6.8 查询所有库位状态和物料-二机床信息化数字孪生用

pang.jiabao

2026-01-26 eed51ce47f20afb0661acc42baa680fcb6351a39

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

@@ -1,1400 +1 @@
package com.zy.asrs.service.impl;

import com.alibaba.excel.util.StringUtils;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SnowflakeIdWorker;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.*;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.mapper.AgvInfoMapper;
import com.zy.asrs.mapper.MatItemBarcodeMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.LocDetlDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import javax.annotation.Resource;
import java.text.ParseException;
import java.util.*;
import java.util.stream.Collectors;

@Slf4j
@Service
public class MesServiceImpl implements MesService {

    @Value("${mes.url}")
    public String MES_URL;
    @Value("${wms.currentName}")
    public String WMS_CURRENT_NAME;
    @Value("${wms.wmsTransStartStation1}")
    public String WMS_TRANS_START_STATION_1;
    @Value("${wms.wmsTransStartStation2}")
    public String WMS_TRANS_START_STATION_2;
    @Value("${wms.wmsTransStartStation3}")
    public String WMS_TRANS_START_STATION_3;
    @Value("${mes.defaultUserId}")
    public long defaultUserId;
    @Value("${wms.zpalletId}")
    public String WMS_ZPALLET_ID;

    @Resource
    private RcsService rcsService;
    @Resource
    private MatService matService;
    @Resource
    private TagService tagService;
    @Resource
    private OrderPakinService orderPakinService;
    @Resource
    private OrderDetlPakinService orderDetlPakinService;
    @Resource
    private OrderPakoutService orderPakoutService;
    @Resource
    private OrderDetlPakoutService orderDetlPakoutService;
    @Resource
    private WaitPakinService waitPakinService;
    @Resource
    private TaskService taskService;
    @Resource
    private TaskDetlService taskDetlService;
    @Resource
    private SnowflakeIdWorker snowflakeIdWorker;
    @Resource
    private CommonService commonService;
    @Resource
    private AgvInfoMapper agvInfoMapper;
    @Resource
    private WorkService workService;
    @Resource
    private MatItemBarcodeMapper matItemBarcodeMapper;
    @Resource
    private LocMastService locMastService;

    @Resource
    private LocDetlService locDetlService;

    @Resource
    private MobileService mobileService;

    @Resource
    private WrkMastService wrkMastService;

    @Resource
    private WrkDetlService wrkDetlService;


    // region MES接口

    /**
     * 物料信息同步，MES->WMS
     * 功能：同步物料信息->生成入库单
     * 后续流程：入库时，需要实时调用recvFeedback返回入库数量
     *
     * @param matRecvForm
     * @return
     */
    @Transactional(rollbackFor = Exception.class)
    public MesReturn matInfoAndInBound(MesMatRecvForm matRecvForm) throws CoolException {

        MesReturn mesReturn = new MesReturn();

        // 1、物料信息同步
        for (MesMatInfo mesMatInfo : matRecvForm.getItemdata()) {
            if (synMatInfo(mesMatInfo) == 1) {
            } else {
                throw new CoolException("同步物料信息失败");
            }
        }

        // 2、生成入库单
        if (inBoundOrder_List(matRecvForm) == 1) {
            mesReturn.setSuccess("1");
            mesReturn.setMessage("");
        } else {
            throw new CoolException("同步物料信息，生成入库单失败");
        }

        return mesReturn;
    }

    /**
     * 新增、修改物料信息
     *
     * @param mesMatInfo
     * @return 1 成功；-1 保存物料类型失败；-2 保存物料失败；
     * @throws ParseException
     */
    public int synMatInfo(MesMatInfo mesMatInfo) {

        // 规则定义：默认第2层为库名（如：加工库），第3层为同步的物料类型
        long secondPath = 2;
        String secondParentName = WMS_CURRENT_NAME;
        Date now = new Date();

        // 物料类型更新
        long tagId = 0;
        EntityWrapper<Tag> wrapper = new EntityWrapper<>();
        wrapper.eq("name", mesMatInfo.getItemType());
        Tag tag = tagService.selectByName(mesMatInfo.getItemType(), 3);
        if (tag == null || StringUtils.isEmpty(tag.getName())) {
            Tag newTag = new Tag();
            newTag.setName(mesMatInfo.getItemType());
            newTag.setParentId(secondPath);
            newTag.setParentName(secondParentName);
            newTag.setPath("2");
            newTag.setPathName(secondParentName);
            newTag.setLevel(3);
            newTag.setStatus(1);
            newTag.setCreateBy(defaultUserId);
            newTag.setCreateTime(now);
            newTag.setUpdateBy(defaultUserId);
            newTag.setUpdateTime(now);

            if (!tagService.insert(newTag))
                return -1;
            tagId = newTag.getId();
        } else {
            tagId = tag.getId();
        }

        // 物料更新
        if (tagId > 0) {
            //        tagId = tagService.selectByName(mesMatInfo.getItem_type(), 3).getId();
            Mat mat = matService.selectByMatnr(mesMatInfo.getItemNo());
            Mat newMat = new Mat();
            newMat.setMatnr(mesMatInfo.getItemNo());
            newMat.setMaktx(mesMatInfo.getDescription());
            newMat.setTagId(tagId);
            newMat.setLocType(tagId);   //locType
            newMat.setSpecs(mesMatInfo.getSpecification());
            newMat.setUnit(mesMatInfo.getUnitOfMeasure());
            newMat.setModel(mesMatInfo.getClassificationCode());
            newMat.setMemo(JSONObject.toJSONString(mesMatInfo));
            newMat.setCreateBy(defaultUserId);
            newMat.setCreateTime(now);
            newMat.setUpdateBy(defaultUserId);
            newMat.setUpdateTime(now);
            newMat.setStatus(1);
            if (mat == null) {
                if (!matService.insert(newMat))
                    return -2;
            } else {
                JSONObject dbMemo = JSONObject.parseObject(mat.getMemo());
                dbMemo.remove("OrderNo");
                dbMemo.remove("qty");
                dbMemo.remove("ItemBarcode");
                JSONObject newMemo = JSONObject.parseObject(newMat.getMemo());
                newMemo.remove("OrderNo");
                newMemo.remove("qty");
                dbMemo.remove("ItemBarcode");
                if (!dbMemo.equals(newMemo)) {
                    newMat.setId(mat.getId());
                    if (!matService.updateById(newMat))
                        return -2;
                }
            }
        } else {
            return -1;
        }

        return 1;
    }

    /**
     * 物料同步入库单，按OrderNo生成多个订单
     *
     *
     * @param matRecvForm
     * @return
     */
    public int inBoundOrder_List(MesMatRecvForm matRecvForm){

        long docType = 4;   // docType根据库类型确定
        long settle = 1;
        Date now = new Date();

        // 按OrderNo分组，然后再生成入库单
        List<MesMatInfo> mesInApply = matRecvForm.getItemdata();
        Map<String, List<MesMatInfo>> map = mesInApply.stream().collect(Collectors.groupingBy(MesMatInfo::getOrderNo));
        for (Map.Entry<String, List<MesMatInfo>> entry : map.entrySet()) {
            List<MesMatInfo> list = entry.getValue();

            // 校验订单是否重复
            OrderPakin order = orderPakinService.selectByNo(entry.getKey());
            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
                return -1;
            }

            // 生成订单
            JSONObject newMemo = new JSONObject();
            newMemo.put("sourceNo", matRecvForm.getSourceNo());
            newMemo.put("sourceName", matRecvForm.getSourceName());
            newMemo.put("operuser", matRecvForm.getOperuser());
            newMemo.put("itemdata", list);

            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(entry.getKey());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(settle);
            orderPakin.setStatus(1);
            orderPakin.setCreateBy(defaultUserId);
            orderPakin.setCreateTime(now);
            orderPakin.setUpdateBy(defaultUserId);
            orderPakin.setUpdateTime(now);
            orderPakin.setMemo(newMemo.toJSONString());  //为领料入库完成反馈保存   JSONObject.toJSONString(matRecvForm)
            orderPakin.setPakinPakoutStatus(1);
            if (!orderPakinService.insert(orderPakin)) {
                log.error("MES保存入库订单主档失败");
                throw new CoolException("保存入库订单主档失败");
            }

            // 生成明细
            for (MesMatInfo mesMat : list) {
                Mat mat = matService.selectByMatnr(mesMat.getItemNo());
                OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
                orderDetlPakin.setOrderId(orderPakin.getId());
                orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
                orderDetlPakin.setAnfme(Double.valueOf(mesMat.getQty()));
                orderDetlPakin.setQty(0.0);
                orderDetlPakin.setMatnr(mat.getMatnr());
                orderDetlPakin.setMaktx(mat.getMaktx());
                orderDetlPakin.setSpecs(mat.getSpecs());
                orderDetlPakin.setModel(mat.getModel());
                orderDetlPakin.setStandby1(barCodeListToStr(mesMat.getItemBarcode()));   // 零件二维码
                orderDetlPakin.setStandby2("1");  //保存齐套性检查标识，1 检查；0 不检查；
                orderDetlPakin.setCreateBy(defaultUserId);
                orderDetlPakin.setCreateTime(now);
                orderDetlPakin.setUpdateBy(defaultUserId);
                orderDetlPakin.setUpdateTime(now);
                orderDetlPakin.setStatus(1);
                orderDetlPakin.setPakinPakoutStatus(1);
                if (!orderDetlPakinService.insert(orderDetlPakin)) {
                    log.error("MES保存入库订单明细档失败1");
                    throw new CoolException("保存入库订单明细档失败1");
                }
            }
        }

        return 1;
    }

    /**
     * 领料入库反馈
     * 触发条件：物料同步接口入库单，入库后
     * 推送时机：当订单中有物料入库后（应该在每托入库完成后，可以在更新OrderDetlPakin之后）则推送，不等全部订单完成
     *
     * @param orderNo
     * @param zapplet
     * @return
     */
    public int recvFeedback(String orderNo, String zapplet) {

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            List<MesRecvFeedback.MesRecvFeedbackItem> list = new ArrayList<>();
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());

            // 从组托信息中查询入库的信息
            EntityWrapper<WaitPakin> waitPakinEntityWrapper = new EntityWrapper<>();
            waitPakinEntityWrapper.eq("zpallet", zapplet);
            List<WaitPakin> zpalletMat = waitPakinService.selectList(waitPakinEntityWrapper);

            EntityWrapper<OrderDetlPakin> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakin> orderDetlPakins = orderDetlPakinService.selectList(wrapper);
            if (orderDetlPakins != null && !orderDetlPakins.isEmpty()) {
                for (OrderDetlPakin orderDetl : orderDetlPakins) {
                    for (WaitPakin zMat : zpalletMat) {
                        if (orderDetl.getMatnr().equals(zMat.getMatnr())) {
                            MesRecvFeedback.MesRecvFeedbackItem item = new MesRecvFeedback.MesRecvFeedbackItem();
                            item.setItemNo(orderDetl.getMatnr());
                            item.setOrderNo(orderNo);
                            item.setQty(orderDetl.getAnfme().intValue());
                            item.setRealQty(zMat.getAnfme().intValue());
                            // 回传托盘绑定的零件二维码
                            EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
                            matItemBarcodeEntityWrapper.eq("zapplet", zapplet).eq("status", 1);
                            List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
                            if (barcodes != null) {
                                List<String> itemBarcode = new ArrayList<>();
                                for (MatItemBarcode barcode : barcodes) {
                                    itemBarcode.add(barcode.getItemBarcode());
                                }
                                item.setItemBarcode(itemBarcode);
                                list.add(item);
                            }
                        }
                    }
                }
            }

            MesRecvFeedback mesRecvFeedback = new MesRecvFeedback();
            mesRecvFeedback.setSourceNo(dbMemo.getString("sourceNo"));
            mesRecvFeedback.setOperuser(dbMemo.getString("operuser"));
            mesRecvFeedback.setItemdata(list);

            String url = MES_URL + "MaterialReceiptAndReturn";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesRecvFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    return 1;
                }
            }
        }

        return 0;
    }

    /**
     * 出库申请，加工库、刀具库
     * 出库后需要自动呼叫AGV送货
     * 出库规则：需要按零件二维码（一件一码）出库，整托出库，该托上有其他物料也一起出库，他们后期会再入库
     *
     * @param mesOutApply
     * @return 1 成功；-1 订单重复；
     */
    @Transactional
    public int outBoundOrder(MesOutApply mesOutApply){

        // 空托出库
        if (StringUtils.isEmpty(mesOutApply.getOrderNo()) && "01".equals(mesOutApply.getTransType())) {
            // 生成空托出库任务
            mobileService.callEmptyBinOutBound(mesOutApply,WMS_TRANS_START_STATION_1,"1",1,defaultUserId);

