1.晚上erp订单同步删除功能

zwl

2025-11-24 faed059302b334b39f247fa8bde5daa8f0b924f5

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

@@ -1,36 +1,47 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.MobileAdjustParam;
import com.zy.asrs.entity.param.OffSaleParam;
import com.zy.asrs.entity.result.MobileAdjustResult;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
import com.zy.common.model.LocDto;
import com.zy.common.model.TaskDto;
import com.zy.asrs.service.impl.MatServiceImpl;
import com.zy.common.model.WrkDto;
import com.zy.common.utils.HttpHandler;
import com.zy.common.web.BaseController;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import com.zy.third.entity.ExdMaterial;
import com.zy.third.entity.ExdvYanbu;
import com.zy.third.mapper.ExdMaterialMapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

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

/**
 * 移动端接口控制器
 * Created by vincent on 2020/6/10
 */
@Slf4j
@RestController
@RequestMapping("mobile")
public class MobileController extends BaseController  {
public class MobileController extends BaseController {

    @Autowired
    private MobileService mobileService;
@@ -52,22 +63,46 @@
    private BasDevpService basDevpService;
    @Autowired
    private PackService packService;
    @Autowired
    private ManLocDetlMapper manLocDetlMapper;

    @Autowired
    private ApiLogService apiLogService;

    @Resource
    private StaDescService staDescService;

    @Value("${rcs.address.URL}")
    private String url;
    @Value("${rcs.address.reportTask}")
    private String attrcs;
    @Value("${rcs.address.siteBindAndUnbing}")
    private String siteBindAndUnbing;
    @Autowired
    private ConfigService configService;

    @Autowired
    private ExdMaterialMapper exdMaterialMapper;
    @Autowired
    private MatServiceImpl matService;

    // 商品上架
    @RequestMapping("/mat/onSale/auth")
    @ManagerAuth
    public R matOnSale(@RequestBody CombParam combParam){
    public R matOnSale(@RequestBody CombParam combParam) {
        mobileService.onSale(combParam);
        return R.ok("上架成功");
    }

    // 商品下架
    @RequestMapping("/mat/offSale/auth")
    //@ManagerAuth
    public R matOffSale(@RequestBody OffSaleParam offSaleParam){
    public R matOffSale(@RequestBody OffSaleParam offSaleParam) {
        mobileService.offSale(offSaleParam);
        return R.ok("下架成功");
    }


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

    /**
@@ -76,7 +111,7 @@
     */
    @RequestMapping("/order/search/orderNo/auth")
    @ManagerAuth
    public R orderSearchByBarcode(@RequestParam String orderNo){
    public R orderSearchByBarcode(@RequestParam String orderNo) {
        Order order = orderService.selectByNo(orderNo);
        if (order == null) {
            return R.ok();
@@ -85,26 +120,32 @@
        if (docType.getPakin() == null || docType.getPakin() != 1) {
            return R.ok();
        }
        if (order.getSettle() > 2) {
            return R.ok();
        }

        List<OrderDetl> orderDetls = orderService.selectWorkingDetls(order.getId());
        if (Cools.isEmpty(orderDetls)) {
            return R.ok();
        }
        return R.ok().add(orderDetls);
        List<OrderDetl> orderDetls1= new ArrayList<>();
        for (OrderDetl orderDetl : orderDetls) {
            if(orderDetl.getAnfme()-orderDetl.getWorkQty()>0){
                orderDetls1.add(orderDetl);
            }

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

    @RequestMapping("/comb/auth")
    @ManagerAuth(memo = "组托")
    public R comb(@RequestBody CombParam combParam){
        mobileService.comb(combParam, getUserId());
    public R comb(@RequestBody CombParam combParam) {
        log.info("组托数据：{}", combParam.toString());
        mobileService.comb(combParam, getUserId(), getUser().getEmail());
        return R.ok("组托成功");
    }

    @RequestMapping("/pack/get/auth")
    @ManagerAuth
    public R packGet(@RequestParam String barcode){
    public R packGet(@RequestParam String barcode) {
        Pack pack = packService.selectByBarcode(barcode);
        if (pack == null) {
            return R.ok();
@@ -117,7 +158,7 @@

