#

whycq

2024-05-24 4dfc306f910a8b1ae1a2869bc8ffd38b2faf8f2e

 src/main/java/com/zy/common/web/WcsController.java

@@ -1,22 +1,29 @@
package com.zy.common.web;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.common.CodeRes;
import com.zy.common.model.AgvBasDevpDto;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.web.param.ReplenishmentParam;
import com.zy.common.web.param.SearchLocParam;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import java.util.Collections;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.stream.Collectors;

@@ -27,6 +34,8 @@
@RestController
@RequestMapping("/rpc")
public class WcsController {

    private static HashMap<String,String> currentContainerMap;

    @Autowired
    private WrkMastService wrkMastService;
@@ -44,6 +53,93 @@
    private LocDetlService locDetlService;
    @Autowired
    private MatService matService;
    @Autowired
    private AgvWaitPakinService agvWaitPakinService;
    @Autowired
    private AgvWorkService agvWorkService;
    @Autowired
    private AgvBasDevpService agvBasDevpService;
    @Autowired
    private AgvWrkMastService agvWrkMastService;
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private WrkMastLogService wrkMastLogService;
    @Autowired
    private AgvWrkDetlService agvWrkDetlService;
    @Autowired
    private AgvLocDetlService agvLocDetlService;
//    @Autowired
//    private ErpService erpService;

    @PostMapping("/pakin/loc/v2")
    @ResponseBody
    @Transactional
    public synchronized R getLocNoV2(@RequestBody SearchLocParam param) {
        if (Cools.isEmpty(param.getIoType())) {
            return R.error("入出库类型不能为空");
        }
        if (Cools.isEmpty(param.getSourceStaNo())) {
            return R.error("源站编号不能为空");
        }
        List<WaitPakin> waitPakins = null;
        ArrayList<Mat> mats = new ArrayList<>();
        if (param.getIoType() == 1) {
            if (Cools.isEmpty(param.getBarcode())) {
                return R.error("条码不能为空");
            }
            waitPakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", param.getBarcode()));

            if (Cools.isEmpty(waitPakins)) {
                WrkMast wrkMast = wrkMastService.selectByBarcode(param.getBarcode());
                if (wrkMast != null && (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 104 || wrkMast.getIoType() == 107)) {
                    return R.parse(CodeRes.PICK_600);
                }
                return R.parse(CodeRes.NO_COMB_700);
            }

            for (WaitPakin waitPakin : waitPakins) {
                Mat mat = matService.selectByMatnr(waitPakin.getMatnr());
                mat.setWeight(waitPakin.getAnfme());
                mats.add(mat);
            }

            int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",param.getBarcode()));
            int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",param.getBarcode()));
            if (countLoc > 0 || countWrk > 0) {
                return R.error("工作档/库存条码数据已存在");
            }
        }
        if (Cools.isEmpty(param.getLocType1())){
            return R.error("高低检测信号不能为空");
        }

        // 源站点状态检测
        BasDevp sourceStaNo = basDevpService.checkSiteStatus(param.getSourceStaNo(), true);
        LocTypeDto locTypeDto = new LocTypeDto(sourceStaNo);
        locTypeDto.setLocType1(param.getLocType1());

        StartupDto dto = null;
        switch (param.getIoType()) {
            case 1://满货架入库
                dto = startupFullPutStore(param.getSourceStaNo(), param.getBarcode(), locTypeDto, mats, waitPakins, 2);
                break;
            case 10://空货架入库
                dto = emptyPlateIn(param.getSourceStaNo(), locTypeDto, param.getBarcode(), 2);
                break;
            case 103:// 拣料入库
                dto = pickWrkIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), param.getLiftNo(), locTypeDto, 2);
                break;
            case 104:// 并板入库
            case 107:// 盘点入库
                dto = pickWrkPlateIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), param.getLiftNo(), locTypeDto, 2);
                break;
            default:
                break;
        }
        log.info("/pakin/loc/v1:"+dto + "======货架码:"+param.getBarcode());
        return R.ok().add(dto);
    }