//            try {
//                if (!StringUtils.isEmpty(mesOutApply.getTaskno()) && !StringUtils.isEmpty(mesOutApply.getStationId())) {
//                    TransTask transTask = new TransTask();
//                    transTask.setTaskno(mesOutApply.getTaskno());
//                    transTask.setTaskname(mesOutApply.getTaskname());
//                    transTask.setOrderNo(mesOutApply.getOrderNo());
//                    transTask.setTransType(mesOutApply.getTransType());
//                    transTask.setCurStationId(WMS_TRANS_START_STATION_1);
//                    transTask.setNextProcess(mesOutApply.getProductLineId());
//                    transTask.setNextStationId(mesOutApply.getStationId());
//                    transTask.setItemno(WMS_ZPALLET_ID);  // 固定为空托的编码
//                    transTask.setQty(1);    // 空托只出1个
//                    transTask.setProductLineId(mesOutApply.getProductLineId());
//                    transTask.setOperateType(1);
//                    transTask.setAgvFactory(1);
//                    JSONObject sendAgvTask = submitTask(transTask);
//                    if (!"1".equals(sendAgvTask.getString("Success"))) {
//                        log.error("出库下发agv运输任务失败：{}", JSONObject.toJSONString(transTask));
//                    }
//                }
//            } catch (Exception e) {
//                log.error("下发AGV运输任务失败", e);
//            }

            return 1;
        } else {    // 毛坯（物料）出库
            // docType根据库类型确定
            long docType = 7;
            long settle = 2;

            // 校验订单是否重复
            OrderPakout order = orderPakoutService.selectByNo(mesOutApply.getOrderNo());
            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
                log.error("出库订单号重复：{}",mesOutApply.getOrderNo());
                return -1;
            }
            String itemBarcode = barCodeListToStr(mesOutApply.getItemBarcode());
            // 自动出库
            LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("standby1", itemBarcode));
            if (locDetl == null) {
                throw new CoolException("零件二维码没有匹配到库存：" +itemBarcode );
            }
            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", locDetl.getLocNo()));
            if (!locMast.getLocSts().equals("F")) {
                throw new CoolException("库位状态不为F：" +locMast.getLocNo() );
            }

            // 生成订单
            Date now = new Date();
            OrderPakout orderPakout = new OrderPakout();
            orderPakout.setUuid( String.valueOf(snowflakeIdWorker.nextId()));
            orderPakout.setOrderNo(mesOutApply.getOrderNo());
            orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakout.setDocType(docType);
            orderPakout.setSettle(settle);
            orderPakout.setStatus(1);
            orderPakout.setCreateBy(defaultUserId);
            orderPakout.setCreateTime(now);
            orderPakout.setUpdateBy(defaultUserId);
            orderPakout.setUpdateTime(now);
            orderPakout.setMemo(JSONObject.toJSONString(mesOutApply));
            orderPakout.setPakinPakoutStatus(2);
            orderPakout.setNumber(locMast.getBarcode()); // 托盘条码，上报时用
            if (!orderPakoutService.insert(orderPakout)) {
                log.error("MES保存出库订单主档失败");
                throw new CoolException("保存出库订单主档失败");
            }

            // 生成明细
            Mat mat = matService.selectByMatnr(mesOutApply.getItemno());
            OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
            orderDetlPakout.setOrderId(orderPakout.getId());
            orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
            orderDetlPakout.setAnfme(Double.valueOf(mesOutApply.getQty()));
            orderDetlPakout.setWorkQty(orderDetlPakout.getAnfme());
            orderDetlPakout.setQty(0.0);
            orderDetlPakout.setMatnr(mat.getMatnr());
            orderDetlPakout.setMaktx(mat.getMaktx());
            orderDetlPakout.setSpecs(mat.getSpecs());
            orderDetlPakout.setModel(mat.getModel());

            orderDetlPakout.setStandby1(itemBarcode);
            orderDetlPakout.setCreateBy(defaultUserId);
            orderDetlPakout.setCreateTime(now);
            orderDetlPakout.setUpdateBy(defaultUserId);
            orderDetlPakout.setUpdateTime(now);
            orderDetlPakout.setStatus(1);
            orderDetlPakout.setPakinPakoutStatus(2);
            if (!orderDetlPakoutService.insert(orderDetlPakout)) {
                log.error("MES保存出库订单明细档失败");
                throw new CoolException("保存出库订单明细档失败");
            }

            // 生成工作号
            int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(101));
            // 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(101); // 入出库状态
            wrkMast.setIoPri(13D); // 优先级：13
            wrkMast.setCrnNo(1);
            wrkMast.setSourceStaNo("203"); // 源站
            wrkMast.setStaNo("204"); // 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(defaultUserId); // 操作人员数据
            wrkMast.setAppeTime(now);
            wrkMast.setModiUser(defaultUserId);
            wrkMast.setModiTime(now);
            wrkMast.setMemo(JSONObject.toJSONString(mesOutApply));
            wrkMast.setTaskNo(mesOutApply.getTaskno());
            wrkMast.setAgvSta(mesOutApply.getStationId());
            wrkMastService.insert(wrkMast);
            // 生成工作档明细
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.sync(locDetl);
                wrkDetl.setOrderNo(orderPakout.getOrderNo()); // 手动出库不需要带出库存中的单据编号
                wrkDetl.setWrkNo(workNo);
                wrkDetl.setIoTime(now);
                wrkDetl.setAnfme(orderDetlPakout.getAnfme()); // 数量
                wrkDetl.setAppeTime(now);
                wrkDetl.setAppeUser(defaultUserId);
                wrkDetl.setModiTime(now);
                wrkDetl.setModiUser(defaultUserId);
//                wrkDetl.setMatnr(detlDto.getLocDetl().getMatnr());
//                wrkDetl.setMaktx(detlDto.getLocDetl().getMaktx());
//                wrkDetl.setUnit(detlDto.getLocDetl().getUnit());
//                wrkDetl.setSpecs(detlDto.getLocDetl().getSpecs());
//                wrkDetl.setUnit(detlDto.getLocDetl().getUnit());
//                wrkDetl.setModel(detlDto.getLocDetl().getModel());
                wrkDetlService.insert(wrkDetl);

            // 修改库位状态:   F.在库 ====>>> R.出库预约/P.拣料/盘点/并板出库中
            if (locMast.getLocSts().equals("F")) {
                locMast.setLocSts("R");
                locMast.setModiUser(defaultUserId);
                locMast.setModiTime(now);
                locMastService.updateById(locMast);
            }
            log.info("出库任务生成成功，任务号：{}",workNo);
            // 立库生成订单后，自动调度AGV运送到站点，目前多托生成多个。
//            try {
//                if (!StringUtils.isEmpty(mesOutApply.getTaskno()) && !StringUtils.isEmpty(mesOutApply.getStationId())) {
//                    // 按零件二维码查询有几个托，多托生成多个任务，每托对应零件二维码
////                    String barCode = barCodeListToStr(mesOutApply.getItemBarcode());
////                    EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
////                    matItemBarcodeEntityWrapper.in("item_barcode", barCode);
////                    List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
////                     if (barcodes != null) {
////                        Map<String, List<MatItemBarcode>> map = barcodes.stream().collect(Collectors.groupingBy(MatItemBarcode::getZapplet));
////                        for (Map.Entry<String, List<MatItemBarcode>> entry : map.entrySet()) {
////                            List<MatItemBarcode> list = entry.getValue();
////                            List<String> codes = new ArrayList<>();
////                            for (MatItemBarcode zapllet : list) {
////                                codes.add(zapllet.getItemBarcode());
////                            }
//
//                            TransTask transTask = new TransTask();
//                            transTask.setTaskno(mesOutApply.getTaskno());
//                            transTask.setTaskname(mesOutApply.getTaskname());
//                            transTask.setOrderNo(mesOutApply.getOrderNo());
//                            transTask.setTransType(mesOutApply.getTransType());
//                            transTask.setCurStationId(WMS_TRANS_START_STATION_3);
//                            transTask.setNextProcess(mesOutApply.getProductLineId());
//                            transTask.setNextStationId(mesOutApply.getStationId());
//                            transTask.setItemno(mesOutApply.getItemno());
//                            transTask.setQty(mesOutApply.getQty());
//                            transTask.setProductLineId(mesOutApply.getProductLineId());
//                            transTask.setItemBarcode(mesOutApply.getItemBarcode());
//                            transTask.setTuoPanId(locDetl.getZpallet());
//                            transTask.setOperateType(1);
//                            transTask.setAgvFactory(1);
//                            JSONObject sendAgvTask = submitTask(transTask);
//                            if (!"1".equals(sendAgvTask.getString("Success"))) {
//                                log.error("出库下发agv运输任务失败", JSONObject.toJSONString(transTask));
//                            }
////                        }
////                    }
//                }
//            } catch (Exception e) {
//                log.error("下发AGV运输任务失败", e);
//            }
        }

        return 1;
    }

    /**
     * 入库申请
     * 收到入库申请后自动呼叫AGV取货
     *
     * @param mesInApply
     */
    @Transactional
    public int inBoundOrder(MesInApply mesInApply){

        // 空托回库
        if (StringUtils.isEmpty(mesInApply.getOrderNo()) && StringUtils.isEmpty(mesInApply.getItemno())) {
                if (!StringUtils.isEmpty(mesInApply.getTaskno()) && !StringUtils.isEmpty(mesInApply.getStationID())) {
                    TransTask transTask = new TransTask();
                    transTask.setTaskno(mesInApply.getTaskno());
                    transTask.setTaskname(mesInApply.getTaskname());
                    transTask.setOrderNo(mesInApply.getOrderNo());
                    transTask.setTransType(mesInApply.getTransType());
                    transTask.setCurProcess(mesInApply.getProductLineId());
                    transTask.setCurStationId(mesInApply.getStationID());
                    transTask.setNextStationId(WMS_TRANS_START_STATION_2);
                    transTask.setItemno(WMS_ZPALLET_ID);  // 固定为空托的编码
                    transTask.setQty(1);    // 空托只回1个
                    transTask.setProductLineId(mesInApply.getProductLineId());
                    transTask.setOperateType(1);
                    transTask.setAgvFactory(1);
                    JSONObject sendAgvTask = submitTask(transTask);
                    if (!"1".equals(sendAgvTask.getString("Success"))) {
                        log.error("入库下发agv运输任务失败,{}", JSONObject.toJSONString(transTask));
                        return 2;
                    }
                } else {
                    log.error("无任务号：{}，或无物料编码:{}",mesInApply.getTaskno(),mesInApply.getItemno() );
                    return 2;
                }

            return 1;
        } else {    // 毛坯、成品回库
            // docType根据库类型确定
            long docType = 3;
            long settle = 1;

            // 校验订单是否重复
            OrderPakin order = orderPakinService.selectByNo(mesInApply.getOrderNo());
            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
                log.error("订单重复：{}", mesInApply.getOrderNo());
                return 2;
            }

            // 生成订单
            Date now = new Date();
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(mesInApply.getOrderNo());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(settle);
            orderPakin.setStatus(1);
            orderPakin.setCreateBy(defaultUserId);
            orderPakin.setCreateTime(now);
            orderPakin.setUpdateBy(defaultUserId);
            orderPakin.setUpdateTime(now);
            orderPakin.setMemo(JSONObject.toJSONString(mesInApply));  //为出库完成反馈保存
            orderPakin.setPakinPakoutStatus(1);
            orderPakinService.insert(orderPakin);

            // 生成明细
            Mat mat = matService.selectByMatnr(mesInApply.getItemno());
            OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
            orderDetlPakin.setOrderId(orderPakin.getId());
            orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
            orderDetlPakin.setAnfme(Double.valueOf(mesInApply.getQty()));
            orderDetlPakin.setQty(0.0);
            orderDetlPakin.setMatnr(mat.getMatnr());
            orderDetlPakin.setMaktx(mat.getMaktx());
            orderDetlPakin.setSpecs(mat.getSpecs());
            orderDetlPakin.setModel(mat.getModel());
            List<String> itemBarcode = mesInApply.getProductInfo().stream().map(MesInApply.ProductInfo::getItemBarcode).collect(Collectors.toList());
            orderDetlPakin.setStandby1(barCodeListToStr(itemBarcode)); //零件详情存在1

            orderDetlPakin.setStandby2("0");  //保存齐套性检查标识，1 检查；0 不检查；
            orderDetlPakin.setCreateBy(defaultUserId);
            orderDetlPakin.setCreateTime(now);
            orderDetlPakin.setUpdateBy(defaultUserId);
            orderDetlPakin.setUpdateTime(now);
            orderDetlPakin.setStatus(1);
            orderDetlPakin.setPakinPakoutStatus(1);
            orderDetlPakinService.insert(orderDetlPakin);

