Merge branch 'ycds-wms-dev' of http://47.97.1.152:5880/r/zy-asrs-master int...

skyouc

2025-06-22 ebe2da6e4eefd59b366ebab3a651b32763b580ed

 zy-asrs-wms/src/main/java/com/zy/asrs/wms/apis/wcs/services/Impl/WcsApiServiceImpl.java

@@ -1,28 +1,37 @@
package com.zy.asrs.wms.apis.wcs.services.Impl;



import com.alibaba.fastjson.JSON;

import com.alibaba.fastjson.JSONObject;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;

import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;

import com.zy.asrs.framework.common.R;

import com.zy.asrs.framework.exception.CoolException;

import com.zy.asrs.wms.apis.wcs.entity.domain.EssTaskStatus;

import com.zy.asrs.wms.apis.wcs.entity.domain.SystemProperties;

import com.zy.asrs.wms.apis.wcs.entity.enums.EssTaskStatus;

import com.zy.asrs.wms.apis.wcs.entity.request.*;

import com.zy.asrs.wms.apis.wcs.entity.response.CommonReponse;

import com.zy.asrs.wms.apis.wcs.services.WcsApiService;

import com.zy.asrs.wms.asrs.entity.Task;

import com.zy.asrs.wms.asrs.entity.WaitPakin;

import com.zy.asrs.wms.apis.wcs.utils.HttpEssUtils;

import com.zy.asrs.wms.asrs.entity.*;

import com.zy.asrs.wms.asrs.entity.enums.CacheSiteStatusType;

import com.zy.asrs.wms.asrs.entity.enums.OrderPickStatus;

import com.zy.asrs.wms.asrs.entity.enums.TaskStsType;

import com.zy.asrs.wms.asrs.service.TaskService;

import com.zy.asrs.wms.asrs.service.WaitPakinService;

import com.zy.asrs.wms.asrs.service.WorkService;

import com.zy.asrs.wms.asrs.service.*;

import io.jsonwebtoken.lang.Collections;

import lombok.extern.slf4j.Slf4j;

import org.springframework.beans.factory.annotation.Autowired;

import org.springframework.http.HttpEntity;

import org.springframework.http.HttpHeaders;

import org.springframework.http.HttpMethod;

import org.springframework.http.ResponseEntity;

import org.springframework.stereotype.Service;

import org.springframework.transaction.annotation.Transactional;

import org.springframework.util.LinkedMultiValueMap;

import org.springframework.util.MultiValueMap;

import org.springframework.web.client.RestTemplate;



import java.util.ArrayList;

import java.util.List;

import java.util.Map;

import javax.annotation.Resource;

import java.util.*;

import java.util.stream.Collectors;



@Slf4j

@@ -35,141 +44,408 @@
    private WorkService workService;

    @Autowired

    private TaskService taskService;

    @Autowired

    private TaskDetlService taskDetlService;

    @Autowired

    private CacheSiteService cacheSiteService;

    @Autowired

    private OrderService orderService;

    @Autowired

    private OrderDetlService orderDetlService;

    @Autowired

    private WaveSeedService waveSeedService;



    @Autowired

    private RestTemplate restTemplate;



    @Autowired

    private PlatformService platformService;



    @Resource

    private SystemProperties systemProperties;





    /**

     * 容器到达接收

     * 根据ESS返回的容器编码修改任务档中的输送线起始位置节点，及任务档执行状态

     *              * 当前问题：

     *              * //TODO 1. 目前任务下发接口沟通下来，是需要目标位置的，这里我们只是刚组拖完成，并不是通知流动，没有目标位置

     *              * //TODO 2. 文档上的搬运任务下发指的都是多任务，多容器搬运，而不是我们需要物料信息同步功能

     *              * //TODO 3. 流程走不通暂时先跳过，确认是否需要WMS触发料箱滚动至扫码区

     * * 当前问题：

     * * //TODO 1. 目前任务下发接口沟通下来，是需要目标位置的，这里我们只是刚组拖完成，并不是通知流动，没有目标位置

     * * //TODO 2. 文档上的搬运任务下发指的都是多任务，多容器搬运，而不是我们需要物料信息同步功能

     * * //TODO 3. 流程走不通暂时先跳过，确认是否需要WMS触发料箱滚动至扫码区

     *

     * @param arrivedParam

     * @param hostId

     * @return

     */

    @Override

    @Transactional(rollbackFor = Exception.class)

    public R containerArrivedNotify(ContainerArrivedParam arrivedParam, String taskType) {

