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skyouc

2 天以前 d222dd7a5525b709449338cdf6f0128aa5615b55

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

@@ -8,10 +8,7 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.entity.result.FindLocNoAttributeVo;
import com.zy.asrs.entity.result.ForwardAGVTaskDTO;
import com.zy.asrs.entity.result.HIKApiDTO;
import com.zy.asrs.entity.result.HIKResultDTO;
import com.zy.asrs.entity.result.*;
import com.zy.asrs.enums.*;
import com.zy.asrs.enums.LocAreaType;
import com.zy.asrs.enums.LocStsType;
@@ -20,6 +17,7 @@
import com.zy.asrs.service.*;
import com.zy.asrs.utils.MatUtils;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.asrs.utils.Utils;
import com.zy.common.constant.HIKApiConstant;
import com.zy.common.constant.MesConstant;
import com.zy.common.entity.Parameter;
@@ -28,6 +26,7 @@
import com.zy.common.model.MesCombParam;
import com.zy.common.model.StartupDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.properties.SlaveProperties;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
@@ -89,6 +88,9 @@
    private ManLocDetlService manLocDetlService;
    @Autowired
    private ManLocDetlMapper manLocDetlMapper;

    @Autowired
    private SlaveProperties slaveProperties;

    @Autowired
    private AdjDetlService adjDetlService;
@@ -602,9 +604,12 @@
        if (Objects.isNull(param.getBarcode())) {
            throw new CoolException("托盘码不能为空！！");
        }
        // if (param.getBarcode().length() != 8) {
        // throw new CoolException("条码长度不是8位===>>" + param.getBarcode());
        // }

        BasContainer container = basContainerService
                .selectOne(new EntityWrapper<BasContainer>().eq("barcode", param.getBarcode()));
        if (Objects.isNull(container)) {
            throw new CoolException("数据错误：容器码不存在！！");
        }

        if (Objects.isNull(param.getType())) {
            param.setType("0");
@@ -686,7 +691,10 @@
                OrderDetlPakin detls = orderDetlPakinService.selectOne(new EntityWrapper<OrderDetlPakin>()
                        .eq("order_id", order.getId())
                        .eq("matnr", elem.getMatnr()));