            // 生成入库通知档
            WaitPakin waitPakin = new WaitPakin();
            BeanUtils.copyProperties(mat, waitPakin);
//                waitPakin.sync(mat);
            waitPakin.setOrderNo(orderPakin.getOrderNo());   // 单据编号
            waitPakin.setOrderId(orderPakin.getId());
            waitPakin.setZpallet(mesInApply.getTuoPanId());   // 托盘码
            waitPakin.setIoStatus("N");     // 入出状态
            waitPakin.setAnfme(orderDetlPakin.getAnfme());  // 数量
            waitPakin.setStatus("Y");    // 状态
            waitPakin.setAppeUser(defaultUserId);
            waitPakin.setAppeTime(now);
            waitPakin.setModiUser(defaultUserId);
            waitPakin.setModiTime(now);
            waitPakin.setStandby1(barCodeListToStr(itemBarcode));
            waitPakinService.insert(waitPakin);
            OrderInAndOutUtil.increaseWorkQty(Boolean.TRUE, orderPakin.getId(), orderDetlPakin.getMatnr(), orderDetlPakin.getBatch(),
                    orderDetlPakin.getBrand(), orderDetlPakin.getStandby1(), orderDetlPakin.getStandby2(), orderDetlPakin.getStandby3(),
                    orderDetlPakin.getBoxType1(), orderDetlPakin.getBoxType2(), orderDetlPakin.getBoxType3(), orderDetlPakin.getAnfme());
            OrderInAndOutUtil.updateOrder(Boolean.TRUE, orderPakin.getId(), 2L, defaultUserId);

            // 呼叫AGV从产线运回立库
                if (!StringUtils.isEmpty(mesInApply.getTaskno())) {
                    TransTask transTask = new TransTask();
                    transTask.setTaskno(mesInApply.getTaskno());
                    transTask.setTaskname(mesInApply.getTaskname());
                    transTask.setOrderNo(mesInApply.getOrderNo());
                    transTask.setTransType(mesInApply.getTransType());
                    transTask.setCurProcess(mesInApply.getProductLineId());
                    transTask.setCurStationId(mesInApply.getStationID());
                    transTask.setNextStationId(WMS_TRANS_START_STATION_2);
                    transTask.setItemno(mesInApply.getItemno());
                    transTask.setQty(mesInApply.getQty());
                    transTask.setProductLineId(mesInApply.getProductLineId());
                    transTask.setItemBarcode(itemBarcode);
                    transTask.setTuoPanId(mesInApply.getTuoPanId());
                    transTask.setOperateType(1);
                    transTask.setAgvFactory(1);
                    JSONObject sendAgvTask = submitTask(transTask);
                    if (!"1".equals(sendAgvTask.getString("Success"))) {
                        log.error("入库下发agv运输任务失败:{}", JSONObject.toJSONString(transTask));
                        throw new CoolException("入库下发agv运输任务失败");
                    }
                } else {
                    throw new CoolException("MES入库下发agv运输任务失败");
                }
        }

        return 1;
    }

    /**
     * 出库完成
     * 出库后，按托推送，非整个订单
     *
     * @param orderNo
     * @return
     */
    public int outFeedbackByTuo(String orderNo, Task agvTask) {

        int success = 0;

        OrderPakout order = orderPakoutService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());

            // TODO：出库完成后，若未解绑托盘和物料，则执行托盘解绑
            // TODO：出库完成后，若未清除零件二维码，则执行清除，也可以在AGV送货完成后清除
//            EntityWrapper<OrderDetlPakout> wrapper = new EntityWrapper<>();
//            wrapper.eq("order_no", orderNo);
//            List<OrderDetlPakout> orderDetlPakouts = orderDetlPakoutService.selectList(wrapper);
//            if (orderDetlPakouts != null && !orderDetlPakouts.isEmpty()) {
//                for (OrderDetlPakout orderDetl : orderDetlPakouts) {
//                    StringBuilder palletId = new StringBuilder();
//                    EntityWrapper<WaitPakin> wrapper2 = new EntityWrapper<>();
//                    wrapper2.eq("order_no", orderDetl.getOrderNo());
//                    List<WaitPakin> waitPakins = waitPakinService.selectList(wrapper2);
//                    if (waitPakins != null && waitPakins.size() > 0) {
//                        for (WaitPakin waitPakin : waitPakins) {
//                            palletId.append(waitPakin.getZpallet()).append(",");
//                        }
//                    }
//
//                    MesOutFeedback mesOutFeedback = new MesOutFeedback();
//                    mesOutFeedback.setTaskno(dbMemo.getString("taskno"));
//                    mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
//                    mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
//                    mesOutFeedback.setStationId(dbMemo.getString("StationID"));
//                    mesOutFeedback.setItemno(orderDetl.getMatnr());
//                    mesOutFeedback.setTuoPanId(zpalletId);
//                    mesOutFeedback.setQty(orderDetl.getQty().intValue());
//                    if (!StringUtils.isEmpty(dbMemo.getString("ItemBarcode"))) {
//                        mesOutFeedback.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
//                    }
//                    mesOutFeedback.setOrderNo(orderNo);
//                }
//            }

            EntityWrapper<TaskDetl> entityWrapper = new EntityWrapper<>();
            entityWrapper.eq("wrk_no", agvTask.getWrkNo());
            TaskDetl taskDetl = taskDetlService.selectOne(entityWrapper);
            String zpalletId = taskDetl.getZpallet();
            List<String> itemBarCode = new ArrayList<>();
            JSONArray array = JSONArray.parseArray(taskDetl.getMemo());
            for (Object one : array) {
                itemBarCode.add(one.toString());
                // TODO：入库时存储零件码(ItemBarCode），并绑定托盘，出库后这里考虑解绑
            }

            MesOutFeedback mesOutFeedback = new MesOutFeedback();
            mesOutFeedback.setTaskno(agvTask.getTaskNo());
            mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
            mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
            mesOutFeedback.setStationId(dbMemo.getString("StationId"));
            mesOutFeedback.setItemno(dbMemo.getString("Itemno"));
            mesOutFeedback.setTuoPanId(zpalletId);
            if (itemBarCode.size() > 0) {
                mesOutFeedback.setQty(itemBarCode.size());
                mesOutFeedback.setItemBarcode(itemBarCode);
            }
            mesOutFeedback.setOrderNo(orderNo);

            String url = MES_URL + "issueComplete";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesOutFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    success = 1;
                }
            }
        }

        return success;
    }

    /**
     * 入库完成
     * 入库后，按托推送，非整个订单
     *
     * @param orderNo
     * @param zapplet
     * @return
     */
    public int inFeedbackByTuo(String orderNo, String zapplet) {

        int success = 0;

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            List<MesInApply.ProductInfo> list = new ArrayList<>();
            // 从托盘绑定的零件二维码中查询信息
            EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
            matItemBarcodeEntityWrapper.eq("zapplet", zapplet).eq("status", 1);
            List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
            for (MatItemBarcode barcode : barcodes) {
                MesInApply.ProductInfo productInfo = new MesInApply.ProductInfo();
                productInfo.setItemBarcode(barcode.getItemBarcode());
                productInfo.setQualityStatus(barcode.getQualityStatus());
                list.add(productInfo);
            }

            MesInApply result = JSONObject.parseObject(order.getMemo(), MesInApply.class);
            result.setProductInfo(list);
            result.setQty(list.size());

            String url = MES_URL + "loadComplete";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(result));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    success = 1;
                }
            }
        }

        return success;
    }

    /**
     * 零件二维码，数组转string
     *
     * @param list
     * @return
     */
    public static String barCodeListToStr(List<String> list) {
        if(list.isEmpty()) {
            return "";
        }
        StringBuilder stringBuilder = new StringBuilder();
        for (String str : list) {
            stringBuilder.append(str).append(",");
        }
        String result = stringBuilder.toString();
        return result.endsWith(",") ? result.substring(0, result.length() - 1) : result;
    }

    /**
     * 零件二维码，string转数组
     *
     * @param str
     * @return
     */
    public static List<String> barCodeStrToList(String str) {
        String[] array = str.split(",");
        return Arrays.asList(array);
    }

    /**
     * 入库完成
     * 入库单完成后，整单推送
     *
     * @param orderNo
     * @return
     */
    public int inFeedback(String orderNo) {

        int success = 0;

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            EntityWrapper<OrderDetlPakin> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakin> orderDetlPakins = orderDetlPakinService.selectList(wrapper);
            if (orderDetlPakins != null && !orderDetlPakins.isEmpty()) {
                for (OrderDetlPakin orderDetl : orderDetlPakins) {
                    MesInApply result = JSONObject.parseObject(order.getMemo(), MesInApply.class);
                    result.setQty(orderDetl.getQty().intValue());

                    String url = MES_URL + "loadComplete";
                    String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(result));
                    if (!StringUtils.isEmpty(response) && response.contains("Success")){
                        MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                        if("1".equals(mesReturn.getSuccess())) {
                            success++;
                        }
                    }
                }

                if (success == orderDetlPakins.size()) {
                    success = 1;
                } else {
                    success = 0;
                }
            }
        }

        return success;
    }

    /**
     * （备份）出库订单完成
     *
     * @param orderNo
     * @return
     */
    public int outFeedback(String orderNo) {

        int success = 0;

        OrderPakout order = orderPakoutService.selectByNo(orderNo);
        if (order != null && order.getSettle() == 4) {   // 校验是否完成
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());
            EntityWrapper<OrderDetlPakout> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakout> orderDetlPakouts = orderDetlPakoutService.selectList(wrapper);
            if (orderDetlPakouts != null && !orderDetlPakouts.isEmpty()) {
                for (OrderDetlPakout orderDetl : orderDetlPakouts) {
                    StringBuilder palletId = new StringBuilder();
                    EntityWrapper<WaitPakin> wrapper2 = new EntityWrapper<>();
                    wrapper2.eq("order_no", orderDetl.getOrderNo());
                    List<WaitPakin> waitPakins = waitPakinService.selectList(wrapper2);
                    if (waitPakins != null && waitPakins.size() > 0) {
                        for (WaitPakin waitPakin : waitPakins) {
                            palletId.append(waitPakin.getZpallet()).append(",");
                        }
                    }

                    MesOutFeedback mesOutFeedback = new MesOutFeedback();
                    mesOutFeedback.setTaskno(dbMemo.getString("taskno"));
                    mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
                    mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
                    mesOutFeedback.setStationId(dbMemo.getString("StationID"));
                    mesOutFeedback.setItemno(orderDetl.getMatnr());
                    if (!StringUtils.isEmpty(palletId.toString())) {
                        mesOutFeedback.setTuoPanId(palletId.substring(0, palletId.length() - 1));
                    }
                    mesOutFeedback.setQty(orderDetl.getQty().intValue());
                    if (!StringUtils.isEmpty(dbMemo.getString("ItemBarcode"))) {
                        mesOutFeedback.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
                    }
                    mesOutFeedback.setOrderNo(orderNo);

                    // TODO:备注：出库完成后解绑托盘和物料，若前面未解绑，此处需要解绑

                    String url = MES_URL + "issueComplete";
                    String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesOutFeedback));
                    if (!StringUtils.isEmpty(response) && response.contains("Success")){
                        MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                        if("1".equals(mesReturn.getSuccess())) {
                            success++;
                        }
                    }
                }

                if (success == orderDetlPakouts.size()) {
                    success = 1;

                    // TODO：立库出库后自动调度AGV运送到站点
                    String taskNo = dbMemo.getString("taskno");
                    if (!StringUtils.isEmpty(taskNo)) {
                        TransTask transTask = new TransTask();
                        transTask.setTaskno(dbMemo.getString("taskno"));
                        transTask.setTaskname(dbMemo.getString("taskname"));
                        transTask.setOrderNo(dbMemo.getString("OrderNo"));
                        transTask.setTransType(dbMemo.getString("TransType"));
//                    transTask.setCurProcess();
                        transTask.setCurStationId(WMS_TRANS_START_STATION_1);
                        transTask.setNextProcess(dbMemo.getString("ProductLineId"));
                        transTask.setNextStationId(dbMemo.getString("StationId"));
                        transTask.setItemno(dbMemo.getString("Itemno"));
                        transTask.setQty(dbMemo.getInteger("Qty"));
                        transTask.setProductLineId(dbMemo.getString("ProductLineId"));
                        transTask.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
                        transTask.setOperateType(1);
                        transTask.setAgvFactory(1);
                        JSONObject sendAgvTask = submitTask(transTask);
                        if (!"1".equals(sendAgvTask.getString("Success"))) {
                            log.error("出库下发agv运输任务失败:{}", JSONObject.toJSONString(transTask));
                        }
                    }
                } else {
                    success = 0;
                }
            }
        }

        return success;
    }

    /**
     * 出库申请（叫料）,装配库、滑块库
     *
     * @param mesCallOutApply
     * @return
     */
    public int callOutBoundOrder(MesCallOutApply mesCallOutApply){

        // docType根据库类型确定
        long docType = 7;
        long settle = 1;

