Merge remote-tracking branch 'origin/lggslasrs' into lggslasrs

zwl

20 小时以前 0cb44badbe4d0d6b58c6324d29d3c7193be687f2

 src/main/java/com/zy/asrs/service/impl/OpenServiceImpl.java

@@ -1,26 +1,41 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.zy.api.controller.params.StopOutTaskParams;
import com.zy.api.service.WcsApiService;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SnowflakeIdWorker;
import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.OpenOrderCompleteParam;
import com.zy.asrs.entity.param.OpenOrderPakinParam;
import com.zy.asrs.entity.param.OpenOrderPakoutParam;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.entity.result.OpenOrderCompeteResult;
import com.zy.asrs.entity.result.StockVo;
import com.zy.asrs.mapper.TagMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.task.core.ReturnT;
import com.zy.asrs.utils.MatUtils;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.asrs.utils.Utils;
import com.zy.common.constant.AgvConstant;
import com.zy.common.constant.ArmConstant;
import com.zy.common.model.DetlDto;
import com.zy.common.model.LocDetlDto;
import com.zy.common.model.LocDto;
import com.zy.common.model.TaskDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.NodeUtils;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import javax.rmi.CORBA.Util;
import java.util.*;
import java.util.stream.Collectors;

/**
 * Created by vincent on 2022/4/9
@@ -45,6 +60,44 @@
    private PackService packService;
    @Autowired
    private TagService tagService;
    @Autowired
    private TagMapper tagMapper;
    @Autowired
    private BasArmService basArmService;
    @Autowired
    private BasArmMastService basArmMastService;
    @Autowired
    private BasAgvLocDetlService basAgvLocDetlService;
    @Autowired
    private BasArmMastSignService basArmMastSignService;
    @Autowired
    private BasAgvMastService basAgvMastService;
    @Autowired
    private LocOwnerService locOwnerService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private LocMastServiceImpl locMastService;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private BasDevpServiceImpl basDevpService;
    @Autowired
    private StaDescServiceImpl staDescService;
    @Value("${mes.url}")
    private String mesUrl;
    @Value("${mes.stationaddress}")
    private String stationAddress;
    @Autowired
    private WaitPakinService waitPakinService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WcsApiService wcsApiService;
    @Autowired
    private WorkService workService;
    @Autowired
    private BasCrnpService basCrnpService;

    @Override
    @Transactional
@@ -55,6 +108,12 @@
        }
        DocType docType = docTypeService.selectOrAdd(param.getOrderType(), Boolean.TRUE);
        Date now = new Date();
        LocOwner locOwner = null;
        if (!Cools.isEmpty(param.getOwnerId())) {
            locOwner = locOwnerService.selectById(param.getOwnerId());
        } else {
            locOwner = locOwnerService.selectById(1);
        }
        // 单据主档
        order = new Order(
                String.valueOf(snowflakeIdWorker.nextId()),    // 编号[非空]
@@ -62,12 +121,12 @@
                DateUtils.convert(now),    // 单据日期
                docType.getDocId(),    // 单据类型
                null,    // 项目编号
                null,    //
                param.getStandby1(),    //项目名称 客户PO号
                null,    // 调拨项目编号
                null,    // 初始票据号
                null,    // 票据号
                null,    // 客户编号
                null,    // 客户
                locOwner.getOwner(),    // 客户
                null,    // 联系方式
                null,    // 操作人员
                null,    // 合计金额
@@ -90,7 +149,8 @@
                now,    // 添加时间
                9527L,    // 修改人员
                now,    // 修改时间
                null    // 备注
                null,   // 备注
                1
        );
        if (!orderService.insert(order)) {
            throw new CoolException("生成单据主档失败，请联系管理员");
@@ -99,9 +159,9 @@
        List<DetlDto> list = new ArrayList<>();
        List<DetlDto> orderDetails = param.getOrderDetails();
        for (DetlDto detail : orderDetails) {
            DetlDto dto = new DetlDto(detail.getMatnr(), detail.getBatch(), detail.getAnfme());
            if (DetlDto.has(list, dto)) {
                DetlDto detlDto = DetlDto.find(list, dto.getMatnr(), dto.getBatch());
            DetlDto dto = new DetlDto(detail.getMatnr(), detail.getBatch(), detail.getBrand(), detail.getStandby1(), detail.getStandby2(), detail.getStandby3(), detail.getLineNumber(), detail.getBoxType1(), detail.getBoxType2(), detail.getBoxType3(), detail.getAnfme());
            if (DetlDto.hasLineNumber(list, dto)) {
                DetlDto detlDto = DetlDto.findLineNumber(list, dto.getMatnr(), dto.getBatch(), dto.getBrand(), dto.getStandby1(), dto.getStandby2(), dto.getStandby3(), dto.getLineNumber(), dto.getBoxType1(), dto.getBoxType2(), dto.getBoxType3());
                assert detlDto != null;
                detlDto.setAnfme(detlDto.getAnfme() + detail.getAnfme());
            } else {
@@ -115,8 +175,16 @@
            }
            OrderDetl orderDetl = new OrderDetl();
            orderDetl.sync(mat);
            orderDetl.setLineNumber(detlDto.getLineNumber());
            orderDetl.setBatch(detlDto.getBatch());
            orderDetl.setAnfme(detlDto.getAnfme());
            orderDetl.setBrand(detlDto.getBrand());
            orderDetl.setStandby1(detlDto.getStandby1());
            orderDetl.setStandby2(detlDto.getStandby2());
            orderDetl.setStandby3(detlDto.getStandby3());
            orderDetl.setBoxType1(detlDto.getBoxType1());
            orderDetl.setBoxType2(detlDto.getBoxType2());
            orderDetl.setBoxType3(detlDto.getBoxType3());
            orderDetl.setOrderId(order.getId());
            orderDetl.setOrderNo(order.getOrderNo());
            orderDetl.setCreateBy(9527L);
@@ -125,6 +193,7 @@
            orderDetl.setUpdateTime(now);
            orderDetl.setStatus(1);
            orderDetl.setQty(0.0D);
            orderDetl.setPakinPakoutStatus(1);
            if (!orderDetlService.insert(orderDetl)) {
                throw new CoolException("生成单据明细失败，请联系管理员");
            }
@@ -138,6 +207,9 @@
        if (!Cools.isEmpty(param) && !Cools.isEmpty(param.getOrderNo())) {
            // 指定订单
            Order order = orderService.selectByNo(param.getOrderNo());