    @RequestMapping("/pack/comb/auth")
    @ManagerAuth(memo = "下线组托")
    public R packComb(@RequestBody CombParam combParam){
    public R packComb(@RequestBody CombParam combParam) {
        mobileService.packComb(combParam, getUserId());
        return R.ok("组托成功");
    }
@@ -130,7 +171,7 @@
    @Deprecated
    public R pakoutQuery(@RequestParam(required = false) String barcode,
                         @RequestParam(required = false) Integer staNo,
                         @RequestParam(required = false) String matnr){
                         @RequestParam(required = false) String matnr) {
        if (Cools.isEmpty(barcode) && Cools.isEmpty(matnr)) {
            return R.ok();
        }
@@ -154,7 +195,7 @@
     */
    @RequestMapping("/pakout/confirm/barcode/auth")
    @ManagerAuth
    public R pakoutQueryByBarcode(@RequestParam(required = false) String barcode){
    public R pakoutQueryByBarcode(@RequestParam(required = false) String barcode) {
        if (Cools.isEmpty(barcode)) {
            return R.ok();
        }
@@ -162,10 +203,20 @@
        if (wrkMast != null) {
            List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo());
            // 去除已出库确认的明细
            wrkDetls.removeIf(wrkDetl -> wrkDetl.getInspect() != null && wrkDetl.getInspect() != 0);
//            wrkDetls.removeIf(wrkDetl -> wrkDetl.getInspect() != null && wrkDetl.getInspect() != 0);
            return R.ok().add(Cools.add("wrkNo", wrkMast.getWrkNo()).add("ioType", wrkMast.getIoType()).add("list", wrkDetls));
        }
        return R.ok();
    }

    // 根据库位码和商品码搜索商品
    @RequestMapping("/mat/find/auth")
    public R find(@RequestParam(required = false) String locNo
            , @RequestParam(required = false) String matnr) {
        //List<ManLocDetl> manLocDetls = manLocDetlMapper.selectItem0(locNo, matnr);
        ManLocDetl manLocDetl = manLocDetlMapper.selectLocNo0(locNo, matnr);
        return R.ok(manLocDetl);
        //return R.ok(manLocDetlMapper.selectItem0(locNo, matnr));
    }

    /**
@@ -174,7 +225,7 @@
    @RequestMapping("/pakout/confirm/pick/auth")
    @ManagerAuth
    public R pakoutQueryByBarcode(@RequestParam(required = false) Integer wrkNo
                                , @RequestParam(required = false) String matnr){
            , @RequestParam(required = false) String matnr) {
        if (Cools.isEmpty(wrkNo)) {
            return R.ok();
        }
@@ -237,47 +288,39 @@
        for (WrkDto dto : dtos) {
            WrkMast wrkMast = wrkMastService.selectById(dto.getWrkNo());
            if (wrkMast != null) {
                // 101
                if (wrkMast.getIoType() == 101) {
                    for (WrkDetl wrkDetl : dto.getWrkDetls()) {
                        wrkDetlService.updateInspect(wrkDetl.getWrkNo(), wrkDetl.getMatnr(), wrkDetl.getBatch());
                    }
                for (WrkDetl wrkDetl : dto.getWrkDetls()) {
                    wrkDetlService.updateInspect(wrkDetl.getWrkNo(), wrkDetl.getMatnr(), wrkDetl.getBatch());
                }
                // 103
                if (wrkMast.getIoType() == 103) {
                    if (!wrkDetlService.delete(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()))) {
                        throw new CoolException("拣料出库确认失败");
                    }
                    for (WrkDetl wrkDetl : dto.getWrkDetls()) {
                        wrkDetl.setInspect(1);
                        if (!wrkDetlService.insert(wrkDetl)) {
                            throw new CoolException("拣料出库确认失败");
                        }
                    }
                if (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 107) {
                    wrkMast.setWrkSts(34L);//下架完成等待回库
                } else {
                    wrkMast.setWrkSts(15L);
                }
                wrkMastService.updateById(wrkMast);
            }