        // 校验订单是否重复
        OrderPakout order = orderPakoutService.selectByNo(mesCallOutApply.getOrderNo());
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            return -1;
        }

        // 生成订单
        Date now = new Date();
        OrderPakout orderPakout = new OrderPakout();
        orderPakout.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        orderPakout.setOrderNo(mesCallOutApply.getOrderNo());
        orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
        orderPakout.setDocType(docType);
        orderPakout.setSettle(settle);
        orderPakout.setStatus(1);
        orderPakout.setCreateBy(defaultUserId);
        orderPakout.setCreateTime(now);
        orderPakout.setUpdateBy(defaultUserId);
        orderPakout.setUpdateTime(now);
        orderPakout.setMemo(JSONObject.toJSONString(mesCallOutApply));
        orderPakout.setPakinPakoutStatus(2);
        if (!orderPakoutService.insert(orderPakout)) {
            log.error("MES保存出库订单（叫料）主档失败");
            throw new CoolException("保存出库订单（叫料）主档失败");
        }

        // 生成明细
        if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
            for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()) {
                Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
                OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
                orderDetlPakout.setOrderId(orderPakout.getId());
                orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
                orderDetlPakout.setAnfme(Double.valueOf(mesOutApplyItem.getQty()));
                orderDetlPakout.setQty(0.0);
                orderDetlPakout.setMatnr(mat.getMatnr());
                orderDetlPakout.setMaktx(mat.getMaktx());
                orderDetlPakout.setSpecs(mat.getSpecs());
                orderDetlPakout.setModel(mat.getModel());
                orderDetlPakout.setThreeCode(mesOutApplyItem.getItemBarcode());
                orderDetlPakout.setStandby1(mesOutApplyItem.getTrayid());   //保存配盘号，非托盘号
                orderDetlPakout.setCreateBy(defaultUserId);
                orderDetlPakout.setCreateTime(now);
                orderDetlPakout.setUpdateBy(defaultUserId);
                orderDetlPakout.setUpdateTime(now);
                orderDetlPakout.setStatus(1);
                orderDetlPakout.setPakinPakoutStatus(2);
                if (!orderDetlPakoutService.insert(orderDetlPakout)) {
                    log.error("MES保存出库订单（叫料）明细档失败");
                    throw new CoolException("保存出库订单（叫料）明细档失败");
                }
            }
        }

        return 1;
    }

    // endregion


    // region 搬运任务调度

    // route转发3个WCS任务

    /**
     * 9.1下发运输任务
     *
     * @param transTask
     * @return
     */
    @Transactional
    public JSONObject submitTask(TransTask transTask) {

        JSONObject result = new JSONObject();
        result.put("taskno", transTask.getTaskno());

        // 重复性校验
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", transTask.getTaskno());
        List<Task> tasks = taskService.selectList(wrapper);
        if (tasks != null && !tasks.isEmpty()) {
            log.error("agv任务号重复:{}", transTask.getTaskno());
            result.put("Success", "2");
            result.put("Message", "agv任务号重复:" + transTask.getTaskno());
            return result;
        }

        // 下发给RCS
        RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
        // 模板名
        if(transTask.getCurStationId().startsWith("LL") || transTask.getCurStationId().startsWith("LG")) { // 起点产线
            rcsTaskSubmit.setTaskType("CS2");
        } else if(transTask.getNextStationId().startsWith("LL") || transTask.getNextStationId().startsWith("LG")) { // 终点产线
            rcsTaskSubmit.setTaskType("CS");
        } else { // 不涉及产线
            rcsTaskSubmit.setTaskType("CS3");
        }
        rcsTaskSubmit.setRobotTaskCode(transTask.getTaskno());
        rcsTaskSubmit.setInitPriority(10);  //默认10
        List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
        RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
        startRoute.setSeq(0);
        startRoute.setCode(transTask.getCurStationId());
        startRoute.setOperation("COLLECT");
        targetRouteList.add(startRoute);
        RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
        endRoute.setSeq(1);
        endRoute.setCode(transTask.getNextStationId());
        endRoute.setOperation("DELIVERY");
        targetRouteList.add(endRoute);
        rcsTaskSubmit.setTargetRoute(targetRouteList);

        // 转发给海康或华晓RCS
        RcsReturn rcsReturn = rcsService.submitTask(rcsTaskSubmit, transTask.getAgvFactory());
        if (rcsReturn.getCode().equals("SUCCESS")) {
            int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
            Date now = new Date();
            Task task = new Task();
            task.setWrkNo(workNo);
            task.setTaskType("AGV");
            task.setWrkSts(301L);
            task.setIoType(3);
            task.setIoPri(10.00);
            task.setWrkDate(now);
            task.setSourceStaNo(transTask.getCurStationId());
            task.setStaNo(transTask.getNextStationId());
            task.setBarcode(transTask.getTuoPanId());
            task.setModiUser(defaultUserId);
            task.setModiTime(now);
            task.setAppeUser(defaultUserId);
            task.setAppeTime(now);
            task.setTaskNo(transTask.getTaskno());
            task.setMemo(JSONObject.toJSONString(transTask));

            taskService.insert(task);
            Mat mat = matService.selectByMatnr(transTask.getItemno());
            TaskDetl taskDetl = new TaskDetl();
            taskDetl.setWrkNo(task.getWrkNo());
            taskDetl.setIoTime(task.getIoTime());
            taskDetl.setMatnr(transTask.getItemno());
            taskDetl.setAnfme(0.0);
//            taskDetl.setStandby1(String.valueOf(transTask.getQty()));
            taskDetl.setMaktx(mat.getMaktx());
            taskDetl.setSpecs(mat.getSpecs());
            taskDetl.setOrderNo(transTask.getOrderNo());
            taskDetl.setZpallet(transTask.getTuoPanId());
            taskDetl.setMemo(Cools.isEmpty(transTask.getItemBarcode()) ? "":barCodeListToStr(transTask.getItemBarcode()));
            taskDetl.setModiUser(defaultUserId);
            taskDetl.setModiTime(now);
            taskDetl.setAppeUser(defaultUserId);
            taskDetl.setAppeTime(now);
            taskDetlService.insert(taskDetl);
            result.put("Success", "1");
            result.put("Message", "任务接收成功");
        } else {
            result.put("Success", "2");
            result.put("Message", "任务下发给RCS失败");
        }

        return result;
    }

    /**
     * 9.2返回任务执行结果
     *
     * @param rcsReporterTask
     * @return
     */
    public int reporterTask(RcsReporterTask rcsReporterTask) {

        // 结果汇总
        boolean completed = true;
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", rcsReporterTask.getRobotTaskCode());
        List<Task> tasks = taskService.selectList(wrapper);
        if (tasks != null && !tasks.isEmpty()) {
            for (Task task : tasks) {
                if (task.getWrkSts() != 304) {   // TODO：确认完成，可能存在多盘任务
                    completed = false;
                }
            }
        }

        if (completed) {
            TransTaskFeedback transTaskFeedback = new TransTaskFeedback();
            transTaskFeedback.setTaskno(rcsReporterTask.getRobotTaskCode());
//            transTaskFeedback.setTaskname();
            transTaskFeedback.setResult(1);

            String url = MES_URL + "api/task/reporter";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(transTaskFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    return 1;
                }
            }
        }

        return 0;
    }

    /**
     * 9.8申请华晓AGV进入生产线
     *
     * @param apply
     * @return
     */
    public String applyInLine(TransParent apply) {

        String url = MES_URL + "api/apply/inLine";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            JSONObject jsonObject = JSONObject.parseObject(response);
            if("1".equals(jsonObject.getString("Success"))) {
                return jsonObject.getJSONObject("Data").getString("status");
            }
        }

        return "N";
    }

    /**
     * 入站请求：转发AGV->入站请求->给MES
     *
     * @param apply
     * @return
     */
    public int applyInStation(TransParent apply) {
        String path = ("LL").equals(apply.getProductLineId()) ? "AGVTransportPalletNotice" : "Aprs/AGVTransportPalletNotice";
        String url = MES_URL + path;
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 入站允许：转发MES->允许入站->给AGV
     *
     * @param allow
     * @return
     */
    public MesReturn allowInStation(TransInOutStationAllow allow) {

        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("1");

        if ("Y".equals(allow.getStatus())) {
            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
            rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
            rcsTaskContinue.setTriggerType("TASK");
            rcsTaskContinue.setTriggerCode(allow.getTaskno());
//            rcsTaskContinue.setTriggerType("ROBOT");
//            rcsTaskContinue.setTriggerCode(allow.getAgvCode());

            int success = rcsService.continueTask(rcsTaskContinue, 1);
            mesReturn.setSuccess(success == 1 ? "1" : "2");
            mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
        }

        return mesReturn;
    }

    /**
     * 到站完成：转发AGV->到站完成->给MES
     *
     * @param arrivalStation
     * @return
     */
    public int arriveOnStation(TransArrivalStation arrivalStation) {

        if ("01".equals(arrivalStation.getDaotype())) {
            arrivalStation.setItemno(null);
            arrivalStation.setItemBarcode(new ArrayList<>());
            arrivalStation.setOrderNo(null);
        }

        String path = ("LL").equals(arrivalStation.getProductLineId()) ? "AGVArrivalCompleted" : "Aprs/AGVArrivalCompleted";
        String url = MES_URL + path;
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(arrivalStation));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 离站请求：转发AGV->离站请求->给MES
     *
     * @param apply
     * @return
     */
    public int applyOutStation(TransParent apply) {

        String url = MES_URL + "api/apply/outStation";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 离站允许：转发MES->允许离站->给AGV
     *
     * @param allow
     * @return
     */
    public MesReturn allowOutStation(TransInOutStationAllow allow) {

        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("1");

        if ("Y".equals(allow.getStatus())) {
            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
            rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
            rcsTaskContinue.setTriggerType("TASK");
            rcsTaskContinue.setTriggerCode(allow.getTaskno());

            int success = rcsService.continueTask(rcsTaskContinue, checkRcsFactory(allow.getAgvCode()));
            mesReturn.setSuccess(success == 1 ? "1" : "2");
            mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
        }

        return mesReturn;
    }

    /**
     * 离站完成：转发AGV->离站完成->给MES
     *
     * @param apply
     * @return
     */
    public int outStation(TransParent apply) {

        String path = ("LL").equals(apply.getProductLineId()) ? "AGVDepartureCompleted" : "Aprs/AGVDepartureCompleted";
        String url = MES_URL + path;
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    @Override
    public MesReturn queryInventory(String itemno,String orderNo) {
        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("1");
        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("matnr", itemno).eq("order_no",orderNo));

        int count = 0;
        for(LocDetl locDetl:locDetls) {
            count += locDetl.getAnfme();
        }
        mesReturn.setMessage(String.valueOf(count));
        return mesReturn;
    }

    // endregion

    /**
     * 查询Rcs地址
     *
     * @param agvNo
     * @return 1 海康；2 华晓
     */
    private int checkRcsFactory(String agvNo) {

        AgvInfo agvInfo = agvInfoMapper.selectById(agvNo);
        return agvInfo.getAgvFactory();
    }

}
package com.zy.asrs.service.impl;

import com.alibaba.excel.util.StringUtils;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SnowflakeIdWorker;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.*;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.mapper.AgvInfoMapper;
import com.zy.asrs.mapper.BasDevpMapper;
import com.zy.asrs.mapper.MatItemBarcodeMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.LocDetlDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import javax.annotation.Resource;
import java.text.ParseException;
import java.util.*;
import java.util.stream.Collectors;

@Slf4j
@Service
public class MesServiceImpl implements MesService {

    @Value("${mes.url}")
    public String MES_URL;
    @Value("${wms.currentName}")
    public String WMS_CURRENT_NAME;
    @Value("${wms.wmsTransStartStation1}")
    public String WMS_TRANS_START_STATION_1;
    @Value("${wms.wmsTransStartStation2}")
    public String WMS_TRANS_START_STATION_2;
    @Value("${wms.wmsTransStartStation3}")
    public String WMS_TRANS_START_STATION_3;
    @Value("${mes.defaultUserId}")
    public long defaultUserId;
    @Value("${wms.zpalletId}")
    public String WMS_ZPALLET_ID;

    @Resource
    private RcsService rcsService;
    @Resource
    private MatService matService;
    @Resource
    private TagService tagService;
    @Resource
    private OrderPakinService orderPakinService;
    @Resource
    private OrderDetlPakinService orderDetlPakinService;
    @Resource
    private OrderPakoutService orderPakoutService;
    @Resource
    private OrderDetlPakoutService orderDetlPakoutService;
    @Resource
    private WaitPakinService waitPakinService;
    @Resource
    private TaskService taskService;
    @Resource
    private TaskDetlService taskDetlService;
    @Resource
    private SnowflakeIdWorker snowflakeIdWorker;
    @Resource
    private CommonService commonService;
    @Resource
    private AgvInfoMapper agvInfoMapper;
    @Resource
    private WorkService workService;
    @Resource
    private MatItemBarcodeMapper matItemBarcodeMapper;
    @Resource
    private LocMastService locMastService;

