#改造

cpT

2025-07-02 15154033d40f857f61760f137ca59eaf29908aa3

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

@@ -1,20 +1,29 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.AppAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverParam;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.entity.param.taskCreateParam;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.asrs.service.impl.BasCrnErrorServiceImpl;
import com.zy.asrs.service.impl.TaskWrkLogServiceImpl;
import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
import com.zy.core.CrnThread;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -23,16 +32,15 @@

import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;

@Slf4j
@RestController
@RequestMapping("/open")
public class OpenController extends BaseController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private OpenService openService;
    @Autowired
@@ -45,9 +53,16 @@
    private BasDevpService basDevpService;
    @Autowired
    private ApiLogService apiLogService;

    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasRgvErrService basRgvErrService;
    @Autowired
    private BasCrnErrorServiceImpl basCrnErrorService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -57,6 +72,9 @@
    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    @Autowired
    private TaskWrkLogServiceImpl taskWrkLogService;

    //agv任务完成
    @PostMapping("/toAgvTaskOver")
    @AppAuth(memo = "agv任务完成接口")
@@ -78,24 +96,71 @@
    }

    //创建任务
    @PostMapping("/taskCreate")
    public R taskCreate(@RequestHeader String appkey,
                          @RequestBody taskCreateParam param,
    @PostMapping("/taskCreate2")
    @AppAuth(memo = "WMS任务下发")
    @Transactional
    public synchronized R taskCreate(@RequestHeader String appkey,
                          @RequestBody List<TaskCreateParam> param1,
                          HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        auth(appkey, param1, request);
        try{
            List<TaskCreateParam> paramList = new ArrayList<>();
            List<String> locNoList = new ArrayList<>();
            for (TaskCreateParam param : param1) {
                if (Cools.isEmpty(param)) {
                    return R.parse(BaseRes.PARAM);
                }

                if (Cools.isEmpty(param.getTaskNo())) {
                    return R.error("任务号[taskNo]不能为空");
                }
                if (Cools.isEmpty(param.getIoType())) {
                    return R.error("任务类型[ioType]不能为空");
                }
                param.updateIoTyoe(param.getIoType());//中航下发  1：出库，2：移库 3：入库   ====转换为====>  1：入库，2：出库，3：移库

                if (Cools.isEmpty(param.getBarcode())) {
                    return R.error("条码[barcode]不能为空");
                }

                String locNo=null;
                if(param.getIoType()==1){
                    locNo=param.getTargetPoint();
                }else{
                    locNo=param.getStartPoint();
                }
                try{
                    LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                            .eq("loc_no", locNo).ne("loc_sts","X"));
                    if (Cools.isEmpty(locMast)){
                        log.error("库位号不存在"+locNo);
                        return R.error("库位号不存在"+locNo).add("库位号不存在"+locNo);
                    }
                }catch (Exception e){
                    log.error("库位号检测程序异常==》异常信息"+e);
                    return R.error("库位号检测程序异常").add("库位号检测程序异常==》异常信息"+e);
                }
                LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts","F")
                        .eq("loc_no",locNo)
                        .eq("barcode",param.getBarcode()));
                if(Cools.isEmpty(locMast)){
                    return R.error("该库位不满足出库条件"+param.getTargetPoint());
                }
                if (!locNoList.contains(locMast.getLocNo())){
                    locNoList.add(locMast.getLocNo());
                    paramList.add(param);
                }else {
                    return R.error("该库位不能同时下发两笔任务"+locMast.getLocNo());
                }
            }
            for (TaskCreateParam param : paramList){
                openService.taskCreate(param);
            }
        }catch (Exception e){
            log.error("任务下发异常"+e);
            return R.error();
        }
        if (Cools.isEmpty(param.getTaskNo())) {
            return R.error("任务号[taskNo]不能为空");
        }
        if (Cools.isEmpty(param.getIoType())) {
            return R.error("任务类型[ioType]不能为空");
        }
        if (Cools.isEmpty(param.getBarcode())) {
            return R.error("条码[barcode]不能为空");
        }
        openService.taskCreate(param);
        return R.ok();
    }

@@ -111,6 +176,44 @@
        }
        return R.ok().add(taskWrk);
    }

//    //取放货申请
//    @PostMapping("/pick/and/place/v1")
//    @AppAuth(memo = "agv取放货申请")
//    public R getAgvPickAndPlaceV1(@RequestHeader String appkey,
//                            @RequestBody TaskOverParam param,
//                            HttpServletRequest request){
//        auth(appkey, param, request);
//        if (Cools.isEmpty(param)) {
//            return R.parse(BaseRes.PARAM);
//        }
//        if (Cools.isEmpty(param.getStaNo())){
//            return R.error("码头[staNo]不能为空");
//        }
//        if (Cools.isEmpty(param.getType())){
//            return R.error("类型[type]不能为空");
//        }
//        return openService.getAgvPickAndPlaceV1(param);
//    }

