#pda接口

lty

昨天 2b72251421b15984711107e6aa061a36562d9d87

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

@@ -1,9 +1,12 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
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.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
@@ -13,13 +16,17 @@
import com.zy.asrs.service.*;
import com.zy.asrs.utils.MatUtils;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.DetlDto;
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.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import javax.rmi.CORBA.Util;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
@@ -49,6 +56,18 @@
    private TagService tagService;
    @Autowired
    private TagMapper tagMapper;
    @Autowired
    private BasArmService basArmService;
    @Autowired
    private BasArmMastService basArmMastService;
    @Autowired
    private BasArmMastSignService basArmMastSignService;
    @Autowired
    private BasAgvMastService basAgvMastService;
    @Autowired
    private LocOwnerService locOwnerService;
    @Autowired
    private CommonService commonService;

    @Override
    @Transactional
@@ -59,6 +78,12 @@
        }
        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]
@@ -66,12 +91,12 @@
                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
@@ -94,7 +119,8 @@
                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");
@@ -103,9 +129,9 @@
        List<DetlDto> list = new ArrayList<>();
        List<DetlDto> orderDetails = param.getOrderDetails();
        for (DetlDto detail : orderDetails) {
            DetlDto dto = new DetlDto(detail.getMatnr(), detail.getBatch(),detail.getBrand(),detail.getStandby1(),detail.getStandby2(),detail.getStandby3(),detail.getLineNumber(), detail.getAnfme());
            if (DetlDto.has(list, dto)) {
                DetlDto detlDto = DetlDto.findLineNumber(list, dto.getMatnr(), dto.getBatch(),dto.getBrand(),dto.getStandby1(),dto.getStandby2(),dto.getStandby3(),dto.getLineNumber());
            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 {
@@ -126,6 +152,9 @@
            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);
@@ -134,6 +163,7 @@
            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");
            }
@@ -146,9 +176,9 @@
        List<OpenOrderCompeteResult> results = new ArrayList<>();
        if (!Cools.isEmpty(param) && !Cools.isEmpty(param.getOrderNo())) {
            // 指定订单
//            Order order = orderService.selectByNo(param.getOrderNo());
            Order order = orderService.selectByNo(param.getOrderNo());

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

            if (null != order) {
                OpenOrderCompeteResult result = new OpenOrderCompeteResult();
@@ -156,10 +186,12 @@
                result.setOrderNo(order.getOrderNo());
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
//                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(),orderDetl.getBrand(),
                            orderDetl.getStandby1(),orderDetl.getStandby2(),orderDetl.getStandby3(),orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(),orderDetl.getBoxType2(),orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                if (order.getSettle() == 4L) {
                    // 修改订单状态 4.完成 ===>> 6.已上报
@@ -182,11 +214,14 @@
                result.setOrderNo(order.getOrderNo());
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
//                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), 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)) {
@@ -212,6 +247,12 @@
        }
        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]
@@ -219,12 +260,12 @@
                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
@@ -247,7 +288,8 @@
                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");
@@ -256,9 +298,11 @@
        List<DetlDto> list = new ArrayList<>();
        List<DetlDto> orderDetails = param.getOrderDetails();
        for (DetlDto detail : orderDetails) {
            DetlDto dto = new DetlDto(detail.getMatnr(), detail.getBatch(),detail.getBrand(),detail.getStandby1(),detail.getStandby2(),detail.getStandby3(),detail.getLineNumber(), detail.getAnfme());
            if (DetlDto.has(list, dto)) {
                DetlDto detlDto = DetlDto.findLineNumber(list, dto.getMatnr(), dto.getBatch(),dto.getBrand(),dto.getStandby1(),dto.getStandby2(),dto.getStandby3(),dto.getLineNumber());
            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 {
@@ -279,6 +323,9 @@
            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);
@@ -287,6 +334,7 @@
            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");
            }
@@ -298,18 +346,20 @@
        List<OpenOrderCompeteResult> results = new ArrayList<>();
        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());
            Order order = orderService.selectByNo(param.getOrderNo());
//            Order order = OrderInAndOutUtil.selectByNo(Boolean.FALSE, param.getOrderNo());
            if (null != order) {
                OpenOrderCompeteResult result = new OpenOrderCompeteResult();
                results.add(result);
                result.setOrderNo(order.getOrderNo());
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
//                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(),order.getId());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(),order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(),orderDetl.getStandby2(),orderDetl.getStandby3(),orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(),orderDetl.getBoxType2(),orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                if (order.getSettle() == 4L) {
                    // 修改订单状态 4.完成 ===>> 6.已上报
@@ -329,10 +379,12 @@
                result.setOrderNo(order.getOrderNo());
                result.setOrderTime(order.getOrderTime());
                result.setOrderType(order.getDocType$());
//                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), 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)) {
@@ -549,7 +601,7 @@
                } else {
                    tagId = tagService.getTop().getId();
                }
                mat.sync(param);
                mat.sync(matParam);
//            mat.setMatnr(param.getMatnr());
//            mat.setMaktx(param.getMaktx());
//            mat.setSpecs(param.getSpecs());
@@ -565,7 +617,7 @@
                    log.info("同步新物料[商品编号：{}]", mat.getMatnr());
                }
            } else {
                mat.sync(param);
                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");
                }
@@ -574,4 +626,283 @@