//            Order order = OrderInAndOutUtil.selectByNo(Boolean.TRUE,param.getOrderNo());

            if (null != order) {
                OpenOrderCompeteResult result = new OpenOrderCompeteResult();
                results.add(result);
@@ -145,19 +217,27 @@
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                if (order.getSettle() == 4L) {
                    // 修改订单状态 4.完成 ===>> 6.已上报
                    if (!orderService.updateSettle(order.getId(), 6L, null)) {
                        throw new CoolException("服务器内部错误，请联系管理员");
                    }
//                    if (!orderService.updateSettle(order.getId(), 6L, null)) {
//                        throw new CoolException("服务器内部错误，请联系管理员");
//                    }
                    OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(), order.getId(), 6L, null);
                }
            }
        } else {
            // 所有订单
            List<Order> orders = orderService.selectList(new EntityWrapper<Order>().eq("settle", 4L));
//            List<Order> orders = orderService.selectBySettle(4L);
            List<Order> orders = OrderInAndOutUtil.selectBySettle(null, 4L);
            if (orders.isEmpty()) {
                orders = new ArrayList<>();
            }
            for (Order order : orders) {
                OpenOrderCompeteResult result = new OpenOrderCompeteResult();
                results.add(result);
@@ -165,26 +245,44 @@
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());

                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3(),
                            orderDetl.getQty()));
                }
                // 修改订单状态 4.完成 ===>> 6.已上报
                if (!orderService.updateSettle(order.getId(), 6L, null)) {
                    throw new CoolException("服务器内部错误，请联系管理员");
                }
//                // 修改订单状态 4.完成 ===>> 6.已上报
//                if (!orderService.updateSettle(order.getId(), 6L, null)) {
//                    throw new CoolException("服务器内部错误，请联系管理员");
//                }
                OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(), order.getId(), 6L, null);

            }
        }
        return results;
    }

    @Override
    @Transactional
    public void pakoutOrderCreate(OpenOrderPakoutParam param) {
        Order order = orderService.selectByNo(param.getOrderNo());
        // 如果单据不存在则添加；如果单据存在，作业中无法修改，反之则修改单据
        if (!Cools.isEmpty(order)) {
            throw new CoolException(param.getOrderNo() + "单据已存在，请勿重复提交");
            if (order.getSettle() > 1L) {
                throw new CoolException(param.getOrderNo() + "正在出库，无法修改单据");
            }
            orderService.remove(order.getId());
        }
        DocType docType = docTypeService.selectOrAdd(param.getOrderType(), Boolean.FALSE);
        Date now = new Date();
        LocOwner locOwner = null;
        if (!Cools.isEmpty(param.getOwnerId())) {
            locOwner = locOwnerService.selectById(param.getOwnerId());
        } else {
            locOwner = locOwnerService.selectById(1);
        }
        // 单据主档
        order = new Order(
                String.valueOf(snowflakeIdWorker.nextId()),    // 编号[非空]
@@ -192,12 +290,12 @@
                DateUtils.convert(now),    // 单据日期
                docType.getDocId(),    // 单据类型
                null,    // 项目编号
                null,    //
                param.getStandby1(),    //项目名称 客户PO号
                null,    // 调拨项目编号
                null,    // 初始票据号
                null,    // 票据号
                null,    // 客户编号
                null,    // 客户
                locOwner.getOwner(),    // 客户
                null,    // 联系方式
                null,    // 操作人员
                null,    // 合计金额
@@ -220,7 +318,8 @@
                now,    // 添加时间
                9527L,    // 修改人员
                now,    // 修改时间
                null    // 备注
                null,    // 备注
                2
        );
        if (!orderService.insert(order)) {
            throw new CoolException("生成单据主档失败，请联系管理员");
@@ -229,9 +328,11 @@
        List<DetlDto> list = new ArrayList<>();
        List<DetlDto> orderDetails = param.getOrderDetails();
        for (DetlDto detail : orderDetails) {
            DetlDto dto = new DetlDto(detail.getMatnr(), detail.getBatch(), detail.getAnfme());
            if (DetlDto.has(list, dto)) {
                DetlDto detlDto = DetlDto.find(list, dto.getMatnr(), dto.getBatch());
            DetlDto dto = new DetlDto(detail.getMatnr(), detail.getBatch(), detail.getBrand(), detail.getStandby1(), detail.getStandby2(), detail.getStandby3(), detail.getLineNumber(),
                    detail.getBoxType1(), detail.getBoxType2(), detail.getBoxType3(), detail.getAnfme());
            if (DetlDto.hasLineNumber(list, dto)) {
                DetlDto detlDto = DetlDto.findLineNumber(list, dto.getMatnr(), dto.getBatch(), dto.getBrand(), dto.getStandby1(), dto.getStandby2(), dto.getStandby3(), dto.getLineNumber(),
                        dto.getBoxType1(), dto.getBoxType2(), dto.getBoxType3());
                assert detlDto != null;
                detlDto.setAnfme(detlDto.getAnfme() + detail.getAnfme());
            } else {
@@ -245,8 +346,16 @@
            }
            OrderDetl orderDetl = new OrderDetl();
            orderDetl.sync(mat);
            orderDetl.setLineNumber(detlDto.getLineNumber());
            orderDetl.setBatch(detlDto.getBatch());
            orderDetl.setAnfme(detlDto.getAnfme());
            orderDetl.setBrand(detlDto.getBrand());
            orderDetl.setStandby1(detlDto.getStandby1());
            orderDetl.setStandby2(detlDto.getStandby2());
            orderDetl.setStandby3(detlDto.getStandby3());
            orderDetl.setBoxType1(detlDto.getBoxType1());
            orderDetl.setBoxType2(detlDto.getBoxType2());
            orderDetl.setBoxType3(detlDto.getBoxType3());
            orderDetl.setOrderId(order.getId());
            orderDetl.setOrderNo(order.getOrderNo());
            orderDetl.setCreateBy(9527L);
@@ -255,10 +364,236 @@
            orderDetl.setUpdateTime(now);
            orderDetl.setStatus(1);
            orderDetl.setQty(0.0D);
            orderDetl.setPakinPakoutStatus(2);
            if (!orderDetlService.insert(orderDetl)) {
                throw new CoolException("生成单据明细失败，请联系管理员");
            }
        }
    }

    @Override
    @Transactional
    public R pakoutOrderPause(OpenOrderPakoutPauseParam param) {
        if (param == null || Cools.isEmpty(param.getOrderId())) {
            throw new CoolException("orderNo is empty");
        }
        Order order = orderService.selectByNo(param.getOrderId());
        if (order == null) {
            order = OrderInAndOutUtil.selectByNo(Boolean.FALSE, param.getOrderId());
        }
        if (order == null) {
            throw new CoolException("order not found: " + param.getOrderId());
        }