//    //取放货完成反馈
//    @PostMapping("/pick/and/place/v2")
//    @AppAuth(memo = "agv取放货完成反馈")
//    public R getAgvPickAndPlaceV2(@RequestHeader String appkey,
//                                  @RequestBody TaskOverParam param,
//                                  HttpServletRequest request){
//        auth(appkey, param, request);
//        if (Cools.isEmpty(param)) {
//            return R.parse(BaseRes.PARAM);
//        }
//        if (Cools.isEmpty(param.getStaNo())){
//            return R.error("码头[staNo]不能为空");
//        }
//        if (Cools.isEmpty(param.getType())){
//            return R.error("类型[type]不能为空");
//        }
//        return openService.getAgvPickAndPlaceV2(param);
//    }

    //查询任务指令集合
    @GetMapping("/queryTaskCommand")
@@ -185,20 +288,26 @@
        }

        Map<String,Integer> map = new HashMap<>();
        map.put("J-1101",102);map.put("J-1102",101);
        map.put("J-1103",106);map.put("J-1104",105);
        map.put("J-1105",110);map.put("J-1106",109);
        map.put("J-1107",114);map.put("J-1108",113);
        map.put("J-1109",118);map.put("J-1110",117);
        map.put("J-1111",122);map.put("J-1112",121);

        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_desc", param.getWharfCode()));

        if (Cools.isEmpty(staDesc)){
            return R.error("程序报错，未查询到站点");
        map.put("J-1102",102);map.put("J-1101",101);
        map.put("J-1103",105);map.put("J-1104",106);
        map.put("J-1105",109);map.put("J-1106",110);
        map.put("J-1107",113);map.put("J-1108",114);
        map.put("J-1109",117);map.put("J-1110",118);
        map.put("J-1111",121);map.put("J-1112",122);
        map.put("H-1102",300);map.put("H-1101",305);
        map.put("G-1102",400);map.put("G-1101",405);
//        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
//                .eq("stn_desc", param.getWharfCode()));
//
//        if (Cools.isEmpty(staDesc)){
//            return R.error("程序报错，未查询到站点");
//        }
        if (Cools.isEmpty(map.get(param.getWharfCode()))){
            return R.error("未查询到站点");
        }
        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
        if (basDevp.getAutoing().equals("Y")){
//        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))){
            apiLogService.save("AGV请求入库码头接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
                    ,appkey
@@ -207,7 +316,7 @@
                    ,R.ok().toString()
                    ,true
            );
            return R.ok();
            return R.ok("可入");
        }else {
            apiLogService.save("AGV请求入库码头接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
@@ -227,96 +336,197 @@
    }

    //任务下发接口
    @PostMapping("/outboundTaskSend")
//    @PostMapping("/outboundTaskSend")
    @PostMapping("/taskCreate")
    @AppAuth(memo = "任务下发接口")
    @Transactional
    public R outboundTaskSend(@RequestHeader String appkey,
                              @RequestBody List<WMSAndAGVInterfaceParam> params,
                              @RequestBody List<CarryParam> params,//中航下发  1：出库，2：移库 3：入库
                              HttpServletRequest request) {
        auth(appkey, params, request);
        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (WMSAndAGVInterfaceParam param:params){
            try {
                if (Cools.isEmpty(param)){
                    return R.error("参数为空！");
                } else if (Cools.isEmpty(param.getTaskNo())){
                    return R.error("任务号为空！");
                } else if (Cools.isEmpty(param.getTaskType())){
                    return R.error("任务类型为空！");
                } else if (Cools.isEmpty(param.getWarehouseId())){
                    return R.error("仓库标识为空！");
                }
                if (Cools.isEmpty(param.getTaskPriority())){
                    param.setTaskPriority(1);
                }
                if (Cools.isEmpty(param.getContainerCode())){
                    return R.error("容器编码(托盘码)为空！");
                }
                if (Cools.isEmpty(param.getEmptyContainer())){
                    return R.error("是否空托盘信号为空！");
                }
//        if (Cools.isEmpty(param.getTaskTunnel())){
//            return R.error("任务巷道为空！");
//        }
//        if (Cools.isEmpty(param.getGroupNo())){
//            return R.error("任务组为空！");
//        }
//        if (Cools.isEmpty(param.getTaskSerialNo())){
//            return R.error("任务执行顺序为空！");
//        }
                if (Cools.isEmpty(param.getTargetWharf())){
                    return R.error("目标码头区域为空！");//G开头=7车间，H开头=8层，J开头=9车间
                }

