1.自动下发出库任务给wcs 2.wcs申请入库

zwl

昨天 b7380ff70bcc962494cd6640fcc3eac21aaab0a1

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

@@ -3,10 +3,7 @@
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.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
@@ -21,20 +18,19 @@
import com.zy.common.constant.AgvConstant;
import com.zy.common.constant.ArmConstant;
import com.zy.common.model.DetlDto;
import com.zy.common.model.LocDetlDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.NodeUtils;
import com.zy.erp.kingdee.utils.PostMesDataUtils;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

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

/**
 * Created by vincent on 2022/4/9
@@ -66,6 +62,8 @@
    @Autowired
    private BasArmMastService basArmMastService;
    @Autowired
    private BasAgvLocDetlService basAgvLocDetlService;
    @Autowired
    private BasArmMastSignService basArmMastSignService;
    @Autowired
    private BasAgvMastService basAgvMastService;
@@ -75,6 +73,20 @@
    private CommonService commonService;
    @Autowired
    private LocMastServiceImpl locMastService;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private BasDevpServiceImpl basDevpService;
    @Autowired
    private StaDescServiceImpl staDescService;
    @Value("${mes.url}")
    private String mesUrl;
    @Value("${mes.stationaddress}")
    private String stationAddress;
    @Autowired
    private WaitPakinService waitPakinService;
    @Autowired
    private WrkMastService wrkMastService;

    @Override
    @Transactional
@@ -136,9 +148,9 @@
        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.getBoxType1(),detail.getBoxType2(),detail.getBoxType3(), detail.getAnfme());
            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());
                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 {
@@ -196,23 +208,23 @@
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(),orderDetl.getBrand(),
                            orderDetl.getStandby1(),orderDetl.getStandby2(),orderDetl.getStandby3(),orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(),orderDetl.getBoxType2(),orderDetl.getBoxType3(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                if (order.getSettle() == 4L) {
                    // 修改订单状态 4.完成 ===>> 6.已上报
//                    if (!orderService.updateSettle(order.getId(), 6L, null)) {
//                        throw new CoolException("服务器内部错误，请联系管理员");
//                    }
                    OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(),order.getId(), 6L, null);
                    OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(), order.getId(), 6L, null);
                }
            }
        } else {
            // 所有订单
//            List<Order> orders = orderService.selectBySettle(4L);
            List<Order> orders = OrderInAndOutUtil.selectBySettle(null, 4L);
            if (orders.isEmpty()){
            if (orders.isEmpty()) {
                orders = new ArrayList<>();
            }
            for (Order order : orders) {
@@ -225,16 +237,16 @@
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());

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

            }
        }
@@ -305,11 +317,11 @@
        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.getBoxType1(),detail.getBoxType2(),detail.getBoxType3(), detail.getAnfme());
            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());
                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 {
@@ -365,15 +377,15 @@
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(),order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(),orderDetl.getStandby2(),orderDetl.getStandby3(),orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(),orderDetl.getBoxType2(),orderDetl.getBoxType3(), orderDetl.getQty()));
                            orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                if (order.getSettle() == 4L) {
                    // 修改订单状态 4.完成 ===>> 6.已上报
//                    if (!orderService.updateSettle(order.getId(), 6L, null)) {
//                        throw new CoolException("服务器内部错误，请联系管理员");
//                    }
                    OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(),order.getId(),6L,null);
                    OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(), order.getId(), 6L, null);
                }
            }
        } else {
@@ -389,15 +401,15 @@
                List<OrderDetl> orderDetls = orderDetlService.selectByOrderId(order.getId());
//                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectByOrderId(order.getPakinPakoutStatus$(), order.getId());
                for (OrderDetl orderDetl : orderDetls) {
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(),orderDetl.getBrand(),
                            orderDetl.getStandby1(),orderDetl.getStandby2(),orderDetl.getStandby3(),orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(),orderDetl.getBoxType2(),orderDetl.getBoxType3(), orderDetl.getQty()));
                    result.getOrderDetails().add(new DetlDto(orderDetl.getOrderNo(), orderDetl.getMatnr(), orderDetl.getBatch(), orderDetl.getBrand(),
                            orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getLineNumber(),
                            orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3(), orderDetl.getQty()));
                }
                // 修改订单状态 4.完成 ===>> 6.已上报
//                if (!orderService.updateSettle(order.getId(), 6L, null)) {
//                    throw new CoolException("服务器内部错误，请联系管理员");
//                }
                OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(),order.getId(),6L,null);
                OrderInAndOutUtil.updateOrder(order.getPakinPakoutStatus$(), order.getId(), 6L, null);
            }
        }
        return results;
@@ -527,12 +539,19 @@
    @Override
    @Transactional
    public void syncMat(MatSyncParam param) {
        if (Cools.isEmpty(param.getMatDetails()) || param.getMatDetails().size() <=0 ) {
        if (param.getMatDetails().get(0).getOperateType() == 3) {
            Mat mat1 = matService.selectByMatnr(param.getMatDetails().get(0).getMatnr());
            if (Cools.isEmpty(mat1)) {
                throw new CoolException("商品不存在无法禁用");
            }
        }

