代码优化

dubin

2025-05-19 9efe3f1d2ccb7375e5d81df7b5c29723dd99cc89

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

@@ -1,19 +1,20 @@
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.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.CarryParam;
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.asrs.utils.Utils;
import com.zy.common.web.BaseController;
import com.zy.core.model.DevpSlave;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -22,7 +23,10 @@

import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.lang.reflect.Field;
import java.util.*;

import static org.apache.ibatis.ognl.OgnlRuntime.setFieldValue;

@Slf4j
@RestController
@@ -47,6 +51,8 @@
    private StaDescService staDescService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasCrnErrorService basCrnErrorService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -56,63 +62,7 @@
    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    //agv任务完成
    @PostMapping("/toAgvTaskOver")
    @AppAuth(memo = "agv任务完成接口")
    public R getAgvTaskOver(@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.getWharfCode())){
            return R.error("码头[wharfCode]不能为空");
        }
        if (Cools.isEmpty(param.getStatus())){
            return R.error("完成标记[status]不能为空");
        }
        openService.getAgvTaskOver(param);
        return R.ok();
    }

    //创建任务
    @PostMapping("/taskCreate")
    public R taskCreate(@RequestHeader String appkey,
                          @RequestBody List<TaskCreateParam> param1,
                          HttpServletRequest request) {
        auth(appkey, param1, request);
        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");
        }
        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();
        }
        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());
        }
        openService.taskCreate(param);
        }
        return R.ok();
    }

    //查询任务详情
    @GetMapping("/queryTask")
@@ -127,59 +77,6 @@
        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")
    public R queryTaskCommand(@RequestHeader String appkey,
                              @RequestParam String taskNo,
                              HttpServletRequest request) {
        auth(appkey, taskNo, request);
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (taskWrk == null) {
            return R.error("任务不存在");
        }

        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
        return R.ok().add(commandInfos);
    }

    private void auth(String appkey, Object obj, HttpServletRequest request) {
        log.info("{}接口被访问；appkey:{}；请求数据：{}", request.getServletPath(), appkey, JSON.toJSONString(obj));
        request.setAttribute("cache", obj);
@@ -191,166 +88,76 @@
        }
    }

    //AGV请求入库码头接口
    @PostMapping("/targetWharfApply")
    @AppAuth(memo = "AGV请求入库码头接口")
    public R targetWharfApply(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              HttpServletRequest request) throws IOException {
        auth(appkey,param,request);

        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.getContainerCode())){
            return R.error("托盘编码为空！");
        } else if (Cools.isEmpty(param.getWharfSource())){
            return R.error("源码头为空！");
        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
            return R.error("空闲的入库码头（AGV）为空！");
        }
        R r = openService.AgvToWCSToWms(param);
        apiLogService.save("AGV请求入库码头接口"
                ,request.getRemoteAddr()+request.getRequestURI()
                ,appkey
                ,request.getRemoteAddr()
                ,JSON.toJSONString(param)
                ,r.toString()
                ,true
        );
        return r;
    }

    //AGV请求动作接口
    @PostMapping("/agvTaskRequest")
    @AppAuth(memo = "AGV请求动作接口")
    public R agvTaskRequest(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getRequestType())){
            return R.error("请求类型为空！");
        } else if (Cools.isEmpty(param.getWharfCode())){
            return R.error("码头编号为空！");
        }

        Map<String,Integer> map = new HashMap<>();
        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()));
//        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
                    ,request.getRemoteAddr()
                    ,JSON.toJSONString(param)
                    ,R.ok().toString()
                    ,true
            );
            return R.ok("可入");
        }else {
            apiLogService.save("AGV请求入库码头接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
                    ,appkey
                    ,request.getRemoteAddr()
                    ,JSON.toJSONString(param)
                    ,R.error("站点状态不可入").toString()
                    ,true
            );
            return R.error("站点状态不可入");
        }





    }

    //任务下发接口
    @PostMapping("/outboundTaskSend")
    @Transactional
    public R outboundTaskSend(@RequestHeader String appkey,
                              @RequestBody List<CarryParam> params,
                              HttpServletRequest request) {
        //auth(appkey, params, request);
    public HashMap<String, Object> outboundTaskSend(@RequestBody HashMap<String,Object> hashMap) {
        String jsonString = JSON.toJSONString(hashMap.get("TaskList"));
        List<CarryParam> params= JSONObject.parseArray(jsonString,CarryParam.class);
        HashMap<String, Object> map = new HashMap<>();
        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (CarryParam param:params){