    @PostMapping("/pakin/loc/v1")
    @ResponseBody
@@ -54,29 +150,43 @@
        if (Cools.isEmpty(param.getSourceStaNo())) {
            return R.error("源站编号不能为空");
        }
//        List<WaitPakin> waitPakins = null;
        Mat mat = null;
        List<WaitPakin> waitPakins = null;
        ArrayList<Mat> mats = new ArrayList<>();
        if (param.getIoType() == 1) {
            if (Cools.isEmpty(param.getBarcode())) {
                return R.error("条码不能为空");
            }
            mat = matService.selectByMatnr(param.getBarcode());
            if (Cools.isEmpty(mat)) {
                return R.error(param.getBarcode() + "条码商品资料不存在，请先添加！");
//            Goods goods = erpService.selectGoodsOne(param.getBarcode());
//            if (Cools.isEmpty(goods)) {
//                return R.error(param.getBarcode() + "条码不存在，请检查ERP数据！");
//            } else {
//                erpService.updateStateForGoods(param.getBarcode(), 2);
//            }
//            mat = matService.selectByMatnr(goods.getMaterialNO());
//            if (Cools.isEmpty(mat)) {
//                return R.error(goods.getMaterialNO() + "条码商品资料不存在，请先添加！");
//            }
            waitPakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", param.getBarcode()));

            if (Cools.isEmpty(waitPakins)) {
                WrkMast wrkMast = wrkMastService.selectByBarcode(param.getBarcode());
                if (wrkMast != null && (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 104 || wrkMast.getIoType() == 107)) {
                    return R.parse(CodeRes.PICK_600);
                }
                return R.parse(CodeRes.NO_COMB_700);
            }
//            waitPakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", param.getBarcode()));
//            if (Cools.isEmpty(waitPakins)) {
//                WrkMast wrkMast = wrkMastService.selectByBarcode(param.getBarcode());
//                if (wrkMast != null && (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 104 || wrkMast.getIoType() == 107)) {
//                    return R.parse(CodeRes.PICK_600);
//                }
//                return R.parse(CodeRes.NO_COMB_700);
//            }
//            int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",param.getBarcode()));
//            int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",param.getBarcode()));
//            if (countLoc > 0 || countWrk > 0) {
//                return R.error("工作档/库存条码数据已存在");
//            }

            for (WaitPakin waitPakin : waitPakins) {
                Mat mat = matService.selectByMatnr(waitPakin.getMatnr());
                mat.setWeight(waitPakin.getAnfme());
                mats.add(mat);
            }

            int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",param.getBarcode()));
            int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",param.getBarcode()));
            if (countLoc > 0 || countWrk > 0) {
                return R.error("工作档/库存条码数据已存在");
            }
        }
//        if (Cools.isEmpty(param.getLocType1())){
//            return R.error("高低检测信号不能为空");
@@ -85,40 +195,50 @@
        // 源站点状态检测
        BasDevp sourceStaNo = basDevpService.checkSiteStatus(param.getSourceStaNo(), true);
        LocTypeDto locTypeDto = new LocTypeDto(sourceStaNo);
        locTypeDto.setLocType1(param.getLocType1());

        StartupDto dto = null;
        switch (param.getIoType()) {
            case 1://满托盘入库
                assert mat != null;
                dto = startupFullPutStore(param.getSourceStaNo(), null, locTypeDto, mat);
            case 1://满货架入库
                dto = startupFullPutStore(param.getSourceStaNo(), param.getBarcode(), locTypeDto, mats, waitPakins);
                break;
            case 10://空托盘入库
                dto = emptyPlateIn(param.getSourceStaNo(), locTypeDto, null);
            case 10://空货架入库
                dto = emptyPlateIn(param.getSourceStaNo(), locTypeDto, param.getBarcode());
                break;
            case 103:// 拣料入库
            case 104:// 并板入库
            case 107:// 盘点入库
                dto = pickWrkPlateIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), locTypeDto);
                dto = pickWrkPlateIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), param.getLiftNo(), locTypeDto);
                break;
            default:
                break;
        }
        log.info("/pakin/loc/v1:"+dto + "======托盘码:"+param.getBarcode());
        log.info("/pakin/loc/v1:"+dto + "======货架码:"+param.getBarcode());
        return R.ok().add(dto);
    }