        }

        for (Integer wrkNo : wrkNos) {
            WrkMast wrkMast = wrkMastService.selectById(wrkNo);
            if (wrkMast.getWrkSts() == 14 && (Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N"))) {
                List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkNo);
                boolean complete = true;
                for (WrkDetl wrkDetl : wrkDetls) {
                    if (wrkDetl.getInspect() == null || wrkDetl.getInspect() == 0) {
                        complete = false;
                        break;
                    }
                }
                if (complete) {
                    wrkMast.setInvWh("Y");
                    wrkMast.setModiTime(new Date());
                    if (!wrkMastService.updateById(wrkMast)) {
                        throw new CoolException("修改工作档" + wrkNo + "失败");
                    }
                }
            }
        }
//        for (Integer wrkNo : wrkNos) {
//            WrkMast wrkMast = wrkMastService.selectById(wrkNo);
//            if (wrkMast.getWrkSts() == 15 && (Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N"))) {
//                List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkNo);
//                boolean complete = true;
//                for (WrkDetl wrkDetl : wrkDetls) {
//                    if (wrkDetl.getInspect() == null || wrkDetl.getInspect() == 0) {
//                        complete = false;
//                        break;
//                    }
//                }
//                if (complete) {
//                    wrkMast.setInvWh("Y");
//                    wrkMast.setModiTime(new Date());
//                    if (!wrkMastService.updateById(wrkMast)) {
//                        throw new CoolException("修改工作档" + wrkNo + "失败");
//                    }
//                }
//            }
//        }
        return R.ok("完成确认");
    }

@@ -286,7 +329,7 @@

    @RequestMapping("/checkDetl/auth")
    @ManagerAuth
    public R getCheckDetl(@RequestParam(required = false) Integer staNo) {
    public synchronized R getCheckDetl(@RequestParam(required = false) Integer staNo) {
        if (null == staNo || staNo == 0) {
            return R.ok();
        }
@@ -309,7 +352,7 @@

    @RequestMapping("/adjust/auth")
    @ManagerAuth(memo = "盘点")
    public R adjust(@RequestBody MobileAdjustParam combParam){
    public R adjust(@RequestBody MobileAdjustParam combParam) {
        mobileService.adjust(combParam, getUserId());
        return R.ok("盘点成功");
    }
@@ -317,11 +360,665 @@
    @PostMapping("/order/out/pakout/auth")
    @ManagerAuth(memo = "订单出库")
    public synchronized R pakoutByOrder(@RequestBody JSONObject param) {
        if(!param.containsKey("staNo") || !param.containsKey("orderNo")){
        if (!param.containsKey("staNo") || !param.containsKey("orderNo")) {
            return R.parse(BaseRes.PARAM);
        }
        mobileService.pakoutByOrder(param,getUserId());
        mobileService.pakoutByOrder(param, getUserId());
        return R.ok("出库成功");
    }

    //------------------------------------------------------------------------------agv调度--------------------------------------------------

    /**
     * 补空板   区域到点
     *
     * @param locNo 目标站点
     * @param size  托盘大小 1：小托盘  2：大托盘
     * @return
     */
    @RequestMapping("/FillEmptyPallets")
    public synchronized R FillEmptyPallets(@RequestParam(required = false) String locNo
            , @RequestParam(required = false) String size) {
        if (Cools.isEmpty(locNo) || Cools.isEmpty(size)) {
            return R.error("站点或者大小不能为空");

        }
        //空托盘缓冲区 小：E8  大：E9
        String rStaNo = "E8";
        if (size.equals("2")) {
            rStaNo = "E9";
        }
        LinkedHashMap<String, Object> rcsParam = new LinkedHashMap<>();
        rcsParam.put("taskType", "PF-FMR-COMMON");
        List<LinkedHashMap<String, Object>> targetRoutes = new ArrayList<>();
        LinkedHashMap<String, Object> t1 = new LinkedHashMap<>();
        LinkedHashMap<String, Object> t2 = new LinkedHashMap<>();
        t1.put("seq", 0);
        t1.put("type", "ZONE");
        t1.put("code", rStaNo);
        t1.put("autoStart", 0);
        t1.put("operation", "COLLECT");

        t2.put("seq", 0);
        t2.put("type", "SITE");
        t2.put("code", locNo);
        t2.put("autoStart", 0);
        t2.put("operation", "DELIVERY");

        targetRoutes.add(t1);
        targetRoutes.add(t2);
        rcsParam.put("targetRoute", targetRoutes);
        rcsParam.put("initPriority", 100);