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

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

@@ -625,7 +644,7 @@
                }
            } else {
                mat.sync(matParam);
                if (!matService.update(mat, new EntityWrapper<Mat>().eq("matnr",matParam.getMatnr()))) {
                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");
                }
            }
@@ -639,7 +658,7 @@
        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){
            if (basArm.getStatus() != 1) {
                continue;
            }
            basArmMast.setArmNo(basArm.getArmNo());
@@ -652,10 +671,10 @@
                        .eq("arm_no", basArmMast.getArmNo())
                        .eq("status", 0)
        );
        if (Cools.isEmpty(basArmMastOld)){
        if (Cools.isEmpty(basArmMastOld)) {
            basArmMastService.insert(basArmMast);
        } else {
            throw new CoolException("等待前边货物抓取！！！"+ JSON.toJSONString(param));
            throw new CoolException("等待前边货物抓取！！！" + JSON.toJSONString(param));
        }
    }

@@ -667,23 +686,23 @@
                .eq("sorting_line", Integer.parseInt(param.getStaNo()))
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)){
        if (Cools.isEmpty(basArm)) {
            return;
//            throw new CoolException("机械臂配置异常，查询不到机械臂数据！！！"+ JSON.toJSONString(param));
        }

        try{
        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)){
            if (!Cools.isEmpty(basArmMastSign)) {
                basArmMastSign.setStatus(1);
                basArmMastSignService.updateById(basArmMastSign);
            }
        } catch (Exception e){
        } catch (Exception e) {
        }

        BasArmMast basArmMastListError = basArmMastService.selectOne(
@@ -692,8 +711,8 @@
                        .eq("arm_no", param.getArm_no())
                        .eq("status", 9)
        );
        if (!Cools.isEmpty(basArmMastListError)){
            if (Integer.parseInt(param.getPick_num()) ==1){
        if (!Cools.isEmpty(basArmMastListError)) {
            if (Integer.parseInt(param.getPick_num()) == 1) {
                basArmMastListError.setStatus(2);
                basArmMastService.updateById(basArmMastListError);
            }
@@ -707,11 +726,11 @@
                        .eq("arm_no", param.getArm_no())
                        .eq("status", 1)
        );
        if (Cools.isEmpty(basArmMast)){
        if (Cools.isEmpty(basArmMast)) {
            return;
//            throw new CoolException("未查询到相关机械臂拆码垛任务！！！"+ JSON.toJSONString(param));
        }
        if (Integer.parseInt(param.getPick_num()) !=1){
        if (Integer.parseInt(param.getPick_num()) != 1) {
            basArmMast.setStatus(9);
            basArmMastService.updateById(basArmMast);
        } else {
@@ -728,28 +747,28 @@
                .eq("sta_no", param.getStaNo())
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)){
            log.error("机械臂配置异常，查询不到机械臂数据！！！"+ JSON.toJSONString(param));
        if (Cools.isEmpty(basArm)) {
            log.error("机械臂配置异常，查询不到机械臂数据！！！" + JSON.toJSONString(param));
            return false;
        }
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
        if (Cools.isEmpty(locMast)){
            log.error("查询不到locMast数据！！！"+ JSON.toJSONString(param));
        if (Cools.isEmpty(locMast)) {
            log.error("查询不到locMast数据！！！" + JSON.toJSONString(param));
            return false;
        }
        if (locMast.getLocSts().equals("D")){
        if (locMast.getLocSts().equals("D")) {
            BasArmMast basArmMast = basArmMastService.selectOne(
                    new EntityWrapper<BasArmMast>()
                            .eq("sta_no", basArm.getStaNoSou())
                            .eq("arm_no", param.getArmNo())
                            .eq("status", 3)
            );
            if (Cools.isEmpty(basArmMast)){
            if (Cools.isEmpty(basArmMast)) {
                return true;
            }
            log.error("未查询到相关机械臂拆码垛任务！！！"+ JSON.toJSONString(param));
            log.error("未查询到相关机械臂拆码垛任务！！！" + JSON.toJSONString(param));
        } else {
            log.error("locMast状态不为D！！！"+ JSON.toJSONString(param));
            log.error("locMast状态不为D！！！" + JSON.toJSONString(param));
        }
        return false;
    }
@@ -762,8 +781,8 @@
                .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));
        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>()
@@ -771,11 +790,11 @@
                        .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));
        if (Cools.isEmpty(basArmMast)) {
            throw new CoolException("未查询到相关机械臂拆码垛任务！！！" + JSON.toJSONString(param));
        }
//        basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),basArmMast.getStaNo(),1,3);
        basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),basArmMast.getStaNo(),2,3);
        basArmMastService.updateArmMastStatus(param.getArm_no(), basArmMast.getSortingLine(), basArmMast.getStaNo(), 2, 3);
    }