        List<WrkMast> activeTasks = findActiveOutboundTasks(param.getOrderId());
        if (activeTasks.isEmpty()) {
            return R.ok("no active out tasks");
        }

        Date now = new Date();
        int pausedCount = 0;
        List<WrkMast> issuedTasks = new ArrayList<>();
        for (WrkMast wrkMast : activeTasks) {
            if (wrkMast == null || "Y".equalsIgnoreCase(wrkMast.getPauseMk())) {
                continue;
            }
            wrkMast.setPauseMk("Y");
            wrkMast.setUpdMk(needNotifyWcsStop(wrkMast) ? "WCS_STOP_REQUESTED" : "WMS_PAUSED");
            wrkMast.setManuType("ERP_PAUSE");
            wrkMast.setModiTime(now);
            wrkMast.setModiUser(9527L);
            if (!wrkMastService.updateById(wrkMast)) {
                throw new CoolException("pause out task failed: " + wrkMast.getWrkNo());
            }
            pausedCount++;
            if (needNotifyWcsStop(wrkMast)) {
                issuedTasks.add(wrkMast);
            }
        }

        if (pausedCount == 0) {
            return R.ok("tasks already paused");
        }

        if (!issuedTasks.isEmpty()) {
            wcsApiService.pauseOutTasks(buildStopOutTaskParams(param, issuedTasks));
        }

        Map<String, Object> result = new HashMap<>();
        result.put("orderNo", param.getOrderId());
        result.put("pausedCount", pausedCount);
        result.put("wcsStopCount", issuedTasks.size());
        return R.ok("pause out success").add(result);
    }

    @Override
    @Transactional
    public R pakoutOrderExecute(OpenOrderPakoutExecuteParam param) {
        if (param == null || Cools.isEmpty(param.getOrderId())) {
            throw new CoolException("orderId is empty");
        }
        if (param.getExecute() == null) {
            throw new CoolException("execute is empty");
        }
        if (Objects.equals(param.getExecute(), 1)) {
            return createPakoutTasks(param.getOrderId());
        }
        if (Objects.equals(param.getExecute(), 2)) {
            OpenOrderPakoutPauseParam pauseParam = new OpenOrderPakoutPauseParam();
//            pauseParam.getOrderId(param.getOrderId());
//            pauseParam.setReason("OPEN_API_PAUSE");
            return pakoutOrderPause(pauseParam);
        }
        throw new CoolException("execute only supports 1 or 2");
    }

    private List<WrkMast> findActiveOutboundTasks(String orderNo) {
        List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("order_no", orderNo));
        if (wrkDetls == null || wrkDetls.isEmpty()) {
            return Collections.emptyList();
        }
        Set<Integer> wrkNos = wrkDetls.stream()
                .map(WrkDetl::getWrkNo)
                .filter(Objects::nonNull)
                .collect(Collectors.toCollection(LinkedHashSet::new));
        if (wrkNos.isEmpty()) {
            return Collections.emptyList();
        }
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                .in("wrk_no", wrkNos)
                .in("io_type", Arrays.asList(101, 103, 107, 108, 110))
                .lt("wrk_sts", 14L));
        if (wrkMasts == null || wrkMasts.isEmpty()) {
            return Collections.emptyList();
        }
        wrkMasts.sort(Comparator.comparing(WrkMast::getWrkNo));
        return wrkMasts;
    }

    private R createPakoutTasks(String orderNo) {
        Order order = orderService.selectByNo(orderNo);
        if (order == null) {
            throw new CoolException("order not found: " + orderNo);
        }
        if (order.getSettle() != 1L && order.getSettle() != 2L) {
            throw new CoolException("该订单已处理");
        }

        List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
        if (Cools.isEmpty(orderDetls)) {
            throw new CoolException("订单明细为空");
        }

        Set<String> exist = new HashSet<>();
        List<LocDto> locDtos = new ArrayList<>();
        List<String> lackDetails = new ArrayList<>();
        for (OrderDetl orderDetl : orderDetls) {
            double issued = Optional.ofNullable(orderDetl.getAnfme()).orElse(0.0D) - Optional.ofNullable(orderDetl.getWorkQty()).orElse(0.0D);
            if (issued <= 0.0D) {
                continue;
            }
            List<LocDetl> locDetls = locDetlService.queryStockAll(null, exist,
                    orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                    orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(),
                    orderDetl.getBoxType1(), orderDetl.getBoxType2());
            for (LocDetl locDetl : locDetls) {
                if (issued <= 0.0D) {
                    break;
                }
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", locDetl.getLocNo()));
                if (locMast == null) {
                    continue;
                }
                BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", locMast.getCrnNo()));
                if (basCrnp == null || !"Y".equalsIgnoreCase(basCrnp.getOutEnable())) {
                    continue;
                }

                double allocateQty = issued >= locDetl.getAnfme() ? locDetl.getAnfme() : issued;
                LocDto locDto = new LocDto(locDetl.getLocNo(), locDetl.getMatnr(), locDetl.getMaktx(), locDetl.getBatch(), orderDetl.getOrderNo(), allocateQty);
                locDto.setFrozen(locDetl.getFrozen());
                locDto.setFrozenLoc(locMast.getFrozen());
                locDto.setBrand(orderDetl.getBrand());
                locDto.setStandby1(orderDetl.getStandby1());
                locDto.setStandby2(orderDetl.getStandby2());
                locDto.setStandby3(orderDetl.getStandby3());
                locDto.setBoxType1(orderDetl.getBoxType1());
                locDto.setBoxType2(orderDetl.getBoxType2());
                locDto.setBoxType3(orderDetl.getBoxType3());
                locDto.setStaNos(staDescService.queryOutStaNosByLocNo(locDetl.getLocNo(), allocateQty >= locDetl.getAnfme() ? 101 : 103));
                if (Cools.isEmpty(locDto.getStaNos())) {
                    continue;
                }
                locDtos.add(locDto);
                exist.add(locDetl.getLocNo());
                issued -= allocateQty;
            }
            if (issued > 0.0D) {
                lackDetails.add(buildLackDetail(orderDetl, issued));
            }
        }

        List<LocDto> availableLocDtos = new ArrayList<>();
        for (LocDto locDto : locDtos) {
            if (locDto.getFrozen() != 1 && locDto.getFrozenLoc() != 1) {
                availableLocDtos.add(locDto);
            }
        }
        if (Cools.isEmpty(availableLocDtos)) {
            throw new CoolException(Cools.isEmpty(lackDetails) ? "未生成任何出库任务" : "库存不足");
        }