        String response = "";
        Boolean bool = false;
        String msg = "";
        HashMap<String, Object> map = new HashMap<>();
        Date date = new Date();
        String time = date.getTime() + "";

        map.put("X-LR-REQUEST-ID", time);
        try {
            log.info("wms派发搬运任务给AGV搬运={}", rcsParam);
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(attrcs)
                    .setJson(JSON.toJSONString(rcsParam))
                    .build()
                    .doPostCloseSSL();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getString("code").equals("SUCCESS")) {
                bool = true;
            } else {
                msg = jsonObject.getString("message");
            }
        } catch (Exception e) {
            e.printStackTrace();
            log.error("wms派发搬运任务给AGV搬运失败返回值={}", response);
        } finally {
            apiLogService.save("wms派发搬运任务给AGV搬运"
                    , url + attrcs
                    , null
                    , "127.0.0.1"
                    , JSON.toJSONString(rcsParam)
                    , response
                    , bool
            );
        }

        if (bool) {
            return R.ok();
        } else {
            return R.error(msg);
        }

    }

    /**
     * 空托盘回库
     *
     * @param sourceStaNo 原站点
     * @param barcode     托盘大小 1：小托盘  2：大托盘  目标区或者巷道
     * @return
     */
    @RequestMapping("/FillEmptyPalletsStack")
    public synchronized R FillEmptyPalletsStack(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String barcode) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(barcode)) {
            return R.error("站点或者大小不能为空");

        }
        //空托盘缓冲区 小：E8  大：E9
        String rStaNo = "E8";
        Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "autoE").eq("status", "1"));
            String type = "ZONE"; //区域
            if (barcode.substring(0, 1).equals("9")) {
                rStaNo = "E9";
            }else {
                if (config != null) {
                    type = "STACK"; //巷道
                    if (Cools.isEmpty(config.getValue())) {
                        rStaNo = rStaNo + "01";
                        config.setValue("2");
                    } else if (config.getValue().equals("1")) {
                        rStaNo = rStaNo + "01";
                        config.setValue("2");
                    } else if (config.getValue().equals("2")) {
                        rStaNo = rStaNo + "02";
                        config.setValue("3");
                    } else if (config.getValue().equals("3")) {
                        rStaNo = rStaNo + "03";
                        config.setValue("1");
                    }
                    configService.updateById(config);
                }
            }

            LinkedHashMap<String, Object> rcsParam = new LinkedHashMap<>();
            rcsParam.put("taskType", "PF-FMR-COMMON");
            List<LinkedHashMap<String, Object>> targetRoutes = new ArrayList<>();
            LinkedHashMap<String, Object> t1 = new LinkedHashMap<>();
            LinkedHashMap<String, Object> t2 = new LinkedHashMap<>();
            t1.put("seq", 0);
            t1.put("type", "SITE");
            t1.put("code", sourceStaNo);
            t1.put("autoStart", 0);
            t1.put("operation", "COLLECT");

            t2.put("seq", 0);
            t2.put("type", type);
            t2.put("code", rStaNo);
            t2.put("autoStart", 0);
            t2.put("operation", "DELIVERY");

            targetRoutes.add(t1);
            targetRoutes.add(t2);
            rcsParam.put("targetRoute", targetRoutes);
            rcsParam.put("initPriority", 100);


            String response = "";
            Boolean bool = false;
            String msg = "";
            HashMap<String, Object> map = new HashMap<>();
            Date date = new Date();
            String time = date.getTime() + "";

            map.put("X-LR-REQUEST-ID", time);
            try {
                log.info("wms派发搬运任务给AGV搬运={}", rcsParam);
                response = new HttpHandler.Builder()
                        .setHeaders(map)
                        .setUri(url)
                        .setHttps(true)
                        .setPath(attrcs)
                        .setJson(JSON.toJSONString(rcsParam))
                        .build()
                        .doPostCloseSSL();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getString("code").equals("SUCCESS")) {
                    bool = true;
                } else {
                    msg = jsonObject.getString("message");
                }
            } catch (Exception e) {
                e.printStackTrace();
                log.error("wms派发搬运任务给AGV搬运失败返回值={}", response);
            } finally {
                apiLogService.save("wms派发搬运任务给AGV搬运"
                        , url + attrcs
                        , null
                        , "127.0.0.1"
                        , JSON.toJSONString(rcsParam)
                        , response
                        , bool
                );
            }

            if (bool) {
                return R.ok();
            } else {
                return R.error(msg);
            }
    }

    /**
     * 执行移库任务--点到点
     *
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/SITESITEAGVMove")
    public synchronized R SITESITEAGVMove(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String staNo
            , @RequestParam(required = false) String taskNo) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) {
            return R.error("源站点和目标站点不能为空");