    /**
     * 全板入库
     */
    public StartupDto startupFullPutStore(Integer devpNo, String barcode, LocTypeDto locTypeDto, List<Mat> mats, List<WaitPakin> waitPakins) {
        return startupFullPutStore(devpNo, barcode, locTypeDto, mats, waitPakins, 1);
    }

    /**
     * 全板入库
     */
    @Transactional
    public StartupDto startupFullPutStore(Integer devpNo, String barcode, LocTypeDto locTypeDto, Mat mat) {
    public StartupDto startupFullPutStore(Integer devpNo, String barcode, LocTypeDto locTypeDto, List<Mat> mats, List<WaitPakin> waitPakins, Integer version) {
        // 源站点状态检测
        BasDevp sourceStaNo = basDevpService.checkSiteStatus(devpNo, true);
        // 检索库位
        List<Mat> mats = Collections.singletonList(mat);
        List<String> matnrList = mats.stream().map(Mat::getMaktx).distinct().collect(Collectors.toList());
        StartupDto dto = commonService.getLocNo(1, 1, devpNo, matnrList, locTypeDto,0);
        List<String> matnrList = mats.stream().map(Mat::getMatnr).distinct().collect(Collectors.toList());
        StartupDto dto = null;
        if (version == 2) {
            dto = commonService.getShuttleLocNo( 1, devpNo, matnrList, locTypeDto);
        }else {
            dto = commonService.getLocNo(1, 1, devpNo, matnrList, locTypeDto, 0);
        }
        int workNo = dto.getWorkNo();
        Date now = new Date();
        // 生成工作档
@@ -130,17 +250,18 @@
        Double ioPri = wrkMastService.getIoPri(1, dto.getLocNo());
        wrkMast.setIoPri(ioPri); // 优先级
        wrkMast.setCrnNo(dto.getCrnNo());
        wrkMast.setOutMost(locMastService.isOutMost(dto.getLocNo(), true)?1:0);;
        wrkMast.setOutMost(locMastService.isOutMost(dto.getLocNo(), true) ? 1 : 0);
        ;
        wrkMast.setSourceStaNo(dto.getSourceStaNo());
        wrkMast.setStaNo(dto.getStaNo());
        wrkMast.setLocNo(dto.getLocNo());
        wrkMast.setBarcode(barcode); // 托盘码
        wrkMast.setBarcode(barcode); // 货架码
        wrkMast.setFullPlt("Y"); // 满板：Y
        wrkMast.setPicking("N"); // 拣料
        wrkMast.setExitMk("N"); // 退出
        wrkMast.setEmptyMk("N"); // 空板
        wrkMast.setLinkMis("Y");
        wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
        wrkMast.setCtnType(sourceStaNo.getCtnType()); // 货架类型
        // 操作人员数据
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
@@ -148,17 +269,37 @@
        if (!res) {
            throw new CoolException("保存工作档失败");
        }
        // 生成工作档明细
        WrkDetl wrkDetl = new WrkDetl();
        wrkDetl.sync(mat);
        wrkDetl.setAnfme(1.0D);
        wrkDetl.setWrkNo(wrkMast.getWrkNo());
        wrkDetl.setIoTime(wrkMast.getIoTime());
        wrkDetl.setAppeTime(now);
        wrkDetl.setModiTime(now);
        if (!wrkDetlService.insert(wrkDetl)) {
            throw new CoolException("保存工作明细失败");
        }
        waitPakins.forEach(waitPakin -> {
            Mat mat = matService.selectByMatnr(waitPakin.getMatnr());
            if (Cools.isEmpty(mat)) {
                throw new CoolException(waitPakin.getMatnr() + "该物料号无法查询，请查看物料信息是否存在");
            }
            WrkDetl wrkDetl = new WrkDetl();
            BeanUtils.copyProperties(waitPakin, wrkDetl);
            wrkDetl.setZpallet(barcode);
            wrkDetl.setWrkNo(wrkMast.getWrkNo());
            wrkDetl.setIoTime(wrkMast.getIoTime());
            wrkDetl.setAppeTime(now);
            wrkDetl.setModiTime(now);
            if (!wrkDetlService.insert(wrkDetl)) {
                throw new CoolException("保存工作明细失败");
            }
        });
//        for (Mat mat : mats) {
//            // 生成工作档明细
//            WrkDetl wrkDetl = new WrkDetl();
//            wrkDetl.sync(mat);
//            wrkDetl.setAnfme(mat.getWeight());
//            wrkDetl.setZpallet(barcode);
//            wrkDetl.setWrkNo(wrkMast.getWrkNo());
//            wrkDetl.setIoTime(wrkMast.getIoTime());
//            wrkDetl.setAppeTime(now);
//            wrkDetl.setModiTime(now);
//            if (!wrkDetlService.insert(wrkDetl)) {
//                throw new CoolException("保存工作明细失败");
//            }
//        }

