //起点 + missionDataArray.add(createForkMissionNode(1, agvTask.getStartSlotCode(), startNodeType)); + + //终点 + missionDataArray.add(createForkMissionNode(2, agvTask.getEndSlotCode(), endNodeType)); + + //添加任务数据 + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + + /** + * 创建叉车任务数据节点 + */ + private JSONObject createForkMissionNode(int sequence, String position, String nodeType) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("position", position); + node.put("nodeType", nodeType); + node.put("stackNumber", 0); + node.put("actionConfirm", false); + return node; } /** @@ -180,17 +237,150 @@ public class KMReServiceImpl implements KMReService { */ @Override public String createRackMissionJson(AgvTask agvTask) { - return agvTaskJsonBuilder.createRackMissionJson(agvTask); + //基础对象 + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "LIFT"); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + //创建任务数据 + missionDataArray.add(createRackMissionNode(agvTask)); + + //添加任务数据 + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + /** + * 创建货架任务数据节点 + */ + private JSONObject createRackMissionNode(AgvTask agvTask) { + JSONObject node = new JSONObject(true); + node.put("sequence", 1);//序号 + node.put("containerCode", agvTask.getStockCode());//容器 + node.put("startPosition", agvTask.getStartSlotCode());//点位 + node.put("startPositionType", "NODE_POINT");// + node.put("endPosition", agvTask.getEndSlotCode());//点位 + node.put("endPositionType", "NODE_POINT");// + return node; } @Override public String createRollerJson(AgvTask agvTask) { - return agvTaskJsonBuilder.createRollerJson(agvTask); + //基础对象 + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WMS, agvTask.getJobType(), "ROLLER"); + jsonObject.put("lockRobotAfterFinish", false); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + //起点 + missionDataArray.add(createRollerNode(1, agvTask.getStartSlotCode(), "ROLLER_RECEIVE", agvTask.getStartSlotCode(), true, "AUTO")); + + //途径点 + missionDataArray.add(createRollerNode(2, "FX001", "", "", false, "MANUAL")); + + //终点 + missionDataArray.add(createRollerNode(3, agvTask.getEndSlotCode(), "ROLLER_SEND", agvTask.getEndSlotCode(), true, "AUTO")); + + //添加任务数据 + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + /** + * 创建滚筒任务数据节点 + */ + private JSONObject createRollerNode(int sequence, String position, String actionType, String deviceCode, boolean actionConfirm, String passStrategy) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("position", position); + node.put("type", NODE_POINT); + node.put("actionType", actionType); + node.put("binCode", ""); + node.put("rollerLevel", 1); + node.put("deviceCode", deviceCode); + node.put("actionConfirm", actionConfirm); + node.put("passStrategy", passStrategy); + return node; } @Override public String createTuggerJson(AgvTask agvTask, List tugModels) { - return agvTaskJsonBuilder.createTuggerJson(agvTask, tugModels); + JSONObject jsonObject = createBaseAgvTaskJson(agvTask, ORG_ID_WCS, agvTask.getJobType(), "TUGGER"); + jsonObject.put("templateCode", ""); + jsonObject.put("lockRobotAfterFinish", false); + jsonObject.put("unlockRobotId", ""); + jsonObject.put("unlockMissionCode", ""); + + // 根据区域调整参数 + Point point = pointService.validatePoint(agvTask.getStartSlotCode()); + + //创建json数组 + JSONArray missionDataArray = new JSONArray(); + + // 起点 + missionDataArray.add(createTuggerStartNode(agvTask.getStartSlotCode(), tugModels)); + + //途径点 + List stations = parseStations(agvTask.getEndSlotCode()); + for (int i = 0; i < stations.size(); i++) { + missionDataArray.add(createTuggerWayNode(i + 2, stations.get(i))); + } + + //终点 + missionDataArray.add(createTuggerEndNode(stations.size() + 2, point.getBeatCode())); + + jsonObject.put("missionData", missionDataArray); + return jsonObject.toJSONString(); + } + + /** + * 创建牵引车任务起点数据节点 + */ + private JSONObject createTuggerStartNode(String position, List tugModels) { + JSONObject node = new JSONObject(true); + node.put("sequence", 1); + node.put("type", NODE_POINT); + node.put("position", position); + node.put("actionType", "TUGGER_ATTACH"); + node.put("tugCount", tugModels.size()); + node.put("passStrategy", PASS_STRATEGY_AUTO); + node.put("tugModels", tugModels); + return node; + } + + /** + * 创建牵引车任务途径点节点 + */ + private JSONObject createTuggerWayNode(int sequence, String position) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("type", NODE_POINT); + node.put("position", position); + node.put("passStrategy", PASS_STRATEGY_MANUAL); + return node; + } + + /** + * 创建牵引车任务终点节点 + */ + private JSONObject createTuggerEndNode(int sequence, String position) { + JSONObject node = new JSONObject(true); + node.put("sequence", sequence); + node.put("type", NODE_POINT); + node.put("position", position); + node.put("actionType", "TUGGER_DETACH"); + node.put("passStrategy", PASS_STRATEGY_AUTO); + node.put("waitingMillis", 0); + return node; + } + + /** + * 解析站点字符串 + */ + private List parseStations(String stationString) { + return Arrays.stream(stationString.split(",")).map(String::trim).filter(s -> !s.isEmpty()).collect(Collectors.toList()); } @Override @@ -381,17 +571,7 @@ public class KMReServiceImpl implements KMReService { if (bool) { throw new BadRequestException("任务已重新生成，请勿重复操作! "); } - AgvTask newAgvTask = AgvTask.builder() - .stockCode(agvTask.getStockCode()) - .type(agvTask.getType()) - .jobType(agvTask.getJobType()) - .jobPriority(1) - .startSlotCode(agvTask.getStartSlotCode()) - .endSlotCode(agvTask.getEndSlotCode()) - .slotCode(agvTask.getSlotCode()) - .status(BizStatus.OPEN) - .lineSlotCode(agvTask.getLineSlotCode()) - .build(); + AgvTask newAgvTask = AgvTask.builder().stockCode(agvTask.getStockCode()).type(agvTask.getType()).jobType(agvTask.getJobType()).jobPriority(1).startSlotCode(agvTask.getStartSlotCode()).endSlotCode(agvTask.getEndSlotCode()).slotCode(agvTask.getSlotCode()).status(BizStatus.OPEN).lineSlotCode(agvTask.getLineSlotCode()).build(); agvTaskService.create(newAgvTask);