        List<TaskDto> taskDtos = new ArrayList<>();
        for (LocDto locDto : availableLocDtos) {
            TaskDto taskDto = new TaskDto(locDto.getLocNo(), locDto.getStaNo(), locDto);
            if (TaskDto.has(taskDtos, taskDto)) {
                TaskDto dto = TaskDto.find(taskDtos, taskDto);
                if (dto != null) {
                    dto.getLocDtos().addAll(taskDto.getLocDtos());
                }
            } else {
                taskDtos.add(taskDto);
            }
        }
        for (TaskDto taskDto : taskDtos) {
            BasDevp staNo = basDevpService.checkSiteStatus(taskDto.getStaNo());
            workService.stockOut(staNo, taskDto, 9527L);
        }

        Map<String, Object> result = new LinkedHashMap<>();
        result.put("orderId", orderNo);
        result.put("createdTaskCount", taskDtos.size());
        result.put("allocatedDetailCount", availableLocDtos.size());
        result.put("lackDetailCount", lackDetails.size());
        result.put("lackDetails", lackDetails);
        return R.ok("execute out success").add(result);
    }

    private String buildLackDetail(OrderDetl orderDetl, double lackQty) {
        return orderDetl.getMatnr() + "|batch=" + (orderDetl.getBatch() == null ? "" : orderDetl.getBatch()) + "|lack=" + lackQty;
    }

    private boolean needNotifyWcsStop(WrkMast wrkMast) {
        return wrkMast != null
                && wrkMast.getWrkSts() != null
                && wrkMast.getWrkSts() >= 12L
                && wrkMast.getWrkSts() < 14L;
    }

    private StopOutTaskParams buildStopOutTaskParams(OpenOrderPakoutPauseParam param, List<WrkMast> wrkMasts) {
        StopOutTaskParams stopParams = new StopOutTaskParams();
        stopParams.setOrderNo(param.getOrderId());
        stopParams.setReason(param.getReason());
        for (WrkMast wrkMast : wrkMasts) {
            StopOutTaskParams.TaskItem item = new StopOutTaskParams.TaskItem();
            item.setTaskNo(String.valueOf(wrkMast.getWrkNo()));
            if (wrkMast.getStaNo() != null) {
                item.setStaNo(String.valueOf(wrkMast.getStaNo()));
            }
            item.setLocNo(wrkMast.getSourceLocNo());
            stopParams.getTasks().add(item);
        }
        return stopParams;
    }

    @Override
@@ -267,6 +602,7 @@
        if (!Cools.isEmpty(param) && !Cools.isEmpty(param.getOrderNo())) {
            // 指定订单
            Order order = orderService.selectByNo(param.getOrderNo());
//            Order order = OrderInAndOutUtil.selectByNo(Boolean.FALSE, param.getOrderNo());
            if (null != order) {
                OpenOrderCompeteResult result = new OpenOrderCompeteResult();
                results.add(result);
@@ -274,19 +610,24 @@
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(),order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                if (order.getSettle() == 4L) {
                    // 修改订单状态 4.完成 ===>> 6.已上报
                    if (!orderService.updateSettle(order.getId(), 6L, null)) {
                        throw new CoolException("服务器内部错误，请联系管理员");
                    }
//                    if (!orderService.updateSettle(order.getId(), 6L, null)) {
//                        throw new CoolException("服务器内部错误，请联系管理员");
//                    }
                    OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(), order.getId(), 6L, null);
                }
            }
        } else {
            // 所有订单
            List<Order> orders = orderService.selectList(new EntityWrapper<Order>().eq("settle", 4L));
//            List<Order> orders = orderService.selectList(new EntityWrapper<Order>().eq("settle", 4L));
            List<Order> orders = OrderInAndOutUtil.selectBySettle(null, 4L);
            for (Order order : orders) {
                OpenOrderCompeteResult result = new OpenOrderCompeteResult();
                results.add(result);
@@ -294,13 +635,17 @@
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                // 修改订单状态 4.完成 ===>> 6.已上报
                if (!orderService.updateSettle(order.getId(), 6L, null)) {
                    throw new CoolException("服务器内部错误，请联系管理员");
                }
//                if (!orderService.updateSettle(order.getId(), 6L, null)) {
//                    throw new CoolException("服务器内部错误，请联系管理员");
//                }
                OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(), order.getId(), 6L, null);
            }
        }
        return results;
@@ -314,17 +659,20 @@

    @Override
    @Transactional
    public void packageUp(String barcode) {
        Pack pack = packService.selectByBarcode(barcode);
    public void packageUp(PackParam param) {
        if (Cools.isEmpty(param.getBarcode())) {
            throw new CoolException("barcode不能为空");
        }
        Mat analyse = MatUtils.analyseMat(param.getBarcode());
        Pack pack = packService.selectByBarcode(param.getBarcode());
        if (null != pack) {
            throw new CoolException(barcode + "重复提交");
            throw new CoolException(param.getBarcode() + "重复提交");
        }
        Date now = new Date();
        // todo:luxiaotao 解析条码规则，获取物料代码
        pack = new Pack(
                barcode,    // 条码[非空]
                null,    // 商品编号
                null,    // 批号
                param.getBarcode(),    // 条码[非空]
                analyse.getMatnr(),    // 商品编号
                analyse.getBarcode(),    // 序列码
                1L,    // 订单状态
                1,    // 状态
                now,    // 添加时间
@@ -336,16 +684,703 @@
        if (!packService.insert(pack)) {
            throw new CoolException("服务器内部错误，请联系管理员");
        }
        Mat mat = new Mat();
        mat.setTagId(tagService.getTop().getId());
        mat.setMatnr(barcode);
        mat.setMaktx(barcode);
        mat.setStatus(1);
        mat.setCreateTime(now);
        mat.setUpdateTime(now);
        if (!matService.insert(mat)) {
            throw new CoolException("服务器内部错误，请联系管理员");