//        // 更新入库通知档 ioStatus ===>> Y
//        Wrapper<WaitPakin> wrapper = new EntityWrapper<WaitPakin>()
//                .eq("zpallet", barcode);
@@ -171,29 +312,39 @@
        // 更新源站点信息
        sourceStaNo.setWrkNo(workNo);
        sourceStaNo.setModiTime(now);
        if (!basDevpService.updateById(sourceStaNo)){
        if (!basDevpService.updateById(sourceStaNo)) {
            throw new CoolException("更新源站失败");
        }
        // 更新目标库位状态
        LocMast locMast = locMastService.selectById(dto.getLocNo());
        if (locMast.getLocSts().equals("O")){
        if (locMast.getLocSts().equals("O")) {
            locMast.setLocSts("S"); // S.入库预约
            locMast.setModiTime(now);
            if (!locMastService.updateById(locMast)){
            if (!locMastService.updateById(locMast)) {
                throw new CoolException("改变库位状态失败");
            }
        } else {
            throw new CoolException(dto.getLocNo()+"目标库位已被占用");
            throw new CoolException(dto.getLocNo() + "目标库位已被占用");
        }
        return dto;
    }

    @Transactional
    public StartupDto emptyPlateIn(Integer devpNo, LocTypeDto locTypeDto, String barcode) {
        return emptyPlateIn(devpNo, locTypeDto, barcode, 1);
    }

    @Transactional
    public StartupDto emptyPlateIn(Integer devpNo, LocTypeDto locTypeDto, String barcode, Integer version) {
        // 源站点状态检测
        BasDevp sourceStaNo = basDevpService.checkSiteStatus(devpNo, true);
        // 检索库位
        StartupDto dto = commonService.getLocNo(1, 10, devpNo, null, locTypeDto,0);
        StartupDto dto = null;
        if (version == 2) {
            dto = commonService.getShuttleLocNo(10, devpNo, null, locTypeDto);
        }else {
            dto = commonService.getLocNo(1, 10, devpNo, null, locTypeDto, 0);
        }
        int workNo = dto.getWorkNo();
        // 生成工作档
        WrkMast wrkMast = new WrkMast();
@@ -203,7 +354,8 @@
        wrkMast.setIoType(10); // 入出库状态：10.空板入库
        Double ioPri = wrkMastService.getIoPri(10, dto.getLocNo());
        wrkMast.setIoPri(ioPri); // 优先级
        wrkMast.setOutMost(locMastService.isOutMost(dto.getLocNo(), true)?1:0);;
        wrkMast.setOutMost(locMastService.isOutMost(dto.getLocNo(), true) ? 1 : 0);
        ;
        wrkMast.setCrnNo(dto.getCrnNo());
        wrkMast.setSourceStaNo(dto.getSourceStaNo());
        wrkMast.setStaNo(dto.getStaNo());
@@ -215,7 +367,7 @@
        wrkMast.setLinkMis("Y");
        wrkMast.setBarcode(barcode);
//        wrkMast.setSteNo(findSte(wrkMast.getLocNo()));
        wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
        wrkMast.setCtnType(sourceStaNo.getCtnType()); // 货架类型
        // 操作人员数据
        wrkMast.setAppeTime(new Date());
        wrkMast.setModiTime(new Date());
@@ -226,25 +378,30 @@
        // 更新源站点信息
        sourceStaNo.setWrkNo(workNo);
        sourceStaNo.setModiTime(new Date());
        if (!basDevpService.updateById(sourceStaNo)){
        if (!basDevpService.updateById(sourceStaNo)) {
            throw new CoolException("更新源站失败");
        }
        // 更新目标库位状态
        LocMast locMast = locMastService.selectById(dto.getLocNo());
        if (locMast.getLocSts().equals("O")){
        if (locMast.getLocSts().equals("O")) {
            locMast.setLocSts("S"); // S.入库预约
            locMast.setModiTime(new Date());
            if (!locMastService.updateById(locMast)){
            if (!locMastService.updateById(locMast)) {
                throw new CoolException("改变库位状态失败");
            }
        } else {
            throw new CoolException(dto.getLocNo()+"目标库位已被占用");
            throw new CoolException(dto.getLocNo() + "目标库位已被占用");
        }
        return dto;
    }

