1.完善AGV任务任务下发 2.拣料回库数据更新维护

zwl

2025-12-31 b187814d7cfa5ace1ed9c203372524c69fe56553

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

@@ -1,5 +1,6 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
@@ -13,8 +14,13 @@
import com.zy.asrs.entity.result.MobileAdjustResult;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.OrderDetlPakinServiceImpl;
import com.zy.asrs.service.impl.OrderDetlPakoutServiceImpl;
import com.zy.asrs.service.impl.OrderPakinServiceImpl;
import com.zy.asrs.service.impl.OrderPakoutServiceImpl;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.WrkDto;
import com.zy.common.utils.HttpHandler;
import com.zy.common.web.BaseController;
import io.swagger.annotations.ApiOperation;
import org.springframework.beans.factory.annotation.Autowired;
@@ -22,6 +28,7 @@
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.text.SimpleDateFormat;
import java.util.*;

/**
@@ -59,6 +66,16 @@

    @Resource
    private StaDescService staDescService;
    @Autowired
    private OrderPakinServiceImpl orderPakinService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private OrderDetlPakinServiceImpl orderDetlPakinService;
    @Autowired
    private OrderPakoutServiceImpl orderPakoutService;
    @Autowired
    private OrderDetlPakoutServiceImpl orderDetlPakoutService;

    @RequestMapping("/pda/WarehouseOut/v1")
    @ManagerAuth(memo = "并板途中拣料-参考念初")
@@ -123,6 +140,15 @@
        return mobileService.pickMats(matnr, orderNo);
    }

    @PostMapping("/scan/order/mats")
    @ManagerAuth(memo = "扫码获取组托物料")
    public R scanMats(@RequestBody PakinMatsByQRParams params) {
        if (Objects.isNull(params)) {
            return R.parse("参数不能为空！！");
        }
        return mobileService.getMatsByQRcode(params);
    }

    // 商品上架
    @RequestMapping("/mat/onSale/auth")
    @ManagerAuth
@@ -158,6 +184,16 @@
    }


    @PostMapping("/cache/out/call")
    @ApiOperation("呼叫AGV搬运")
    @ManagerAuth
    public R OutCallAgv(@RequestBody AgvCallParams params) {
        if (Objects.isNull(params)) {
            return R.error("参数不能为空！！");
        }
        return mobileService.OutCallAgv(params, getUserId());
    }


    // 组托 ----------------------------------------------------------------------------------------------------

@@ -188,48 +224,50 @@
    @RequestMapping("/order/search/orderNo/auth")
    @ManagerAuth
    public R orderSearchByBarcode(@RequestParam String orderNo){
        if (Cools.isEmpty(orderNo)){
            orderNo=null;
        }
//        List<Order> orders = orderService.selectorderNoL(orderNo);
        List<Order> orders = OrderInAndOutUtil.selectOrderNoL(null, orderNo);
        if (Cools.isEmpty(orders)){
        OrderPakin orderPakin = orderPakinService.selectByNo(orderNo);
        if (orderPakin == null) {
            return R.ok();
        }
        LinkedList<CombParam> combParams = new LinkedList<>();
        if (!Cools.isEmpty(orders)){
            for (Order order:orders){
                CombParam combParam=new CombParam();
                if (order == null) {
                    continue;
                }
                DocType docType = docTypeService.selectById(order.getDocType());
                if (docType.getPakin() == null || docType.getPakin() != 1) {
                    continue;
                }
                if (order.getSettle() > 2) {
                    continue;
                }
//                List<OrderDetl> orderDetls = orderService.selectWorkingDetls(order.getId());
                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectWorkingDetls(order.getPakinPakoutStatus$(), order.getId());
                if (!Cools.isEmpty(orderDetls)) {
                    LinkedList<CombParam.CombMat> combMats = new LinkedList<>();
                    for (OrderDetl orderDetl:orderDetls){
                        CombParam.CombMat combMat = new CombParam.CombMat();
                        combMat.setMatnr(orderDetl.getMatnr());
                        combMat.setBatch(orderDetl.getBatch());
                        combMat.setAnfme(orderDetl.getAnfme()-orderDetl.getWorkQty());
                        combMat.setMaktx(orderDetl.getMaktx());
                        combMat.setSpecs(orderDetl.getSpecs());
                        combMats.add(combMat);
                    }
                    combParam.setCombMats(combMats);
                }
                combParam.setOrderNo(order.getOrderNo());
                combParams.add(combParam);
            }
        DocType docType = docTypeService.selectById(orderPakin.getDocType());
        if (docType.getPakin() != 1) {
            return R.ok();
        }
        return R.ok().add(combParams);

        List<OrderDetlPakin> orderDetlPakins = orderPakinService.selectWorkingDetls(orderPakin.getId());
        if (Cools.isEmpty(orderDetlPakins)) {
            return R.ok();
        }
        List<OrderDetlPakin> orderDetls1= new ArrayList<>();
        for (OrderDetlPakin orderDetl : orderDetlPakins) {
            if(orderDetl.getAnfme()-orderDetl.getWorkQty()>0){
                orderDetls1.add(orderDetl);
            }

        }
        return R.ok().add(orderDetls1);
    }

    @RequestMapping("/order/search/orderNo/out/auth")
    @ManagerAuth
    public R orderSearchByBarcodeOut(@RequestParam String orderNo){
        OrderPakout orderPakout = orderPakoutService.selectByNo(orderNo);
        if (orderPakout == null) {
            return R.ok();
        }
        DocType docType = docTypeService.selectById(orderPakout.getDocType());

