1

zhang

2025-08-06 aa221b6b6c3939130c78e4219207d14ce877ff30

 src/main/java/com/zy/asrs/controller/AgvMobileController.java

@@ -1,19 +1,21 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.AgvBasDevp;
import com.zy.asrs.entity.AgvLocDetl;
import com.zy.asrs.entity.AgvLocMast;
import com.zy.asrs.entity.param.AgvMobileStartPakin;
import com.zy.asrs.entity.param.AgvMobileStartParam;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.PickParam;
import com.core.common.SnowflakeIdWorker;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.OrderServiceImpl;
import com.zy.common.web.BaseController;
import lombok.Synchronized;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.PostMapping;
@@ -21,10 +23,7 @@
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -33,8 +32,10 @@
 */
@RestController
@RequestMapping("agvMobile")
public class AgvMobileController extends BaseController  {
public class AgvMobileController extends BaseController {


    private static final Logger log = LoggerFactory.getLogger(AgvMobileController.class);
    @Autowired
    private AgvMobileService agvMobileService;
    @Autowired
@@ -47,13 +48,26 @@
    private OrderDetlService orderDetlService;
    @Autowired
    private AgvLocDetlService agvLocDetlService;
    @Autowired
    private AgvWrkMastService agvWrkMastService;
    @Autowired
    private AgvWrkDetlService agvWrkDetlService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private FlowLogService flowLogService;
    @Autowired
    private OrderServiceImpl orderService;


    /*
    locno？组托+绑定暂存位 ： 组托
     */
    @PostMapping("/comb/auth")
    public R comb(@RequestBody CombParam combParam){
    public R comb(@RequestBody CombParam combParam) {
        if (combParam == null) {
            return R.error("缺少参数");
        }
        agvMobileService.comb(combParam, getUserId());

        return R.ok();
@@ -61,31 +75,40 @@

    //    再次拣料
    @RequestMapping("/pick/again/auth")
//    @ManagerAuth(memo = "组托")
    public R pickAgain(@RequestBody PickParam pickParams){
    @ManagerAuth(memo = "再次拣料")
    public R pickAgain(@RequestBody PickParam pickParams) {
        if (pickParams == null) {
            return R.error("缺少参数");
        }
        agvMobileService.pickAgain(pickParams, 1l);
        return R.ok("组托成功");
        return R.ok("拣料成功");
    }

    /*
    绑定托盘条码与暂存位
    绑定货架条码与暂存位
     */
    @PostMapping("/combBinging/auth")
    public R combBinding(@RequestBody Map<String,Object> map){
    public R combBinding(@RequestBody Map<String, Object> map) {
        if (map == null || Cools.isEmpty(map.get("barcode")) || Cools.isEmpty(map.get("stationCode"))) {
            return R.error("缺少参数");
        }
        String barcode = map.get("barcode").toString();
        String stationCode = map.get("stationCode").toString();
        Short containerType = Short.valueOf(barcode.substring(0,2));
        agvMobileService.combBinding(barcode,stationCode,containerType);
        return R.ok("托盘绑定站点成功");
        Short containerType = Short.valueOf(barcode.substring(0, 2));
        agvMobileService.combBinding(barcode, stationCode, containerType);
        return R.ok("货架绑定站点成功");
    }

    /*
    获取当前已绑定的还没生成工作档的暂存位
     */
    @PostMapping("/getBasDevp/auth")
    public R getBasDevpByFloor(@RequestBody Map<String,Object> map){
    public R getBasDevpByFloor(@RequestBody Map<String, Object> map) {
        if (map == null || Cools.isEmpty(map.get("floor"))) {
            return R.error("缺少参数");
        }
        String floor = map.get("floor").toString();
        if("1".equals(floor) || "3".equals(floor)){
        if ("1".equals(floor) || "3".equals(floor)) {
            return R.ok(agvMobileService.getAgvBasDevpByFloor(Integer.parseInt(floor)));
        }
        return R.error("参数错误");
@@ -95,7 +118,7 @@
    获取输送线站点
     */
    @PostMapping("/getBasDevp/noCacheShelves/auth")
    public R getBasDevpByNoCacheShelves(){
    public R getBasDevpByNoCacheShelves() {
        return R.ok(agvBasDevpService.getBasDevpByNoCacheShelves());
    }

@@ -104,31 +127,91 @@
     */
    @PostMapping("/pakin/auth")
    @Synchronized
    public R pakin(@RequestBody Map<String,Object> map){
    public R pakin(@RequestBody Map<String, Object> map) {
        if (map == null || Cools.isEmpty(map.get("devNo"))) {
            return R.error("缺少参数");
        }
        List<String> devNos = (List<String>) map.get("devNo");

