agv出库逻辑

chen.llin

2 天以前 d7020a8f1ec6f55167b4ad14941de0e28ce3d8c1

 src/main/java/com/zy/asrs/task/handler/WorkMastHandler.java

@@ -2,18 +2,29 @@

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.enums.LocStsType;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.BasStationServiceImpl;
import com.zy.asrs.task.AbstractHandler;
import com.zy.asrs.task.core.ReturnT;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.properties.AgvProperties;
import com.zy.common.service.CommonService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.Arrays;
import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.Set;
import java.util.stream.Collectors;

/**
 * Created by vincent on 2020/7/4
@@ -39,19 +50,42 @@
    private OrderDetlPakinService orderDetlPakinService;
    @Autowired
    private OrderDetlPakoutService orderDetlPakoutService;
    @Autowired
    private LocCacheService locCacheService;
    @Autowired
    private OrderPakinService orderPakinService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private TaskDetlService taskDetlService;
    @Autowired
    private BasStationServiceImpl basStationService;

    @Autowired
    private LocCacheDetlService locCacheDetlService;
    
    @Autowired
    private CommonService commonService;
    
    @Autowired
    private AgvProperties agvProperties;
    
    @Autowired
    private WrkMastLogService wrkMastLogService;

    public ReturnT<String> start(WrkMast wrkMast) {
        // 4.入库完成
        if (wrkMast.getWrkSts() == 4) {
            return doIn(wrkMast);
        // 14.出库完成
        } else  if (wrkMast.getWrkSts() == 14) {
            // 14.出库完成
        } else if (wrkMast.getWrkSts() == 14) {
            return doOut(wrkMast);
        }
        return SUCCESS;
    }

    private ReturnT<String> doIn(WrkMast wrkMast){

    public ReturnT<String> doIn(WrkMast wrkMast) {
        Date now = new Date();
        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
        try {
@@ -96,16 +130,19 @@
                    // 遍历工作明细，更新库存明细和入库通知档
                    for (WrkDetl wrkDetl : wrkDetls) {

                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch());
                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand()
                                , wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(), wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (null != locDetl) {
                            if (!locDetlService.updateAnfme(wrkDetl.getAnfme(), wrkMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch())) {
                            if (!locDetlService.updateAnfme(wrkDetl.getAnfme(), wrkMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3()
                                    , wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3())) {
//                                exceptionHandle("全板入库 ===>> 更新库存明细失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("全板入库 ===>> 更新库存明细失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                            }
                        } else {
                            locDetl = new LocDetl();
                            locDetl.sync(wrkDetl);
                            BeanUtils.copyProperties(wrkDetl, locDetl);
//                            locDetl.sync(wrkDetl);
                            locDetl.setLocNo(wrkMast.getLocNo()); // 库位号
                            locDetl.setAnfme(wrkDetl.getAnfme()); // 数量
                            locDetl.setZpallet(wrkDetl.getZpallet()); // 托盘条码
@@ -120,26 +157,27 @@

                        // 更新订单完成数量
                        OrderDetlPakin orderDetlPakin = orderDetlPakinService.selectItem
                                (wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3());
                        if (orderDetlPakin==null){
                                (wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (orderDetlPakin == null) {
                            orderDetlPakin = orderDetlPakinService.selectItem
                                    (wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),
                                            wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                            wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3());
                                            wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                            wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        }
                        try {
                            if(!Cools.isEmpty(orderDetlPakin)){
                                if(!orderDetlPakinService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakin.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3(),wrkDetl.getAnfme())){
                            if (!Cools.isEmpty(orderDetlPakin)) {
                                if (!orderDetlPakinService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakin.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3(), wrkDetl.getAnfme())) {
//                                    exceptionHandle("全板入库 ===>> 更新订单完成数量失败；[workNo={0}],[locNo={1}]",
//                                            wrkMast.getWrkNo(), wrkMast.getLocNo());
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("全板入库 ===>> 更新订单完成数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                                }
                            }
                        } catch (Exception ignore){}
                        } catch (Exception ignore) {
                        }