        }

        LinkedHashMap<String, Object> rcsParam = new LinkedHashMap<>();
        rcsParam.put("taskType", "PF-FMR-COMMON");
        if (!Cools.isEmpty(taskNo)) {
            rcsParam.put("robotTaskCode", taskNo);
        }

        List<LinkedHashMap<String, Object>> targetRoutes = new ArrayList<>();
        LinkedHashMap<String, Object> t1 = new LinkedHashMap<>();
        LinkedHashMap<String, Object> t2 = new LinkedHashMap<>();
        t1.put("seq", 0);
        t1.put("type", "SITE");
        t1.put("code", sourceStaNo);
        t1.put("autoStart", 0);
        t1.put("operation", "COLLECT");

        t2.put("seq", 0);
        t2.put("type", "SITE");
        t2.put("code", staNo);
        t2.put("autoStart", 0);
        t2.put("operation", "DELIVERY");

        targetRoutes.add(t1);
        targetRoutes.add(t2);
        rcsParam.put("targetRoute", targetRoutes);
        rcsParam.put("initPriority", 100);


        String response = "";
        Boolean bool = false;
        String msg = "";
        HashMap<String, Object> map = new HashMap<>();
        Date date = new Date();
        String time = date.getTime() + "";

        map.put("X-LR-REQUEST-ID", time);
        try {
            log.info("wms派发点到点搬运任务给AGV搬运={}", rcsParam);
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(attrcs)
                    .setJson(JSON.toJSONString(rcsParam))
                    .build()
                    .doPostCloseSSL();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getString("code").equals("SUCCESS")) {
                bool = true;
            } else {
                msg = jsonObject.getString("message");
            }
        } catch (Exception e) {
            e.printStackTrace();
            log.error("wms派发点到点搬运任务给AGV搬运失败返回值={}", response);
        } finally {
            apiLogService.save("wms派发点到点搬运任务给AGV搬运"
                    , url + attrcs
                    , null
                    , "127.0.0.1"
                    , JSON.toJSONString(rcsParam)
                    , response
                    , bool
            );
        }

        if (bool) {
            return R.ok();
        } else {
            return R.error(msg);
        }

    }

    /**
     * 执行移库任务--点到区域
     *
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/SITEZONEAGVMove")
    public synchronized R SITEZONEAGVMove(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String staNo
            , @RequestParam(required = false) String taskNo) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) {
            return R.error("源站点和目标站点不能为空");

        }
        LinkedHashMap<String, Object> rcsParam = new LinkedHashMap<>();
        rcsParam.put("taskType", "PF-FMR-COMMON");
        if (!Cools.isEmpty(taskNo)) {
            rcsParam.put("robotTaskCode", taskNo);
        }

        List<LinkedHashMap<String, Object>> targetRoutes = new ArrayList<>();
        LinkedHashMap<String, Object> t1 = new LinkedHashMap<>();
        LinkedHashMap<String, Object> t2 = new LinkedHashMap<>();
        t1.put("seq", 0);
        t1.put("type", "SITE");
        t1.put("code", sourceStaNo);
        t1.put("autoStart", 0);
        t1.put("operation", "COLLECT");

        t2.put("seq", 0);
        t2.put("type", "ZONE");
        t2.put("code", staNo);
        t2.put("autoStart", 0);
        t2.put("operation", "DELIVERY");

        targetRoutes.add(t1);
        targetRoutes.add(t2);
        rcsParam.put("targetRoute", targetRoutes);
        rcsParam.put("initPriority", 100);


        String response = "";
        Boolean bool = false;
        String msg = "";
        HashMap<String, Object> map = new HashMap<>();
        Date date = new Date();
        String time = date.getTime() + "";

        map.put("X-LR-REQUEST-ID", time);
        try {
            log.info("wms派发点到区域搬运任务给AGV搬运={}", rcsParam);
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(attrcs)
                    .setJson(JSON.toJSONString(rcsParam))
                    .build()
                    .doPostCloseSSL();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getString("code").equals("SUCCESS")) {
                bool = true;
            } else {
                msg = jsonObject.getString("message");
            }
        } catch (Exception e) {
            e.printStackTrace();
            log.error("wms派发点到区域搬运任务给AGV搬运失败返回值={}", response);
        } finally {
            apiLogService.save("wms派发点到区域搬运任务给AGV搬运"
                    , url + attrcs
                    , null
                    , "127.0.0.1"
                    , JSON.toJSONString(rcsParam)
                    , response
                    , bool
            );
        }

        if (bool) {
            return R.ok();
        } else {
            return R.error(msg);
        }