        Mat mat = matService.selectByMatnr(analyse.getMatnr());
        if (mat == null) {
            mat = new Mat();
            // 分类
            Long tagId;
            // 一级分类
            if (!Cools.isEmpty(param.getGroupCode()) && !Cools.isEmpty(param.getGroupName())) {
                Tag priTag = tagService.selectByName(param.getGroupCode(), 2);
                if (priTag == null) {
                    Tag top = tagService.getTop();
                    NodeUtils nodeUtils = new NodeUtils();
                    nodeUtils.executePath(top.getId());
                    priTag = new Tag(
                            null,    // 编号
                            param.getGroupCode(),    // 名称
                            top.getId(),    // 父级
                            top.getName(),    // 父级名称
                            nodeUtils.path.toString(),    // 关联路径
                            nodeUtils.pathName.toString(),    // 关联路径名
                            0,    // 类型
                            null,    // 负责人
                            null,    // 图片
                            null,    // 简要描述
                            null,    // 数量
                            2,    // 等级
                            null,    // 排序
                            1,    // 状态
                            now,    // 添加时间
                            null,    // 添加人员
                            now,    // 修改时间
                            null,    // 修改人员
                            null    // 备注
                    );
                    if (tagMapper.insert(priTag) == 0) {
                        throw new CoolException("服务器内部错误，请联系管理员");
                    }
                }
                // 二级分类
                Tag secTag = tagService.selectByName(param.getGroupName(), 3);
                if (secTag == null) {
                    NodeUtils nodeUtils = new NodeUtils();
                    nodeUtils.executePath(priTag.getId());
                    secTag = new Tag(
                            null,    // 编号
                            param.getGroupName(),    // 名称
                            priTag.getId(),    // 父级
                            priTag.getName(),    // 父级名称
                            nodeUtils.path.toString(),    // 关联路径
                            nodeUtils.pathName.toString(),    // 关联路径名
                            0,    // 类型
                            null,    // 负责人
                            null,    // 图片
                            null,    // 简要描述
                            null,    // 数量
                            3,    // 等级
                            null,    // 排序
                            1,    // 状态
                            now,    // 添加时间
                            null,    // 添加人员
                            now,    // 修改时间
                            null,    // 修改人员
                            null    // 备注
                    );
                    if (tagMapper.insert(secTag) == 0) {
                        throw new CoolException("服务器内部错误，请联系管理员");
                    }
                }
                tagId = secTag.getId();
            } else {
                tagId = tagService.getTop().getId();
            }
            mat.setTagId(tagId);
            mat.setMatnr(analyse.getMatnr());
            mat.setMaktx(param.getMaterialName());
            mat.setSpecs(param.getConfigureDesc());
            mat.setModel(analyse.getModel());
            mat.setStatus(1);
            mat.setCreateTime(now);
            mat.setUpdateTime(now);
            if (!matService.insert(mat)) {
                throw new CoolException("服务器内部错误，请联系管理员");
            } else {
                log.info("打包上线添加新物料[商品编号：{}]", mat.getMatnr());
            }
        }
    }

    @Override
    @Transactional
    public void syncMat(MatSyncParam param) {
        if (param.getMatDetails().get(0).getOperateType() == 3) {
            Mat mat1 = matService.selectByMatnr(param.getMatDetails().get(0).getMatnr());
            if (Cools.isEmpty(mat1)) {
                throw new CoolException("商品不存在无法禁用");
            }
        }

        if (Cools.isEmpty(param.getMatDetails()) || param.getMatDetails().size() <= 0) {
            throw new CoolException("商品数据为空");
        }

        for (MatSyncParam.MatParam matParam : param.getMatDetails()) {
            if (Cools.isEmpty(matParam.getMatnr())) {
                throw new CoolException("商品编码不能为空");
            }

            Date now = new Date();
            Mat mat = matService.selectByMatnr(matParam.getMatnr());
            if (mat == null) {
                mat = new Mat();
                // 分类
                Long tagId;
                // 一级分类
                if (!Cools.isEmpty(matParam.getGroupCode()) && !Cools.isEmpty(matParam.getGroupName())) {
                    Tag priTag = tagService.selectByName(matParam.getGroupCode(), 2);
                    if (priTag == null) {
                        Tag top = tagService.getTop();
                        NodeUtils nodeUtils = new NodeUtils();
                        nodeUtils.executePath(top.getId());
                        priTag = new Tag(
                                null,    // 编号
                                matParam.getGroupCode(),    // 名称
                                top.getId(),    // 父级
                                top.getName(),    // 父级名称
                                nodeUtils.path.toString(),    // 关联路径
                                nodeUtils.pathName.toString(),    // 关联路径名
                                0,    // 类型
                                null,    // 负责人
                                null,    // 图片
                                null,    // 简要描述
                                null,    // 数量
                                2,    // 等级
                                null,    // 排序
                                1,    // 状态
                                now,    // 添加时间
                                null,    // 添加人员
                                now,    // 修改时间
                                null,    // 修改人员
                                null    // 备注
                        );
                        if (tagMapper.insert(priTag) == 0) {
                            throw new CoolException("服务器内部错误，请联系管理员");
                        }
                    }
                    // 二级分类
                    Tag secTag = tagService.selectByName(matParam.getGroupName(), 3);
                    if (secTag == null) {
                        NodeUtils nodeUtils = new NodeUtils();
                        nodeUtils.executePath(priTag.getId());
                        secTag = new Tag(
                                null,    // 编号
                                matParam.getGroupName(),    // 名称
                                priTag.getId(),    // 父级
                                priTag.getName(),    // 父级名称
                                nodeUtils.path.toString(),    // 关联路径
                                nodeUtils.pathName.toString(),    // 关联路径名
                                0,    // 类型
                                null,    // 负责人
                                null,    // 图片
                                null,    // 简要描述
                                null,    // 数量
                                3,    // 等级
                                null,    // 排序
                                1,    // 状态
                                now,    // 添加时间
                                null,    // 添加人员
                                now,    // 修改时间
                                null,    // 修改人员
                                null    // 备注
                        );
                        if (tagMapper.insert(secTag) == 0) {
                            throw new CoolException("服务器内部错误，请联系管理员");
                        }
                    }
                    tagId = secTag.getId();
                } else {
                    tagId = tagService.getTop().getId();
                }
                mat.sync(matParam);
//            mat.setMatnr(param.getMatnr());
//            mat.setMaktx(param.getMaktx());
//            mat.setSpecs(param.getSpecs());
//            mat.setModel(param.getModel());

                mat.setTagId(tagId);
                mat.setStatus(1);
                mat.setCreateTime(now);
                mat.setUpdateTime(now);
                if (!matService.insert(mat)) {
                    throw new CoolException("服务器内部错误，请联系管理员");
                } else {
                    log.info("同步新物料[商品编号：{}]", mat.getMatnr());
                }
            } else {
                mat.sync(matParam);
                if (!matService.update(mat, new EntityWrapper<Mat>().eq("matnr", matParam.getMatnr()))) {
                    throw new CoolException("更新已存在商品信息失败，请联系管理员");
                }
            }
        }