        List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, arrivedParam.getContainerCode()));

        if (Collections.isEmpty(tasks)) {

    public R containerArrivedNotify(ContainerArrivedParam arrivedParam, String taskType, Long hostId){

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, arrivedParam.getContainerCode()));

        if (task == null) {

            return R.error("任务不存在！！");

        }

        log.info("容器到达接收，任务号：{}，当前状态：{}，上报状态：{}",task.getTaskNo(),task.getTaskSts$(),TaskStsType.WCS_CONTAINER_RECEIVE.desc);



        taskType = task.getTaskType() > 100 ? "outStock":"inStock";



        if (taskType.equals("inStock")) {

            //DONE 根据ESS返回的容器编码修改任务档中的输送线起始位置节点，及任务档容器到达状态

            taskService.update(new LambdaUpdateWrapper<Task>()

                    .set(Task::getTaskSts, TaskStsType.WCS_CONTAINER_RECEIVE.id)

                    .set(Task::getOriginLoc, arrivedParam.getSlotCode())

                    .eq(Task::getBarcode, arrivedParam.getContainerCode()));

            if (task.getTaskSts() == 198) {

                return R.error("播种中！！");

            }

            if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_IN.id ) {

                //DONE 根据ESS返回的容器编码修改任务档中的输送线起始位置节点，及任务档容器到达状态

                taskService.update(new LambdaUpdateWrapper<Task>()

                        .set(Task::getTaskSts, TaskStsType.WCS_CONTAINER_RECEIVE.id)

                        //输送线节点编码，不是源库位

                        .set(Task::getOriginSite, arrivedParam.getSlotCode())

                        .eq(Task::getBarcode, arrivedParam.getContainerCode()));

            } else {

                  log.warn("{}没有下发任务",task.getTaskNo());

                  R.error(task.getTaskNo()+"没有下发任务");

            }

        } else {

            taskService.update(new LambdaUpdateWrapper<Task>()

                    .set(Task::getTaskSts, TaskStsType.WCS_EXECUTE_OUT_ARRIVED.id)

                    .set(Task::getOriginLoc, arrivedParam.getSlotCode())

                    .eq(Task::getBarcode, arrivedParam.getContainerCode()));

            if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_ARRIVED.id

            || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id ) {

                // 到达拣选位，控制播种墙亮灯

                    List<CacheSite> cacheSites = cacheSiteService.list(new LambdaQueryWrapper<CacheSite>().eq(CacheSite::getBarcode, task.getBarcode()));

                    if(cacheSites.size() == 0) {

                        log.error("条码：{}，未找到播种墙亮灯",task.getBarcode());

                        throw new CoolException("未找到播种墙");

                    }

                    for (CacheSite cacheSite:cacheSites) {

                        // 获取任务明细数量

                        List<TaskDetl> taskDetlByTaskId = taskDetlService.getTaskDetlByTaskId(task.getId());

                        int sum = (int)taskDetlByTaskId.stream().mapToDouble(TaskDetl::getAnfme).sum();

                        SlapLightControlParam slapLightControlParam = new SlapLightControlParam();

                        slapLightControlParam

                                .setControllerCode(cacheSite.getMemo())

                                .setTagCode(cacheSite.getSiteNo())

                                .setColor("GREEN")

                                .setIndex(cacheSite.getIndex())

                                .setMode("LIGHT")

                                .setDisplay(sum + "");

                        // 发起亮灯请求

                        log.info("任务{}到达拣选位，播种墙亮灯下发",task.getTaskNo(), JSONObject.toJSONString(slapLightControlParam));