                if (Objects.isNull(elem.getBoxType1())) {
                    throw new CoolException("格层编码不能为空！！");
                }
                detls.setBoxType1(elem.getBoxType1());
                if (Objects.isNull(detls)) {
                    throw new CoolException("数据错误：单据明细不存在！！");
                }
@@ -696,14 +704,14 @@
                }
                OrderInAndOutUtil.increaseWorkQty(Boolean.TRUE, order.getId(), elem.getMatnr(), elem.getBatch(),
                        elem.getBrand(), elem.getStandby1(), elem.getStandby2(), elem.getStandby3(),
                        elem.getBoxType1(), elem.getBoxType2(), elem.getBoxType3(), elem.getAnfme());
                DetlDto detlDto = new DetlDto(elem.getMatnr(), elem.getBatch(), elem.getBrand(), elem.getStandby1(),
                        "1", elem.getBoxType2(), elem.getBoxType3(), elem.getAnfme());
                DetlDto detlDto = new DetlDto(order.getOrderNo(), elem.getMatnr(), elem.getBatch(), elem.getBrand(), elem.getStandby1(),
                        elem.getStandby2(), elem.getStandby3(),
                        elem.getBoxType1(), elem.getBoxType2(), elem.getBoxType3(), elem.getAnfme(),
                        elem.getThreeCode());
                detlDto.setOrderId(order.getId());
                detlDto.setOrderNo(order.getOrderNo());
                if (DetlDto.has(detlDtos, detlDto)) {
                if (DetlDto.hasOrder(detlDtos, detlDto)) {
                    DetlDto one = DetlDto.findDto(detlDtos, detlDto);
                    assert one != null;
                    one.setAnfme(one.getAnfme() + detlDto.getAnfme());
@@ -759,6 +767,7 @@
                waitPakin.setThreeCode(detlDto.getThreeCode());
                waitPakin.setSuppCode(detlDto.getStandby1());
                waitPakin.setStandby1(detlDto.getStandby1());
                waitPakin.setBoxType1(detlDto.getBoxType1());
                waitPakin.setIoStatus("N"); // 入出状态
                waitPakin.setAnfme(detlDto.getAnfme()); // 数量
                waitPakin.setStatus("Y"); // 状态
@@ -988,7 +997,7 @@
                try {
                    response = new HttpHandler.Builder()
                            .setUri(MesConstant.URL)
                            .setPath(MesConstant.PACK_DOWN_URL)
                            .setPath(MesConstant.IN_DISPATCH_RESULT)
                            .setJson(JSON.toJSONString(mesCombParam))
                            .build()
                            .doPost();
@@ -996,11 +1005,11 @@
                    if (jsonObject.getInteger("code").equals(200)) {
                        success = true;
                    } else if (jsonObject.getInteger("code").equals(500)) {
                        log.error("请求接口失败！！！url：{}；request：{}；response：{}", MesConstant.URL + MesConstant.PACK_DOWN_URL,
                        log.error("请求接口失败！！！url：{}；request：{}；response：{}", MesConstant.URL + MesConstant.IN_DISPATCH_RESULT,
                                JSON.toJSONString(mesCombParam), response);
                        throw new CoolException(jsonObject.getString("msg"));
                    } else {
                        log.error("请求接口失败！！！url：{}；request：{}；response：{}", MesConstant.URL + MesConstant.PACK_DOWN_URL,
                        log.error("请求接口失败！！！url：{}；request：{}；response：{}", MesConstant.URL + MesConstant.IN_DISPATCH_RESULT,
                                JSON.toJSONString(mesCombParam), response);
                        throw new CoolException("上报mes系统失败");
                    }
@@ -1012,7 +1021,7 @@
                        // 保存接口日志
                        apiLogService.save(
                                "打包下线帮托上报",
                                MesConstant.URL + MesConstant.PACK_DOWN_URL,
                                MesConstant.URL + MesConstant.IN_DISPATCH_RESULT,
                                null,
                                "127.0.0.1",
                                JSON.toJSONString(mesCombParam),
@@ -1063,7 +1072,7 @@
                // }
                OrderInAndOutUtil.increaseWorkQty(Boolean.TRUE, order.getId(), detlDto.getMatnr(), detlDto.getBatch(),
                        detlDto.getBrand(), detlDto.getStandby1(), detlDto.getStandby2(), detlDto.getStandby3(),
                        detlDto.getBoxType1(), detlDto.getBoxType2(), detlDto.getBoxType3(), detlDto.getAnfme());
                        "1", detlDto.getBoxType2(), detlDto.getBoxType3(), detlDto.getAnfme());
                // 保存入库通知档
                Mat mat = matService.selectByMatnr(detlDto.getMatnr());
                if (Cools.isEmpty(mat)) {
@@ -1176,7 +1185,7 @@
    @Override
    @Transactional
    public void stockOut(OrderDetl orderDetl, BasDevp staNo, LocDetl locDetl,
            Double curOutQty, Integer ioType, Long userId, Date now) {
                         Double curOutQty, Integer ioType, Long userId, Date now) {
        // 获取库位
        LocMast locMast = locMastService.selectById(locDetl.getLocNo());
        // 获取路径
@@ -1312,6 +1321,7 @@
            throw new CoolException("数据错误：单据不存在！！");
        }
        List<OrderDetlPakin> detlPakins = orderDetlPakinService.selectList(new EntityWrapper<OrderDetlPakin>()
                .eq(!Cools.isEmpty(params.getThreeCode()), "three_code", params.getThreeCode())
                .eq(!Cools.isEmpty(params.getMatnr()), "matnr", params.getMatnr())
                .eq("order_id", orderPakin.getId()));
        if (Objects.isNull(detlPakins) || detlPakins.isEmpty()) {
@@ -1537,7 +1547,7 @@
            station.setModiTime(new Date());
            station.setModiUser(userId);
            if (!basStationService.updateById(station)) {
                throw new CoolException("更新目标库位状态失败");
                throw new CoolException("更新目标站点状态失败");
            }
        } else {
            throw new CoolException("移转失败，目标库位状态：" + station.getLocSts());
@@ -1607,6 +1617,7 @@
        if (Objects.isNull(param.getBarcode())) {
            throw new CoolException("托盘码不能为空！！");
        }