    }

    @Override
    @Transactional
    public void taskArmReport(TaskArmReportParam param) {
        BasArmMast basArmMast = new BasArmMast(param);
        List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().eq("sorting_line_sou", basArmMast.getSortingLine()));
        for (BasArm basArm : basArmList) {
            if (basArm.getStatus() != 1) {
                continue;
            }
            basArmMast.setArmNo(basArm.getArmNo());
            basArmMast.setStaNo(basArm.getStaNoSou());
            break;
        }
        BasArmMast basArmMastOld = basArmMastService.selectOne(
                new EntityWrapper<BasArmMast>()
                        .eq("sorting_line", basArmMast.getSortingLine())
                        .eq("arm_no", basArmMast.getArmNo())
                        .eq("status", 0)
        );
        if (Cools.isEmpty(basArmMastOld)) {
            basArmMastService.insert(basArmMast);
        } else {
            throw new CoolException("等待前边货物抓取！！！" + JSON.toJSONString(param));
        }
    }

    @Override
    @Transactional
    public void taskArmCycleResult(TaskArmCycleResultParam param) {
        BasArm basArm = basArmService.selectOne(new EntityWrapper<BasArm>()
                .eq("arm_no", param.getArm_no())
                .eq("sorting_line", Integer.parseInt(param.getStaNo()))
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)) {
            return;
//            throw new CoolException("机械臂配置异常，查询不到机械臂数据！！！"+ JSON.toJSONString(param));
        }

        try {
            BasArmMastSign basArmMastSign = basArmMastSignService.selectOne(
                    new EntityWrapper<BasArmMastSign>()
                            .eq("matnr", param.getMatnr())
                            .eq("order_no", param.getOrderNo())
                            .eq("create_time", param.getBindingTags())
            );
            if (!Cools.isEmpty(basArmMastSign)) {
                basArmMastSign.setStatus(1);
                basArmMastSignService.updateById(basArmMastSign);
            }
        } catch (Exception e) {
        }

        BasArmMast basArmMastListError = basArmMastService.selectOne(
                new EntityWrapper<BasArmMast>()
                        .eq("sorting_line", basArm.getSortingLineSou())
                        .eq("arm_no", param.getArm_no())
                        .eq("status", 9)
        );
        if (!Cools.isEmpty(basArmMastListError)) {
            if (Integer.parseInt(param.getPick_num()) == 1) {
                basArmMastListError.setStatus(2);
                basArmMastService.updateById(basArmMastListError);
            }
            return;
        }


        BasArmMast basArmMast = basArmMastService.selectOne(
                new EntityWrapper<BasArmMast>()
                        .eq("sorting_line", basArm.getSortingLineSou())
                        .eq("arm_no", param.getArm_no())
                        .eq("status", 1)
        );
        if (Cools.isEmpty(basArmMast)) {
            return;
//            throw new CoolException("未查询到相关机械臂拆码垛任务！！！"+ JSON.toJSONString(param));
        }
        if (Integer.parseInt(param.getPick_num()) != 1) {
            basArmMast.setStatus(9);
            basArmMastService.updateById(basArmMast);
        } else {
            basArmMast.setStatus(2);
            basArmMastService.updateById(basArmMast);
        }
    }

    @Override
    @Transactional
    public boolean TaskArmLocStatus(ArmOKParam param) {
        BasArm basArm = basArmService.selectOne(new EntityWrapper<BasArm>()
                .eq("arm_no", param.getArmNo())
                .eq("sta_no", param.getStaNo())
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)) {
            log.error("机械臂配置异常，查询不到机械臂数据！！！" + JSON.toJSONString(param));
            return false;
        }
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
        if (Cools.isEmpty(locMast)) {
            log.error("查询不到locMast数据！！！" + JSON.toJSONString(param));
            return false;
        }
        if (locMast.getLocSts().equals("D")) {
            BasArmMast basArmMast = basArmMastService.selectOne(
                    new EntityWrapper<BasArmMast>()
                            .eq("sta_no", basArm.getStaNoSou())
                            .eq("arm_no", param.getArmNo())
                            .eq("status", 3)
            );
            if (Cools.isEmpty(basArmMast)) {
                return true;
            }
            log.error("未查询到相关机械臂拆码垛任务！！！" + JSON.toJSONString(param));
        } else {
            log.error("locMast状态不为D！！！" + JSON.toJSONString(param));
        }
        return false;
    }

    @Override
    @Transactional
    public void taskArmWorkspaceStatus(TaskArmWorkspaceStatusParam param) {
        BasArm basArm = basArmService.selectOne(new EntityWrapper<BasArm>()
                .eq("arm_no", param.getArm_no())
                .eq("sta_no", Integer.parseInt(param.getId()))
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)) {
            throw new CoolException("机械臂配置异常，查询不到机械臂数据！！！" + JSON.toJSONString(param));
        }
        BasArmMast basArmMast = basArmMastService.selectOne(
                new EntityWrapper<BasArmMast>()
                        .eq("sta_no", basArm.getStaNoSou())
                        .eq("arm_no", param.getArm_no())
                        .eq("status", 2)
        );
        if (Cools.isEmpty(basArmMast)) {
            throw new CoolException("未查询到相关机械臂拆码垛任务！！！" + JSON.toJSONString(param));
        }
//        basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),basArmMast.getStaNo(),1,3);
        basArmMastService.updateArmMastStatus(param.getArm_no(), basArmMast.getSortingLine(), basArmMast.getStaNo(), 2, 3);
    }

    @Override
    @Transactional
    public void taskArmWorkOrderStatus(OrderArmEndParam param) {
        BasArm basArm = basArmService.selectOne(new EntityWrapper<BasArm>()
                .eq("arm_no", param.getArm_no())
                .eq("sorting_line", Integer.parseInt(param.getStaNo()))
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)) {
            throw new CoolException("机械臂配置异常，查询不到机械臂数据！！！" + JSON.toJSONString(param));
        }
        BasArmMast basArmMast = basArmMastService.selectOne(
                new EntityWrapper<BasArmMast>()
                        .eq("sorting_line", basArm.getSortingLineSou())
                        .eq("arm_no", param.getArm_no())
                        .eq("status", 5)
        );
        if (!Cools.isEmpty(basArmMast)) {
            basArmMastService.updateArmMastStatus(param.getArm_no(), basArmMast.getSortingLine(), basArmMast.getStaNo(), 5, 6);
        }
    }

    @Override
    @Transactional
    public boolean taskArmOrderResult(OrderArmEndParam param) {
        if (param.getDone_num() == 0) {
            if (basArmMastService.delete(new EntityWrapper<BasArmMast>().eq("arm_no", param.getArm_no())
                    .eq("status", 1))) {
                return true;
            }
        }
        if (param.getDone_num() == 1) {
            return true;
        }
        log.error("未找到对应任务" + param);
        return false;
    }