        List<OrderDetlPakout> orderDetlPakouts = orderPakoutService.selectWorkingDetls(orderPakout.getId());
        if (Cools.isEmpty(orderDetlPakouts)) {
            return R.ok();
        }
        List<OrderDetlPakout> orderDetls1= new ArrayList<>();
        for (OrderDetlPakout orderDetl : orderDetlPakouts) {
            if(orderDetl.getAnfme()-orderDetl.getWorkQty()>0){
                orderDetls1.add(orderDetl);
            }

        }
        return R.ok().add(orderDetls1);
    }

    @RequestMapping("/comb/auth")
@@ -506,4 +544,136 @@
        return R.ok("出库成功");
    }

    /**
     * 补空板
     *
     * @param locNo 目标站点
     * @param size  托盘大小 1：小托盘  2：大托盘
     * @return
     */
    // pda呼叫空料框出库
    @PostMapping("/callEmptyBinOutBound")
    @ManagerAuth(memo = "pda呼叫空料框出库")
    public synchronized R callEmptyBinOutBound(@RequestParam(required = false) String locNo
            , @RequestParam(required = false) String size) {
        if (Cools.isEmpty(locNo) || Cools.isEmpty(size)) {
            return R.error("站点或者大小不能为空");
        }
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("io_type", 110).eq("memo", locNo));
        if (wrkMast != null) {
            return R.error("该站点="+locNo+"已经有空板出库任务，为了不堵塞堆垛机接驳站点，禁止下发多个空板出库任务");
        }
        return mobileService.callEmptyBinOutBound(locNo,size,getUserId());
    }

    /**
     * 空板回库或者拣料回库
     *
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/AGVStartReturn")
    public synchronized R AGVStartReturn(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String staNo
            , @RequestParam(required = false) String taskNo) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) {
            return R.error("源站点和托盘码不能为空");
        }
        List<Task> tasks = taskService.selectList(new EntityWrapper<Task>().eq("source_sta_no", sourceStaNo).eq("barcode", staNo));
        if (tasks.size() > 0) {
            return R.error("该托盘="+staNo+"已经存在搬运任务，请不要重复下发");
        }

        String barcode = staNo.substring(0,1);
        if(barcode.equals("3")){
            taskNo = "307";
        }else if(barcode.equals("4")){
            taskNo = "402";
        }else if(barcode.equals("5")){
            taskNo = "401";
        }

        R r = R.ok();
        //生成AGV搬运出库任务
        // 保存工作档
        Task task = new Task();
        Date date = new Date();
        String TaskNo = 555555 + "aa" + date.getTime();
        task.setWrkNo((int) date.getTime())
                .setTaskNo(TaskNo)
                .setIoTime(date)
                .setWrkSts(301L) // 工作状态：301.任务下发
                .setIoType(3) // 入出库状态： 3.站到站  4.站到区域
                .setTaskType("agv")
                .setIoPri(10D)
                .setFullPlt("Y") // 满板：Y
                .setPicking("N") // 拣料
                .setExitMk("N")// 退出
                .setStaNo(taskNo)
                .setSourceStaNo(sourceStaNo)//agv取货站点
                .setEmptyMk("N")// 空板
                .setBarcode(staNo)// 托盘码
                .setLinkMis("N")
                .setAppeUser(9945L)
                .setAppeTime(date)
                .setModiUser(9945L)
                .setModiTime(date);
        if (!taskService.insert(task)) {
            throw new CoolException("保存工作档失败");
        }

        return r;
    }

    @RequestMapping("/orderIn")
    public synchronized R AGVOrderInReturn() {
        List<OrderPakin> settle = orderPakinService.selectList(new EntityWrapper<OrderPakin>().in("settle", 1, 2));
        List<String> list = new ArrayList<>();
        for (OrderPakin orderPakin : settle) {
            if (orderPakin.getSettle()==2){
                List<OrderDetlPakin> orderId = orderDetlPakinService.selectList(new EntityWrapper<OrderDetlPakin>().eq("order_id", orderPakin.getId()));
                Boolean boo=true;
                for (OrderDetlPakin orderDetlPakin : orderId) {
                    if (orderDetlPakin.getAnfme()>orderDetlPakin.getWorkQty()){
                        boo=false;
                        break;
                    }
                }
                if (!boo) {
                    list.add(orderPakin.getOrderNo());
                }
            }else {
                list.add(orderPakin.getOrderNo());
            }
        }
        return R.ok(list);
    }

    @RequestMapping("/orderOut")
    public synchronized R AGVOrderOutReturn() {
        List<OrderPakout> settle = orderPakoutService.selectList(new EntityWrapper<OrderPakout>().in("settle", 1, 2).eq("doc_type",11));
        List<String> list = new ArrayList<>();
        for (OrderPakout orderPakout: settle) {
            if (orderPakout.getSettle()==2){
                List<OrderDetlPakout> orderId = orderDetlPakoutService.selectList(new EntityWrapper<OrderDetlPakout>().eq("order_id", orderPakout.getId()));
                Boolean boo=true;
                for (OrderDetlPakout orderDetlPakout: orderId) {
                    if (orderDetlPakout.getAnfme()>orderDetlPakout.getWorkQty()){
                        boo=false;
                        break;
                    }
                }
                if (boo) {
                    settle.remove(orderPakout);
                }else {
                    list.add(orderPakout.getOrderNo());
                }
            }else {
                list.add(orderPakout.getOrderNo());
            }
        }
        return R.ok(list);
    }

}