    @Resource
    private LocDetlService locDetlService;

    @Resource
    private MobileService mobileService;

    @Resource
    private WrkMastService wrkMastService;

    @Resource
    private WrkDetlService wrkDetlService;


    // region MES接口

    /**
     * 物料信息同步，MES->WMS
     * 功能：同步物料信息->生成入库单
     * 后续流程：入库时，需要实时调用recvFeedback返回入库数量
     *
     * @param matRecvForm
     * @return
     */
    @Transactional(rollbackFor = Exception.class)
    public MesReturn matInfoAndInBound(MesMatRecvForm matRecvForm) throws CoolException {

        MesReturn mesReturn = new MesReturn();

        // 1、物料信息同步
        for (MesMatInfo mesMatInfo : matRecvForm.getItemdata()) {
            if (synMatInfo(mesMatInfo) == 1) {
            } else {
                throw new CoolException("同步物料信息失败");
            }
        }

        // 2、生成入库单
        if (inBoundOrder_List(matRecvForm) == 1) {
            mesReturn.setSuccess("1");
            mesReturn.setMessage("");
        } else {
            throw new CoolException("同步物料信息，生成入库单失败");
        }

        return mesReturn;
    }

    /**
     * 新增、修改物料信息
     *
     * @param mesMatInfo
     * @return 1 成功；-1 保存物料类型失败；-2 保存物料失败；
     * @throws ParseException
     */
    public int synMatInfo(MesMatInfo mesMatInfo) {

        // 规则定义：默认第2层为库名（如：加工库），第3层为同步的物料类型
        long secondPath = 2;
        String secondParentName = WMS_CURRENT_NAME;
        Date now = new Date();

        // 物料类型更新
        long tagId = 0;
        EntityWrapper<Tag> wrapper = new EntityWrapper<>();
        wrapper.eq("name", mesMatInfo.getItemType());
        Tag tag = tagService.selectByName(mesMatInfo.getItemType(), 3);
        if (tag == null || StringUtils.isEmpty(tag.getName())) {
            Tag newTag = new Tag();
            newTag.setName(mesMatInfo.getItemType());
            newTag.setParentId(secondPath);
            newTag.setParentName(secondParentName);
            newTag.setPath("2");
            newTag.setPathName(secondParentName);
            newTag.setLevel(3);
            newTag.setStatus(1);
            newTag.setCreateBy(defaultUserId);
            newTag.setCreateTime(now);
            newTag.setUpdateBy(defaultUserId);
            newTag.setUpdateTime(now);

            if (!tagService.insert(newTag))
                return -1;
            tagId = newTag.getId();
        } else {
            tagId = tag.getId();
        }

        // 物料更新
        if (tagId > 0) {
            //        tagId = tagService.selectByName(mesMatInfo.getItem_type(), 3).getId();
            Mat mat = matService.selectByMatnr(mesMatInfo.getItemNo());
            Mat newMat = new Mat();
            newMat.setMatnr(mesMatInfo.getItemNo());
            newMat.setMaktx(mesMatInfo.getDescription());
            newMat.setTagId(tagId);
            newMat.setLocType(tagId);   //locType
            newMat.setSpecs(mesMatInfo.getSpecification());
            newMat.setUnit(mesMatInfo.getUnitOfMeasure());
            newMat.setModel(mesMatInfo.getClassificationCode());
            newMat.setMemo(JSONObject.toJSONString(mesMatInfo));
            newMat.setCreateBy(defaultUserId);
            newMat.setCreateTime(now);
            newMat.setUpdateBy(defaultUserId);
            newMat.setUpdateTime(now);
            newMat.setStatus(1);
            if (mat == null) {
                if (!matService.insert(newMat))
                    return -2;
            } else {
                JSONObject dbMemo = JSONObject.parseObject(mat.getMemo());
                dbMemo.remove("OrderNo");
                dbMemo.remove("qty");
                dbMemo.remove("ItemBarcode");
                JSONObject newMemo = JSONObject.parseObject(newMat.getMemo());
                newMemo.remove("OrderNo");
                newMemo.remove("qty");
                dbMemo.remove("ItemBarcode");
                if (!dbMemo.equals(newMemo)) {
                    newMat.setId(mat.getId());
                    if (!matService.updateById(newMat))
                        return -2;
                }
            }
        } else {
            return -1;
        }

        return 1;
    }

    /**
     * 物料同步入库单，按OrderNo生成多个订单
     *
     *
     * @param matRecvForm
     * @return
     */
    public int inBoundOrder_List(MesMatRecvForm matRecvForm){

        long docType = 4;   // docType根据库类型确定
        long settle = 1;
        Date now = new Date();

        // 按OrderNo分组，然后再生成入库单
        List<MesMatInfo> mesInApply = matRecvForm.getItemdata();
        Map<String, List<MesMatInfo>> map = mesInApply.stream().collect(Collectors.groupingBy(MesMatInfo::getOrderNo));
        for (Map.Entry<String, List<MesMatInfo>> entry : map.entrySet()) {
            List<MesMatInfo> list = entry.getValue();

            // 校验订单是否重复
            OrderPakin order = orderPakinService.selectByNo(entry.getKey());
            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
                return -1;
            }

            // 生成订单
            JSONObject newMemo = new JSONObject();
            newMemo.put("sourceNo", matRecvForm.getSourceNo());
            newMemo.put("sourceName", matRecvForm.getSourceName());
            newMemo.put("operuser", matRecvForm.getOperuser());
            newMemo.put("itemdata", list);

            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(entry.getKey());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(settle);
            orderPakin.setStatus(1);
            orderPakin.setCreateBy(defaultUserId);
            orderPakin.setCreateTime(now);
            orderPakin.setUpdateBy(defaultUserId);
            orderPakin.setUpdateTime(now);
            orderPakin.setMemo(newMemo.toJSONString());  //为领料入库完成反馈保存   JSONObject.toJSONString(matRecvForm)
            orderPakin.setPakinPakoutStatus(1);
            if (!orderPakinService.insert(orderPakin)) {
                log.error("MES保存入库订单主档失败");
                throw new CoolException("保存入库订单主档失败");
            }

            // 生成明细
            for (MesMatInfo mesMat : list) {
                Mat mat = matService.selectByMatnr(mesMat.getItemNo());
                OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
                orderDetlPakin.setOrderId(orderPakin.getId());
                orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
                orderDetlPakin.setAnfme(Double.valueOf(mesMat.getQty()));
                orderDetlPakin.setQty(0.0);
                orderDetlPakin.setMatnr(mat.getMatnr());
                orderDetlPakin.setMaktx(mat.getMaktx());
                orderDetlPakin.setSpecs(mat.getSpecs());
                orderDetlPakin.setModel(mat.getModel());
                orderDetlPakin.setStandby1(barCodeListToStr(mesMat.getItemBarcode()));   // 零件二维码
                orderDetlPakin.setStandby2("1");  //保存齐套性检查标识，1 检查；0 不检查；
                orderDetlPakin.setCreateBy(defaultUserId);
                orderDetlPakin.setCreateTime(now);
                orderDetlPakin.setUpdateBy(defaultUserId);
                orderDetlPakin.setUpdateTime(now);
                orderDetlPakin.setStatus(1);
                orderDetlPakin.setPakinPakoutStatus(1);
                if (!orderDetlPakinService.insert(orderDetlPakin)) {
                    log.error("MES保存入库订单明细档失败1");
                    throw new CoolException("保存入库订单明细档失败1");
                }
            }
        }

        return 1;
    }

    /**
     * 领料入库反馈
     * 触发条件：物料同步接口入库单，入库后
     * 推送时机：当订单中有物料入库后（应该在每托入库完成后，可以在更新OrderDetlPakin之后）则推送，不等全部订单完成
     *
     * @param orderNo
     * @param zapplet
     * @return
     */
    public int recvFeedback(String orderNo, String zapplet) {

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            List<MesRecvFeedback.MesRecvFeedbackItem> list = new ArrayList<>();
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());

            // 从组托信息中查询入库的信息
            EntityWrapper<WaitPakin> waitPakinEntityWrapper = new EntityWrapper<>();
            waitPakinEntityWrapper.eq("zpallet", zapplet);
            List<WaitPakin> zpalletMat = waitPakinService.selectList(waitPakinEntityWrapper);

            EntityWrapper<OrderDetlPakin> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakin> orderDetlPakins = orderDetlPakinService.selectList(wrapper);
            if (orderDetlPakins != null && !orderDetlPakins.isEmpty()) {
                for (OrderDetlPakin orderDetl : orderDetlPakins) {
                    for (WaitPakin zMat : zpalletMat) {
                        if (orderDetl.getMatnr().equals(zMat.getMatnr())) {
                            MesRecvFeedback.MesRecvFeedbackItem item = new MesRecvFeedback.MesRecvFeedbackItem();
                            item.setItemNo(orderDetl.getMatnr());
                            item.setOrderNo(orderNo);
                            item.setQty(orderDetl.getAnfme().intValue());
                            item.setRealQty(zMat.getAnfme().intValue());
                            // 回传托盘绑定的零件二维码
                            EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
                            matItemBarcodeEntityWrapper.eq("zapplet", zapplet).eq("status", 1);
                            List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
                            if (barcodes != null) {
                                List<String> itemBarcode = new ArrayList<>();
                                for (MatItemBarcode barcode : barcodes) {
                                    itemBarcode.add(barcode.getItemBarcode());
                                }
                                item.setItemBarcode(itemBarcode);
                                list.add(item);
                            }
                        }
                    }
                }
            }

            MesRecvFeedback mesRecvFeedback = new MesRecvFeedback();
            mesRecvFeedback.setSourceNo(dbMemo.getString("sourceNo"));
            mesRecvFeedback.setOperuser(dbMemo.getString("operuser"));
            mesRecvFeedback.setItemdata(list);

            String url = MES_URL + "MaterialReceiptAndReturn";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesRecvFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    return 1;
                }
            }
        }

        return 0;
    }

    /**
     * 出库申请，加工库、刀具库
     * 出库后需要自动呼叫AGV送货
     * 出库规则：需要按零件二维码（一件一码）出库，整托出库，该托上有其他物料也一起出库，他们后期会再入库
     *
     * @param mesOutApply
     * @return 1 成功；-1 订单重复；
     */
    @Transactional
    public int outBoundOrder(MesOutApply mesOutApply){

        // 空托出库
        if (StringUtils.isEmpty(mesOutApply.getOrderNo()) && "01".equals(mesOutApply.getTransType())) {
            // 生成空托出库任务
            mobileService.callEmptyBinOutBound(mesOutApply,mesOutApply.getStationId().startsWith("LJ") ? WMS_TRANS_START_STATION_1 : WMS_TRANS_START_STATION_3,mesOutApply.getPalletType(),1,defaultUserId);

//            try {
//                if (!StringUtils.isEmpty(mesOutApply.getTaskno()) && !StringUtils.isEmpty(mesOutApply.getStationId())) {
//                    TransTask transTask = new TransTask();
//                    transTask.setTaskno(mesOutApply.getTaskno());
//                    transTask.setTaskname(mesOutApply.getTaskname());
//                    transTask.setOrderNo(mesOutApply.getOrderNo());
//                    transTask.setTransType(mesOutApply.getTransType());
//                    transTask.setCurStationId(WMS_TRANS_START_STATION_1);
//                    transTask.setNextProcess(mesOutApply.getProductLineId());
//                    transTask.setNextStationId(mesOutApply.getStationId());
//                    transTask.setItemno(WMS_ZPALLET_ID);  // 固定为空托的编码
//                    transTask.setQty(1);    // 空托只出1个
//                    transTask.setProductLineId(mesOutApply.getProductLineId());
//                    transTask.setOperateType(1);
//                    transTask.setAgvFactory(1);
//                    JSONObject sendAgvTask = submitTask(transTask);
//                    if (!"1".equals(sendAgvTask.getString("Success"))) {
//                        log.error("出库下发agv运输任务失败：{}", JSONObject.toJSONString(transTask));
//                    }
//                }
//            } catch (Exception e) {
//                log.error("下发AGV运输任务失败", e);
//            }

            return 1;
        } else {    // 毛坯（物料）出库
            // docType根据库类型确定
            long docType = 7;
            long settle = 2;

            // 校验订单是否重复
            OrderPakout order = orderPakoutService.selectByNo(mesOutApply.getOrderNo());
            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
                log.error("出库订单号重复：{}",mesOutApply.getOrderNo());
                return -1;
            }
            if (Cools.isEmpty(mesOutApply.getItemBarcode())) {
                log.error("出库零件二维码为空：" +mesOutApply.getItemBarcode());
                return 2;
            }
            String itemBarcode = barCodeListToStr(mesOutApply.getItemBarcode());
            // 自动出库
            LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("standby1", itemBarcode));
            if (locDetl == null) {
                throw new CoolException("零件二维码没有匹配到库存：" +itemBarcode );
            }
            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", locDetl.getLocNo()));
            if (!locMast.getLocSts().equals("F")) {
                throw new CoolException("库位状态不为F：" +locMast.getLocNo() );
            }