    }

    @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)){
            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)){
            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 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(),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(), 5,6);
        }
    }

    @Override
    @Transactional
    public boolean TaskArmWorkOrderSign(OrderArmEndParam param) {
        BasArmMastSign basArmMastSignNew = basArmMastSignService.selectOne(
                new EntityWrapper<BasArmMastSign>()
                        .eq("order_no", param.getOrderNo())
                        .eq("create_time", param.getBindingTags())
                        .eq("status", 0)
        );
        if (Cools.isEmpty(basArmMastSignNew)){
            return false;
        }
        return true;
    }

    @Override
    @Transactional
    public boolean TaskAgvReport(TaskAgvReportParam param) {
        BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("task_no", param.getTaskNo()));
        if (Cools.isEmpty(basAgvMast)){
            return false;
        }
        basAgvMast.setStatus(2);
        basAgvMastService.updateById(basAgvMast);
        return true;
    }

    @Override
    @Transactional
    public boolean taskAgvCreate(TaskAgvCreateParam param) {
        // 参数检查
        if (param == null) {
            throw new CoolException("参数不能为空");
        }
        Integer devpId = 1;
        // 创建对象（构造函数中已生成 timestamp）
        BasAgvMast basAgvMast = new BasAgvMast();
        // 生成 WMS 任务号（如无外部传入，可以使用雪花ID 或自增）
        basAgvMast.setTaskNo(commonService.getWorkNo(0));
        // 赋值参数
        basAgvMast.setSourceStaNo(param.getSourceStaNo());
        basAgvMast.setStaNo(param.getStaNo());
        basAgvMast.setSourceLocNo(param.getSourceLocNo());
        basAgvMast.setLocNo(param.getLocNo());
        // 默认值
        basAgvMast.setPriority(1L);          // 默认优先级
        basAgvMast.setStatus(0);             // 初始状态
        basAgvMast.setAppeTime(new Date());  // 添加时间
        basAgvMast.setModiTime(new Date());  // 修改时间
        basAgvMast.setIoType(param.getIoType());// 任务类型
        basAgvMast.setDevpId(devpId);

        // 插入数据库
        basAgvMastService.insert(basAgvMast);

        return true;
    }

    @Override
    @Transactional
    public List<AgvLocListDetlParam> getAgvLocList(AgvLocListParam param){

        if (param == null || Cools.isEmpty(param.getLocNoList())) {
            throw new CoolException("库位号不能为空");
        }

        List<String> locNos = param.getLocNoList();

        List<AgvLocListDetlParam> result = new ArrayList<>();

        for (String locNo : locNos) {

            // 查询该库位 detail
            List<LocDetl> detlList = locDetlService.selectList(
                    new EntityWrapper<LocDetl>().eq("loc_no", locNo)
            );

            AgvLocListDetlParam dto = new AgvLocListDetlParam();
            dto.setLocNo(locNo);
            dto.setAgvDetlList(detlList);
            result.add(dto);
        }

        return result;
    }


    @Override
    @Transactional
    public boolean bindCtnrAndBin(bindCtnrAndBinParam param) {
        // 参数检查
        if (param == null) {
            throw new CoolException("参数不能为空");
        }
        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");
        agvBindCtnrAndBinParam.setPositionCode(
                basAgvLocNoSou != null && basAgvLocNoSou.getAgvLocNo() != null
                        ? basAgvLocNoSou.getAgvLocNo()
                        : ""
        );
        agvBindCtnrAndBinParam.setStgBinCode(
                basAgvLocNoEnd != null && basAgvLocNoEnd.getAgvLocNo() != null
                        ? basAgvLocNoEnd.getAgvLocNo()
                        : ""
        );
        agvBindCtnrAndBinParam.setIndBind(param.getIndBind());
        try {
            String URL = "http://10.10.10.200:8181/rcms/services/rest/hikRpcService"; // AGV接口地址
            String mesPath = "bindCtnrAndBin"; // 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());
        }
        return true;
    }



}