        List<AgvBasDevp> agvBasDevpList = devNos.stream().map(devNo -> {
            return agvBasDevpService.selectById(devNo);
        }).collect(Collectors.toList());
        if (agvBasDevpList == null) {
            return R.error("暂存位不存在");
        }
        workService.createWaitPainWrkMastStart(agvBasDevpList, getUserId(), false);

        workService.createWaitPainWrkMastStart(agvBasDevpList, getUserId(),false);
        
        return R.ok("生成工作档成功");
    }

    /*
    启动入库，组托 + 生产工作档
    启动入库，组托 + 生成工作档
    */
    @PostMapping("/start/pakin/auth")
    @Synchronized
    @Transactional
    public R startPakin(@RequestBody AgvMobileStartPakin params){
    @ManagerAuth(memo = "启动入库")
    public R startPakin(@RequestBody AgvMobileStartPakin params) {
        if (params == null) {
            return R.error("缺少参数");
        }
        log.info("启动入库,{}", JSON.toJSONString(params));
        // 组托
        if (params.getBarcode().startsWith("31")) {
            //箱壳入库，货架上只能装一种
            if (!Cools.isEmpty(params.getCombParams())) {
                if (params.getCombParams().size() > 1) {
                    return R.error("半成品箱壳入库，货架上只能装一种物料");
                } else {
                    List<CombParam.CombMat> combMats = params.getCombParams().get(0).getCombMats();
                    if (!Cools.isEmpty(combMats) && combMats.size() > 1) {
                        return R.error("半成品箱壳入库，货架上只能装一种物料");
                    }
                }

            }
        }
        params.getCombParams().forEach(combParam -> {
            agvMobileService.comb(combParam,getUserId());
            agvMobileService.comb(combParam, getUserId());
        });
        params.setContainerType(Short.valueOf(params.getContainerCode().substring(0,2)));
        workService.emptyPlateIn(params.getDevNo(),params.getContainerCode(),params.getContainerType(), getUserId(),false);
        params.setContainerType(Short.valueOf(params.getContainerCode().substring(0, 2)));
        workService.emptyPlateIn(params.getDevNo(), params.getContainerCode(), params.getContainerType(), getUserId(), false);

        return R.ok("生成工作档成功");
    }

    /*
    启动入库，组托 + 生成工作档,主要用于吸塑一楼的入库
    */
    @PostMapping("/start/pakin/auth/v2")
    @Synchronized
    @Transactional
    @ManagerAuth(memo = "启动入库v2")
    public R startPakinV2(@RequestBody AgvMobileStartPakin params) {
        if (params == null) {
            return R.error("缺少参数");
        }
        log.info("启动入库v2,{}", JSON.toJSONString(params));
        // 组托
        if (params.getBarcode().startsWith("30")) {
            //箱壳入库，货架上只能装一种
            if (!Cools.isEmpty(params.getCombParams())) {
                if (params.getCombParams().size() > 1) {
                    return R.error("箱壳入库，货架上只能装一种物料");
                } else {
                    List<CombParam.CombMat> combMats = params.getCombParams().get(0).getCombMats();
                    if (!Cools.isEmpty(combMats) && combMats.size() > 1) {
                        return R.error("箱壳入库，货架上只能装一种物料");
                    }
                }

            }
        }
        params.getCombParams().forEach(combParam -> {
            agvMobileService.comb(combParam, getUserId());
        });
        params.setContainerType(Short.valueOf(params.getContainerCode().substring(0, 2)));
        workService.emptyPlateInV2(params.getDevNo(), params.getContainerCode(), params.getContainerType(), getUserId(), false, params.getFactory());

        return R.ok("生成工作档成功");
    }
@@ -138,11 +221,17 @@
     */
    @PostMapping("/pakin/empty/auth")
    @Synchronized
    public R pakinEmpty(@RequestBody AgvMobileStartParam params){

    @ManagerAuth(memo = "空板入库")
    public R pakinEmpty(@RequestBody AgvMobileStartParam params) {
        if (params == null) {
            return R.error("缺少参数");
        }
        for (AgvMobileStartParam.Pda pda : params.getPad()) {
            pda.setContainerType(Short.valueOf(pda.getContainerCode().substring(0,2)));
            workService.emptyPlateIn(pda.getDevNo(),pda.getContainerCode(),pda.getContainerType(), getUserId(),false);
            if (pda == null || Cools.isEmpty(pda.getContainerCode())) {
                return R.error("缺少容器参数");
            }
            pda.setContainerType(Short.valueOf(pda.getContainerCode().substring(0, 2)));
            workService.emptyPlateInV3(pda.getDevNo(), pda.getContainerCode(), pda.getContainerType(), getUserId(), false);
        }

        return R.ok();
@@ -153,54 +242,184 @@
     */
    @PostMapping("/pakout/empty/auth")
    @Synchronized
    public R pakoutEmpty(@RequestBody AgvMobileStartParam params){