                        CommonReponse response = HttpEssUtils.post("到达拣选位，播种墙亮灯", HttpEssUtils.PLT_SEND_COMMAND, slapLightControlParam);

                        if (response.getCode().equals(0)) {

                            log.info("任务{}到达拣选位，播种墙{}亮灯成功",task.getTaskNo(),cacheSite.getSiteNo());

                        } else {

                            log.info("任务{}到达拣选位，播种墙{}亮灯失败",task.getTaskNo(),cacheSite.getSiteNo());

                        }

                    }

                boolean update = taskService.update(new LambdaUpdateWrapper<Task>()

                        .set(Task::getTaskSts, TaskStsType.WAVE_SEED.id)

                        .set(Task::getOriginSite, arrivedParam.getSlotCode())

                        .eq(Task::getBarcode, arrivedParam.getContainerCode()));

                if (!update) {

                    throw new CoolException("容器到达任务更新失败！！");

                }



            } else if(task.getTaskSts().equals(TaskStsType.UPDATED_OUT.id)) {

                ConveyorStarParam conveyorStarParam = new ConveyorStarParam();

                conveyorStarParam.setSlotCode(task.getOriginSite())

                        .setContainerCode(task.getBarcode())

                        .setDirection("200");

                // 出库完成，清除输送线条码，取下箱子

                    CommonReponse response = HttpEssUtils.post("清除输送线条码", HttpEssUtils.CONVEYOR_START, conveyorStarParam);

                    if (response.getCode().equals(200)) {

                        log.info("{}出库完成，清除{}输送线条码{}成功",task.getTaskNo(),task.getOriginSite(),task.getBarcode());

                    }

            }

        }



        return R.success("success");

    }



    /**

     * 容器执行状态上报

     *

     * @param callbackParam

     * @param stockType

     * @param hostId

     */

    @Override

    @Transactional(rollbackFor = Exception.class)

    public void receiveTaskStatus(TasksStatusCallbackParam callbackParam, String stockType) {

        Long type = 1L;

        if (stockType.equals("outStock")) { //出库任务

            type = 101L;

        }

    public void receiveTaskStatus(TasksStatusCallbackParam callbackParam, String stockType, Long hostId) {

        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>()

                .eq(Task::getBarcode, callbackParam.getContainerCode())

                .eq(Task::getTaskType, type)

                .eq(Task::getTaskNo, callbackParam.getTaskCode()));

        if (!Collections.isEmpty(list)) {

            Long finalType = type;

            list.forEach(task -> {

                    TaskStsType taskStsType = null;

                    if (stockType.equals("inStock")) { //入库任务

                        if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //上报取箱状态

                            if (task.getTaskType() == TaskStsType.WCS_CONTAINER_RECEIVE.id) {

                                taskStsType = TaskStsType.WCS_TOTE_LOAD;

                            } else {

                                String errMsg = "任务编号：" + task.getTaskNo() +  "状态为不匹配，"  + "不能执行：" + TaskStsType.WCS_TOTE_LOAD.desc + "任务";

                                log.error(errMsg);

                                throw new CoolException(errMsg);

                            }

                        } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //上报放箱状态

                            if (task.getTaskType() == TaskStsType.WCS_TOTE_LOAD.id) {

                                taskStsType = TaskStsType.WCS_TOTE_UNLOAD;

                            } else {

                                String errMsg = "任务编号：" + task.getTaskNo() +  "状态为不匹配，"  + "不能执行：" + TaskStsType.WCS_TOTE_UNLOAD.desc + "任务";

                                log.error(errMsg);

                                throw new CoolException(errMsg);

                            }

                        } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //TODO 需确认上报任务中，任务完成是哪个事件，目前暂定task事件

                            if (task.getTaskType() == TaskStsType.WCS_TOTE_UNLOAD.id) {

                                taskStsType = TaskStsType.WCS_PUTAWAY_SUCESS;