    @Transactional
    public StartupDto pickWrkPlateIn(Integer wrkNo, Integer ioType, Integer devpNo, LocTypeDto locTypeDto) {
    public StartupDto pickWrkPlateIn(Integer wrkNo, Integer ioType, Integer devpNo, Integer liftNo, LocTypeDto locTypeDto) {
        return pickWrkPlateIn(wrkNo, ioType, devpNo, liftNo, locTypeDto, 1);
    }

    @Transactional
    public StartupDto pickWrkPlateIn(Integer wrkNo, Integer ioType, Integer devpNo, Integer liftNo, LocTypeDto locTypeDto, Integer version) {
        WrkMast wrkMast = wrkMastService.selectOfPick(wrkNo, ioType);
        if (Cools.isEmpty(wrkMast)) {
            log.error("{}任务【ioType = {}】已过期!!!", wrkNo, ioType);
@@ -255,8 +412,332 @@
            throw new CoolException(CodeRes.NONE_DETL_900);
        }
        // 检索库位
        List<String> matnrList = wrkDetls.stream().map(WrkDetl::getMaktx).distinct().collect(Collectors.toList());
        return commonService.getLocNo(1, ioType - 50, devpNo, matnrList, locTypeDto,0); // 库位号， 堆垛机，目标站
        List<String> matnrList = wrkDetls.stream().map(WrkDetl::getMatnr).distinct().collect(Collectors.toList());
        if (ioType == 107) {//盘点回库任务
            if (devpNo == 325 || devpNo == 331 || devpNo == 333 || devpNo == 339) {
                devpNo = 341;
            }
        }
        StartupDto dto = null;
        if (version == 2) {
            dto = commonService.getShuttleLocNo(ioType - 50, devpNo, matnrList, locTypeDto); // 库位号， 堆垛机，目标站
        } else {
            dto = commonService.getLocNo(1, ioType - 50, devpNo, matnrList, locTypeDto, 0); // 库位号， 堆垛机，目标站
        }
        // 更新目标库位状态
        LocMast locMast = locMastService.selectById(dto.getLocNo());
        if (locMast.getLocSts().equals("O")) {
            locMast.setLocSts("S"); // S.入库预约
            locMast.setModiTime(new Date());
            if (!locMastService.updateById(locMast)) {
                throw new CoolException("改变库位状态失败");
            }
        } else {
            throw new CoolException(dto.getLocNo() + "目标库位已被占用");
        }

        // 保存工作主档历史档
        if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
            throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
        }