    @Override
@@ -786,124 +805,75 @@
                .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));
        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("sorting_line", basArm.getSortingLineSou())
                        .eq("arm_no", param.getArm_no())
                        .eq("status", 5)
        );
        if (!Cools.isEmpty(basArmMast)){
            basArmMastService.updateArmMastStatus(param.getArm_no(),basArmMast.getSortingLine(),basArmMast.getStaNo(), 5,6);
        if (!Cools.isEmpty(basArmMast)) {
            basArmMastService.updateArmMastStatus(param.getArm_no(), basArmMast.getSortingLine(), basArmMast.getStaNo(), 5, 6);
        }
    }

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

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

        return result;
    }

    @Override
    @Transactional
    public 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");
        }
        BasAgvMast basAgvMast = new BasAgvMast();

        Long ts = basAgvMast.getTimestamp();
        if (ts == null) {
            throw new CoolException("timestamp 生成失败");
        }

        String barcode = String.valueOf(ts);
        if (barcode.length() > 16) {
            barcode = barcode.substring(0, 16);
        }
        basAgvMast.setBarcode(barcode);

        String locNo = null;
        String staNo = null;
        basAgvMast.setTaskNo(commonService.getWorkNo(0));
        basAgvMast.setSourceStaNo(param.getSourceStaNo());
        basAgvMast.setStaNo(param.getStaNo());
        basAgvMast.setSourceLocNo(param.getSourceLocNo());
        basAgvMast.setLocNo(param.getLocNo());
        basAgvMast.setPriority(1L);
        basAgvMast.setStatus(0);
        basAgvMast.setAppeTime(new Date());
        basAgvMast.setModiTime(new Date());
        basAgvMast.setIoType(param.getIoType());
        basAgvMast.setFloorNo(param.getFloorNo());
        switch (basAgvMast.getIoType()){
            // AGV库位==》输送线站点  0
            // AGV库位==》AGV库位  1
            // 输送线站点==》AGV库位  2
            // 输送线站点==》输送线站点  3
            case 0:
            case 1:
                locNo = param.getSourceLocNo();
                break;
            case 2:
            case 3:
                staNo = param.getSourceStaNo().toString();
                break;
        }
        basAgvMastService.insert(basAgvMast);

        bindCtnrAndBinParam bindParam = new bindCtnrAndBinParam();
        bindParam.setBarcode(basAgvMast.getBarcode());
        bindParam.setIndBind("1");
        bindParam.setFloorNo(basAgvMast.getFloorNo());
        bindParam.setLocNo(locNo);
        bindParam.setStaNo(staNo);
        if(bindCtnrAndBin(bindParam)){
            return true;
        }else{
            throw new CoolException("未能绑定");
        }
    }

    @Override
    @Transactional
@@ -925,15 +895,15 @@
            );
            result.add(buildAgvLocListDetlParam(param.getLocNo(), locMast.getLocSts$()));
        }
        