                    }
                    // 修改库位状态 S ====>> F
@@ -155,6 +193,50 @@
                        }
                    }
                    break;
                // 拣料途中并板
                case 8:
                    // 根据工作号，查询工作明细档
                    List<WrkDetl> wrkDetls8 = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
                    if (wrkDetls8.isEmpty()) {
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        return FAIL.setMsg("拣料途中并板 ===>> 工作明细档不存在; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                    }
                    // 遍历工作明细，更新库存明细和入库通知档
                    for (WrkDetl wrkDetl : wrkDetls8) {
                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand()
                                , wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(), wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (null != locDetl) {
                            if (!locDetlService.updateAnfme(wrkDetl.getAnfme() + locDetl.getAnfme(), wrkMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3()
                                    , wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3())) {
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("拣料途中并板 ===>> 更新库存明细失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                            }
                        } else {
                            locDetl = new LocDetl();
                            BeanUtils.copyProperties(wrkDetl, locDetl);
//                            locDetl.sync(wrkDetl);
                            locDetl.setLocNo(wrkMast.getLocNo()); // 库位号
                            locDetl.setAnfme(wrkDetl.getAnfme()); // 数量
                            locDetl.setZpallet(wrkDetl.getZpallet()); // 托盘条码
                            locDetl.setModiTime(now);
                            locDetl.setAppeTime(now);
                            if (!locDetlService.insert(locDetl)) {
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("拣料途中并板 ===>> 添加库存明细失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                            }
                        }

                        if (!Cools.isEmpty(wrkDetl.getOrderNo())) {
                            // 更新订单完成数量
                            if (!orderDetlPakinService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                    wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                    wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3(), wrkDetl.getAnfme())) {
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("拣料途中并板 ===>> 更新订单完成数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                            }
                        }
                    }
                    break;
                // 拣料入库
                case 53:
                    // 根据工作号，查询工作明细档
@@ -166,9 +248,11 @@
                    }
                    for (WrkDetl wrkDetl : wrkDetls53) {

                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch());
                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand()
                                , wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(), wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (null != locDetl) {
                            if (!locDetlService.updateAnfme(locDetl.getAnfme() - wrkDetl.getAnfme(), locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch())) {
                            if (!locDetlService.updateAnfme(locDetl.getAnfme() - wrkDetl.getAnfme(), locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3()
                                    , wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3())) {
//                                exceptionHandle("拣料入库 ===>> 修改库存明细数量失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("拣料入库 ===>> 修改库存明细数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
@@ -177,26 +261,27 @@

                        // 更新订单完成数量
                        OrderDetlPakin orderDetlPakin = orderDetlPakinService.selectItem
                                (wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),wrkDetl.getBrand(),
                                        wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3());
                        if (orderDetlPakin==null){
                                (wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(),
                                        wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (orderDetlPakin == null) {
                            orderDetlPakin = orderDetlPakinService.selectItem
                                    (wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                            wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3());
                                    (wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                            wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        }
                        try {
                            if(!Cools.isEmpty(orderDetlPakin)){
                                if(!orderDetlPakinService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakin.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3(),wrkDetl.getAnfme())){
                            if (!Cools.isEmpty(orderDetlPakin)) {
                                if (!orderDetlPakinService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakin.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3(), wrkDetl.getAnfme())) {
//                                    exceptionHandle("拣料入库 ===>> 更新订单完成数量失败；[workNo={0}],[locNo={1}]",
//                                            wrkMast.getWrkNo(), wrkMast.getLocNo());
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("拣料入库 ===>> 更新订单完成数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                                }
                            }
                        } catch (Exception ignore){}
                        } catch (Exception ignore) {
                        }

                    }
                    // 修改库位状态 Q ====>> F
@@ -222,29 +307,47 @@
                        return FAIL.setMsg("并板入库 ===>> 工作明细档为空; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                    }
                    // 修改库存明细数量，如无库存，曾新增
                    for (WrkDetl wrkDetl:wrkDetls54) {
                    for (WrkDetl wrkDetl : wrkDetls54) {