            // 生成订单
            Date now = new Date();
            OrderPakout orderPakout = new OrderPakout();
            orderPakout.setUuid( String.valueOf(snowflakeIdWorker.nextId()));
            orderPakout.setOrderNo(mesOutApply.getOrderNo());
            orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakout.setDocType(docType);
            orderPakout.setSettle(settle);
            orderPakout.setStatus(1);
            orderPakout.setCreateBy(defaultUserId);
            orderPakout.setCreateTime(now);
            orderPakout.setUpdateBy(defaultUserId);
            orderPakout.setUpdateTime(now);
            orderPakout.setMemo(JSONObject.toJSONString(mesOutApply));
            orderPakout.setPakinPakoutStatus(2);
            orderPakout.setNumber(locMast.getBarcode()); // 托盘条码，上报时用
            if (!orderPakoutService.insert(orderPakout)) {
                log.error("MES保存出库订单主档失败");
                throw new CoolException("保存出库订单主档失败");
            }

            // 生成明细
            Mat mat = matService.selectByMatnr(mesOutApply.getItemno());
            OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
            orderDetlPakout.setOrderId(orderPakout.getId());
            orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
            orderDetlPakout.setAnfme(Double.valueOf(mesOutApply.getQty()));
            orderDetlPakout.setWorkQty(orderDetlPakout.getAnfme());
            orderDetlPakout.setQty(0.0);
            orderDetlPakout.setMatnr(mat.getMatnr());
            orderDetlPakout.setMaktx(mat.getMaktx());
            orderDetlPakout.setSpecs(mat.getSpecs());
            orderDetlPakout.setModel(mat.getModel());

            orderDetlPakout.setStandby1(itemBarcode);
            orderDetlPakout.setCreateBy(defaultUserId);
            orderDetlPakout.setCreateTime(now);
            orderDetlPakout.setUpdateBy(defaultUserId);
            orderDetlPakout.setUpdateTime(now);
            orderDetlPakout.setStatus(1);
            orderDetlPakout.setPakinPakoutStatus(2);
            if (!orderDetlPakoutService.insert(orderDetlPakout)) {
                log.error("MES保存出库订单明细档失败");
                throw new CoolException("保存出库订单明细档失败");
            }

            // 生成工作号
            int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(101));
            // 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(101); // 入出库状态
            wrkMast.setIoPri(13D); // 优先级：13
            wrkMast.setCrnNo(1);
            if(mesOutApply.getStationId().startsWith("LJ")) {
                wrkMast.setSourceStaNo("205"); // 源站
                wrkMast.setStaNo("205"); // 目标站
            } else {
                wrkMast.setSourceStaNo("203"); // 源站
                wrkMast.setStaNo("204"); // 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(defaultUserId); // 操作人员数据
            wrkMast.setAppeTime(now);
            wrkMast.setModiUser(defaultUserId);
            wrkMast.setModiTime(now);
            wrkMast.setMemo(JSONObject.toJSONString(mesOutApply));
            wrkMast.setTaskNo(mesOutApply.getTaskno());
            wrkMast.setAgvSta(mesOutApply.getStationId());
            wrkMastService.insert(wrkMast);
            // 生成工作档明细
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.sync(locDetl);
                wrkDetl.setOrderNo(orderPakout.getOrderNo()); // 手动出库不需要带出库存中的单据编号
                wrkDetl.setWrkNo(workNo);
                wrkDetl.setIoTime(now);
                wrkDetl.setAnfme(orderDetlPakout.getAnfme()); // 数量
                wrkDetl.setAppeTime(now);
                wrkDetl.setAppeUser(defaultUserId);
                wrkDetl.setModiTime(now);
                wrkDetl.setModiUser(defaultUserId);
//                wrkDetl.setMatnr(detlDto.getLocDetl().getMatnr());
//                wrkDetl.setMaktx(detlDto.getLocDetl().getMaktx());
//                wrkDetl.setUnit(detlDto.getLocDetl().getUnit());
//                wrkDetl.setSpecs(detlDto.getLocDetl().getSpecs());
//                wrkDetl.setUnit(detlDto.getLocDetl().getUnit());
//                wrkDetl.setModel(detlDto.getLocDetl().getModel());
                wrkDetlService.insert(wrkDetl);

            // 修改库位状态:   F.在库 ====>>> R.出库预约/P.拣料/盘点/并板出库中
            if (locMast.getLocSts().equals("F")) {
                locMast.setLocSts("R");
                locMast.setModiUser(defaultUserId);
                locMast.setModiTime(now);
                locMastService.updateById(locMast);
            }
            log.info("出库任务生成成功，任务号：{}",workNo);
            // 立库生成订单后，自动调度AGV运送到站点，目前多托生成多个。
//            try {
//                if (!StringUtils.isEmpty(mesOutApply.getTaskno()) && !StringUtils.isEmpty(mesOutApply.getStationId())) {
//                    // 按零件二维码查询有几个托，多托生成多个任务，每托对应零件二维码
////                    String barCode = barCodeListToStr(mesOutApply.getItemBarcode());
////                    EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
////                    matItemBarcodeEntityWrapper.in("item_barcode", barCode);
////                    List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
////                     if (barcodes != null) {
////                        Map<String, List<MatItemBarcode>> map = barcodes.stream().collect(Collectors.groupingBy(MatItemBarcode::getZapplet));
////                        for (Map.Entry<String, List<MatItemBarcode>> entry : map.entrySet()) {
////                            List<MatItemBarcode> list = entry.getValue();
////                            List<String> codes = new ArrayList<>();
////                            for (MatItemBarcode zapllet : list) {
////                                codes.add(zapllet.getItemBarcode());
////                            }
//
//                            TransTask transTask = new TransTask();
//                            transTask.setTaskno(mesOutApply.getTaskno());
//                            transTask.setTaskname(mesOutApply.getTaskname());
//                            transTask.setOrderNo(mesOutApply.getOrderNo());
//                            transTask.setTransType(mesOutApply.getTransType());
//                            transTask.setCurStationId(WMS_TRANS_START_STATION_3);
//                            transTask.setNextProcess(mesOutApply.getProductLineId());
//                            transTask.setNextStationId(mesOutApply.getStationId());
//                            transTask.setItemno(mesOutApply.getItemno());
//                            transTask.setQty(mesOutApply.getQty());
//                            transTask.setProductLineId(mesOutApply.getProductLineId());
//                            transTask.setItemBarcode(mesOutApply.getItemBarcode());
//                            transTask.setTuoPanId(locDetl.getZpallet());
//                            transTask.setOperateType(1);
//                            transTask.setAgvFactory(1);
//                            JSONObject sendAgvTask = submitTask(transTask);
//                            if (!"1".equals(sendAgvTask.getString("Success"))) {
//                                log.error("出库下发agv运输任务失败", JSONObject.toJSONString(transTask));
//                            }
////                        }
////                    }
//                }
//            } catch (Exception e) {
//                log.error("下发AGV运输任务失败", e);
//            }
        }

        return 1;
    }

    /**
     * 入库申请
     * 收到入库申请后自动呼叫AGV取货
     *
     * @param mesInApply
     */
    @Transactional
    public int inBoundOrder(MesInApply mesInApply){

        // 出入库任务控制 入库前判断是否有出库任务
        if(mesInApply.getStationID().startsWith("LG") || mesInApply.getStationID().startsWith("LT")) { // 侧面只能螺杆线出入，205口
            int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().in("io_type", 101, 103, 107, 110).eq("sta_no", 205));
            if(count >0) {
                log.warn("该入库站点:{},存在执行的出库任务:{}条", 205, count);
                return 2;
            }
        }

        // 空托回库
        if (StringUtils.isEmpty(mesInApply.getOrderNo()) && StringUtils.isEmpty(mesInApply.getItemno())) {
                if (!StringUtils.isEmpty(mesInApply.getTaskno()) && !StringUtils.isEmpty(mesInApply.getStationID())) {
                    TransTask transTask = new TransTask();
                    transTask.setTaskno(mesInApply.getTaskno());
                    transTask.setTaskname(mesInApply.getTaskname());
                    transTask.setOrderNo(mesInApply.getOrderNo());
                    transTask.setTransType(mesInApply.getTransType());
                    transTask.setCurProcess(mesInApply.getProductLineId());
                    transTask.setCurStationId(mesInApply.getStationID());
                    transTask.setNextStationId(mesInApply.getStationID().startsWith("LJ") ? WMS_TRANS_START_STATION_1 : WMS_TRANS_START_STATION_2);
                    transTask.setItemno(WMS_ZPALLET_ID);  // 固定为空托的编码
                    transTask.setQty(1);    // 空托只回1个
                    transTask.setProductLineId(mesInApply.getProductLineId());
                    transTask.setOperateType(1);
                    transTask.setAgvFactory(1);
                    transTask.setTuoPanId(mesInApply.getTuoPanId());
                    JSONObject sendAgvTask = submitTask(transTask);
                    if (!"1".equals(sendAgvTask.getString("Success"))) {
                        log.error("入库下发agv运输任务失败,{}", JSONObject.toJSONString(transTask));
                        return 2;
                    }
                } else {
                    log.error("无任务号：{}，或无物料编码:{}",mesInApply.getTaskno(),mesInApply.getItemno() );
                    return 2;
                }

            return 1;
        } else {    // 毛坯、成品回库
            // docType根据库类型确定
            long docType = 3;
            long settle = 1;

            // 校验订单是否重复
            OrderPakin order = orderPakinService.selectByNo(mesInApply.getOrderNo());
            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
                log.error("订单重复：{}", mesInApply.getOrderNo());
                return 2;
            }

            // 生成订单
            Date now = new Date();
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(mesInApply.getOrderNo());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(settle);
            orderPakin.setStatus(1);
            orderPakin.setCreateBy(defaultUserId);
            orderPakin.setCreateTime(now);
            orderPakin.setUpdateBy(defaultUserId);
            orderPakin.setUpdateTime(now);
            orderPakin.setMemo(JSONObject.toJSONString(mesInApply));  //为出库完成反馈保存
            orderPakin.setPakinPakoutStatus(1);
            orderPakinService.insert(orderPakin);

            // 生成明细
            Mat mat = matService.selectByMatnr(mesInApply.getItemno());
            OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
            orderDetlPakin.setOrderId(orderPakin.getId());
            orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
            orderDetlPakin.setAnfme(Double.valueOf(mesInApply.getQty()));
            orderDetlPakin.setQty(0.0);
            orderDetlPakin.setMatnr(mat.getMatnr());
            orderDetlPakin.setMaktx(mat.getMaktx());
            orderDetlPakin.setSpecs(mat.getSpecs());
            orderDetlPakin.setModel(mat.getModel());
            List<String> itemBarcode = mesInApply.getProductInfo().stream().map(MesInApply.ProductInfo::getItemBarcode).collect(Collectors.toList());
            orderDetlPakin.setStandby1(barCodeListToStr(itemBarcode)); //零件详情存在1

            orderDetlPakin.setStandby2("0");  //保存齐套性检查标识，1 检查；0 不检查；
            orderDetlPakin.setCreateBy(defaultUserId);
            orderDetlPakin.setCreateTime(now);
            orderDetlPakin.setUpdateBy(defaultUserId);
            orderDetlPakin.setUpdateTime(now);
            orderDetlPakin.setStatus(1);
            orderDetlPakin.setPakinPakoutStatus(1);
            orderDetlPakinService.insert(orderDetlPakin);

            // 生成入库通知档
            WaitPakin waitPakin = new WaitPakin();
            BeanUtils.copyProperties(mat, waitPakin);
//                waitPakin.sync(mat);
            waitPakin.setOrderNo(orderPakin.getOrderNo());   // 单据编号
            waitPakin.setOrderId(orderPakin.getId());
            waitPakin.setZpallet(mesInApply.getTuoPanId());   // 托盘码
            waitPakin.setIoStatus("N");     // 入出状态
            waitPakin.setAnfme(orderDetlPakin.getAnfme());  // 数量
            waitPakin.setStatus("Y");    // 状态
            waitPakin.setAppeUser(defaultUserId);
            waitPakin.setAppeTime(now);
            waitPakin.setModiUser(defaultUserId);
            waitPakin.setModiTime(now);
            waitPakin.setStandby1(barCodeListToStr(itemBarcode));
            waitPakinService.insert(waitPakin);
            OrderInAndOutUtil.increaseWorkQty(Boolean.TRUE, orderPakin.getId(), orderDetlPakin.getMatnr(), orderDetlPakin.getBatch(),
                    orderDetlPakin.getBrand(), orderDetlPakin.getStandby1(), orderDetlPakin.getStandby2(), orderDetlPakin.getStandby3(),
                    orderDetlPakin.getBoxType1(), orderDetlPakin.getBoxType2(), orderDetlPakin.getBoxType3(), orderDetlPakin.getAnfme());
            OrderInAndOutUtil.updateOrder(Boolean.TRUE, orderPakin.getId(), 2L, defaultUserId);