    @Override
    @Transactional
    public List<PickWrkDetlListParam> getPickList(PdaPickListParam param) {
        List<WrkDetl> wrkDetls = wrkDetlService.findByBarcode(param.getBarcode());
        List<PickWrkDetlListParam> result = new ArrayList<>();
        wrkDetls.forEach(wrkDetl -> {
            Double total;
            EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
            LocDetl locDetl = locDetlService.selectOne(
                    wrapper.eq("zpallet", wrkDetl.getZpallet())
                            .eq("matnr", wrkDetl.getMatnr())
            );
            // 可拣总量：优先取库存表，否则取作业数量
            if (Cools.isEmpty(locDetl)) {
                total = wrkDetl.getAnfme();
            } else {
                total = locDetl.getAnfme();
            }
            // ===== 组装返回对象 =====
            PickWrkDetlListParam dto = new PickWrkDetlListParam();
            dto.setMatnr(wrkDetl.getMatnr());
            dto.setMaknx(wrkDetl.getMaktx());
            dto.setOrderNo(wrkDetl.getOrderNo());
            dto.setBoxType3(wrkDetl.getBoxType3());
            dto.setStandby1(wrkDetl.getStandby1());
            dto.setStandby2(wrkDetl.getStandby2());
            dto.setStandby3(wrkDetl.getStandby3());
            dto.setManu(wrkDetl.getManu());
            dto.setMemo(wrkDetl.getMemo());
            // 当前拣货数量
            dto.setCount(wrkDetl.getAnfme());
            // 可拣总数量
            dto.setTotal(total);
            result.add(dto);
        });

        return result;
    }


    @Override
    @Transactional
    public List<AgvLocListDetlParam> getAgvLocList(AgvLocListParam param) {
        List<AgvLocListDetlParam> result = new ArrayList<>();

        if (Cools.isEmpty(param.getLocNo())) {
            EntityWrapper<LocMast> locMastEntityWrapper = new EntityWrapper<>();
            locMastEntityWrapper.setSqlSelect("TOP 5 loc_no as locNo,loc_sts as locSts")
                    .where("loc_sts in ('F','D','S','R') and whs_type = '5'");
            List<LocMast> locMasts = locMastService.selectList(locMastEntityWrapper);

            for (LocMast locMast : locMasts) {
                result.add(buildAgvLocListDetlParam(locMast.getLocNo(), locMast.getLocSts$()));
            }
        } else {
            LocMast locMast = locMastService.selectOne(
                    new EntityWrapper<LocMast>().eq("loc_no", param.getLocNo())
            );
            result.add(buildAgvLocListDetlParam(param.getLocNo(), locMast.getLocSts$()));
        }

        return result;
    }

    private AgvLocListDetlParam buildAgvLocListDetlParam(String locNo, String locSts) {
        List<BasAgvLocDetl> detlList = basAgvLocDetlService.selectList(
                new EntityWrapper<BasAgvLocDetl>().eq("loc_no", locNo)
        );

        AgvLocListDetlParam dto = new AgvLocListDetlParam();
        dto.setLocNo(locNo);
        dto.setLocSys(locSts);
        dto.setAgvDetlList(detlList);
        return dto;
    }


    @Override
    @Transactional
    public boolean bindCtnrAndBin(bindCtnrAndBinParam param) {
        // 参数检查
        if (param == null) {
            throw new CoolException("参数不能为空");
        }
        if (param.getFloorNo() == 1) {
            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam();
            BasAgvLocNoService basAgvLocNoService = SpringUtils.getBean(BasAgvLocNoService.class);
            BasAgvLocNo basAgvLocNoSou = basAgvLocNoService.selectOne(new EntityWrapper<BasAgvLocNo>().eq("loc_no", param.getLocNo()));
            BasAgvLocNo basAgvLocNoEnd = basAgvLocNoService.selectOne(new EntityWrapper<BasAgvLocNo>().eq("sta_no", param.getStaNo()));
            agvBindCtnrAndBinParam.setReqCode(String.valueOf(System.currentTimeMillis()));
            agvBindCtnrAndBinParam.setCtnrCode(param.getBarcode());
            agvBindCtnrAndBinParam.setCtnrTyp("1");
            if (basAgvLocNoEnd != null && basAgvLocNoEnd.getAgvLocNo() != null) {
                agvBindCtnrAndBinParam.setStgBinCode(basAgvLocNoEnd.getAgvLocNo());
            }
            if (basAgvLocNoSou != null && basAgvLocNoSou.getAgvLocNo() != null) {
                agvBindCtnrAndBinParam.setStgBinCode(basAgvLocNoSou.getAgvLocNo());
            }
            agvBindCtnrAndBinParam.setIndBind(param.getIndBind());
            try {
                String URL = AgvConstant.AGV_URL + "/" + AgvConstant.AGV_hikRpcService; // AGV接口地址
                String mesPath = AgvConstant.getAGVADAPTOR(param.getFloorNo()); // 接口路径
                String response = "";
                boolean success = false;
                try {
                    log.info("AGV绑定容器接口请求参数: {}", JSON.toJSONString(agvBindCtnrAndBinParam));

                    response = new HttpHandler.Builder()
                            .setUri(URL)
                            .setPath(mesPath)
                            .setJson(JSON.toJSONString(agvBindCtnrAndBinParam))
                            .build()
                            .doPost();

                    log.info("AGV绑定容器接口响应: {}", response);
                    JSONObject jsonObject = JSON.parseObject(response);

                    if (jsonObject.getInteger("code") != null && jsonObject.getInteger("code").equals(0)) {
                        success = true;
                    } else {
                        log.error("AGV绑定容器失败！！！url：{}；request：{}；response：{}", URL + "/" + mesPath, JSON.toJSONString(agvBindCtnrAndBinParam), response);
                        throw new CoolException("AGV绑定容器失败: " + jsonObject.getString("msg"));
                    }
                } catch (Exception e) {
                    log.error("AGV绑定容器接口调用异常！！！url：{}；request：{}；response：{}", URL + "/" + mesPath, JSON.toJSONString(agvBindCtnrAndBinParam), response, e);
                    throw new CoolException("AGV绑定容器接口调用异常: " + e.getMessage());
                }
            } catch (Exception e) {
                throw new CoolException(e.getMessage());
            }
        } else {
        }
        return true;
    }