                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch());
                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand()
                                , wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(), wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (null != locDetl) {
                            if (!locDetlService.updateAnfme(wrkDetl.getAnfme(), locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch())) {
                            if (!locDetlService.updateAnfme(wrkDetl.getAnfme(), locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3()
                                    , wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3())) {
//                                exceptionHandle("并板入库 ===>> 修改库存明细数量失败；[workNo={0}],[matnr={1}]", wrkMast.getWrkNo(), wrkDetl.getMatnr());
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("并板入库 ===>> 修改库存明细数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                            }
                        } else {
                            locDetl = new LocDetl();
                            locDetl.sync(wrkDetl);
                            BeanUtils.copyProperties(wrkDetl, locDetl);
//                            locDetl.sync(wrkDetl);
                            locDetl.setLocNo(wrkMast.getLocNo()); // 库位号
                            locDetl.setAnfme(wrkDetl.getAnfme()); // 数量
                            locDetl.setZpallet(wrkDetl.getZpallet()); // 托盘条码
                            locDetl.setModiTime(now);
                            locDetl.setAppeTime(now);
                            if (!locDetlService.insert(locDetl)) {
//                                exceptionHandle("并板入库 ===>> 新增库存明细失败；[workNo={0}],[matnr={1}]", wrkMast.getWrkNo(), wrkDetl.getMatnr());
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("并板入库 ===>> 新增库存明细失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                            }
                        }

                        // 更新订单完成数量
                        OrderDetlPakin orderDetlPakin = orderDetlPakinService.selectItem(wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(), wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        try {
                            if (!Cools.isEmpty(orderDetlPakin)) {
                                if (!orderDetlPakinService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakin.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3(), wrkDetl.getAnfme())) {
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("并板入库 ===>> 更新订单完成数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                                }
                            }
                        } catch (Exception ignore) {

                        }

                    }
                    // 修改库位状态 Q ====>> F
                    if (locMast.getLocSts().equals("Q")) {
@@ -268,9 +371,24 @@
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        return FAIL.setMsg("盘点入库 ===>> 工作明细档为空; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                    }
                    for (WrkDetl wrkDetl : wrkDetls57) {
                        if (!Cools.isEmpty(wrkDetl.getOrderNo())) {
                            // 更新订单完成数量
                            OrderDetlPakout orderDetlPakout = orderDetlPakoutService.selectItem(wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                    wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                            if (!Cools.isEmpty(orderDetlPakout)) {
                                if (!orderDetlPakoutService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakout.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3(), wrkDetl.getAnfme())) {
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("盘点入库 ===>> 更新订单完成数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getSourceLocNo() + "]");
                                }
                            }
                        }
                    }
                    // 修改库位状态 Q ====>> F
                    if (locMast.getLocSts().equals("Q")) {
                        locMast.setLocSts(wrkMast.getFullPlt().equals("Y")?"F":"D");
                        locMast.setLocSts(wrkMast.getFullPlt().equals("Y") ? "F" : "D");
                        locMast.setBarcode(wrkMast.getBarcode());
                        locMast.setIoTime(now);
                        locMast.setModiTime(now);
@@ -336,10 +454,11 @@
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            return FAIL.setMsg(e.getMessage());
        }