                            } else {

                                String errMsg = "任务编号：" + task.getTaskNo() +  "状态为不匹配，"  + "不能执行：" + TaskStsType.WCS_PUTAWAY_SUCESS.desc + "任务";

                                log.error(errMsg);

                                throw new CoolException(errMsg);

                            }

                        }

                        boolean result = taskService.update(new LambdaUpdateWrapper<Task>()

                                .set(Task::getRobotCode, callbackParam.getRobotCode())

                                .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())

                                .set(Task::getTaskSts, taskStsType.id)

                                .set(Task::getExcudeStatus, callbackParam.getStatus())

                                .set(Task::getTaskDesc, callbackParam.getMessage())

                                .eq(Task::getBarcode, callbackParam.getContainerCode())

                                .eq(Task::getTaskType, finalType)

                                .eq(Task::getTaskNo, callbackParam.getTaskCode()));



                        if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event) && result) {

                            workService.completeTask(task.getId());

                        }

                    } else { //出库任务

                        if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //上报取箱状态

                            if (task.getTaskType() == TaskStsType.WCS_EXECUTE_OUT.id) {

                                taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD;

                            } else {

                                String errMsg = "任务编号：" + task.getTaskNo() +  "状态为不匹配，"  + "不能执行：" + TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.desc + "任务";

                                log.error(errMsg);

                                throw new CoolException(errMsg);

                            }

                        } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //上报放箱状态

                            if (task.getTaskType() == TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.id) {

                                taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD;

                            } else {

                                String errMsg = "任务编号：" + task.getTaskNo() +  "状态为不匹配，"  + "不能执行：" + TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.desc + "任务";

                                log.error(errMsg);

                                throw new CoolException(errMsg);

                            }

                        } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //上报完成状态

                            if (task.getTaskType() == TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.id) {

                                taskStsType = TaskStsType.WCS_EXECUTE_OUT_TASK_DONE;

                            } else {

                                String errMsg = "任务编号：" + task.getTaskNo() +  "状态为不匹配，"  + "不能执行：" + TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.desc + "任务";

                                log.error(errMsg);

                                throw new CoolException(errMsg);

                            }

                        }



                        //更新出库状态及相关字段

                         taskService.update(new LambdaUpdateWrapper<Task>()

                                .set(Task::getRobotCode, callbackParam.getRobotCode())

                                .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())

                                .set(Task::getTaskSts, taskStsType.id)

                                .set(Task::getExcudeStatus, callbackParam.getStatus())

                                .set(Task::getTaskDesc, callbackParam.getMessage())

                                .eq(Task::getTaskType, finalType)

                                .eq(Task::getBarcode, callbackParam.getContainerCode())

                                .eq(Task::getTaskNo, callbackParam.getTaskCode()));



//                        if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event) && result) {

////                            workService.completeTask(task.getId());

                log.info("容器执行状态上报，任务号：{}，当前状态：{}，上报状态：{}",task.getTaskNo(),task.getTaskSts$(),callbackParam.getEventType());

                if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_ALLOCATED.event)) {

                    return;

                }

                // ESS只能配置一个状态上报接口，根据任务号判断是入库任务或出库任务

                String taskType = task.getTaskType() > 100 ? "outStock":"inStock";

                TaskStsType taskStsType = null;

                if (taskType.equals("inStock")) { //入库任务

                    if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //上报取箱状态

//                        if (task.getTaskSts() == TaskStsType.WCS_CONVEYOR_START.id) {

                            taskStsType = TaskStsType.WCS_TOTE_LOAD;

//                        } else {

//                            String errMsg = "任务编号：" + task.getTaskNo() + "状态为不匹配，" + "不能执行：" + TaskStsType.WCS_TOTE_LOAD.desc + "任务";

//                            log.error(errMsg);

//                            throw new CoolException(errMsg);

//                        }

                    } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //上报放箱状态

//                        if (task.getTaskSts() == TaskStsType.WCS_TOTE_LOAD.id) {

                            taskStsType = TaskStsType.WCS_TOTE_UNLOAD;