        if (Objects.isNull(param.getCombMats()) || param.getCombMats().isEmpty()) {
            throw new CoolException("组托明细不能为空！！");
        }
@@ -1737,6 +1748,7 @@
                    throw new CoolException("数据错误，站点不存在！！");
                }
                station.setLocSts(LocStsType.LOC_STS_TYPE_O.type);
                station.setBarcode("");
                if (!basStationService.updateById(station)) {
                    throw new CoolException("站点状态更新失败！！");
                }
@@ -1754,54 +1766,54 @@
     */
    @Override
    @Transactional(rollbackFor = Exception.class)
    public void combInPub(CompleteParam param, Long userId) {
    public R combInPub(CompleteParam param, Long userId) {
        if (Objects.isNull(param.getBarcode())) {
            throw new CoolException("托盘码不能为空！！");
        }
        if (Objects.isNull(param.getStation())) {
        if (Objects.isNull(param.getSourceStaNo())) {
            throw new CoolException("站点不能为空!!");
        }
//        // TODO 修改缓存站点状态及数据
//        Task task = taskService.selectOne(new EntityWrapper<Task>()
//                .eq("wrk_sts", 14L)
//                .eq("barcode", param.getCarBarcode()));
//        if (Objects.isNull(task)) {
//            throw new CoolException("数据错误,任务不存在!!");
//        }
//        List<TaskDetl> taskDetls = taskDetlService
//                .selectList(new EntityWrapper<TaskDetl>().eq("wrk_no", task.getWrkNo()));
//        if (Objects.isNull(taskDetls) || taskDetls.isEmpty()) {
//            throw new CoolException("数据错误,任务明细不存在!!");
//        }
        if (Objects.isNull(param.getLocType1())) {
            param.setLocType1((short) 1);
        }

        BasStation station = basStationService.selectOne(new EntityWrapper<BasStation>()
                .eq("dev_no", param.getStation()));

        log.info("WCS任务生成请求参数：", JSONObject.toJSONString(param));


        BasDevp station = basDevpService.selectOne(new EntityWrapper<BasDevp>()
                .eq("dev_no", param.getSourceStaNo()));
        if (Objects.isNull(station)) {
            throw new CoolException("站点不存在!!");
        }

        station.setLocSts(LocStsType.LOC_STS_TYPE_O.type);
        if (!basStationService.updateById(station)) {
            throw new CoolException("站点状态修改失败!");
        }
        basStationDetlService.delete(new EntityWrapper<BasStationDetl>().eq("dev_no", station.getDevNo()));

//        // 任务完成
//        task.setWrkSts(15L);
//
//        if (!taskService.updateById(task)) {
//            throw new CoolException("AGV任务完成失败!!");
//        }

        List<WaitPakin> waitPakins = waitPakinService
                .selectList(new EntityWrapper<WaitPakin>().eq("zpallet", param.getBarcode()));
                .selectList(new EntityWrapper<WaitPakin>()
                        .eq("io_status", "N")
                        .eq("zpallet", param.getBarcode()));
        if (Objects.isNull(waitPakins) || waitPakins.isEmpty()) {
            throw new CoolException("数据错误,组拖档已不存在!!");
        }

        generateCrnInTask(waitPakins, station, param.getLocType1(), userId);
        WrkMast wrkMast = generateCrnInTask(waitPakins, station, param.getLocType1(), userId);

        Map<String, Object> response = new HashMap<>();
        response.put("taskNo", wrkMast.getWrkNo());
        response.put("locNo", wrkMast.getLocNo());
        response.put("taskPri", wrkMast.getIoPri());

        return R.ok("任务生成成功").add(response);

    }

    /**
     * SO/EO 区组托
     *
     * @param params
     * @return com.core.common.R
     * @author Ryan
     * @date 2025/12/18 15:19
     */
    @Override
    @Transactional(rollbackFor = Exception.class)
    public R collectionPakin(CollectionPakinParams params, Long userId) {
@@ -1853,7 +1865,6 @@
                if (!basStationDetlService.insert(basStationDetl)) {
                    throw new CoolException("插入明细失败");
                }

            } else {
                BigDecimal anfme = new BigDecimal(basStationDetl.getAnfme().toString()).add(combMat.getWorkQty());
                basStationDetl.setAnfme(anfme.doubleValue());
@@ -1912,6 +1923,10 @@
            throw new CoolException("人物类型错误");
        }

        wrkDetlService.selectList(new EntityWrapper<WrkDetl>()
                .eq(!Objects.isNull(params.getMatnr()), "matnr", params.getMatnr())
                .eq("wrk_no", wrkMast.getWrkNo()));