        //获取回库提升机目标站
        Integer staNo = liftNo * 100 + locMast.getLev1();
        // 更新工作档数据状态
        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
        wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
        wrkMast.setStaNo(staNo);//目标站
        wrkMast.setLocNo(dto.getLocNo()); // 目标库位
        wrkMast.setShuttleNo(null); // 穿梭车清空
        wrkMast.setLiftNo(null);// 提升机清空
        wrkMast.setModiTime(new Date());
        if (!wrkMastService.updateById(wrkMast)) {
            throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
        }

        return dto;
    }

    @Transactional
    public StartupDto pickWrkIn(Integer wrkNo, Integer ioType, Integer devpNo, Integer liftNo, LocTypeDto locTypeDto, Integer version) {
        WrkMast wrkMast = wrkMastService.selectOfPick(wrkNo, ioType);
        if (Cools.isEmpty(wrkMast)) {
            log.error("{}任务【ioType = {}】已过期!!!", wrkNo, ioType);
            throw new CoolException(CodeRes.NONE_MAST_800);
        }
        List<LocDetl> locDetls = locDetlService.selectByLocNo(wrkMast.getSourceLocNo());
        if (locDetls.isEmpty()) {
            throw new CoolException("库存明细不存在");
        }
        // 检索库位
        List<String> matnrList = locDetls.stream().map(LocDetl::getMatnr).distinct().collect(Collectors.toList());
        if (ioType == 103) {//拣料任务
            if (devpNo == 325 || devpNo == 331 || devpNo == 333 || devpNo == 339) {
                devpNo = 341;
            }
        }
        StartupDto dto = commonService.getShuttleLocNo(ioType - 50, devpNo, matnrList, locTypeDto);//获取库位

        // 更新目标库位状态
        LocMast locMast = locMastService.selectById(dto.getLocNo());
        if (locMast.getLocSts().equals("O")) {
            locMast.setLocSts("Q"); // Q.拣料再入库
            locMast.setModiTime(new Date());
            if (!locMastService.updateById(locMast)) {
                throw new CoolException("改变库位状态失败");
            }

            List<LocDetl> locDetls1 = locDetlService.selectByLocNo(locMast.getLocNo());
            log.info("工作号：" + wrkMast.getWrkNo() + "，货架码：" + wrkMast.getBarcode() + "，修改库位状态O=>Q成功，库存明细：" + JSON.toJSONString(locDetls1));
        } else {
            throw new CoolException(dto.getLocNo() + "目标库位已被占用");
        }

        Date now = new Date();
        for (LocDetl locDetl : locDetls) {
            locDetl.setLocNo(dto.getLocNo());//修改目标库位
            locDetl.setAppeTime(now);
            locDetl.setModiTime(now);
            if (!locDetlService.insert(locDetl)) {
                throw new CoolException("库存明细更新失败");
            }
        }

        //检查目标库位，库存明细是否添加成功
        List<LocDetl> checkLocDetls = locDetlService.selectByLocNo(dto.getLocNo());
        if (checkLocDetls.isEmpty()) {
            throw new CoolException("库存明细迁移失败");
        }

//        //清空源库位数据
        LocMast locMast1 = locMastService.selectByLoc(wrkMast.getSourceLocNo());
//        if (locMast1.getLocSts().equals("P")) {
//            locMast1.setLocSts("O"); // 清空库位
//            locMast1.setModiTime(new Date());
//            if (!locMastService.updateById(locMast1)) {
//                throw new CoolException("改变库位状态失败");
//            }
//        } else {
//            throw new CoolException("源库位状态异常");
//        }

        // 保存工作主档历史档
        if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
            throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
        }

        //获取回库提升机目标站
        Integer staNo = liftNo * 100 + locMast1.getLev1();