                openService.taskCreate(new taskCreateParam(param));

                params1.add(param);
//                return R.ok(param);
            }catch (Exception e){
                String errorMsg = Cools.isEmpty(e.getLocalizedMessage()) ? "" : e.getLocalizedMessage();
                return R.error("生成任务失败，请联系管理员!"+ errorMsg);
            }
        try{
            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
            deviceErrorService.addDeviceError("wms/taskCreate", 1, "wms任务下发,任务数:"+params.size());
        } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
        }
        return R.ok(params1);
        auth(appkey, params, request);
//        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (CarryParam param:params){
            if (Cools.isEmpty(param)){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "参数为空,param:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("参数为空！");
            } else if (Cools.isEmpty(param.getTaskNo())){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "任务号为空,taskNo:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("任务号为空！");
            } else if (Cools.isEmpty(param.getIoType())){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "任务类型为空,ioType:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("任务类型为空！");
            }
            if (Cools.isEmpty(param.getStartPoint()) || Cools.isEmpty(param.getTargetPoint())){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "初始目标或者目标位为空,Point:"+JSON.toJSONString(param));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("初始目标或者目标位为空");
            }

            param.updateIoTyoe(param.getIoType());//中航下发  1：出库，2：移库 3：入库   ====转换为====>  1：入库，2：出库，3：移库
            param.updateLocNo();
//            if (Cools.isEmpty(param.getContainerCode())){
//                return R.error("容器编码(托盘码)为空！");
//            }
//            if (Cools.isEmpty(param.getEmptyContainer())){
//                return R.error("是否空托盘信号为空！");
//            }
//            if (!param.getTaskType().equals("YK")){
//                if (Cools.isEmpty(param.getTargetWharf())){
//                    return R.error("目标码头区域为空！");//G开头=7车间，H开头=8层，J开头=9车间
//                }
//            }


            String locNo=null;
            if(param.getIoType()==1){
                locNo=param.getTargetPoint();
            }else{
                locNo=param.getStartPoint();
            }
            LocMast locMast = locMastService.selectByLocNo(locNo);
            if(Cools.isEmpty(locMast)){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("wmsErr", 1, "初始库位无法找到,locNo:"+JSON.toJSONString(locNo));
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
                return R.error("初始库位无法找到");
            }

            R r = null;

            if(param.getIoType() == 1){
                //入库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no",1)
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getStartPoint()));
                if(Cools.isEmpty(staDesc)){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "入库路劲不存在,param:"+JSON.toJSONString(param));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("入库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));

            }else if(param.getIoType() == 2){
                //出库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no",2)
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getTargetPoint()));
                if(Cools.isEmpty(staDesc)){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "出库路劲不存在,param:"+JSON.toJSONString(param));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("出库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getStnNo()));
            }else if (param.getIoType() == 3){
                LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
                if(Cools.isEmpty(locMast2)){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "目标库位无法找到,locNo:"+JSON.toJSONString(param.getTargetPoint()));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("目标库位无法找到");
                }
                if (!locMast2.getCrnNo().equals(locMast.getCrnNo())){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("wmsErr", 1, "起始库位与目标库位不再同一巷道,param:"+JSON.toJSONString(param));
                    } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                    }
                    return R.error("起始库位与目标库位不再同一巷道");
                }
                //移库任务创建
                r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
            }

            apiLogService.save("Wms任务下发接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
                    ,appkey
                    ,request.getRemoteAddr()
                    ,JSON.toJSONString(param)
                    ,r.toString()
                    ,true
            );

        }

        return R.ok();
    }

    //任务取消接口
    @PostMapping("/taskCancel")
    public R taskCancel(@RequestHeader String appkey,
                               @RequestBody WMSAndAGVInterfaceParam param,
                               @RequestBody WMSAndAGVInterfaceParam param,//中航下发  1：出库，2：移库 3：入库    1：取消  2 完成
                               HttpServletRequest request) {
        auth(appkey, param, request);
//        param.updateTaskStatus(param.getTaskStatus());
        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())){
            return R.error("工作号为空！");
        } else if (Cools.isEmpty(param.getTaskStatus())){
        } else if (Cools.isEmpty(param.getIoType())){
            return R.error("操作类型为空！");
        } else if (Cools.isEmpty(param.getBarcode())){
            return R.error("托盘码不能为空！");
        }
//        else if (Cools.isEmpty(param.getWarehouseId())){
//            return R.error("仓库标识为空！");
//        }