    }

    /**
     * 执行移库任务--区域到点
     *
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/ZONESITEAGVMove")
    public synchronized R ZONESITEAGVMove(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String staNo
            , @RequestParam(required = false) String taskNo) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) {
            return R.error("源站点和目标站点不能为空");

        }
        LinkedHashMap<String, Object> rcsParam = new LinkedHashMap<>();
        rcsParam.put("taskType", "PF-FMR-COMMON");
        if (!Cools.isEmpty(taskNo)) {
            rcsParam.put("robotTaskCode", taskNo);
        }

        List<LinkedHashMap<String, Object>> targetRoutes = new ArrayList<>();
        LinkedHashMap<String, Object> t1 = new LinkedHashMap<>();
        LinkedHashMap<String, Object> t2 = new LinkedHashMap<>();
        t1.put("seq", 0);
        t1.put("type", "ZONE");
        t1.put("code", sourceStaNo);
        t1.put("autoStart", 0);
        t1.put("operation", "COLLECT");

        t2.put("seq", 0);
        t2.put("type", "SITE");
        t2.put("code", staNo);
        t2.put("autoStart", 0);
        t2.put("operation", "DELIVERY");

        targetRoutes.add(t1);
        targetRoutes.add(t2);
        rcsParam.put("targetRoute", targetRoutes);
        rcsParam.put("initPriority", 100);


        String response = "";
        Boolean bool = false;
        String msg = "";
        HashMap<String, Object> map = new HashMap<>();
        Date date = new Date();
        String time = date.getTime() + "";

        map.put("X-LR-REQUEST-ID", time);
        try {
            log.info("wms派发点到区域搬运任务给AGV搬运={}", rcsParam);
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(attrcs)
                    .setJson(JSON.toJSONString(rcsParam))
                    .build()
                    .doPostCloseSSL();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getString("code").equals("SUCCESS")) {
                bool = true;
            } else {
                msg = jsonObject.getString("message");
            }
        } catch (Exception e) {
            e.printStackTrace();
            log.error("wms派发点到区域搬运任务给AGV搬运失败返回值={}", response);
        } finally {
            apiLogService.save("wms派发点到区域搬运任务给AGV搬运"
                    , url + attrcs
                    , null
                    , "127.0.0.1"
                    , JSON.toJSONString(rcsParam)
                    , response
                    , bool
            );
        }

        if (bool) {
            return R.ok();
        } else {
            return R.error(msg);
        }

    }

    /**
     * AGV站点绑定和解绑
     *
     * @param sourceStaNo //站点
     * @param barcodeType //托盘码
     * @param invoke      //BIND为绑定    UNBIND为解绑
     * @return
     */
    @RequestMapping("/siteBindAndUnbind")
    public synchronized R siteBindAndUnbind(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String barcodeType
            , @RequestParam(required = false) String invoke) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(barcodeType)) {
            return R.error("站点和托盘类型不能为空");

        }
        if (barcodeType.substring(0, 1).equals("8")) {
            barcodeType = "11";
        } else if (barcodeType.substring(0, 1).equals("9")) {
            barcodeType = "21";
        }
        LinkedHashMap<String, Object> rcsParam = new LinkedHashMap<>();
        rcsParam.put("slotCategory", "SITE");
        rcsParam.put("slotCode", sourceStaNo);
        rcsParam.put("carrierCategory", "PALLET");
        rcsParam.put("carrierType", barcodeType);//11为小托盘   21为大托盘
        if (sourceStaNo.equals("101")) {
            rcsParam.put("carrierDir", "0");
        } else if (sourceStaNo.equals("R01") || sourceStaNo.equals("R03")) {
            rcsParam.put("carrierDir", "-90");

        } else if (sourceStaNo.equals("R02")) {
            rcsParam.put("carrierDir", "90");
        } else if(sourceStaNo.substring(0,1).equals("C")){
            rcsParam.put("carrierDir", "90");
        }
        else{
            rcsParam.put("carrierDir", "180");
        }

        rcsParam.put("temporary", "");
        rcsParam.put("invoke", invoke);