    @ManagerAuth(memo = "空板出库")
    public R pakoutEmpty(@RequestBody AgvMobileStartParam params) {
        if (params == null) {
            return R.error("缺少参数");
        }
        for (AgvMobileStartParam.Pda pda : params.getPad()) {
            workService.emptyPlateOut(pda.getDevNo(),pda.getContainerType(), getUserId());
            if (pda == null || Cools.isEmpty(pda.getDevNo()) || Cools.isEmpty(pda.getContainerType())) {
                return R.error("缺少站点信息");
            }
            workService.emptyPlateOut(pda.getDevNo(), pda.getContainerType(), getUserId());
        }

        return R.ok();
    }

    /*
    空板出库容器码选择
    空板出库货架码选择
     */
    @PostMapping("/pakout/empty/container/selector/auth")
    public R containerType(@RequestBody HashMap<String,String> params){

    public R containerType(@RequestBody HashMap<String, String> params) {
        if (params == null) {
            return R.error("缺少参数");
        }
        String devNo = params.get("devNo");
        if (Cools.isEmpty(devNo)) {
            return R.error("缺少站点数据");
        }
        AgvBasDevp agvBasDevp = agvBasDevpService.selectById(devNo);

        return R.ok(agvLocMastService.queryContainerTypeByLocType1(agvBasDevp.getLocType1()));

    }
    

    /*
    查询库存 入库订单与销售单号
     */
    @PostMapping("/query/locDetl/v1")
    public R queryAgvLocDetl(@RequestBody HashMap<String,String> params){
    public R queryAgvLocDetl(@RequestBody HashMap<String, String> params) {

        String orderNo = params.get("orderNo");
        String threeCode = params.get("threeCode");
        String matnr = params.get("matnr");
        String floor = params.get("floor");

        Wrapper<AgvLocDetl> wrapper = new EntityWrapper<AgvLocDetl>().eq("matnr", matnr);
        Wrapper<AgvLocDetl> wrapper = new EntityWrapper<AgvLocDetl>().eq("matnr", matnr).ne("process_sts", 1);


//        wrapper.eq("orderNo",orderNo);

        wrapper = Cools.isEmpty(threeCode) ? wrapper.isNull("three_code") : wrapper.eq("three_code",threeCode);
        wrapper = Cools.isEmpty(threeCode) ? wrapper.isNull("three_code") : wrapper.eq("three_code", threeCode);

        if (threeCode.substring(0, 2).equals(30)) {
            wrapper.isNull("specs").or().eq("specs", "").eq("floor", 1);
        }
        List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(wrapper);
        List<AgvLocDetl> locDetls = new ArrayList<>();
        for (AgvLocDetl agvLocDetl : agvLocDetls) {
            AgvLocMast agvLocMast = new AgvLocMast();
            if (Cools.isEmpty(floor)) {
                agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvLocDetl.getLocNo()).notLike("loc_no", "F1"));
            } else {
                // 如果是加工单 只在 lev1 = 1 查库存
                if ("JG".equals(orderNo.substring(0, 2))) {
                    agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("lev1", 1).eq("loc_no", agvLocDetl.getLocNo()).like("loc_no", floor));
                } else {
                    agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvLocDetl.getLocNo()).like("loc_no", floor));
                }
            }

        return R.ok(agvLocDetls);
            if (Cools.isEmpty(agvLocMast)) continue;
            agvLocDetl.setLocSts(agvLocMast.getLocSts());
            agvLocDetl.setLocSts$(agvLocMast.getLocSts$());
            locDetls.add(agvLocDetl);
        }


        return R.ok(locDetls);
    }

    /*
    查询库存 入库订单与销售单号
     */
    @PostMapping("/query/locDetl/v3")
    public R queryAgvLocDetl3(@RequestBody HashMap<String, String> params) {

        String orderNo = params.get("orderNo");
        String threeCode = params.get("threeCode");
        String matnr = params.get("matnr");
        String floor = params.get("floor");
        if (Cools.isEmpty(matnr)) {
            return R.error("参数缺失");
        }
        Wrapper<AgvLocDetl> wrapper = new EntityWrapper<AgvLocDetl>().eq("matnr", matnr).ne("process_sts", 1);


//        wrapper.eq("orderNo",orderNo);

        wrapper = Cools.isEmpty(threeCode) ? wrapper.isNull("three_code") : wrapper.eq("three_code", threeCode);

        if (threeCode.substring(0, 2).equals(30)) {
            wrapper.isNull("specs").or().eq("specs", "").eq("floor", 1);
        }
        List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(wrapper);
        List<AgvLocDetl> locDetls = new ArrayList<>();
        for (AgvLocDetl agvLocDetl : agvLocDetls) {
            AgvLocMast agvLocMast = new AgvLocMast();
            if (Cools.isEmpty(floor)) {
                agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvLocDetl.getLocNo()).notLike("loc_no", "F1"));
            } else {
                agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvLocDetl.getLocNo()).like("loc_no", floor));
            }

            if (Cools.isEmpty(agvLocMast)) continue;
            agvLocDetl.setLocSts(agvLocMast.getLocSts());
            agvLocDetl.setLocSts$(agvLocMast.getLocSts$());
            locDetls.add(agvLocDetl);
        }


        return R.ok(locDetls);
    }

    /*
    查询库存 入库订单与销售单号
     */
    @PostMapping("/query/locDetl/v2")
    public R queryAgvLocDetl2(@RequestBody HashMap<String, String> params) {