        List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo());
        if (Cools.isEmpty(wrkDetls)) {
            throw new CoolException("未找到任务明细");
@@ -1928,18 +1943,18 @@
     * @date 2025/12/9 13:54
     */
    @Transactional(rollbackFor = Exception.class)
    public void generateCrnInTask(List<WaitPakin> waitPakins, BasStation station, Short locType, Long userId) {
    public WrkMast generateCrnInTask(List<WaitPakin> waitPakins, BasDevp station, Short locType, Long userId) {
        Date now = new Date();
        StationRela rela = stationRelaService.selectOne(new EntityWrapper<StationRela>()
                .eq("agv_sta", station.getDevNo())
                .orderAsc(Arrays.asList("crn_sta"))
                .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
//        StationRela rela = stationRelaService.selectOne(new EntityWrapper<StationRela>()
//                .eq("agv_sta", station.getDevNo())
//                .orderAsc(Arrays.asList("crn_sta"))
//                .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
//
//        if (Objects.isNull(rela)) {
//            throw new CoolException("未绑定作业站点!!");
//        }

        if (Objects.isNull(rela)) {
            throw new CoolException("未绑定作业站点!!");
        }

        BasDevp sourceStaNo = basDevpService.checkSiteStatus(Integer.parseInt(rela.getCrnSta()), true);
        BasDevp sourceStaNo = basDevpService.checkSiteStatus(station.getDevNo(), true);
        sourceStaNo.setLocType1(locType);
        LocTypeDto locTypeDto = new LocTypeDto(sourceStaNo);
        WaitPakin pakin = waitPakins.stream().findFirst().get();
@@ -1947,6 +1962,7 @@

        WrkMast mast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", pakin.getZpallet()));
        WrkMast wrkMast = new WrkMast();
        String locNo;
        if (!Objects.isNull(mast)) {
            if (mast.getIoType().equals(TaskIOType.MERGE_OUT.type) || mast.getIoType().equals(TaskIOType.PICK_OUT.type) || mast.getIoType().equals(TaskIOType.CHECK_OUT.type)) {
                int ioType = mast.getIoType() - 50;
@@ -1960,6 +1976,7 @@
                if (!res) {
                    throw new CoolException("保存工作档失败");
                }
                locNo = mast.getLocNo();
                // 更新源站点信息
                sourceStaNo.setWrkNo(mast.getWrkNo());
                sourceStaNo.setModiTime(now);
@@ -1980,8 +1997,10 @@
            } else {
                throw new CoolException("托盘已存在任务档！！");
            }

        } else {
            StartupDto dto = commonService.getLocNo(1, sourceStaNo.getDevNo(), findLocNoAttributeVo, locTypeDto);

            int workNo = dto.getWorkNo();
            // 生成工作档
            wrkMast.setWrkNo(workNo);
@@ -1990,7 +2009,7 @@
            wrkMast.setIoType(1); // 入出库状态：1.入库
            wrkMast.setCrnNo(dto.getCrnNo());
            wrkMast.setSourceStaNo(dto.getSourceStaNo() + "");
            wrkMast.setStaNo(dto.getStaNo() + "");
            wrkMast.setStaNo(!Objects.isNull(dto.getStaNo()) ? dto.getStaNo() + "" : null);
            wrkMast.setLocNo(dto.getLocNo());
            wrkMast.setIoPri(13D); // 优先级
            wrkMast.setBarcode(pakin.getZpallet()); // 托盘码
@@ -2009,6 +2028,7 @@
            if (!res) {
                throw new CoolException("保存工作档失败");
            }
            locNo = dto.getLocNo();
            // 更新源站点信息
            sourceStaNo.setWrkNo(workNo);
            sourceStaNo.setModiTime(now);
@@ -2042,17 +2062,18 @@
        });


        // 更新入库通知档 ioStatus ===>> Y
        Wrapper<WaitPakin> wrapper = new EntityWrapper<WaitPakin>()
                .eq("zpallet", pakin.getZpallet());
        WaitPakin setParam = new WaitPakin();
        setParam.setLocNo(locNo);
        setParam.setIoStatus("Y");
        setParam.setModiTime(now);
        if (!waitPakinService.update(setParam, wrapper)) {
            throw new CoolException("更新通知档失败");
        }

//        // 更新入库通知档 ioStatus ===>> Y
//        Wrapper<WaitPakin> wrapper = new EntityWrapper<WaitPakin>()
//                .eq("zpallet", pakin.getZpallet());
//        WaitPakin setParam = new WaitPakin();
//        setParam.setLocNo(dto.getLocNo());
//        setParam.setIoStatus("Y");
//        setParam.setModiTime(now);
//        if (!waitPakinService.update(setParam, wrapper)) {
//            throw new CoolException("更新通知档失败");
//        }
        return wrkMast;
    }