        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("task_no", param.getTaskNo()));
        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>()
                .eq("task_no", param.getTaskNo())
                .eq("io_type",param.getIoType())
                .eq("barcode",param.getBarcode()));
        if (Cools.isEmpty(taskWrk)){
            return R.error("未查到当前任务");
            return R.error("未查到当前任务---"+param);
        }
        boolean sign =false;
        switch (param.getTaskStatus()){
            case 1://正常取消
                if (taskWrk.getWrkSts()>1){
                if (taskWrk.getStatus()>1){
                    return R.error("任务已开始执行");
                }
            case 2://强制取消
                if (taskWrk.getWrkSts()>3){
                    return R.error("任务已执行完成");
                }
                break;
            case 3://正常完成
                if (taskWrk.getWrkSts()>11){
            case 2://正常完成
                if (taskWrk.getStatus()>1){
                    return R.error("任务已开始执行");
                }
            case 4://强制完成
                if (taskWrk.getWrkSts()>14){
                    return R.error("任务已执行完成");
                }
                sign=true;
                break;
@@ -339,6 +549,120 @@
        }
    }

    //设备状态查询接口
    @PostMapping("/deviceStatus")
    @Transactional
    public R deviceStatus(@RequestHeader String appkey,
                              HttpServletRequest request) {
        auth(appkey, "设备状态查询接口", request);
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        List<Object> list = new ArrayList<>();
        WcsStatusResponseModel wcsStatusResponseModel = new WcsStatusResponseModel();
        for (BasDevp basDevp:basDevps){
            BasDevpWmsParam basDevpWmsParam = new BasDevpWmsParam();
            basDevpWmsParam.setDevNo(basDevp.getDevNo());
            basDevpWmsParam.setWrkNo(basDevp.getWrkNo().longValue());
            basDevpWmsParam.setAutoing(basDevp.getAutoing());
            basDevpWmsParam.setLoading(basDevp.getLoading());
            basDevpWmsParam.setInEnable(basDevp.getInEnable());
            basDevpWmsParam.setOutEnable(basDevp.getOutEnable());
            basDevpWmsParam.setDevErr(basDevp.getStaErr().longValue());
            basDevpWmsParam.setDevErrM(basDevpWmsParam.getDevErr$());
//            list.add(basDevpWmsParam);
            wcsStatusResponseModel.getChainList().add(basDevpWmsParam);
        }
        List<BasCrnpWmsParam> basCrnpWmsParamList = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }
            BasCrnpWmsParam basCrnpWmsParam = new BasCrnpWmsParam();
            basCrnpWmsParam.sync(basCrnp);

            basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());
            basCrnpWmsParam.setCrnSts(crnProtocol.getStatus().intValue());

            try{
                BasCrnError basCrnError = basCrnErrorService.selectById(crnProtocol.getAlarm());
                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
            } catch (Exception e){
                basCrnpWmsParam.setCrnErrM("未知异常");
            }
            if (crnProtocol.getMode()!=3){
                basCrnpWmsParam.setCrnErr(999L);
                basCrnpWmsParam.setCrnErrM("非自动！！！");
            }
            basCrnpWmsParamList.add(basCrnpWmsParam);

//            list.add(basCrnpWmsParam);
        }
        wcsStatusResponseModel.setPilingCarList(basCrnpWmsParamList);
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
            if (Cools.isEmpty(rgvStatus)){
                continue;
            }
            BasRgvWmsParam basRgvWmsParam = new BasRgvWmsParam();
            basRgvWmsParam.setWrkNo(rgvStatus.getTaskNo());
            basRgvWmsParam.setCrnSts(rgvStatus.getStatus().intValue());
            basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
            basRgvWmsParam.setSteNo(rgvSlave.getId());
            basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
            basRgvWmsParam.setSteErrM(rgvStatus.getAlarmM());
//            try{
//                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());
//
//                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
//            } catch (Exception e){
//                basRgvWmsParam.setSteErrM("未知异常");
//            }
            if (rgvStatus.getMode()!=1){
                basRgvWmsParam.setSteErr(999L);
                basRgvWmsParam.setSteErrM("非自动！！！");
            }
//            list.add(basRgvWmsParam);
            wcsStatusResponseModel.getRgvList().add(basRgvWmsParam);

        }
//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
//        for (BasCrnp basCrnp:basCrnps){
//            list.add(basCrnp);
//        }
        return R.ok(wcsStatusResponseModel);
    }

    //设备状态查询接口
    @PostMapping("/taskWrkLogs")
    @Transactional
    public R taskWrkLogs(@RequestHeader String appkey,
                          HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }

    //设备状态查询接口
    @PostMapping("/error")
    @Transactional
    public R errorRgv(@RequestHeader String appkey,
                      HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }

    //设备状态查询接口
    @PostMapping("/wrkNo/wmsTaskNo")
    @Transactional
    public R wrkNoWmsTaskNo(@RequestHeader String appkey,
                      HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }


}