        return result;
    }

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

        AgvLocListDetlParam dto = new AgvLocListDetlParam();
        dto.setLocNo(locNo);
        dto.setLocSys(locSts);
@@ -949,7 +919,7 @@
        if (param == null) {
            throw new CoolException("参数不能为空");
        }
        if (param.getFloorNo()==1){
        if (param.getFloorNo() == 1) {
            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam();
            BasAgvLocNoService basAgvLocNoService = SpringUtils.getBean(BasAgvLocNoService.class);
            BasAgvLocNo basAgvLocNoSou = basAgvLocNoService.selectOne(new EntityWrapper<BasAgvLocNo>().eq("loc_no", param.getLocNo()));
@@ -957,15 +927,15 @@
            agvBindCtnrAndBinParam.setReqCode(String.valueOf(System.currentTimeMillis()));
            agvBindCtnrAndBinParam.setCtnrCode(param.getBarcode());
            agvBindCtnrAndBinParam.setCtnrTyp("1");
            if(basAgvLocNoEnd != null && basAgvLocNoEnd.getAgvLocNo() != null){
            if (basAgvLocNoEnd != null && basAgvLocNoEnd.getAgvLocNo() != null) {
                agvBindCtnrAndBinParam.setStgBinCode(basAgvLocNoEnd.getAgvLocNo());
            }
            if(basAgvLocNoSou != null && basAgvLocNoSou.getAgvLocNo() != null){
            if (basAgvLocNoSou != null && basAgvLocNoSou.getAgvLocNo() != null) {
                agvBindCtnrAndBinParam.setStgBinCode(basAgvLocNoSou.getAgvLocNo());
            }
            agvBindCtnrAndBinParam.setIndBind(param.getIndBind());
            try {
                String URL = AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService; // AGV接口地址
                String URL = AgvConstant.AGV_URL + "/" + AgvConstant.AGV_hikRpcService; // AGV接口地址
                String mesPath = AgvConstant.getAGVADAPTOR(param.getFloorNo()); // 接口路径
                String response = "";
                boolean success = false;
@@ -995,101 +965,182 @@
            } catch (Exception e) {
                throw new CoolException(e.getMessage());
            }
        } else {}
        } else {
        }
        return true;
    }




    @Override
    @Transactional
    public boolean agvApplicationPassedTheGrating(ArmAgvGratingParam arm) {
        ReturnT<String> result = new PostMesDataUtils().postMesDataArmGrating("光栅请求下发：", ArmConstant.getArmUrl(arm.getArmNo()), ArmConstant.ARM_ADAPTOR_GRATING_AGVENTER, arm);
        if (result.getCode()==200){
            return true;
        }
        return false;
    }

    @Override
    @Transactional
    public boolean agvApplicationPassedTheGrating(AgvGoTheArnParam param) {
        String URL = "http://10.10.10.200:8181/rcms/services/rest/hikRpcService"; // AGV接口地址
        String AGVPath = "continueTask"; // 接口路径
        AgvGoParam agvGoParam = new AgvGoParam();
        agvGoParam.setCode("0");
        agvGoParam.setMessage("继续执行");
        agvGoParam.setReqCode(param.getReqCode());
        agvGoParam.setTaskCode(param.getTaskCode());
        ReturnT<String> result = new PostMesDataUtils().postMesDataArmGrating("光栅下发后继续任务：", URL, AGVPath, agvGoParam);
        if (result.getCode()==200){
            return true;
        }
        return false;
    }