        // 更新工作档数据状态
        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
        wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
        wrkMast.setStaNo(staNo);//目标站
        wrkMast.setLocNo(dto.getLocNo()); // 目标库位
        wrkMast.setShuttleNo(null); // 穿梭车清空
        wrkMast.setLiftNo(null);// 提升机清空
        wrkMast.setModiTime(new Date());
        if (!wrkMastService.updateById(wrkMast)) {
            throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
        }

        return dto;
    }

    /*
    四项库往AGV补货，生成AGV入库通知档
     */
    @PostMapping("/replenishment")
    @ResponseBody
    public R replenishment(@RequestBody ReplenishmentParam param){
        Date now = new Date();
        Integer wrkNo = param.getWrkNo();
        List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkNo);
        wrkDetls.forEach(wrkDetl -> {
            if(!Cools.isEmpty(wrkDetl.getSuppCode()) && Cools.isEmpty(agvWaitPakinService.selectByContainerCode(wrkDetl.getSuppCode()))){
                AgvWaitPakin agvWaitPakin = new AgvWaitPakin();
                BeanUtils.copyProperties(wrkDetl,agvWaitPakin);
                agvWaitPakin.setIoStatus("Y");
                agvWaitPakin.setModiTime(now);
                agvWaitPakin.setAppeTime(now);
                agvWaitPakinService.insert(agvWaitPakin);
            }
        });

        return R.ok();
    }

    /*
    生成AGV工作档
     */
    @PostMapping("/start")
    @ResponseBody
    public R start(@RequestBody ReplenishmentParam param){

        String containerCode = param.getContainerCode();
        if(Cools.isEmpty(containerCode)){
            throw new CoolException("料箱码为空");
        }

        if(!Character.isDigit(containerCode.charAt(0))){
            containerCode = containerCode.substring(3,containerCode.length());
        }

        AgvBasDevp agvBasDevp = agvBasDevpService.getByDevNo(param.getDevNo());

        if(Cools.isEmpty(agvBasDevp) || !"O".equals(agvBasDevp.getLocSts())){
            throw new CoolException("当前站点不存在或者站点不为空");
        }
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", containerCode));

        //拣料、盘点完成任务
        if(!Cools.isEmpty(agvWrkMast) && (agvWrkMast.getIoType() == 103 || agvWrkMast.getIoType() == 107) && agvWrkMast.getWrkSts() == 205){
            //绑定站点
            agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"F",containerCode,agvWrkMast.getWhsType().shortValue());

            //生成拣料、盘点再入库任务
            List<AgvWrkMast> agvWrkMastList = new ArrayList<>();
            agvWrkMast.setMk("Y");
            agvWrkMast.setLocNo(agvBasDevp.getDevNo());
            agvWrkMastList.add(agvWrkMast);
            agvWorkService.pickIn(agvWrkMastList);

            return R.ok();
        }

        //入库任务
        if (!Cools.isEmpty(agvWaitPakinService.selectByContainerCode(containerCode))){
            //绑定站点
            agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"F",containerCode,agvWrkMast.getWhsType().shortValue());
            //生成工作档
            List<AgvBasDevp> agvBasDevpList = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>().eq("dev_no", param.getDevNo()));
            agvWorkService.createWaitPainWrkMastStart(agvBasDevpList, null, true);

            return R.ok();
        }

        return R.error("没有查询到该料箱信息");

    }

    @PostMapping("/current/containerCode")
    @ResponseBody
    public R move(@RequestBody ReplenishmentParam param){

        if(Cools.isEmpty(currentContainerMap)){
            currentContainerMap = new HashMap<>();
        }

        String containerCode = param.getContainerCode().split(";")[0];

        if(Cools.isEmpty(containerCode)){
            throw new CoolException("料箱码为空");
        }

        if(!Character.isDigit(containerCode.charAt(0))){
            containerCode = containerCode.substring(3,containerCode.length());
        }


        String devNo = param.getDevNo();
        String currentContainerCode = currentContainerMap.get(devNo);

        //判断货架是否发生变化
        if(!Cools.isEmpty(currentContainerCode) && !Cools.eq(containerCode,currentContainerCode)){
            //查询旧货架的工作档
            AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(currentContainerCode);
            if(!Cools.isEmpty(agvWrkMast) && agvWrkMast.getIoType() == 101){
                //将工作党状态改为货架离场
                agvWrkMast.setWrkSts(206L);
                agvWrkMastService.updateById(agvWrkMast);
//                //发送货架立场请求，完成工作档
//                List<AgvWrkMast> agvWrkMastList = new ArrayList<>();
//                agvWrkMastList.add(agvWrkMast);
//                try {
//                    int code = agvWrkMastService.containerMoveOut(agvWrkMastList);
//                    if(code == 0){
//                        //将工作党状态改为货架离场
//                        agvWrkMast.setWrkSts(206L);
//                        agvWrkMastService.updateById(agvWrkMast);
//                    }
//                } catch (IOException e) {
//                    log.error(e.getMessage());
//                }
            }
        }