        return SUCCESS;
    }

    private ReturnT<String> doOut(WrkMast wrkMast){
    private ReturnT<String> doOut(WrkMast wrkMast) {
        Date now = new Date();
        LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
        try {
@@ -365,28 +484,27 @@
                    }
                    for (WrkDetl wrkDetl : wrkDetls101) {
                        // 更新订单完成数量
                        OrderDetlPakout orderDetlPakout = orderDetlPakoutService.selectItem(wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3());
                        if (orderDetlPakout==null){
                            orderDetlPakout = orderDetlPakoutService.selectItem(wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                    wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3());
                        OrderDetlPakout orderDetlPakout = orderDetlPakoutService.selectItem(wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (orderDetlPakout == null) {
                            orderDetlPakout = orderDetlPakoutService.selectItem(wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                    wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        }
                        try {
                            if(!Cools.isEmpty(orderDetlPakout)){
                                if(!orderDetlPakoutService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakout.getBatch(),wrkDetl.getBrand(),wrkDetl.getStandby1(),wrkDetl.getStandby2(),wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(),wrkDetl.getBoxType2(),wrkDetl.getBoxType3(),wrkDetl.getAnfme())){
//                                    exceptionHandle("全板出库 ===>> 更新订单完成数量失败；[workNo={0}],[locNo={1}]",
//                                            wrkMast.getWrkNo(), wrkMast.getLocNo());
                            if (!Cools.isEmpty(orderDetlPakout)) {
                                if (!orderDetlPakoutService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakout.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3(), wrkDetl.getAnfme())) {
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("全板出库 ===>> 更新订单完成数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getSourceLocNo() + "]");
                                }
                            }
                        } catch (Exception ignore){}
                        } catch (Exception ignore) {

                        }
                    }
                    // 删除工作档源库位的库存明细
                    if (!locDetlService.delete(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()))) {
//                        exceptionHandle("全板出库 ===>> 删除库存明细失败；[workNo={0}],[sourceLocNo={1}]", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        return FAIL.setMsg("全板出库 ===>> 删除库存明细失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getSourceLocNo() + "]");
                    }
@@ -397,9 +515,42 @@
                        locMast.setModiTime(now);
                        locMast.setIoTime(now);
                        if (!locMastService.updateById(locMast)) {
//                            exceptionHandle("全板出库 ===>> 修改源库位状态失败；[workNo={0}],[sourceLocNo={1}]", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                            return FAIL.setMsg("全板出库 ===>> 修改源库位状态失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getSourceLocNo() + "]");
                        }
                    }
                    break;
                // 并板途中捡料
                case 108:
                    // 根据工作号，查询工作明细档
                    List<WrkDetl> wrkDetls108 = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
                    if (wrkDetls108.isEmpty()) {
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        return FAIL.setMsg("并板途中捡料 ===>> 工作明细档为空; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getSourceLocNo() + "]");
                    }
                    for (WrkDetl wrkDetl : wrkDetls108) {
                        LocDetl locDetl = locDetlService.selectItem(locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand()
                                , wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(), wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        if (null != locDetl) {
                            if (!locDetlService.updateAnfme(locDetl.getAnfme() - wrkDetl.getAnfme(), locMast.getLocNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3()
                                    , wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3())) {
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                return FAIL.setMsg("并板途中捡料 ===>> 修改库存明细数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getLocNo() + "]");
                            }
                        }
                        // 更新订单完成数量
                        OrderDetlPakout orderDetlPakout = orderDetlPakoutService.selectItem(wrkDetl.getOrderNo(), wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3());
                        try {
                            if (!Cools.isEmpty(orderDetlPakout)) {
                                if (!orderDetlPakoutService.increaseQtyByOrderNo(wrkDetl.getOrderNo(), wrkDetl.getMatnr(),
                                        orderDetlPakout.getBatch(), wrkDetl.getBrand(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),
                                        wrkDetl.getBoxType1(), wrkDetl.getBoxType2(), wrkDetl.getBoxType3(), wrkDetl.getAnfme())) {
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                    return FAIL.setMsg("并板途中捡料 ===>> 更新订单完成数量失败; [workNo=" + wrkMast.getWrkNo() + "],[locNo=" + wrkMast.getSourceLocNo() + "]");
                                }
                            }
                        } catch (Exception ignore) {
                        }
                    }
                    break;
@@ -438,4 +589,332 @@
        return SUCCESS;
    }