//                        } else {

//                            String errMsg = "任务编号：" + task.getTaskNo() + "状态为不匹配，" + "不能执行：" + TaskStsType.WCS_TOTE_UNLOAD.desc + "任务";

//                            log.error(errMsg);

//                            throw new CoolException(errMsg);

//                        }

                    } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //TODO 需确认上报任务中，任务完成是哪个事件，目前暂定task事件

//                        if (task.getTaskSts() == TaskStsType.WCS_TOTE_UNLOAD.id) {

                            taskStsType = TaskStsType.WCS_PUTAWAY_SUCESS;

//                        } else {

//                            String errMsg = "任务编号：" + task.getTaskNo() + "状态为不匹配，" + "不能执行：" + TaskStsType.WCS_PUTAWAY_SUCESS.desc + "任务";

//                            log.error(errMsg);

//                            throw new CoolException(errMsg);

//                        }

                    }

                    boolean result = taskService.update(new LambdaUpdateWrapper<Task>()

                            .set(Task::getRobotCode, callbackParam.getRobotCode())

//                            .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())

                            .set(Task::getTaskSts, taskStsType != null ? taskStsType.id : task.getTaskType())

                            .set(Task::getExcudeStatus, callbackParam.getStatus())

                            .set(Task::getTaskDesc, callbackParam.getMessage())

                            .eq(Task::getBarcode, callbackParam.getContainerCode())

                            .eq(Task::getTaskNo, callbackParam.getTaskCode()));



                });

                    //event事件为task，表明任务上报完成状态

                    if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event) && result) {

                        //任务状态修改为 99 入库完成

                        workService.completeTask(task.getId());

                    }

                } else { //出库任务

                    if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_LOAD.event)) { //上报取箱状态

//                        if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT.id ) {

                            taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD;

//                        } else {

//                            String errMsg = "任务编号：" + task.getTaskNo() + "状态为不匹配，" + "不能执行：" + TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.desc + "任务";

//                            log.error(errMsg);

//                            throw new CoolException(errMsg);

//                        }

                    } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_TOTE_UNLOAD.event)) { //上报放箱状态

//                        if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_LOAD.id) {

                            taskStsType = TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD;

//                        } else {

//                            String errMsg = "任务编号：" + task.getTaskNo() + "状态为不匹配，" + "不能执行：" + TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.desc + "任务";

//                            log.error(errMsg);

//                            throw new CoolException(errMsg);

//                        }

                    } else if (callbackParam.getEventType().equals(EssTaskStatus.TASK_EVENT_STATUS.event)) { //上报完成状态

//                        if (task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TOTE_UNLOAD.id || task.getTaskSts() == TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.id) {

                            //出库任务完成，修改状态为容器到达，定时任务生成播种波次

                            taskStsType = TaskStsType.WCS_EXECUTE_OUT_TASK_DONE;

//                        } else {

//                            String errMsg = "任务编号：" + task.getTaskNo() + "状态为不匹配，" + "不能执行：" + TaskStsType.WCS_EXECUTE_OUT_TASK_DONE.desc + "任务";

//                            log.error(errMsg);

//                            throw new CoolException(errMsg);

//                        }

                    }

                    //更新出库状态及相关字段

                    boolean update = taskService.update(new LambdaUpdateWrapper<Task>()

                            .set(Task::getRobotCode, callbackParam.getRobotCode())

                            .set(Task::getSysTaskCode, callbackParam.getSysTaskCode())

                            .set(Task::getTaskSts, taskStsType != null ? taskStsType.id : task.getTaskType())

                            .set(Task::getExcudeStatus, callbackParam.getStatus())

                            .set(Task::getTaskDesc, callbackParam.getMessage())

                            .eq(Task::getBarcode, callbackParam.getContainerCode())

                            .eq(Task::getTaskNo, callbackParam.getTaskCode()));



                    if (!update) {

                        throw new CoolException("任务更新失败！！");

                    }



                }



            });

        } else {

            throw new CoolException("更新内容不存在！！");