    /**
@@ -2118,7 +2139,7 @@
        }
        Collections.shuffle(devps);
        BasDevp basDevp = devps.stream().findFirst().get();
        List<LocMast> locMasts = new ArrayList<>();
        List<CrnTaskDetlDTO> locMasts = new ArrayList<>();
        Map<String, List<LocDetl>> listMap = locDetls.stream().collect(Collectors.groupingBy(LocDetl::getMatnr));
        //获取查库存总数量
        AtomicReference<Double> totalOut = new AtomicReference<>(0.0);
@@ -2162,7 +2183,8 @@
                            if (sum.compareTo(v) <= 0 && sum.compareTo(itemed.get()) > 0) {
                                itemed.set(Math.round((itemed.get() + v) * 10000) / 10000.0);
                                // 可放下
                                locMasts.add(locMast);
                                CrnTaskDetlDTO crnTaskDetlDTO = new CrnTaskDetlDTO().setLocNo(locMast.getLocNo()).setLocDetlList(adetls);
                                locMasts.add(crnTaskDetlDTO);
                                totalOut.set(Math.round((totalOut.get() + itemed.get()) * 10000) / 10000.0);
                            }
                        }
@@ -2173,17 +2195,24 @@

        // 判断根据分拣出库后,还需要出多少托盘或料箱;如果余料大于0, 出新托盘或料箱
        if (totalOut.get().compareTo(0.0) > 0) {
            generateTask(locMasts, TaskIOType.MERGE_OUT.type, basDevp, userId);
            //TODO 细化区分，当前出库托盘是滞满足拣货数量
            generateTask(locMasts, TaskIOType.MERGE_OUT.type, basDevp, userId, station);
            //TODO 细化区分，当前出库托盘是满足拣货数量
        } else {
            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                    // todo 根据物料种类,区分库区类型
                    .eq("loc_sts", LocStsType.LOC_STS_TYPE_D.type)
                    .orderAsc(Arrays.asList("row1", "bay1", "lev1"))
                    .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
            locMasts.add(locMast);

            if (Objects.isNull(locMast)) {
                throw new CoolException("未查询到可用的空板信息！！");
            }

            CrnTaskDetlDTO crnTaskDetlDTO = new CrnTaskDetlDTO().setLocNo(locMast.getLocNo()).setLocDetlList(locDetls);
            locMasts.add(crnTaskDetlDTO);

            // 空板出库
            generateTask(locMasts, TaskIOType.EMPTY_OUT.type, basDevp, userId);
            generateTask(locMasts, TaskIOType.MERGE_OUT.type, basDevp, userId, station);
        }
    }

@@ -2191,56 +2220,65 @@
     * 生成堆垛机出库任务
     *
     * @param locMasts
     * @param station
     * @author Ryan
     * @date 2025/12/6 14:44
     */
    @Transactional(rollbackFor = Exception.class)
    public void generateTask(List<LocMast> locMasts, Integer ioType, BasDevp devp, Long userId) {
    public void generateTask(List<CrnTaskDetlDTO> locMasts, Integer ioType, BasDevp devp, Long userId, BasStation station) {
        Date now = new Date();
        for (LocMast locMast : locMasts) {

        for (CrnTaskDetlDTO crnTaskDetlDTO : locMasts) {
            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", crnTaskDetlDTO.getLocNo()));
            if (Objects.isNull(ioType)) {
                continue;
            }
            Integer outSta = devp.getDevNo();
            // 获取路径
            StaDesc staDesc = staDescService.queryCrnStn(ioType, locMast.getCrnNo(), outSta);
            WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_loc_no", locMast.getLocNo()));
            // 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); // 入出库类型
            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.setFullPlt("Y"); // 满板：Y
            wrkMast.setPicking("N"); // 拣料
            wrkMast.setExitMk("N"); // 退出
            wrkMast.setEmptyMk("N"); // 空板
            wrkMast.setLinkMis("N");
            wrkMast.setBarcode(locMast.getBarcode());
            wrkMast.setAppeUser(userId); // 操作人员数据
            wrkMast.setAppeTime(now);
            wrkMast.setModiUser(userId);
            wrkMast.setModiTime(now);
            if (!wrkMastService.insert(wrkMast)) {
                throw new CoolException("保存工作档失败，出库库位号：" + locMast.getLocNo());
            if (Cools.isEmpty(wrkMast1)) {
                Integer outSta = devp.getDevNo();
                // 获取路径
                StaDesc staDesc = staDescService.queryCrnStn(ioType, locMast.getCrnNo(), outSta);