    /**
     * @author Ryan
     * @date 2025/9/23
     * @description: AGV任务完成加入历史档
     * @version 1.0
     */
    @Transactional(rollbackFor = Exception.class)
    public ReturnT<String> AgvStart(Task task) {
        // 4.入库完成
        if (task.getWrkSts() == 4) {
            return agvDoIn(task);
            // 14.出库完成
        } else if (task.getWrkSts() == 14) {
            return agvDoOut(task);
            // 15.出库更新完成 - 生成空托/满托出库任务
        } else if (task.getWrkSts() == 15) {
            return generateEmptyOrFullPalletOutTaskForCompleted(task);
        }
        return SUCCESS;
    }


    /**
     * @author Ryan
     * @date 2025/9/25
     * @description: AGV出库任务
     * @version 1.0
     */
    @Transactional(rollbackFor = Exception.class)
    public ReturnT<String> agvDoOut(Task task) {
        if (task.getIoType().equals(101)) {
            Date now = new Date();
            LocCache locMast = locCacheService.selectOne(new EntityWrapper<LocCache>().eq("loc_no", task.getSourceLocNo()));
            if (Objects.isNull(locMast)) {
                throw new RuntimeException("数据错误：库位信息不能为空！！");
            }
            List<TaskDetl> wrkDetls101 = taskDetlService.selectList(new EntityWrapper<TaskDetl>().eq("wrk_no", task.getWrkNo()));
            if (wrkDetls101.isEmpty()) {
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                return FAIL.setMsg("全板出库 ===>> 工作明细档为空; [workNo=" + task.getWrkNo() + "],[locNo=" + task.getSourceLocNo() + "]");
            }
            // 删除工作档源库位的库存明细
            if (!locDetlService.delete(new EntityWrapper<LocDetl>().eq("loc_no", task.getSourceLocNo()))) {
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                return FAIL.setMsg("全板出库 ===>> 删除库存明细失败; [workNo=" + task.getWrkNo() + "],[locNo=" + task.getSourceLocNo() + "]");
            }
            // 修改源库位状态 R ===>> O
            if (locMast.getLocSts().equals(LocStsType.LOC_STS_TYPE_R.type)) {
                locMast.setLocSts(LocStsType.LOC_STS_TYPE_O.type);
                locMast.setBarcode("");
                locMast.setModiTime(now);
                locMast.setIoTime(now);
                if (!locCacheService.updateById(locMast)) {
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    return FAIL.setMsg("全板出库 ===>> 修改源库位状态失败; [workNo=" + task.getWrkNo() + "],[locNo=" + task.getSourceLocNo() + "]");
                }
            } else {
                throw new CoolException("当前库位状态" + locMast.getLocSts() + ", 无法执行出库操作！！");
            }
            task.setWrkSts(15L);
            if (!taskService.updateById(task)) {
                throw new CoolException("任务状态修改失败！！");
            }
            // 注意：生成空托/满托出库任务的逻辑已移至状态15的处理方法中
        } else if(task.getIoType().equals(53) || task.getIoType().equals(54) || task.getIoType().equals(57)){
            LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>().eq("loc_no", task.getSourceLocNo()));
            if (Objects.isNull(locCache)) {
                throw new CoolException("数据错误，库位不存在！！");
            }
            if (!locCache.getLocSts().equals(LocStsType.LOC_STS_TYPE_R.type)) {
                throw new CoolException("当前库位状态为：" + LocStsType.LOC_STS_TYPE_R.type + "." + LocStsType.LOC_STS_TYPE_R.desc + "，不是出库预约状态");
            }

            locCache.setLocSts(LocStsType.LOC_STS_TYPE_O.type);
            locCache.setModiTime(new Date());
            locCache.setBarcode(null);
            locCache.setModiTime(new Date());
            locCache.setIoTime(new Date());
            if (!locCacheService.updateById(locCache)) {
                throw new CoolException("库位状态修改失败！");
            }

            boolean deleted = locCacheDetlService.delete(new EntityWrapper<LocCacheDetl>().eq("loc_id", locCache.getId()));

            if (!deleted){
                throw new CoolException("库位明细删除失败！");
            }

            task.setWrkSts(15L);
            task.setModiTime(new Date());
            if (!taskService.updateById(task)) {
                throw new CoolException("任务状态修改失败！！");
            }
        }
        return SUCCESS;
    }