        }

    }



    /**

     * 容器流动通知

     *

     * @param code

     * @return

     */

    @Override

    @Transactional(rollbackFor = Exception.class)

    public synchronized R containerConveryor(String code) throws Exception{

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getBarcode, code));

        if (Objects.isNull(task)) {

            throw new CoolException("容器码任务不存在！！");

        } 
        try {

            ConveyorStarParam conveyorStarParam = new ConveyorStarParam();

            conveyorStarParam.setSlotCode(task.getOriginSite())

                    .setContainerCode(task.getBarcode());

            if (task.getTaskType() == 101) { //任务类型为101全盘出库，直接取下容器，传200

                conveyorStarParam.setDirection("200");

            } else if (task.getTaskType() == 103 || task.getTaskType() == 107) { //如果为任务类型为103，需走回库操作，传100

                conveyorStarParam.setDirection("100");

            }

            //调用三方接口，将任务推送至ESS平台

            MultiValueMap<String, Object> params = new LinkedMultiValueMap<>();

            // 设置请求参数

            HttpHeaders headers = new HttpHeaders();

            headers.add("Content-Type", "application/json");

            headers.add("api-version", "v2.0");

            HttpEntity httpEntity = new HttpEntity<>(conveyorStarParam, headers);

            log.info("请求地址：{}，请求参数：{}", HttpEssUtils.CONVEYOR_START, JSONObject.toJSONString(conveyorStarParam));

            ResponseEntity<String> exchange = restTemplate.exchange("http://192.168.2.200:9046/conveyor/moveContainer", HttpMethod.POST, httpEntity, String.class);

            log.info("下发流动通知 返回结果：{}", exchange);

            if (exchange.getBody() == null) {

                throw new CoolException("下发流动通知失败！！");

            } else {

                CommonReponse commonReponse = JSON.toJavaObject(JSON.parseObject(exchange.getBody()), CommonReponse.class);

                if (commonReponse.getCode() == 0) {

                    //流动通知下发完成后，修改任务状态为输送线流动中。。

                    if (task.getTaskType() == 103 || task.getTaskType() == 107) {

                        //更新库存信息,修改任务状态为4 （RCS容器流动任务已下发）

                        workService.pickTask(task.getId());

                    } else {

                        taskService.update(new LambdaUpdateWrapper<Task>()

                                .eq(Task::getId, task.getId())

                                .set(Task::getTaskSts, TaskStsType.COMPLETE_OUT.id));

                    }

                    log.info(task.getTaskNo() + "下发流动通知" + commonReponse.getMsg());

                } else {

                    throw new CoolException("下发流动通知失败！！");

                }

            }

        } catch (Exception ex) {

            log.error("UNK",  ex);

        }

        return R.ok();

    }





    @Override

    public R rfidCallback(RfidSingalRequest request) {

        return null;

    }



    @Override

    public R getPlatforms() {

        return R.ok(platformService.list(new LambdaQueryWrapper<>()));

    }



    /**

     * 拍灯拣料逻辑，详细说明见接口调用说明

     *

     * @param request

     * @return

     */

    @Override

    @Transactional(rollbackFor = Exception.class)

    public R slapLightLogic(Map<String, Object> request) {

        String taskNo = request.get("taskNo").toString();

        String orderNo = request.get("orderNo").toString();



        List<CacheSite> performs = cacheSiteService.list(new LambdaQueryWrapper<CacheSite>().eq(CacheSite::getOrderNo, orderNo));

        if (Objects.isNull(performs.stream().findFirst().get().getPlatformId())) {

            throw new CoolException("请打印明细，并绑定目标集货区");

        }



        //* 1. 判断当前容器是否还有物料未拣，未拣完闪灯，拣完通知容器流动，并灭灯

        SlapLightControlParam slapParam = new SlapLightControlParam();

        MultiValueMap<String, Object> params = new LinkedMultiValueMap<>();

        //判断当前任务是否还有物料未拣

        if (!checked(orderNo, taskNo)) {

            log.info("未完成闪灯请求地址：{}，请求参数：{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));