                // 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); // 入出库类型
                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
                //小松项目，缓存出库AGV站点，用于清空缓存区库存
                wrkMast.setPauseMk(station.getDevNo());
//                wrkMast.setAvgSta(station.getDevNo());;
                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.setBarcode(locMast.getBarcode());
                wrkMast.setAppeUser(userId); // 操作人员数据
                wrkMast.setAppeTime(now);
                wrkMast.setModiUser(userId);
                wrkMast.setModiTime(now);
                if (!wrkMastService.insert(wrkMast)) {
                    throw new CoolException("保存工作档失败，出库库位号：" + locMast.getLocNo());
                }
            } else {
                workNo = wrkMast1.getWrkNo();
            }

            List<LocDetl> locDetls = locDetlService
                    .selectList(new EntityWrapper<LocDetl>().eq("loc_no", locMast.getLocNo()));

            // 生成工作档明细
            for (LocDetl detlDto : locDetls) {
            for (LocDetl detlDto : crnTaskDetlDTO.getLocDetlList()) {
                WrkDetl wrkDetl = new WrkDetl();
                BeanUtils.copyProperties(detlDto, wrkDetl);
                wrkDetl.setOrderNo(""); // 手动出库不需要带出库存中的单据编号
                wrkDetl.setWrkNo(workNo);
                wrkDetl.setIoTime(now);
                wrkDetl.setZpallet(null);
                wrkDetl.setBarcode(null);
                wrkDetl.setAppeTime(now);
                wrkDetl.setAppeUser(userId);
                wrkDetl.setModiTime(now);
@@ -2279,7 +2317,7 @@
        Task task = new Task();
        task.setWrkNo(workNo)
                .setIoTime(new Date())
                .setWrkSts(11L) // 工作状态：11.生成出库ID
                .setWrkSts(301L) // 工作状态：11.生成出库ID
                .setIoType(loc.getLocSts().equals("D") ? 110 : 101) // 入出库状态： 11.库格移载
                .setTaskType("agv")
                .setIoPri(10D)
@@ -2356,11 +2394,6 @@
     */
    @Transactional(rollbackFor = Exception.class)
    public void generateAgvTask(String type, LocCache loc, String orgSite, String barcode, Long userId) {
        List<WaitPakin> pakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode));
        if (Objects.isNull(pakins) || pakins.isEmpty()) {
            throw new CoolException("组托信息不存在！！");
        }

        List<Task> tasks = taskService.selectList(new EntityWrapper<Task>().eq("barcode", barcode));
        if (!tasks.isEmpty()) {
            throw new CoolException("托盘已在任务执行中..");
@@ -2371,7 +2404,7 @@
        Task task = new Task();
        task.setWrkNo(workNo)
                .setIoTime(new Date())
                .setWrkSts(1L) // 工作状态：11.生成出库ID
                .setWrkSts(201L) // 工作状态：11.生成出库ID
                .setIoType(1) // 入出库状态： 11.库格移载
                .setTaskType("agv")
                .setIoPri(10D)
@@ -2391,32 +2424,39 @@
            throw new CoolException("保存工作档失败");
        }

        for (WaitPakin pakin : pakins) {
            TaskDetl wrkDetl = new TaskDetl();
            BeanUtils.copyProperties(pakin, wrkDetl);
            wrkDetl.setId(null).setWrkNo(workNo)
                    .setIoTime(new Date())
                    .setOrderNo(pakin.getOrderNo())
                    .setAnfme(pakin.getAnfme())
                    .setZpallet(pakin.getZpallet())
                    .setBatch(pakin.getBatch())
                    .setMatnr(pakin.getMatnr())
                    .setMaktx(pakin.getMaktx())
                    .setAppeUser(userId)
                    .setUnit(pakin.getUnit())
                    .setModel(pakin.getModel())
                    .setAppeTime(new Date())
                    .setModiUser(userId);
            if (!taskDetlService.insert(wrkDetl)) {
                throw new CoolException("保存工作档明细失败");
        if (!type.equals("agv_back")) {
            List<WaitPakin> pakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode));
            if (Objects.isNull(pakins) || pakins.isEmpty()) {
                throw new CoolException("组托信息不存在！！");
            }