    /**
     * 状态15（出库更新完成）时，生成空托出库或满托出库任务，将托盘放入缓存库位
     * @param completedTask 已完成出库更新的任务（状态15）
     * @return 处理结果
     */
    @Transactional(rollbackFor = Exception.class)
    public ReturnT<String> generateEmptyOrFullPalletOutTaskForCompleted(Task completedTask) {
        // 只处理ioType=101的全板出库任务
        if (!completedTask.getIoType().equals(101)) {
            return SUCCESS;
        }
        
        // 检查是否已经生成过空托/满托出库任务（避免重复生成）
        List<Task> existingTasks = taskService.selectList(new EntityWrapper<Task>()
                .eq("barcode", completedTask.getBarcode())
                .in("io_type", 110, 101) // 空板出库或全板出库
                .eq("wrk_sts", 7) // 待呼叫AGV状态
        );
        if (!existingTasks.isEmpty()) {
            log.info("任务ID：{}的托盘码：{}已存在空托/满托出库任务，跳过生成", completedTask.getId(), completedTask.getBarcode());
            return SUCCESS;
        }
        
        try {
            generateEmptyOrFullPalletOutTask(completedTask, null);
            return SUCCESS;
        } catch (Exception e) {
            log.error("状态15时生成空托/满托出库任务失败，任务ID：{}，错误：{}", completedTask.getId(), e.getMessage(), e);
            return FAIL.setMsg("生成空托/满托出库任务失败：" + e.getMessage());
        }
    }

    /**
     * 出库完成后，生成空托出库或满托出库任务，将托盘放入缓存库位
     * @param outTask 出库任务
     * @param sourceLocCache 源库位（可为null）
     */
    private void generateEmptyOrFullPalletOutTask(Task outTask, LocCache sourceLocCache) {
        // 判断托盘类型：空托或满托
        boolean isEmptyPallet = "Y".equals(outTask.getEmptyMk());
        Integer ioType = isEmptyPallet ? 110 : 101; // 110=空板出库，101=全板出库（满托出库）
        
        log.info("出库任务完成，生成{}任务，任务ID：{}，托盘码：{}", isEmptyPallet ? "空托出库" : "满托出库", outTask.getId(), outTask.getBarcode());
        
        // 分配缓存库位（whs_type=2）
        LocCache cacheLoc = locCacheService.selectOne(new EntityWrapper<LocCache>()
                .eq("whs_type", agvProperties.getWhsTypeMapping().getCacheArea()) // whs_type=2 缓存区
                .eq("frozen", 0)
                .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type) // O.闲置
                .ne("full_plt", isEmptyPallet ? "Y" : "N") // 空托不选满板库位，满托不选空板库位
                .orderAsc(Arrays.asList("row1", "bay1", "lev1"))
                .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
        
        if (cacheLoc == null) {
            log.warn("没有可用的缓存库位，无法生成{}任务，任务ID：{}", isEmptyPallet ? "空托出库" : "满托出库", outTask.getId());
            return;
        }
        
        // 获取出库站点（出库任务的staNo是出库站点，将作为空托/满托出库任务的源站点）
        String outboundStaNo = outTask.getStaNo();
        if (outboundStaNo == null || outboundStaNo.isEmpty()) {
            log.warn("出库任务没有出库站点，无法生成{}任务，任务ID：{}", isEmptyPallet ? "空托出库" : "满托出库", outTask.getId());
            return;
        }
        
        // 根据缓存区配置选择站点和机器人组（西侧）
        List<String> cacheStations = agvProperties.getWestStations();
        String robotGroup = agvProperties.getRobotGroupWest();
        
        if (cacheStations.isEmpty()) {
            log.warn("缓存区没有配置站点，无法生成{}任务，任务ID：{}", isEmptyPallet ? "空托出库" : "满托出库", outTask.getId());
            return;
        }
        