        currentContainerMap.put(devNo,containerCode);

        return R.ok();
    }

    /*
    显示AGV输送线拣料、盘点、入库信息
     */
    @PostMapping("/info")
    @ResponseBody
    public R containerMove(@RequestBody ReplenishmentParam param){

        String devNo = param.getDevNo();
        String containerCode = currentContainerMap.get(devNo);

        AgvBasDevpDto agvBasDevpDto = new AgvBasDevpDto();

        //查找该货架的工作档
        AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(containerCode);
        if(!Cools.isEmpty(agvWrkMast)){
            List<AgvWrkDetl> agvWrkDetlList = agvWrkDetlService.selectList(new EntityWrapper<AgvWrkDetl>().eq("wrk_no", agvWrkMast.getWrkNo()));

            for (AgvWrkDetl agvWrkDetl : agvWrkDetlList){
                agvWrkDetl.setVolume(agvWrkDetl.getAnfme());
                if(agvWrkMast.getIoType() == 103){
                    //寻找是否有相同物料的工作档明细，并返回数量之和
                    double anfme = getAllAnfmeInAgvWrkDetlList(agvWrkDetlList,agvWrkDetl);
                    AgvLocDetl agvLocDetl = agvLocDetlService.selectByMatnrAndBatchAndCsocodeAndisoCode(agvWrkMast.getSourceLocNo(), agvWrkDetl.getMatnr(), agvWrkDetl.getBatch(), agvWrkDetl.getThreeCode(), agvWrkDetl.getDeadTime());
                    //用于结余数量显示
                    agvWrkDetl.setVolume(agvLocDetl.getAnfme() - anfme);
                }
                if(agvWrkMast.getIoType() == 53){
                    AgvLocDetl agvLocDetl = agvLocDetlService.selectByMatnrAndBatchAndCsocodeAndisoCode(agvWrkMast.getLocNo(), agvWrkDetl.getMatnr(), agvWrkDetl.getBatch(), agvWrkDetl.getThreeCode(), agvWrkDetl.getDeadTime());
                    if(Cools.isEmpty(agvLocDetl)){
                        agvWrkDetl.setVolume(0.0);
                    }else {
                        agvWrkDetl.setVolume(agvLocDetl.getAnfme());
                    }
                }
            };

            agvBasDevpDto.setAgvWrkDetls(agvWrkDetlList);
            agvBasDevpDto.setAgvWrkMast(agvWrkMast);
        }
        //查找该货架的入库通知档
        List<AgvWaitPakin> agvWaitPakinList = agvWaitPakinService.selectList(new EntityWrapper<AgvWaitPakin>().eq("supp_code", containerCode));
        if(!Cools.isEmpty(agvWaitPakinList)){
            agvBasDevpDto.setAgvWaitPakins(agvWaitPakinList);
        }

        System.out.println("currentContainerMap: " + currentContainerMap);


        System.out.println("agvBasDevpDto: " + agvBasDevpDto);

        return R.ok(agvBasDevpDto);
    }

    private double getAllAnfmeInAgvWrkDetlList(List<AgvWrkDetl> agvWrkDetlList, AgvWrkDetl wd0) {
        double allAnfme = 0;
        for (AgvWrkDetl wd1 : agvWrkDetlList){
            if(Cools.eq(wd0.getMatnr(),wd1.getMatnr())
                    && Cools.eq(wd0.getBatch(),wd1.getBatch())
                    && Cools.eq(wd0.getThreeCode(),wd1.getThreeCode())
                    && Cools.eq(wd0.getDeadTime(),wd1.getDeadTime())){
                allAnfme += wd1.getAnfme();
            }
        }
        return allAnfme;
    }


}