        String orderNo = params.get("orderNo");
        String threeCode = params.get("threeCode");
        String matnr = params.get("matnr");
        String floor = params.get("floor");
        if (Cools.isEmpty(orderNo, threeCode, matnr)) {
            return R.error("参数缺失");
        }
        OrderDetl orderDetl = orderDetlService.selectOne(new EntityWrapper<OrderDetl>().eq("order_no", orderNo).eq("three_code", threeCode).eq("matnr", matnr));
        Wrapper<AgvLocDetl> wrapper = new EntityWrapper<AgvLocDetl>().eq("matnr", matnr);


//        wrapper.eq("orderNo",orderNo);

        wrapper = Cools.isEmpty(threeCode) ? wrapper.isNull("three_code") : wrapper.eq("three_code", threeCode);

        if (threeCode.substring(0, 2).equals(30)) {
            wrapper.isNull("specs").or().eq("specs", "").eq("floor", 1);
        }
        List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(wrapper);
        List<AgvLocDetl> locDetls = new ArrayList<>();
        for (AgvLocDetl agvLocDetl : agvLocDetls) {
            AgvLocMast agvLocMast = new AgvLocMast();
            if (Cools.isEmpty(floor)) {
                agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvLocDetl.getLocNo()).notLike("loc_no", "F1"));
            } else {
                // 如果是加工单 只在 lev1 = 1 查库存
                if (orderDetl.getSource().equals(35)) {
                    agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("lev1", 1).eq("loc_no", agvLocDetl.getLocNo()).like("loc_no", floor));
                } else {
                    agvLocMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", agvLocDetl.getLocNo()).like("loc_no", floor));
                }
            }

            if (Cools.isEmpty(agvLocMast)) continue;
            agvLocDetl.setLocSts(agvLocMast.getLocSts());
            agvLocDetl.setLocSts$(agvLocMast.getLocSts$());
            locDetls.add(agvLocDetl);
        }


        return R.ok(locDetls);
    }

    /*
    盘点接口
     */
    @PostMapping("/check/detl/v1")
    public R checkLocDetl(@RequestBody HashMap<String,String> param){
    @ManagerAuth(memo = "库存盘点")
    @Synchronized
    public R checkLocDetl(@RequestBody HashMap<String, String> param) {

        String locNo = param.get("locNo");
        String containerCode = param.get("containerCode");
@@ -208,16 +427,26 @@
        List<AgvLocDetl> listByLocNo = null;
        List<AgvLocDetl> listByContainerCode = null;

        if(!Cools.isEmpty(locNo)){
        if (!Cools.isEmpty(locNo)) {
            listByLocNo = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("loc_no", locNo));
            if (listByLocNo != null) {
                for (AgvLocDetl agvLocDetl : listByLocNo) {
                    agvLocDetl.setCount(agvLocDetl.getAnfme());
                }
            }
        }
        if(!Cools.isEmpty(locNo)){
        if (!Cools.isEmpty(containerCode)) {
            listByContainerCode = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("supp_code", containerCode));
            if (listByContainerCode != null) {
                for (AgvLocDetl agvLocDetl : listByContainerCode) {
                    agvLocDetl.setCount(agvLocDetl.getAnfme());
                }
            }
        }

        Map<String,Object> result = new HashMap<String,Object>();
        result.put("locNo",listByLocNo);
        result.put("containerCode",listByContainerCode);
        Map<String, Object> result = new HashMap<String, Object>();
        result.put("locNo", listByLocNo);
        result.put("containerCode", listByContainerCode);

        return R.ok(result);

@@ -227,59 +456,63 @@
    盘点库位错乱维护接口
     */
    @PostMapping("/update/detl/v1")
    public R updateLocDetlLocNo(@RequestBody HashMap<String,String> param){
    @ManagerAuth(memo = "纠正库位")
    @Synchronized
    public R updateLocDetlLocNo(@RequestBody HashMap<String, String> param) {
        String locNo = param.get("locNo");
        String containerCode = param.get("containerCode");

        if(Cools.isEmpty(locNo) || Cools.isEmpty(containerCode)){
        if (Cools.isEmpty(locNo) || Cools.isEmpty(containerCode)) {
            return R.error("参数不全");
        }

        List<AgvLocDetl> listByLocNo = null;
        List<AgvLocDetl> listByContainerCode = null;
        if(!Cools.isEmpty(locNo)){
        if (!Cools.isEmpty(locNo)) {
            // 源库位
            listByLocNo = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("loc_no", locNo));
        }
        if(!Cools.isEmpty(locNo)){
        if (!Cools.isEmpty(locNo)) {
            // 目标库位
            listByContainerCode = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("supp_code", containerCode));
        }

        AgvLocMast agvLocMastByContainerCode = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("barcode", containerCode));
        AgvLocMast agvLocMastByLocNo = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", locNo));