        }
            for (WaitPakin pakin : pakins) {
                TaskDetl wrkDetl = new TaskDetl();
                BeanUtils.copyProperties(pakin, wrkDetl);
                wrkDetl.setId(null).setWrkNo(workNo)
                        .setIoTime(new Date())
                        .setOrderNo(pakin.getOrderNo())
                        .setAnfme(pakin.getAnfme())
                        .setZpallet(pakin.getZpallet())
                        .setBatch(pakin.getBatch())
                        .setMatnr(pakin.getMatnr())
                        .setMaktx(pakin.getMaktx())
                        .setAppeUser(userId)
                        .setUnit(pakin.getUnit())
                        .setModel(pakin.getModel())
                        .setAppeTime(new Date())
                        .setModiUser(userId);
                if (!taskDetlService.insert(wrkDetl)) {
                    throw new CoolException("保存工作档明细失败");
                }

        for (WaitPakin pakin : pakins) {
            pakin.setIoStatus("Y");
            if (!waitPakinService.updateById(pakin)) {
                throw new CoolException("更新组托信息失败");
            }

            for (WaitPakin pakin : pakins) {
                pakin.setIoStatus("Y");
                if (!waitPakinService.updateById(pakin)) {
                    throw new CoolException("更新组托信息失败");
                }
            }
        }

@@ -2438,7 +2478,7 @@
            throw new CoolException("站点不存在!!");
        }

        if (station.getLocSts().equals(LocStsType.LOC_STS_TYPE_O.type)) {
        if (station.getLocSts().equals(LocStsType.LOC_STS_TYPE_O.type) || station.getLocSts().equals(LocStsType.LOC_STS_TYPE_D.type)) {
            station.setLocSts("R"); // S.入库预约
            station.setBarcode(barcode);
            station.setModiTime(new Date());
@@ -2504,4 +2544,232 @@
        }
        return result;
    }

    /**
     * 呼叫AGV空台车返回
     *
     * @param callAgvBackParam
     * @return com.core.common.R
     * @author Ryan
     * @date 2025/9/24
     */
    @Override
    @Transactional(rollbackFor = Exception.class)
    public R agvCallback(AgvCallParams callAgvBackParam, Long userId) {
        if (Objects.isNull(callAgvBackParam.getOrgSite())) {
            return R.error("参数不能为空!!");
        }

        // 按当前查找库位顺序，查到一个后，不再往下查询
        LocCache locCache = findPriorityLocCache();

        if (Objects.isNull(locCache)) {
            return R.error("未查询到可用库位");
        }

        // 修改目标站点信息
        BasStation station = basStationService.selectOne(new EntityWrapper<BasStation>().eq("dev_no", callAgvBackParam.getOrgSite()));
        if (Objects.isNull(station)) {
            throw new CoolException("站点不存在!!");
        }

        try {
            //空台车回库
            generateAgvTask("agv_back", locCache, callAgvBackParam.getOrgSite(), station.getBarcode(), userId);
        } catch (Exception e) {
            e.printStackTrace();
            return R.error(e.getMessage());
        }

        return R.ok(locCache);
    }

    /**
     * 移库任务申请
     *
     * @param combParam
     * @param userId
     * @return
     */
    @Override
    @Transactional(rollbackFor = Exception.class)
    public R taskMove(CompleteParam combParam, long userId) {
        if (Objects.isNull(combParam.getWorkNo())) {
            return R.error("任务号不能为空");
        }
        if (Objects.isNull(combParam.getSourceLocNo())) {
            return R.error("源库位不能为空！！");
        }
        if (Objects.isNull(combParam.getLocNo())) {
            return R.error("目标库位不能为空！");
        }
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", combParam.getWorkNo()));
        if (Objects.isNull(wrkMast)) {
            return R.error("任务档不存在！！");
        }
        String body = JSON.toJSONString(combParam);
        boolean success = false;
        String response = "";
        try {
            response = new HttpHandler.Builder()
                    .setUri(HIKApiConstant.AGV_IP)
                    .setPath(MesConstant.MOVE_LOC_TASK)
                    .setJson(body)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getInteger("code").equals(200)) {
                wrkMast.setWrkSts(12L);
                if (!wrkMastService.updateById(wrkMast)) {
                    throw new CoolException("任务状态更新失败！！");
                }
                success = true;
            } else {
                log.error("发送agv任务失败！！！url：{}；request：{}；response：{}", MesConstant.WCS_URL + MesConstant.MOVE_LOC_TASK, body, response);
            }
        } catch (Exception e) {
            log.error("发送agv任务异常", e);
        } finally {
            try {
                // 保存接口日志
                apiLogService.save(
                        "发送agv任务",
                        MesConstant.WCS_URL + MesConstant.MOVE_LOC_TASK,
                        null,
                        "127.0.0.1",
                        body,
                        response,
                        success);
            } catch (Exception e) {
                log.error("", e);
            }
        }