            // 呼叫AGV从产线运回立库
                if (!StringUtils.isEmpty(mesInApply.getTaskno())) {
                    TransTask transTask = new TransTask();
                    transTask.setTaskno(mesInApply.getTaskno());
                    transTask.setTaskname(mesInApply.getTaskname());
                    transTask.setOrderNo(mesInApply.getOrderNo());
                    transTask.setTransType(mesInApply.getTransType());
                    transTask.setCurProcess(mesInApply.getProductLineId());
                    transTask.setCurStationId(mesInApply.getStationID());
                    transTask.setNextStationId(mesInApply.getStationID().startsWith("LJ") ? WMS_TRANS_START_STATION_1 : WMS_TRANS_START_STATION_2);
                    transTask.setItemno(mesInApply.getItemno());
                    transTask.setQty(mesInApply.getQty());
                    transTask.setProductLineId(mesInApply.getProductLineId());
                    transTask.setItemBarcode(itemBarcode);
                    transTask.setTuoPanId(mesInApply.getTuoPanId());
                    transTask.setOperateType(1);
                    transTask.setAgvFactory(1);
                    JSONObject sendAgvTask = submitTask(transTask);
                    if (!"1".equals(sendAgvTask.getString("Success"))) {
                        log.error("入库下发agv运输任务失败:{}", JSONObject.toJSONString(transTask));
                        throw new CoolException("入库下发agv运输任务失败");
                    }
                } else {
                    throw new CoolException("MES入库下发agv运输任务失败");
                }
        }

        return 1;
    }

    /**
     * 出库完成
     * 出库后，按托推送，非整个订单
     *
     * @param orderNo
     * @return
     */
    public int outFeedbackByTuo(String orderNo, Task agvTask) {

        int success = 0;

        OrderPakout order = orderPakoutService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());

            // TODO：出库完成后，若未解绑托盘和物料，则执行托盘解绑
            // TODO：出库完成后，若未清除零件二维码，则执行清除，也可以在AGV送货完成后清除
//            EntityWrapper<OrderDetlPakout> wrapper = new EntityWrapper<>();
//            wrapper.eq("order_no", orderNo);
//            List<OrderDetlPakout> orderDetlPakouts = orderDetlPakoutService.selectList(wrapper);
//            if (orderDetlPakouts != null && !orderDetlPakouts.isEmpty()) {
//                for (OrderDetlPakout orderDetl : orderDetlPakouts) {
//                    StringBuilder palletId = new StringBuilder();
//                    EntityWrapper<WaitPakin> wrapper2 = new EntityWrapper<>();
//                    wrapper2.eq("order_no", orderDetl.getOrderNo());
//                    List<WaitPakin> waitPakins = waitPakinService.selectList(wrapper2);
//                    if (waitPakins != null && waitPakins.size() > 0) {
//                        for (WaitPakin waitPakin : waitPakins) {
//                            palletId.append(waitPakin.getZpallet()).append(",");
//                        }
//                    }
//
//                    MesOutFeedback mesOutFeedback = new MesOutFeedback();
//                    mesOutFeedback.setTaskno(dbMemo.getString("taskno"));
//                    mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
//                    mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
//                    mesOutFeedback.setStationId(dbMemo.getString("StationID"));
//                    mesOutFeedback.setItemno(orderDetl.getMatnr());
//                    mesOutFeedback.setTuoPanId(zpalletId);
//                    mesOutFeedback.setQty(orderDetl.getQty().intValue());
//                    if (!StringUtils.isEmpty(dbMemo.getString("ItemBarcode"))) {
//                        mesOutFeedback.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
//                    }
//                    mesOutFeedback.setOrderNo(orderNo);
//                }
//            }

            EntityWrapper<TaskDetl> entityWrapper = new EntityWrapper<>();
            entityWrapper.eq("wrk_no", agvTask.getWrkNo());
            TaskDetl taskDetl = taskDetlService.selectOne(entityWrapper);
            String zpalletId = taskDetl.getZpallet();
            List<String> itemBarCode = new ArrayList<>();
            JSONArray array = JSONArray.parseArray(taskDetl.getMemo());
            for (Object one : array) {
                itemBarCode.add(one.toString());
                // TODO：入库时存储零件码(ItemBarCode），并绑定托盘，出库后这里考虑解绑
            }

            MesOutFeedback mesOutFeedback = new MesOutFeedback();
            mesOutFeedback.setTaskno(agvTask.getTaskNo());
            mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
            mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
            mesOutFeedback.setStationId(dbMemo.getString("StationId"));
            mesOutFeedback.setItemno(dbMemo.getString("Itemno"));
            mesOutFeedback.setTuoPanId(zpalletId);
            if (itemBarCode.size() > 0) {
                mesOutFeedback.setQty(itemBarCode.size());
                mesOutFeedback.setItemBarcode(itemBarCode);
            }
            mesOutFeedback.setOrderNo(orderNo);

            String url = MES_URL + "issueComplete";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesOutFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    success = 1;
                }
            }
        }

        return success;
    }

    /**
     * 入库完成
     * 入库后，按托推送，非整个订单
     *
     * @param orderNo
     * @param zapplet
     * @return
     */
    public int inFeedbackByTuo(String orderNo, String zapplet) {

        int success = 0;

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            List<MesInApply.ProductInfo> list = new ArrayList<>();
            // 从托盘绑定的零件二维码中查询信息
            EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
            matItemBarcodeEntityWrapper.eq("zapplet", zapplet).eq("status", 1);
            List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
            for (MatItemBarcode barcode : barcodes) {
                MesInApply.ProductInfo productInfo = new MesInApply.ProductInfo();
                productInfo.setItemBarcode(barcode.getItemBarcode());
                productInfo.setQualityStatus(barcode.getQualityStatus());
                list.add(productInfo);
            }

            MesInApply result = JSONObject.parseObject(order.getMemo(), MesInApply.class);
            result.setProductInfo(list);
            result.setQty(list.size());

            String url = MES_URL + "loadComplete";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(result));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    success = 1;
                }
            }
        }

        return success;
    }

    /**
     * 零件二维码，数组转string
     *
     * @param list
     * @return
     */
    public static String barCodeListToStr(List<String> list) {
        if(list.isEmpty()) {
            return "";
        }
        StringBuilder stringBuilder = new StringBuilder();
        for (String str : list) {
            stringBuilder.append(str).append(",");
        }
        String result = stringBuilder.toString();
        return result.endsWith(",") ? result.substring(0, result.length() - 1) : result;
    }

    /**
     * 零件二维码，string转数组
     *
     * @param str
     * @return
     */
    public static List<String> barCodeStrToList(String str) {
        String[] array = str.split(",");
        return Arrays.asList(array);
    }

    /**
     * 入库完成
     * 入库单完成后，整单推送
     *
     * @param orderNo
     * @return
     */
    public int inFeedback(String orderNo) {

        int success = 0;

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            EntityWrapper<OrderDetlPakin> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakin> orderDetlPakins = orderDetlPakinService.selectList(wrapper);
            if (orderDetlPakins != null && !orderDetlPakins.isEmpty()) {
                for (OrderDetlPakin orderDetl : orderDetlPakins) {
                    MesInApply result = JSONObject.parseObject(order.getMemo(), MesInApply.class);
                    result.setQty(orderDetl.getQty().intValue());

                    String url = MES_URL + "loadComplete";
                    String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(result));
                    if (!StringUtils.isEmpty(response) && response.contains("Success")){
                        MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                        if("1".equals(mesReturn.getSuccess())) {
                            success++;
                        }
                    }
                }

                if (success == orderDetlPakins.size()) {
                    success = 1;
                } else {
                    success = 0;
                }
            }
        }

        return success;
    }

    /**
     * （备份）出库订单完成
     *
     * @param orderNo
     * @return
     */
    public int outFeedback(String orderNo) {

        int success = 0;

        OrderPakout order = orderPakoutService.selectByNo(orderNo);
        if (order != null && order.getSettle() == 4) {   // 校验是否完成
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());
            EntityWrapper<OrderDetlPakout> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakout> orderDetlPakouts = orderDetlPakoutService.selectList(wrapper);
            if (orderDetlPakouts != null && !orderDetlPakouts.isEmpty()) {
                for (OrderDetlPakout orderDetl : orderDetlPakouts) {
                    StringBuilder palletId = new StringBuilder();
                    EntityWrapper<WaitPakin> wrapper2 = new EntityWrapper<>();
                    wrapper2.eq("order_no", orderDetl.getOrderNo());
                    List<WaitPakin> waitPakins = waitPakinService.selectList(wrapper2);
                    if (waitPakins != null && waitPakins.size() > 0) {
                        for (WaitPakin waitPakin : waitPakins) {
                            palletId.append(waitPakin.getZpallet()).append(",");
                        }
                    }

                    MesOutFeedback mesOutFeedback = new MesOutFeedback();
                    mesOutFeedback.setTaskno(dbMemo.getString("taskno"));
                    mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
                    mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
                    mesOutFeedback.setStationId(dbMemo.getString("StationID"));
                    mesOutFeedback.setItemno(orderDetl.getMatnr());
                    if (!StringUtils.isEmpty(palletId.toString())) {
                        mesOutFeedback.setTuoPanId(palletId.substring(0, palletId.length() - 1));
                    }
                    mesOutFeedback.setQty(orderDetl.getQty().intValue());
                    if (!StringUtils.isEmpty(dbMemo.getString("ItemBarcode"))) {
                        mesOutFeedback.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
                    }
                    mesOutFeedback.setOrderNo(orderNo);

                    // TODO:备注：出库完成后解绑托盘和物料，若前面未解绑，此处需要解绑

                    String url = MES_URL + "issueComplete";
                    String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesOutFeedback));
                    if (!StringUtils.isEmpty(response) && response.contains("Success")){
                        MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                        if("1".equals(mesReturn.getSuccess())) {
                            success++;
                        }
                    }
                }

                if (success == orderDetlPakouts.size()) {
                    success = 1;

                    // TODO：立库出库后自动调度AGV运送到站点
                    String taskNo = dbMemo.getString("taskno");
                    if (!StringUtils.isEmpty(taskNo)) {
                        TransTask transTask = new TransTask();
                        transTask.setTaskno(dbMemo.getString("taskno"));
                        transTask.setTaskname(dbMemo.getString("taskname"));
                        transTask.setOrderNo(dbMemo.getString("OrderNo"));
                        transTask.setTransType(dbMemo.getString("TransType"));
//                    transTask.setCurProcess();
                        transTask.setCurStationId(WMS_TRANS_START_STATION_3);
                        transTask.setNextProcess(dbMemo.getString("ProductLineId"));
                        transTask.setNextStationId(dbMemo.getString("StationId"));
                        transTask.setItemno(dbMemo.getString("Itemno"));
                        transTask.setQty(dbMemo.getInteger("Qty"));
                        transTask.setProductLineId(dbMemo.getString("ProductLineId"));
                        transTask.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
                        transTask.setOperateType(1);
                        transTask.setAgvFactory(1);
                        JSONObject sendAgvTask = submitTask(transTask);
                        if (!"1".equals(sendAgvTask.getString("Success"))) {
                            log.error("出库下发agv运输任务失败:{}", JSONObject.toJSONString(transTask));
                        }
                    }
                } else {
                    success = 0;
                }
            }
        }

        return success;
    }

    /**
     * 出库申请（叫料）,装配库、滑块库
     *
     * @param mesCallOutApply
     * @return
     */
    public int callOutBoundOrder(MesCallOutApply mesCallOutApply){

        // docType根据库类型确定
        long docType = 7;
        long settle = 1;

        // 校验订单是否重复
        OrderPakout order = orderPakoutService.selectByNo(mesCallOutApply.getOrderNo());
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            return -1;
        }

        // 生成订单
        Date now = new Date();
        OrderPakout orderPakout = new OrderPakout();
        orderPakout.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        orderPakout.setOrderNo(mesCallOutApply.getOrderNo());
        orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
        orderPakout.setDocType(docType);
        orderPakout.setSettle(settle);
        orderPakout.setStatus(1);
        orderPakout.setCreateBy(defaultUserId);
        orderPakout.setCreateTime(now);
        orderPakout.setUpdateBy(defaultUserId);
        orderPakout.setUpdateTime(now);
        orderPakout.setMemo(JSONObject.toJSONString(mesCallOutApply));
        orderPakout.setPakinPakoutStatus(2);
        if (!orderPakoutService.insert(orderPakout)) {
            log.error("MES保存出库订单（叫料）主档失败");
            throw new CoolException("保存出库订单（叫料）主档失败");
        }