        String response = "";
        Boolean bool = false;
        String msg = "";
        HashMap<String, Object> map = new HashMap<>();
        Date date = new Date();
        String time = date.getTime() + "";

        map.put("X-LR-REQUEST-ID", time);
        try {
            log.info("WMS完成" + invoke + "agv站点={},上报参数为={}", sourceStaNo, rcsParam);
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(siteBindAndUnbing)
                    .setJson(JSON.toJSONString(rcsParam))
                    .build()
                    .doPostCloseSSL();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getString("code").equals("SUCCESS")) {
                bool = true;
            } else {
                msg = jsonObject.getString("message");
            }
        } catch (Exception e) {
            e.printStackTrace();
            log.error("WMS完成" + invoke + "agv站点失败={}", response);
        } finally {
            apiLogService.save("WMS完成" + invoke + "agv站点" + sourceStaNo
                    , url + siteBindAndUnbing
                    , null
                    , "127.0.0.1"
                    , JSON.toJSONString(rcsParam)
                    , response
                    , bool
            );
        }

        if (bool) {
            return R.ok();
        } else {
            return R.error(msg);
        }

    }

    /**
     * 空板回库或者拣料回库
     *
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/AGVStartReturn")
    public synchronized R AGVStartReturn(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String staNo
            , @RequestParam(required = false) String taskNo) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) {
            return R.error("源站点和托盘码不能为空");

        }

        R r = R.ok();
        //防止有未下架的物料直接进行空板回库或者拣料回库
        WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", staNo).in("wrk_sts", 33));
        if (!Cools.isEmpty(wrkMast1)) {
            return R.error("该托盘="+wrkMast1.getBarcode()+",没有下架，请下架后再回库！！！");
        }

        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", staNo).in("io_type", 103, 105, 107));
        if (wrkMast == null) {
            r = FillEmptyPalletsStack(sourceStaNo, staNo);
        } else {
            if (wrkMast.getWrkSts() > 30&& 34< wrkMast.getWrkSts()) {
                return R.error("该托盘="+wrkMast.getBarcode()+",没有下架，请下架后再回库！！！");
            }
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", wrkMast.getStaNo()).in("io_type", 101, 103, 105, 107).lt("wrk_sts", 33));
            if (!Cools.isEmpty(wrkMasts)) {
                return R.error(wrkMast.getCrnNo() + "堆垛机,有出库任务，禁止回库！！！");
            }
            SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd");
            String format = sdf.format(new Date());
            String s = format + "-" + wrkMast.getWrkNo() + "-" + wrkMast.getBarcode();
            r = SITESITEAGVMove(sourceStaNo, wrkMast.getStaNo$(), s);
            if (r.get("code").equals(200)) {
                wrkMast.setPdcType(s);
                /**
                 * inv_wh
                 * 拣料回库输送线出发
                 * 0等待agv放货完成
                 * 1等待输送线入库
                 * 2输送线入库任务下发成功
                 */
                wrkMast.setInvWh("0");
                wrkMastService.updateById(wrkMast);
            }
        }

        return r;
    }

    /**
     * 获取仓库
     *
     * @return
     */
    @RequestMapping("/ck")
    @PostMapping
    public R AGVStartReturn() {
        List<String> list = new ArrayList<>();
        list.add("半成品仓库");
        list.add("成品仓库");
        return R.ok(list);
    }


    @RequestMapping(value = "/mat/tiaoma/auth")
    @ManagerAuth
    public R find(@RequestParam("barcode") String barcode) {
        ExdvYanbu barcode1 = exdMaterialMapper.getBacode(barcode);
        if (barcode1 == null) {
            return R.error("批次对应的验布数据不存在");
        }
        Mat mat = matService.selectByMatnr(barcode1.getItemnumber());
        if(Cools.isEmpty(mat.getUuid())) {
            ExdMaterial fnumber = exdMaterialMapper.getID(barcode1.getItemnumber());
            mat.setUuid(fnumber.getId());
        }
        mat.setAnfme(barcode1.getQty());
        mat.setBc(barcode);
        mat.setBatch(barcode);
        matService.updateById(mat);

        return R.ok(mat);
    }

    @RequestMapping(value = "/getOrderNo/auth")
    @ManagerAuth
    public R findOrderNo(@RequestParam("orderNo") String orderNo) {
        Page<Order> orderPage = orderService.selectPage(new Page<>(0, 10), new EntityWrapper<Order>().like("order_no", "%" + orderNo + "%"));
        List<String> objects = new ArrayList<>();
        for (Order record : orderPage.getRecords()) {
            objects.add(record.getOrderNo());
        }
        return R.ok(objects);
    }

}