        // 检查工作档是否已完成或已转历史档
        boolean workCompleted = false;
        if (outTask.getWrkNo() != null) {
            // 检查工作档是否存在且已完成
            WrkMast wrkMast = wrkMastService.selectOne(
                new EntityWrapper<WrkMast>().eq("wrk_no", outTask.getWrkNo())
            );
            
            if (wrkMast != null) {
                Long wrkSts = wrkMast.getWrkSts();
                // 出库任务完成状态：14（已出库未确认）或15（出库更新完成）
                if (wrkSts != null && (wrkSts == 14L || wrkSts == 15L)) {
                    workCompleted = true;
                    log.debug("工作档{}已完成，状态：{}", outTask.getWrkNo(), wrkSts);
                }
            } else {
                // 如果工作档不存在，检查历史档
                WrkMastLog wrkMastLog = wrkMastLogService.selectOne(
                    new EntityWrapper<WrkMastLog>().eq("wrk_no", outTask.getWrkNo())
                );
                if (wrkMastLog != null) {
                    long logWrkSts = wrkMastLog.getWrkSts();
                    // 出库任务历史档完成状态：15（出库更新完成）
                    if (logWrkSts == 15L) {
                        workCompleted = true;
                        log.debug("工作档{}已转历史档并完结，历史档状态：{}", outTask.getWrkNo(), logWrkSts);
                    }
                }
            }
        }
        
        // 检查是否有从该出库站点到缓存区的正在搬运任务（状态8：已呼叫AGV，正在搬运）
        // 出库到缓存区的任务类型：101（全板出库）或110（空板出库）
        List<Task> transportingTasks = taskService.selectList(
            new EntityWrapper<Task>()
                .eq("source_sta_no", outboundStaNo) // 源站点是出库站点
                .in("sta_no", cacheStations) // 目标站点是缓存区站点
                .eq("task_type", "agv")
                .eq("wrk_sts", 8L) // 只检查正在搬运状态的任务
                .in("io_type", 101, 110) // 出库到缓存区的任务类型
        );
        
        // 如果有正在搬运的任务，且工作档未完成，则不分配缓存库位
        if (!transportingTasks.isEmpty() && !workCompleted) {
            log.info("出库站点{}到缓存区有{}个正在搬运的AGV任务，且工作档未完成，暂不分配缓存库位，等待搬运完成。出库任务ID：{}", 
                outboundStaNo, transportingTasks.size(), outTask.getId());
            return; // 有正在搬运的任务且工作档未完成，不分配缓存库位，等待下次检查
        }
        
        if (!transportingTasks.isEmpty() && workCompleted) {
            log.info("出库站点{}到缓存区有{}个正在搬运的AGV任务，但工作档已完成或已转历史档，允许分配缓存库位。出库任务ID：{}", 
                outboundStaNo, transportingTasks.size(), outTask.getId());
        }
        
        // 选择缓存区目标站点（使用第一个可用站点，或可以优化为选择任务最少的站点）
        String cacheStaNo = cacheStations.get(0);
        
        // 生成工作号
        int workNo = commonService.getWorkNo(WorkNoType.PAKOUT.type);
        
        // 创建空托出库/满托出库任务
        Task cacheTask = new Task();
        Date now = new Date();
        cacheTask.setWrkNo(workNo)
                .setIoTime(now)
                .setWrkSts(7L) // 工作状态：7.待呼叫AGV
                .setIoType(ioType) // 110=空板出库，101=全板出库
                .setTaskType("agv")
                .setIoPri(10D)
                .setStaNo(cacheStaNo) // 目标站点（缓存区站点）
                .setSourceStaNo(outboundStaNo) // 源站点（出库站点）
                .setInvWh(robotGroup) // 机器人组（西侧）
                .setFullPlt(isEmptyPallet ? "N" : "Y") // 满板：空托=N，满托=Y
                .setPicking("N")
                .setExitMk("N")
                .setSourceLocNo(null) // 出库任务不需要源库位
                .setLocNo(cacheLoc.getLocNo()) // 目标库位（缓存库位）
                .setEmptyMk(isEmptyPallet ? "Y" : "N") // 空板标记
                .setBarcode(outTask.getBarcode()) // 托盘码
                .setLinkMis("N")
                .setAppeTime(now)
                .setModiTime(now);
        