        // 生成明细
        if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
            for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()) {
                Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
                OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
                orderDetlPakout.setOrderId(orderPakout.getId());
                orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
                orderDetlPakout.setAnfme(Double.valueOf(mesOutApplyItem.getQty()));
                orderDetlPakout.setQty(0.0);
                orderDetlPakout.setMatnr(mat.getMatnr());
                orderDetlPakout.setMaktx(mat.getMaktx());
                orderDetlPakout.setSpecs(mat.getSpecs());
                orderDetlPakout.setModel(mat.getModel());
                orderDetlPakout.setThreeCode(mesOutApplyItem.getItemBarcode());
                orderDetlPakout.setStandby1(mesOutApplyItem.getTrayid());   //保存配盘号，非托盘号
                orderDetlPakout.setCreateBy(defaultUserId);
                orderDetlPakout.setCreateTime(now);
                orderDetlPakout.setUpdateBy(defaultUserId);
                orderDetlPakout.setUpdateTime(now);
                orderDetlPakout.setStatus(1);
                orderDetlPakout.setPakinPakoutStatus(2);
                if (!orderDetlPakoutService.insert(orderDetlPakout)) {
                    log.error("MES保存出库订单（叫料）明细档失败");
                    throw new CoolException("保存出库订单（叫料）明细档失败");
                }
            }
        }

        return 1;
    }

    // endregion


    // region 搬运任务调度

    // route转发3个WCS任务

    @Resource
    private BasDevpMapper basDevpMapper;

    /**
     * 9.1下发运输任务
     *
     * @param transTask
     * @return
     */
    @Transactional
    public JSONObject submitTask(TransTask transTask) {

        JSONObject result = new JSONObject();
        result.put("taskno", transTask.getTaskno());

        // 重复性校验
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", transTask.getTaskno());
        List<Task> tasks = taskService.selectList(wrapper);
        if (tasks != null && !tasks.isEmpty()) {
            log.error("agv任务号重复:{}", transTask.getTaskno());
            result.put("Success", "2");
            result.put("Message", "agv任务号重复:" + transTask.getTaskno());
            return result;
        }

        // 下发给RCS
        RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
        // 模板名
        if(transTask.getCurStationId().startsWith("LL") || transTask.getCurStationId().startsWith("LJ")
                || transTask.getCurStationId().startsWith("LG") || transTask.getCurStationId().startsWith("LT")) { // 起点产线
            rcsTaskSubmit.setTaskType("JJIN");
        } else if(transTask.getNextStationId().startsWith("LL") || transTask.getNextStationId().startsWith("LJ")
                || transTask.getNextStationId().startsWith("LG") || transTask.getNextStationId().startsWith("LT")) { // 终点产线
            rcsTaskSubmit.setTaskType("JJOUT");
        } else if(transTask.getCurStationId().startsWith("B")) { // 不涉及产线,起点接驳位，入库
            rcsTaskSubmit.setTaskType("CS4");
        } else if(transTask.getNextStationId().startsWith("B")){  // 不涉及产线,终点接驳位，出库
            rcsTaskSubmit.setTaskType("CS3");
        } else {
            log.error("根据起点：{}，终点：{}，无法匹配模板", transTask.getCurStationId(),transTask.getNextStationId());
            result.put("Success", "2");
            result.put("Message", "根据起点："+transTask.getCurStationId()+"，终点："+transTask.getNextStationId()+"，无法匹配模板");
            return result;
        }
        rcsTaskSubmit.setRobotTaskCode(transTask.getTaskno());
        rcsTaskSubmit.setInitPriority(10);  //默认10
        List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
        RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
        RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
        startRoute.setSeq(0);
        startRoute.setOperation("COLLECT");
        endRoute.setSeq(1);
        endRoute.setOperation("DELIVERY");

        String curStationId = transTask.getCurStationId(); // 起点
        String nextStationId = transTask.getNextStationId(); // 终点
        // 起点和终点是输送线时 根据托盘码给AGV不同的站点
        startRoute.setCode(transTask.getCurStationId());
        if (curStationId.equals("202") || curStationId.equals("204") || curStationId.equals("205")) {
            if(curStationId.equals("202") || curStationId.equals("204")) {
                startRoute.setCode(transTask.getCurStationId() + (transTask.getTuoPanId().startsWith("11") ? "-2" : "-1"));
            }
            // 出库先绑定载具
            SiteBind siteBind = new SiteBind("SITE", startRoute.getCode(), "POD", transTask.getTuoPanId(), "BIND");
            RcsReturn carrierBindReturn = rcsService.siteBind(siteBind);
            if (!carrierBindReturn.getCode().equals("SUCCESS")) {
                log.error("出库绑定载具失败：{}", JSONObject.toJSONString(carrierBindReturn));
                result.put("Success", "2");
                result.put("Message", "出库绑定载具失败：" + JSONObject.toJSONString(carrierBindReturn));
                return result;
            }
        }
        endRoute.setCode(transTask.getNextStationId());
        if(nextStationId.equals("202") || nextStationId.equals("204")) {
            endRoute.setCode(transTask.getNextStationId() + (transTask.getTuoPanId().startsWith("11") ? "-2" : "-1"));
        }

        targetRouteList.add(startRoute);
        targetRouteList.add(endRoute);
        rcsTaskSubmit.setTargetRoute(targetRouteList);

        // 转发给海康或华晓RCS
        RcsReturn rcsReturn = rcsService.submitTask(rcsTaskSubmit, transTask.getAgvFactory());
        if (rcsReturn.getCode().equals("SUCCESS")) {
            int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
            Date now = new Date();
            Task task = new Task();
            task.setWrkNo(workNo);
            task.setTaskType("AGV");
            task.setWrkSts(301L);
            task.setIoType(3);
            task.setIoPri(10.00);
            task.setWrkDate(now);
            task.setSourceStaNo(transTask.getCurStationId());
            task.setStaNo(transTask.getNextStationId());
            task.setBarcode(transTask.getTuoPanId());
            task.setModiUser(defaultUserId);
            task.setModiTime(now);
            task.setAppeUser(defaultUserId);
            task.setAppeTime(now);
            task.setTaskNo(transTask.getTaskno());
            task.setMemo(JSONObject.toJSONString(transTask));

            taskService.insert(task);
            Mat mat = matService.selectByMatnr(transTask.getItemno());
            TaskDetl taskDetl = new TaskDetl();
            taskDetl.setWrkNo(task.getWrkNo());
            taskDetl.setIoTime(task.getIoTime());
            taskDetl.setMatnr(transTask.getItemno());
            taskDetl.setAnfme(0.0);
//            taskDetl.setStandby1(String.valueOf(transTask.getQty()));
            taskDetl.setMaktx(mat.getMaktx());
            taskDetl.setSpecs(mat.getSpecs());
            taskDetl.setOrderNo(transTask.getOrderNo());
            taskDetl.setZpallet(transTask.getTuoPanId());
            taskDetl.setMemo(Cools.isEmpty(transTask.getItemBarcode()) ? "":barCodeListToStr(transTask.getItemBarcode()));
            taskDetl.setModiUser(defaultUserId);
            taskDetl.setModiTime(now);
            taskDetl.setAppeUser(defaultUserId);
            taskDetl.setAppeTime(now);
            taskDetlService.insert(taskDetl);
            result.put("Success", "1");
            result.put("Message", "任务接收成功");

            // 出入库任务控制 入库暂存+1
            if(task.getStaNo().equals("205")) {
                basDevpMapper.updateInQty(Integer.parseInt(task.getStaNo()),1);
            }
        } else {
            result.put("Success", "2");
            result.put("Message", "任务下发给RCS失败");
        }

        return result;
    }

    /**
     * 9.2返回任务执行结果
     *
     * @param rcsReporterTask
     * @return
     */
    public int reporterTask(RcsReporterTask rcsReporterTask) {

        // 结果汇总
        boolean completed = true;
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", rcsReporterTask.getRobotTaskCode());
        List<Task> tasks = taskService.selectList(wrapper);
        if (tasks != null && !tasks.isEmpty()) {
            for (Task task : tasks) {
                if (task.getWrkSts() != 304) {   // TODO：确认完成，可能存在多盘任务
                    completed = false;
                }
            }
        }

        if (completed) {
            TransTaskFeedback transTaskFeedback = new TransTaskFeedback();
            transTaskFeedback.setTaskno(rcsReporterTask.getRobotTaskCode());
//            transTaskFeedback.setTaskname();
            transTaskFeedback.setResult(1);

            String url = MES_URL + "api/task/reporter";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(transTaskFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")){
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if("1".equals(mesReturn.getSuccess())) {
                    return 1;
                }
            }
        }

        return 0;
    }

    /**
     * 9.8申请华晓AGV进入生产线
     *
     * @param apply
     * @return
     */
    public String applyInLine(TransParent apply) {

        String url = MES_URL + "api/apply/inLine";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            JSONObject jsonObject = JSONObject.parseObject(response);
            if("1".equals(jsonObject.getString("Success"))) {
                return jsonObject.getJSONObject("Data").getString("status");
            }
        }

        return "N";
    }

    /**
     * 入站请求：转发AGV->入站请求->给MES
     *
     * @param apply
     * @return
     */
    public int applyInStation(TransParent apply) {
        String path = ("LL").equals(apply.getProductLineId()) || ("LJ").equals(apply.getProductLineId()) ? "AGVTransportPalletNotice" : "Aprs/AGVTransportPalletNotice";
        String url = MES_URL + path;
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 入站允许：转发MES->允许入站->给AGV
     *
     * @param allow
     * @return
     */
    public MesReturn allowInStation(TransInOutStationAllow allow) {

        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("1");

        if ("Y".equals(allow.getStatus())) {
            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
            rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
            rcsTaskContinue.setTriggerType("TASK");
            rcsTaskContinue.setTriggerCode(allow.getTaskno());
//            rcsTaskContinue.setTriggerType("ROBOT");
//            rcsTaskContinue.setTriggerCode(allow.getAgvCode());

            int success = rcsService.continueTask(rcsTaskContinue, 1);
            mesReturn.setSuccess(success == 1 ? "1" : "2");
            mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
        }

        return mesReturn;
    }

    /**
     * 到站完成：转发AGV->到站完成->给MES
     *
     * @param arrivalStation
     * @return
     */
    public int arriveOnStation(TransArrivalStation arrivalStation) {

        if ("01".equals(arrivalStation.getDaotype())) {
            arrivalStation.setItemno(null);
            arrivalStation.setItemBarcode(new ArrayList<>());
            arrivalStation.setOrderNo(null);
        }

        String path = ("LL").equals(arrivalStation.getProductLineId()) || ("LJ").equals(arrivalStation.getProductLineId()) ? "AGVArrivalCompleted" : "Aprs/AGVArrivalCompleted";
        String url = MES_URL + path;
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(arrivalStation));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 离站请求：转发AGV->离站请求->给MES
     *
     * @param apply
     * @return
     */
    public int applyOutStation(TransParent apply) {

        String url = MES_URL + "api/apply/outStation";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 离站允许：转发MES->允许离站->给AGV
     *
     * @param allow
     * @return
     */
    public MesReturn allowOutStation(TransInOutStationAllow allow) {

        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("1");

        if ("Y".equals(allow.getStatus())) {
            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
            rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
            rcsTaskContinue.setTriggerType("TASK");
            rcsTaskContinue.setTriggerCode(allow.getTaskno());

            int success = rcsService.continueTask(rcsTaskContinue, checkRcsFactory(allow.getAgvCode()));
            mesReturn.setSuccess(success == 1 ? "1" : "2");
            mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
        }

        return mesReturn;
    }

    /**
     * 离站完成：转发AGV->离站完成->给MES
     *
     * @param apply
     * @return
     */
    public int outStation(TransParent apply) {

        String path = ("LL").equals(apply.getProductLineId()) || ("LJ").equals(apply.getProductLineId()) ? "AGVDepartureCompleted" : "Aprs/AGVDepartureCompleted";
        String url = MES_URL + path;
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")){
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    @Override
    public MesReturn queryInventory(String itemno,String orderNo) {
        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("1");
        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("matnr", itemno).eq("order_no",orderNo));

        int count = 0;
        for(LocDetl locDetl:locDetls) {
            count += locDetl.getAnfme();
        }
        mesReturn.setMessage(String.valueOf(count));
        return mesReturn;
    }

    // endregion

    /**
     * 查询Rcs地址
     *
     * @param agvNo
     * @return 1 海康；2 华晓
     */
    private int checkRcsFactory(String agvNo) {

        AgvInfo agvInfo = agvInfoMapper.selectById(agvNo);
        return agvInfo.getAgvFactory();
    }

}