        String barcode1 =  agvLocMastByLocNo.getBarcode();
        if (agvLocMastByLocNo == null) {
            return R.error("库位不存在");
        }
        String barcode1 = agvLocMastByLocNo.getBarcode();



        if((!Cools.eq("F",agvLocMastByContainerCode.getLocSts())
                && !Cools.eq("D",agvLocMastByContainerCode.getLocSts()))
                || (!Cools.eq("F",agvLocMastByLocNo.getLocSts())
                && !Cools.eq("D",agvLocMastByLocNo.getLocSts()))){
        if ((!Cools.eq("F", agvLocMastByLocNo.getLocSts())
                && !Cools.eq("D", agvLocMastByLocNo.getLocSts()))) {

            return R.error("库位状态不为F或者D，无法维护");

        }
        // -------------1-----------------------------
        //库位信息为空 货架信息不为空
        if(Cools.isEmpty(listByLocNo) && !Cools.isEmpty(listByContainerCode)){
        if (Cools.isEmpty(listByLocNo) && !Cools.isEmpty(listByContainerCode)) {
            //更新货架信息的库位为当前库位
            listByContainerCode.forEach(agvLocDetl -> {
                String sourceLoc = agvLocDetl.getLocNo();
                agvLocDetl.setLocNo(locNo);
                agvLocDetlService.updateLocNo(locNo,sourceLoc,agvLocDetl);
                agvLocDetlService.updateLocNo(locNo, sourceLoc, agvLocDetl);
            });

            agvLocMastByLocNo.setLocSts("F");
            agvLocMastByLocNo.setBarcode(containerCode);
            agvLocMastService.updateById(agvLocMastByLocNo);

            if(!Cools.isEmpty(agvLocMastByContainerCode) && Cools.eq("F",agvLocMastByContainerCode.getLocSts())){
            if (!Cools.isEmpty(agvLocMastByContainerCode) && Cools.eq("F", agvLocMastByContainerCode.getLocSts())) {
                agvLocMastByContainerCode.setLocSts("D");
                agvLocMastByContainerCode.setBarcode(barcode1);
                agvLocMastService.updateById(agvLocMastByContainerCode);
            }
            // 保存调整记录
            AdjDetl adjDetl = new AdjDetl();


            return R.ok("维护成功");
        }
@@ -287,13 +520,13 @@

        // -------------2-----------------------------
        //库位信息不为空 货架信息为空
        if(!Cools.isEmpty(listByLocNo) && Cools.isEmpty(listByContainerCode)){
        if (!Cools.isEmpty(listByLocNo) && Cools.isEmpty(listByContainerCode)) {
            String newLocNo = agvLocMastByContainerCode.getLocNo();
            //更新货架信息的库位为当前库位
            listByLocNo.forEach(agvLocDetl -> {
                String sourceLoc = agvLocDetl.getLocNo();
                agvLocDetl.setLocNo(agvLocMastByContainerCode.getLocNo());
                agvLocDetlService.updateLocNo(newLocNo,sourceLoc,agvLocDetl);
                agvLocDetlService.updateLocNo(newLocNo, sourceLoc, agvLocDetl);
            });

            agvLocMastByContainerCode.setLocSts("F");
@@ -307,10 +540,15 @@
            return R.ok("维护成功");
        }

        if((listByLocNo == null && listByContainerCode == null) || listByLocNo.equals(listByContainerCode)){
            return R.ok("该库位与容器库存一致，无需维护");
        }
        if ((listByLocNo == null && listByContainerCode == null) || listByLocNo.equals(listByContainerCode)) {
            //agvLocMastByContainerCode.setBarcode(agvLocMastByLocNo.getBarcode());
            //agvLocMastService.updateById(agvLocMastByContainerCode);

            agvLocMastByLocNo.setBarcode(containerCode);
            agvLocMastService.updateById(agvLocMastByLocNo);
            //return R.ok("该库位与货架库存一致，无需维护");
            return R.ok("维护成功");
        }


        // --------------3----------------------------
@@ -318,7 +556,7 @@
        listByContainerCode.forEach(agvLocDetl -> {
            String sourceLoc = agvLocDetl.getLocNo();
            agvLocDetl.setLocNo(agvLocMastByLocNo.getLocNo());
            agvLocDetlService.updateLocNo(locNo,sourceLoc,agvLocDetl);
            agvLocDetlService.updateLocNo(locNo, sourceLoc, agvLocDetl);
        });

        if (!Cools.isEmpty(listByLocNo)) {
@@ -327,7 +565,7 @@

            supp_codes.forEach(agvLocDetl -> {
                agvLocDetl.setLocNo(locNo1);
                agvLocDetlService.updateLocNo(locNo1,locNo,agvLocDetl);
                agvLocDetlService.updateLocNo(locNo1, locNo, agvLocDetl);
            });
        }