            //调用三方接口,闪灯不做操作

            // 设置请求参数

            throw new CoolException("当前任务未完成，不能执行此操作！！");

//            params.add("params", JSONObject.toJSONString(slapParam));

        } else {

            //调用三方接口,灭灯通知容器流动， 传灭灯参数

            //todo 判断当前订单是否完成，完成灭灯，未完成保持拣货状态亮灯

            Order one = orderService.getOne(new LambdaQueryWrapper<Order>().eq(Order::getOrderNo, orderNo));

            if (Objects.isNull(one)) {

                throw new CoolException("当前订单明细不存在！！");

            }

//            //获取播种已完成的订单明细

//            List<OrderDetl> detlList = orderDetls.stream().filter(detl -> {

//                return detl.getPickStatus() == OrderPickStatus.ORDER_PICK_STATUS_DONE.val;

//            }).collect(Collectors.toList());



            //判断数量是否与订单明细的需求量相同，相同则订单完成

            if (one.getPickStatus() == OrderPickStatus.ORDER_PICK_STATUS_DONE.val) {

                //播种完成，释放绑定站点

                List<CacheSite> cacheSites = cacheSiteService.list(new LambdaQueryWrapper<CacheSite>().eq(CacheSite::getOrderNo, orderNo));

                for (CacheSite cacheSite : cacheSites) {

                    if (!cacheSite.getSiteStatus().equals(CacheSiteStatusType.O.id)) {

                        cacheSite.setSiteStatus(CacheSiteStatusType.O.id);

                        cacheSite.setOrderId(null);

                        cacheSite.setBarcode(null);

                        cacheSite.setOrderNo(null);

                        cacheSite.setPlatformId(null);

                        cacheSite.setPlatformNo(null);

                        cacheSite.setUpdateTime(new Date());

                        if (!cacheSiteService.updateById(cacheSite)) {

                            throw new CoolException("播种站点更新失败");

                        }

                    }

                }

            }

            params.add("params", JSONObject.toJSONString(slapParam));

            log.info("完成灭灯请求地址：{}，请求参数：{}", SystemProperties.SLAP_LIGHT, JSONObject.toJSONString(slapParam));

        }



        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, request.get("taskNo")));

        if (Objects.isNull(task)) {

            throw new CoolException("任务不存在！！");

        }

        try {

            containerConveryor(task.getBarcode());

        } catch (Exception e) {

            log.error("执行异常:UNK",  e);

            throw new CoolException(e.getMessage());

        }



        return R.ok();

    }



    /**

     * 判断当前任务下，订单是否已完成拣货

     *

     * @param orderNo

     * @param taskNo

     * @return

     */

    public synchronized boolean checked(String orderNo, String taskNo) {

        if (Objects.isNull(orderNo)) {

            throw new CoolException("订单编码不能为空！！");

        }

        if (Objects.isNull(taskNo)) {

            throw new CoolException("任务编码不能为空！！");

        }



        List<TaskDetl> taskDetls = taskDetlService.list(new LambdaQueryWrapper<TaskDetl>().eq(TaskDetl::getTaskNo, taskNo));

        if (taskDetls.isEmpty()) {

            throw new CoolException("订单明细不存在！！");

        }



        List<Long> detlIds = taskDetls.stream().map(TaskDetl::getId).collect(Collectors.toList());



        double taskNum = taskDetls.stream().mapToDouble(TaskDetl::getAnfme).sum();



        List<WaveSeed> seeds = waveSeedService.list(new LambdaQueryWrapper<WaveSeed>().in(WaveSeed::getTaskDetlId, detlIds));

        if (seeds.isEmpty()) {

            throw new CoolException("播种信息不存在！！！");

        }

        double seedNum = seeds.stream().mapToDouble(WaveSeed::getWorkQty).sum();

        //判断任务需求总量是否等播种总数量

        if (taskNum == seedNum) {

            return true;

        } else  {

            return false;

        }

    }