    @Override
    @Transactional
    public boolean agvBindAndBin(String taskNo) {
        String URL = "http://10.10.10.200:8181"; // AGV接口地址
        String AGVPath = "rcms/services/rest/hikRpcService/bindCtnrAndBin"; // 接口路径
        BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("task_no",taskNo));
        if (Cools.isEmpty(basAgvMast)){
            return false;
        }
        if (basAgvMast.getFloorNo()==1){
            BasAgvLocNoService basAgvLocNoService = SpringUtils.getBean(BasAgvLocNoService.class);
            BasAgvLocNo basAgvLocNoEnd = basAgvLocNoService.selectOne(
                    new EntityWrapper<BasAgvLocNo>().eq("sta_no", basAgvMast.getStaNo())
            );
            BasAgvLocNo locNo = basAgvLocNoService.selectOne(
                    new EntityWrapper<BasAgvLocNo>().eq("loc_no", basAgvMast.getLocNo())
            );
            String binCode = basAgvLocNoEnd != null
                    ? basAgvLocNoEnd.getAgvLocNo()
                    : (locNo != null ? locNo.getAgvLocNo() : null);
            if (Cools.isEmpty(basAgvMast)){
                return false;
    public R stationAll() {
        List<StationParam> stationParams = new ArrayList<>();
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            StationParam stationParam = new StationParam();
            Boolean boo1 = false;
            Boolean boo2 = false;
            StaDesc staDescIn = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no", basDevp.getDevNo()).eq("type_no", 1));
            if (!Cools.isEmpty(staDescIn)) {
                stationParam.setStationId(basDevp.getDevNo() + "");
                stationParam.setStationType("1");
                stationParam.setStationName(basDevp.getDevNo() + "");
                stationParam.setOperateType(1);
                boo1 = true;
            }
            String ctnrCode = basAgvMast.getBarcode().length() > 1?basAgvMast.getBarcode():basAgvMast.getTimestamp().toString();
            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam();
            agvBindCtnrAndBinParam.setReqCode(basAgvMast.getTaskNo() + "-" + System.currentTimeMillis());
            agvBindCtnrAndBinParam.setCtnrCode(ctnrCode);
            agvBindCtnrAndBinParam.setCtnrTyp("1");
            agvBindCtnrAndBinParam.setStgBinCode(binCode);
            agvBindCtnrAndBinParam.setIndBind("0");
            ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV容器解绑", URL,AGVPath, agvBindCtnrAndBinParam);
            if (resultBind.getCode() ==200){
                basAgvMast.setStatus(4);
                basAgvMastService.updateById(basAgvMast);
                return true;
            }
            return false;
        }else {
            if (basAgvMast != null
                    && basAgvMast.getIoType() != null
                    && (basAgvMast.getIoType() == 0)
                    && (Objects.equals(basAgvMast.getSourceStaNo(), 2033) || Objects.equals(basAgvMast.getStaNo(), 2034)
                    || Objects.equals(basAgvMast.getStaNo(), 4003)|| Objects.equals(basAgvMast.getSourceStaNo(), 4006))){
                AgvBindCtnrAndBinTwoParam agvBindCtnrAndBinTwoParam = new AgvBindCtnrAndBinTwoParam();
                agvBindCtnrAndBinTwoParam.setReqCode(String.valueOf(snowflakeIdWorker.nextId()));
                agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
                agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getStaNo().toString());
                agvBindCtnrAndBinTwoParam.setIndBind("0");;
                ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV容器解绑",
                        AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService,AgvConstant.getAGVADAPTOR(2), agvBindCtnrAndBinTwoParam);
                if (resultBind.getCode()!=1){
                    basAgvMast.setStatus(4);
                    basAgvMastService.updateById(basAgvMast);
                    return true;
            StaDesc staDescOut = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no", basDevp.getDevNo()).eq("type_no", 101));
            if (!Cools.isEmpty(staDescOut)) {
                stationParam.setStationId(basDevp.getDevNo() + "");
                stationParam.setStationType("1");
                stationParam.setStationName(basDevp.getDevNo() + "");
                stationParam.setOperateType(2);
                if (boo1) {
                    stationParam.setOperateType(3);
                }
                boo2 = true;
            }
            if (boo1 || boo2) {
                stationParams.add(stationParam);
            }
        }
        return false;
        String response = "";
        try {
            //获取Cookie值
            HashMap<String, Object> headers = new HashMap<>();
//            headers.put("accesstoken", erpSecret.getAccessToken());
//            headers.put("x-acgw-identity", xAcfwIdentity);  // 自定义请求头
            response = new HttpHandler.Builder()
                    .setHeaders(headers)
                    .setUri(mesUrl)
                    .setPath(stationAddress)
                    .setJson(JSON.toJSONString(stationParams))
                    .build()
                    .doPost();
            JSONObject jsonResponse = JSON.parseObject(response);
            if (jsonResponse.getInteger("code") == 200) {

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

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

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

        }
        WaitPakin waitPakin = new WaitPakin();
        waitPakin.sync(mat);
        waitPakin.setBatch(String.valueOf(param.getBatchId()));
        waitPakin.setZpallet(param.getPalletId());   // 托盘码
        waitPakin.setIoStatus("N");     // 入出状态
        waitPakin.setAnfme(param.getAnfme());  // 数量
        waitPakin.setStatus("Y");    // 状态
        waitPakin.setAppeUser(9995L);
        waitPakin.setAppeTime(now);
        waitPakin.setModiUser(9995L);
        waitPakin.setModiTime(now);
        waitPakin.setOrderNo(String.valueOf(param.getOrderId()));
        waitPakin.setOrigin(String.valueOf(param.getStorageArea()));//建议入库区域
        waitPakin.setManu(String.valueOf(param.getLocId()));//mes具体库位编号
        waitPakin.setThreeCode(param.getBizNo());
        if (!waitPakinService.insert(waitPakin)) {
            throw new CoolException("保存入库通知档失败");
        }
        return null;
    }

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

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