@@ -346,6 +584,304 @@

    }

    @PostMapping("/agv/v1/locMove")
    @Transactional
    @ManagerAuth(memo = "调拨单任务下发")
    @Synchronized
    @Deprecated //不用了
    public R agvLocMove(@RequestBody HashMap<String, Object> params) {
        String fl = String.valueOf(params.get("floor"));
        short floor = (short) Integer.parseInt(fl.substring(0, 1));
        List<HashMap<String, String>> dbList = (List<HashMap<String, String>>) params.get("dbList");
        params.get("dbList");
        Object mT = params.get("moveType");
        String moveType = "";
        if (mT.equals("unAuto")) {
            moveType = "2";
        } else {
            moveType = "1";
        }
        for (HashMap<String, String> map : dbList) {
            String locNo = map.get("locNo");
            Wrapper<AgvLocMast> wrapper = new EntityWrapper<AgvLocMast>().eq("loc_no", locNo);
            AgvLocMast agvLocMast = agvLocMastService.selectOne(wrapper);
            if (agvLocMast == null) {
                return R.error("库位不存在");
            }
            agvLocMast.setLocType(moveType);
            agvLocMast.setLocType3(floor);
            agvLocMastService.update(agvLocMast, wrapper);
            // 同步调拨单
            List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("loc_no", locNo));
            for (AgvLocDetl agvLocDetl : agvLocDetls) {
                // 更新订单
                OrderDetl orderDetl = orderDetlService.selectOne(new EntityWrapper<OrderDetl>().eq("order_no", "DB" + agvLocDetl.getOrderNo()).eq("matnr", agvLocDetl.getMatnr()).eq("three_code", agvLocDetl.getThreeCode()));
                if (orderDetl == null) {
                    throw new CoolException("调拨单明细不存在");
                }
                orderDetl.setQty(orderDetl.getQty() + agvLocDetl.getAnfme());
                if (!orderDetlService.update(orderDetl, new EntityWrapper<OrderDetl>().eq("order_no", "DB" + agvLocDetl.getOrderNo()).eq("matnr", agvLocDetl.getMatnr()).eq("three_code", agvLocDetl.getThreeCode()))) {
                    throw new CoolException("修改订单明细失败，请联系管理员" + agvLocDetl.getOrderNo() + agvLocDetl.getMatnr());
                }
            }
        }
        return R.ok();
    }

    @PostMapping("/agv/v2/locMove")
    @Transactional
    @ManagerAuth(memo = "调拨单任务下发")
    @Synchronized
    public R agvLocMove2(@RequestBody HashMap<String, Object> params) {
        Date now = new Date();
        String fl = String.valueOf(params.get("floor"));
        Integer floor = Integer.parseInt(fl.substring(0, 1));
        List<HashMap<String, String>> dbList = (List<HashMap<String, String>>) params.get("dbList");
        params.get("dbList");
        Object mT = params.get("moveType");
        String orderNo = params.get("orderNo").toString();
        String moveType = "";
        Integer ioType = 0;
        if (mT.equals("unAuto")) {
            moveType = "2";
            ioType = 111;
            //int count = agvWrkMastService.selectCount(new EntityWrapper<AgvWrkMast>().eq("io_type", ioType));
            //if (count>3){
            //    log.equals("111任务堵塞，稍后再试！！！当前限制数量3条，限制条件：io_type = 111");
            //    throw new CoolException("111任务堵塞，稍后再试！");
            //}
        } else {
            moveType = "1";
            ioType = 108;
        }
        for (HashMap<String, String> map : dbList) {
            String locNo = map.get("locNo");
            String barcode = map.get("suppCode");
            AgvWrkMast source_loc_no = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("source_loc_no", locNo));
            if (!Cools.isEmpty(source_loc_no) && source_loc_no.getWrkSts() < 204) {
                throw new CoolException("当前库位已生成任务！");
            }
            AgvLocMast locMastS = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", locNo).eq("loc_sts", "F"));
            if (Cools.isEmpty(locMastS)) {
                throw new CoolException("当前库位非在库状态！库位号=" + locNo);
            }
            AgvWrkMast wrkMast = createWrkMast(ioType, 22L, locNo, "", barcode, now, getUserId(), Integer.parseInt(barcode.substring(0, 2)), floor);
            // 同步调拨单
            long flowId = snowflakeIdWorker.nextId();
            List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("loc_no", locNo));
            for (AgvLocDetl agvLocDetl : agvLocDetls) {
                AgvWrkDetl wrkDetl = new AgvWrkDetl();
                wrkDetl.setWrkNo(wrkMast.getWrkNo());
                wrkDetl.sync(agvLocDetl);
                wrkDetl.setSuppCode(agvLocDetl.getSuppCode());
                wrkDetl.setModel(orderNo);
                wrkDetl.setIoTime(now);
                wrkDetl.setAppeUser(getUserId());
                wrkDetl.setAppeTime(now);
                wrkDetl.setModiUser(getUserId());
                wrkDetl.setModiTime(now);
                if (!agvWrkDetlService.insert(wrkDetl)) {
                    throw new CoolException("保存工作明细失败");
                }
                // 更新订单
                OrderDetl orderDetl = orderDetlService.selectOne(new EntityWrapper<OrderDetl>().eq("order_no", orderNo).eq("source", 33).eq("matnr", agvLocDetl.getMatnr()).eq("three_code", agvLocDetl.getThreeCode()));
                // 判断订单是否超量
                if (orderDetl.getQty() >= orderDetl.getAnfme()) {
                    throw new CoolException("调拨单:" + orderNo + "的<" + agvLocDetl.getMatnr() + ">已完成调拨数量,请检查!");
                }
                //                FlowLog flowLog = new FlowLog();
//                flowLog.setFid(String.valueOf(flowId));
//                flowLog.setSpare2(wrkMast.getWrkNo().toString());
//                flowLog.setLocNo(wrkMast.getSourceLocNo());
//                flowLog.setSpare1(barcode);
//                flowLog.setOpType(5L);
//                flowLog.setOrderNo(orderDetl.getOrderNo());
//                flowLog.setThreeCode(orderDetl.getThreeCode());
//                flowLog.setMatnr(agvLocDetl.getMatnr());
//                flowLog.setMaktx(agvLocDetl.getMaktx());
//                flowLog.setOrderPrevious(orderDetl.getAnfme());
//                flowLog.setOrderCurrent(orderDetl.getAnfme());
//                flowLog.setOrderChanged(0.0);
//
//                flowLog.setQtyPrevious(orderDetl.getQty());
//                flowLog.setQtyCurrent(orderDetl.getQty() + agvLocDetl.getAnfme());
//                flowLog.setQtyChanged(agvLocDetl.getAnfme());
//
//                flowLog.setLocPrevious(agvLocDetl.getAnfme());
//                flowLog.setLocCurrent(0.0d);
//                flowLog.setLocChanged(agvLocDetl.getAnfme());
//                flowLog.setUserId(getUserId());
//                flowLog.setAppeTime(now);
//                if (!flowLogService.insert(flowLog)) {
//                    throw new CoolException("同步半成品调拨单流水记录失败");
//                }
                orderDetl.setQty(orderDetl.getQty() + agvLocDetl.getAnfme());
                if (!orderDetlService.update(orderDetl, new EntityWrapper<OrderDetl>().eq("order_no", orderNo).eq("source", 33).eq("matnr", agvLocDetl.getMatnr()).eq("three_code", agvLocDetl.getThreeCode()))) {
                    throw new CoolException("订单号：{" + orderNo + "}更新订单明细失败！ 异常物料:" + agvLocDetl.getMatnr() + "(半成品调拨单任务)");
                }
                // 更新订单状态
                Order order = orderService.selectByNo(orderDetl.getOrderNo());
                Long settle = order.getSettle();
                if (settle == 1L) {
                    if (!orderService.updateSettle(order.getId(), 2L, getUserId())) {
                        throw new CoolException("订单号：{" + order.getOrderNo() + "}更新订单状态：1-->2 失败！(半成品调拨单任务)");
                    }
                }
            }
            // 更新源库位
            AgvLocMast locMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", locNo));
            locMast.setLocSts("R");
            agvLocMastService.updateById(locMast);
        }
        return R.ok();
    }