        if (!taskService.insert(cacheTask)) {
            log.error("生成{}任务失败，任务ID：{}", isEmptyPallet ? "空托出库" : "满托出库", outTask.getId());
            return;
        }
        
        // 更新缓存库位状态：O.闲置 → S.入库预约
        cacheLoc.setLocSts(LocStsType.LOC_STS_TYPE_S.type);
        cacheLoc.setBarcode(outTask.getBarcode());
        cacheLoc.setModiTime(now);
        if (!locCacheService.updateById(cacheLoc)) {
            log.error("更新缓存库位状态失败，库位：{}", cacheLoc.getLocNo());
            // 回滚任务
            taskService.deleteById(cacheTask.getId());
            return;
        }
        
        log.info("成功生成{}任务，任务ID：{}，工作号：{}，源站点：{}，目标站点：{}，缓存库位：{}", 
                isEmptyPallet ? "空托出库" : "满托出库", cacheTask.getId(), workNo, outboundStaNo, cacheStaNo, cacheLoc.getLocNo());
    }

    @Transactional(rollbackFor = Exception.class)
    public ReturnT<String> agvDoIn(Task wrkMast) {
        if (wrkMast.getIoType().equals(1)) {
            LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>().eq("loc_no", wrkMast.getLocNo()));
            if (Objects.isNull(locCache)) {
                throw new CoolException("数据错误，库位不存在！！");
            }
            if (!locCache.getLocSts().equals(LocStsType.LOC_STS_TYPE_S.type)) {
                throw new CoolException("当前库位状态为：" + LocStsType.LOC_STS_TYPE_S.type + "." + LocStsType.LOC_STS_TYPE_S.desc + "，不是出库预约状态");
            }
            List<TaskDetl> taskDetls = taskDetlService.selectList(new EntityWrapper<TaskDetl>().eq("task_id", wrkMast.getId()));
            if (Objects.isNull(taskDetls)) {
                throw new CoolException("数据错误：组托数据不存在！！");
            }
            taskDetls.forEach(pakin -> {
                LocCacheDetl detl = new LocCacheDetl();
                BeanUtils.copyProperties(pakin, detl);
                detl.setBarcode(pakin.getBarcode())
                        .setLocId(locCache.getId())
                        .setAnfme(pakin.getAnfme())
                        .setBrand(pakin.getBrand())
                        .setAppeTime(new Date())
                        .setSpecs(pakin.getSpecs())
                        .setColor(pakin.getColor())
                        .setLocNo(locCache.getLocNo())
                        .setAreaId(locCache.getAreaId())
                        .setAreaName(locCache.getAreaName())
                        .setUnit(pakin.getUnit())
                        .setBatch(pakin.getBatch());
                if (!locCacheDetlService.insert(detl)) {
                    throw new CoolException("库位明细保存失败！！");
                }
            });

            locCache.setLocSts(LocStsType.LOC_STS_TYPE_F.type);
            locCache.setModiTime(new Date());
            locCache.setBarcode(wrkMast.getBarcode());
            locCache.setModiTime(new Date());
            locCache.setIoTime(new Date());
            if (!locCacheService.updateById(locCache)) {
                throw new CoolException("库位状态修改失败！");
            }
            wrkMast.setWrkSts(5L);
            wrkMast.setModiTime(new Date());
            if (!taskService.updateById(wrkMast)) {
                throw new CoolException("任务状态修改失败！！");
            }
        }else {
            throw new CoolException("数据错误：ioType不存在！！");
        }


        return SUCCESS;
    }
}