        return null;
    }

    /**
     * 6.15WCS申请在库库位更换库位
     * @param combParam
     * @param l
     * @return
     */
    @Override
    @Transactional(rollbackFor = Exception.class)
    public R changeLoc(CompleteParam combParam, long l) {
        if (Objects.isNull(combParam)) {
            return R.error("参数不能为空！");
        }
        if (Objects.isNull(combParam.getLocNo())) {
            return R.error("库位号不能为空!!");
        }
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", combParam.getLocNo()));
        if (Objects.isNull(locMast)) {
            return R.error("库位信息不存在或库位状态非 F.在库 状态");
        }

        List<Integer> doubleLocs = slaveProperties.getDoubleLocs();
        List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
                .in("row1", doubleLocs)
                .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type));
        Map<String, Object> result = new HashMap<>();
        LocMast selected = new LocMast();
        for (LocMast loc : locMasts) {
            LocMast temLoc = locMastService.selectById(loc.getLocNo());
            if (Objects.isNull(temLoc)) {
                throw new CoolException("数据错误， 原库位信息不存在！！");
            }
            String shallowLoc = Utils.getShallowLoc(slaveProperties, temLoc.getLocNo());

            LocMast locMast1 = locMastService.selectById(shallowLoc);
            if (Objects.isNull(locMast1)) {
                throw new CoolException("数据错误， 新库位信息不存在！！");
            }
            if (!locMast1.getLocSts().equals(LocStsType.LOC_STS_TYPE_O.type)) {
                continue;
            }
            selected = loc;

            break;
        }

        WrkMast moveTask = generateMoveTask(selected, locMast);
        result.put("locNo", selected.getLocNo());
        result.put("taskNo", moveTask.getWrkNo());

        return R.ok().add(result);

    }

    /**
     * 生成移库任务
     *
     * @param result
     * @param sourceLoc
     * @return
     */
    @Transactional(rollbackFor = Exception.class)
    public WrkMast generateMoveTask(LocMast result, LocMast sourceLoc) {
        WrkMast wrkMast = new WrkMast();
        int workNo = commonService.getWorkNo(0);

        wrkMast.setWrkNo(workNo);
        wrkMast.setLocNo(result.getLocNo());
        wrkMast.setSourceLocNo(sourceLoc.getLocNo());
        wrkMast.setWrkSts(11L);
        wrkMast.setIoType(11);
        wrkMast.setCrnNo(sourceLoc.getCrnNo());
        wrkMast.setAppeTime(new Date());
        wrkMast.setModiTime(new Date());
        wrkMast.setIoPri(13D);
        wrkMast.setWrkDate(new Date());

        if (!wrkMastService.insert(wrkMast)) {
            throw new CoolException("任务保存失败！！");
        }

        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLoc.getLocNo()));
        locDetls.forEach(detl -> {
            detl.setLocNo(result.getLocNo());
            if (!locDetlService.updateById(detl)) {
                throw new CoolException("明细更新失败！！");
            }
        });

        return wrkMast;
    }

    /**
     * 按优先级查找可用库位
     * 顺序：入库缓存区 -> SO区 -> EO区
     */
    private LocCache findPriorityLocCache() {
        // 1. Try Inbound Cache Area
        LocCache loc = findAvailableLocByAreaType(LocAreaType.LOC_AREA_TYPE_IN_CACHE);
        if (loc != null) return loc;

        // 2. Try SO Area
        loc = findAvailableLocByAreaType(LocAreaType.LOC_AREA_TYPE_SO);
        if (loc != null) return loc;

        // 3. Try EO Area
        loc = findAvailableLocByAreaType(LocAreaType.LOC_AREA_TYPE_EO);
        return loc;
    }

    /**
     * 根据区域类型查找可用库位
     */
    private LocCache findAvailableLocByAreaType(LocAreaType areaType) {
        BasAreas area = basAreasService.selectOne(new EntityWrapper<BasAreas>().eq("whs_type_id", areaType.type));
        if (area == null) {
            return null;
        }
        return locCacheService.selectOne(new EntityWrapper<LocCache>()
                .eq("area_id", area.getId())
                .eq("frozen", 0)
                .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
                .orderAsc(Arrays.asList("loc_no"))
                .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
    }
}