    @PostMapping("/agv/v3/locMove")
    @Transactional
    @ManagerAuth(memo = "回调单任务下发")
    @Synchronized
    public R agvLocMove3(@RequestBody HashMap<String, Object> params) {
        Date now = new Date();
        List<HashMap<String, String>> dbList = (List<HashMap<String, String>>) params.get("dbList");
        params.get("dbList");
        String orderNo = params.get("orderNo").toString();
        for (HashMap<String, String> map : dbList) {
            String locNo = map.get("locNo");
            String barcode = map.get("suppCode");
            AgvWrkMast source_loc_no = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("source_loc_no", locNo));
            if (!Cools.isEmpty(source_loc_no)) {
                throw new CoolException("当前库位已生成任务！");
            }
            AgvLocMast locMastS = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", locNo).eq("loc_sts", "F"));
            if (Cools.isEmpty(locMastS)) {
                throw new CoolException("当前库位非在库状态！库位号=" + locNo);
            }
            AgvWrkMast wrkMast = createWrkMast(114, 22L, locNo, "", barcode, now, getUserId(), Integer.parseInt(barcode.substring(0,2)), 1);
            // 同步调拨单
            List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("loc_no", locNo));
            for (AgvLocDetl agvLocDetl : agvLocDetls) {
                AgvWrkDetl wrkDetl = new AgvWrkDetl();
                wrkDetl.setWrkNo(wrkMast.getWrkNo());
                wrkDetl.sync(agvLocDetl);
                wrkDetl.setSuppCode(agvLocDetl.getSuppCode());
                wrkDetl.setIoTime(now);
                wrkDetl.setAppeUser(getUserId());
                wrkDetl.setAppeTime(now);
                wrkDetl.setModiUser(getUserId());
                wrkDetl.setModiTime(now);
                if (!agvWrkDetlService.insert(wrkDetl)) {
                    throw new CoolException("保存工作明细失败");
                }
                // 更新订单
                // 先查询库订单明细 所属的订单