    @Override
    @Transactional
    public R stationAll() {
        List<StationParam> stationParams = new ArrayList<>();
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            StationParam stationParam = new StationParam();
            Boolean boo1 = false;
            Boolean boo2 = false;
            StaDesc staDescIn = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no", basDevp.getDevNo()).eq("type_no", 1));
            if (!Cools.isEmpty(staDescIn)) {
                stationParam.setStationId(basDevp.getDevNo() + "");
                stationParam.setStationType("1");
                stationParam.setStationName(basDevp.getDevNo() + "");
                stationParam.setOperateType(1);
                boo1 = true;
            }
            StaDesc staDescOut = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no", basDevp.getDevNo()).eq("type_no", 101));
            if (!Cools.isEmpty(staDescOut)) {
                stationParam.setStationId(basDevp.getDevNo() + "");
                stationParam.setStationType("1");
                stationParam.setStationName(basDevp.getDevNo() + "");
                stationParam.setOperateType(2);
                if (boo1) {
                    stationParam.setOperateType(3);
                }
                boo2 = true;
            }
            if (boo1 || boo2) {
                stationParams.add(stationParam);
            }
        }
        String response = "";
        try {
            //获取Cookie值
            HashMap<String, Object> headers = new HashMap<>();
//            headers.put("accesstoken", erpSecret.getAccessToken());
//            headers.put("x-acgw-identity", xAcfwIdentity);  // 自定义请求头
            response = new HttpHandler.Builder()
                    .setHeaders(headers)
                    .setUri(mesUrl)
                    .setPath(stationAddress)
                    .setJson(JSON.toJSONString(stationParams))
                    .build()
                    .doPost();
            JSONObject jsonResponse = JSON.parseObject(response);
            if (jsonResponse.getInteger("code") == 200) {

            } else {
                return R.error();
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return R.ok();
    }

    @Override
    public R mesToComb(MesToCombParam param) {
        if (Cools.isEmpty(param.getPalletId())) {
            throw new CoolException(BaseRes.PARAM);
        }
        Date now = new Date();

        Mat mat = matService.selectByMatnr(param.getMatnr());
        if (Cools.isEmpty(mat)) {

            if (param.getFull() == 1) {
                //满托盘
                mat = matService.selectByMatnr(param.getMatnr());
            } else if (param.getFull() == 0) {
                //空托盘
                mat = matService.selectByMatnr("emptyPallet");
            }
        }

        WaitPakin waitPakin = new WaitPakin();
        waitPakin.sync(mat);
        waitPakin.setBatch(String.valueOf(param.getBatchId()));
        waitPakin.setZpallet(param.getPalletId());   // 托盘码

        waitPakin.setIoStatus("N");     // 入出状态
        waitPakin.setAnfme(param.getAnfme());  // 数量
        waitPakin.setStatus("Y");    // 状态
        waitPakin.setAppeUser(9995L);
        waitPakin.setAppeTime(now);
        waitPakin.setModiUser(9995L);
        waitPakin.setModiTime(now);
        waitPakin.setOrderNo(String.valueOf(param.getOrderId()));
        waitPakin.setOrigin(String.valueOf(param.getStorageArea()));//建议入库区域
        waitPakin.setManu(String.valueOf(param.getLocId()));//mes具体库位编号
        waitPakin.setThreeCode(param.getBizNo());
        waitPakin.setBeBatch(param.getPackage1());//是否散货，0 非散货；1 散货；为了管控出货速率，散货可以出慢点。
        if (!waitPakinService.insert(waitPakin)) {
            throw new CoolException("保存入库通知档失败");
        }
        return null;
    }

    @Override
    public R outOrder(OutTaskParam param) {
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "F").eq("barcode", param.getPalletId()));
        if (locMast == null) {
            return R.error("没有找到托盘码=" + param.getPalletId() + "对应的库位");
        }
        Integer ioType = 101;
        // 获取路径
        StaDesc staDesc = staDescService.queryCrnStn(ioType, locMast.getCrnNo(), Integer.valueOf(param.getStationId()));
        Date now = new Date();
        // 生成工作号
        int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(ioType));
        // 生成工作档
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(workNo);
        wrkMast.setIoTime(now);
        wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
        wrkMast.setIoType(ioType); // 入出库状态
        wrkMast.setIoPri(13D); // 优先级：13
        wrkMast.setCrnNo(locMast.getCrnNo());
        wrkMast.setSourceStaNo(staDesc.getCrnStn()); // 源站
        wrkMast.setStaNo(staDesc.getStnNo()); // 目标站
        wrkMast.setSourceLocNo(locMast.getLocNo()); // 源库位
        wrkMast.setBarcode(locMast.getBarcode());
        wrkMast.setFullPlt("Y"); // 满板：Y
        wrkMast.setPicking("N"); // 拣料
        wrkMast.setExitMk("N"); // 退出
        wrkMast.setEmptyMk("N"); // 空板
        wrkMast.setLinkMis("N");
        wrkMast.setUserNo(param.getOrderId());//订单号
        wrkMast.setPltType(param.getSeq());//出库顺序，从1开始
        wrkMast.setTakeNone("0");  //0非自动
        wrkMast.setAppeUser(9995L); // 操作人员数据
        wrkMast.setAppeTime(now);
        wrkMast.setModiUser(9995L);
        wrkMast.setModiTime(now);
        if (!wrkMastService.insert(wrkMast)) {
            throw new CoolException("保存工作档失败，出库库位号：" + locMast.getLocNo());
        }
        List<LocDetl> locNo = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", locMast.getLocNo()));
        if (locNo == null || locNo.size() == 0) {
            throw new CoolException("查询库存明细失败，出库库位号：" + locMast.getLocNo());
        }
        // 生成工作档明细
        for (LocDetl locDetl : locNo) {
            WrkDetl wrkDetl = new WrkDetl();
            wrkDetl.sync(locDetl);
            wrkDetl.setOrderNo(param.getOrderId()); // 手动出库不需要带出库存中的单据编号
            wrkDetl.setWrkNo(workNo);
            wrkDetl.setIoTime(now);
            Double anfme = locDetl.getAnfme();
            wrkDetl.setAnfme(anfme); // 数量
            wrkDetl.setAppeTime(now);
            wrkDetl.setAppeUser(9995L);
            wrkDetl.setModiTime(now);
            wrkDetl.setModiUser(9995L);

            if (!wrkDetlService.insert(wrkDetl)) {
                throw new CoolException("保存工作档明细失败");
            }
        }
        // 修改库位状态:   F.在库 ====>>> R.出库预约/P.拣料/盘点/并板出库中
        locMast = locMastService.selectById(locMast.getLocNo());
        if (locMast.getLocSts().equals("F")) {
            locMast.setLocSts("R");
            locMast.setModiUser(9995L);
            locMast.setModiTime(now);
            if (!locMastService.updateById(locMast)) {
                throw new CoolException("预约库位状态失败，库位号：" + locMast.getLocNo());
            }
        } else {
            log.error(locMast.getLocNo() + "库位不是在库状态");
            throw new CoolException(locMast.getLocNo() + "库位不是在库状态");
        }
        return R.ok();
    }
}