                OrderDetl orderDetl = orderDetlService.selectOne(new EntityWrapper<OrderDetl>().eq("order_no", orderNo).eq("source", 17).eq("matnr", agvLocDetl.getMatnr()).eq("three_code", agvLocDetl.getThreeCode()));
                orderDetl.setQty(orderDetl.getQty() + agvLocDetl.getAnfme());
                if (!orderDetlService.update(orderDetl, new EntityWrapper<OrderDetl>().eq("order_no", orderNo).eq("source", 17).eq("matnr", agvLocDetl.getMatnr()).eq("three_code", agvLocDetl.getThreeCode()))) {
                    throw new CoolException("修改订单明细失败，请联系管理员" + agvLocDetl.getOrderNo() + agvLocDetl.getMatnr());
                }
                // 更新订单状态
                Order order = orderService.selectByNo(orderNo);
                Long settle = order.getSettle();
                if (settle == 1L) {
                    if (!orderService.updateSettle(order.getId(), 2L, getUserId())) {
                        throw new CoolException("订单号：{" + order.getOrderNo() + "}更新订单状态：1-->2 失败！(半成品调拨单任务)");
                    }
                }
            }
            // 更新源库位
            AgvLocMast locMast = agvLocMastService.selectOne(new EntityWrapper<AgvLocMast>().eq("loc_no", locNo));
            locMast.setLocSts("R");
            agvLocMastService.updateById(locMast);
        }
        return R.ok();
    }

    @PostMapping("/hand/control/locMove")
    @Transactional
    @ManagerAuth(memo = "手动库位转移")
    @Synchronized
    public R handControlLocMove(@RequestBody LocMoveParam param) {
        agvMobileService.handControlLocMove(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/allocationOut")
    @Transactional
    @ManagerAuth(memo = "调拨离场")
    @Synchronized
    public R allocationOut(@RequestBody AgvMobileStartPakin param) {
        agvMobileService.allocationOut(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/allocationIn")
    @Transactional
    @ManagerAuth(memo = "调拨进场")
    @Synchronized
    public R allocationIn(@RequestBody AgvMobileStartPakin param) {
        agvMobileService.allocationIn(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/empOut")
    @Transactional
    @ManagerAuth(memo = "空架离场")
    @Synchronized
    public R empOut(@RequestBody AgvMobileStartPakin param) {
        agvMobileService.empOut(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/empIn")
    @Transactional
    @ManagerAuth(memo = "空架进场")
    @Synchronized
    public R empIn(@RequestBody AgvMobileStartPakin param) {
        agvMobileService.empIn(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/doBack")
    @Transactional
    @ManagerAuth(memo = "站点回退")
    @Synchronized
    public R doBack(@RequestBody AgvMobileStartPakin param) {
        if (Cools.isEmpty(param)) {
            return R.error("参数为空");
        }
        agvMobileService.doBack(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/handBack")
    @Transactional
    @ManagerAuth(memo = "转手动回流")
    @Synchronized
    public R handBack(@RequestBody AgvMobileStartPakin param) {
        agvMobileService.handBack(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/processed")
    @Transactional
    @ManagerAuth(memo = "确认加工完成")
    @Synchronized
    public R processed(@RequestBody AgvMobileStartPakin param) {
        agvMobileService.processed(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/processed/v2")
    @Transactional
    @ManagerAuth(memo = "确认加工完成V2")
    @Synchronized
    public R processedV2(@RequestBody AgvMobileStartPakin param) {
        agvMobileService.processedV2(param, getUserId());
        return R.ok();
    }


    public static void main(String[] args) {
        List<AgvLocDetl> agvLocDetls1 = new ArrayList<>();
        List<AgvLocDetl> agvLocDetls2 = new ArrayList<>();
@@ -365,4 +901,41 @@
        System.out.println(agvLocDetls22.equals(agvLocDetls2));
    }

    /*
   生成工作档
    */
    private AgvWrkMast createWrkMast(int ioType, long wrkSts, String sourceLocNo, String locNo, String barcode, Date now, Long userId, int containerType, int floor) {
        AgvWrkMast wrkMast = new AgvWrkMast();
        //工作状态
        wrkMast.setWrkSts(wrkSts);
        //入出库类型
        wrkMast.setIoType(ioType);
        wrkMast.setIoTime(now);
        //优先级
        wrkMast.setIoPri(300.0);
        //源站点
        wrkMast.setSourceLocNo(sourceLocNo);
        //目标站点
        wrkMast.setLocNo(locNo);
        //货架编码
        wrkMast.setBarcode(barcode);
        //货架类型
        wrkMast.setWhsType(containerType);
        // 目标楼层
        wrkMast.setCrnNo(floor);

        wrkMast.setAppeUser(userId);
        wrkMast.setAppeTime(now);
        wrkMast.setModiUser(userId);
        wrkMast.setModiTime(now);

        if (!agvWrkMastService.insertByIncrease(wrkMast)) {
            throw new CoolException("保存工作档失败");
        }

        wrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("loc_no", locNo).eq("source_loc_no", sourceLocNo));

        return wrkMast;
    }

}