            if (Cools.isEmpty(param)){
                return R.error("参数为空！");
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","参数为空！");
                return map;
            } else if (Cools.isEmpty(param.getTaskNo())){
                return R.error("任务号为空！");
            } else if (Cools.isEmpty(param.getIoType())){
                return R.error("任务类型为空！");
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","任务号为空！");
                return map;
            } else if (Cools.isEmpty(param.getStereoscopicTaskType())){
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","任务类型为空！");
                return map;
            }
            if (Cools.isEmpty(param.getStartPoint()) || Cools.isEmpty(param.getTargetPoint())){
                return R.error("初始目标或者目标位为空");
            }
//            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 fusion = Utils.Fusion(param.getOriginalRowNo(), param.getOriginalFloorNo(), param.getOriginalColumnNo());
            param.setStartPoint(fusion);
            LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
            if(Cools.isEmpty(locMast)){
                return R.error("初始库位无法找到");
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","初始库位无法找到！");
                return map;
            }

            R r = null;
            HashMap<String,Object> r = new HashMap<>();

            if(param.getIoType() == 2){
            if(param.getStereoscopicTaskType() == 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()));
                        .eq("stn_no",param.getTerminalNo()));
                if(Cools.isEmpty(staDesc)){
                    return R.error("出库路劲不存在");
                    map.put("ReturnStatus",1);
                    map.put("ErrorMessage","出库路劲不存在！");
                    return map;
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
            }else if (param.getIoType() == 3){
                if(r.get("ReturnStatus").equals(1)){
                    return r;
                }
            }else if (param.getStereoscopicTaskType() == 3){
                String fusion1 = Utils.Fusion(param.getGoalRowNo(), param.getGoalFloorNo(), param.getGoalColumnNo());
                param.setTerminalNo(fusion1);
                //移库任务创建
                r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
                if(r.get("ReturnStatus").equals(1)){
                    return r;
                }
            }

            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();
        map.put("ReturnStatus",0);
        map.put("ErrorMessage","ok");
        return map;
    }

    //任务取消接口
@@ -409,22 +216,336 @@
    }

    //设备状态查询接口
    @PostMapping("/deviceStatus")
    @GetMapping("/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<>();
        for (BasDevp basDevp:basDevps){
            list.add(basDevp);
        }
    public HashMap<String, Object> deviceStatus() {
        HashMap<String,Object> map=new HashMap<>();
        List<CrnStatusParam> crnStatusParams=new ArrayList<>();
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp:basCrnps){
            list.add(basCrnp);
            CrnStatusParam crnStatusParam=new CrnStatusParam();
            crnStatusParam.setCrnNo(basCrnp.getCrnNo());
            crnStatusParam.setCrnSts(basCrnp.getCrnSts());
            crnStatusParam.setErrorCode(basCrnp.getCrnErr());
            BasCrnError error=basCrnErrorService.selectOne(new EntityWrapper<BasCrnError>().eq("error_code",basCrnp.getCrnErr()));
            if(Cools.isEmpty(error)){
                crnStatusParam.setErrorMsg("");
            }else {
                crnStatusParam.setErrorMsg(error.getErrName());
            }
            crnStatusParams.add(crnStatusParam);
        }
        return R.ok(list);
        for (BasDevp basDevp : basDevps) {
            CrnStatusParam crnStatusParam=new CrnStatusParam();
            crnStatusParam.setDevpNo(basDevp.getDevNo());
            crnStatusParam.setOutEnable(basDevp.getOutEnable());
            crnStatusParam.setInEnable(basDevp.getInEnable());
            if(!Cools.isEmpty(basDevp.getAutoing())&&basDevp.getAutoing().equals("Y")){
                crnStatusParam.setCrnSts(3);
            }else{
                crnStatusParam.setCrnSts(2);
            }
            crnStatusParams.add(crnStatusParam);
        }
        map.put("ReturnStatus",0);
        map.put("ErrorMessage","");
        map.put("data",crnStatusParams);
        return map;
    }

    public static <T> List<T> convertListMapToListObject(List<HashMap<String, Object>> listMap, Class<T> clazz) throws Exception {
        List<T> list = new ArrayList<>();

        for (Map<String, Object> map : listMap) {
            T obj = clazz.getDeclaredConstructor().newInstance();

            for (Map.Entry<String, Object> entry : map.entrySet()) {
                String key = entry.getKey();
                Object value = entry.getValue();

                try {
                    Field field = clazz.getDeclaredField(key);
                    field.setAccessible(true);
                    setFieldValue(obj, field, value);
                } catch (NoSuchFieldException e) {
                    System.out.println("No such field: " + key + " in class " + clazz.getName());
                }
            }

            list.add(obj);
        }

        return list;
    }
    private static void setFieldValue(Object obj, Field field, Object value) throws IllegalAccessException {
        Class<?> fieldType = field.getType();

        if (fieldType.isAssignableFrom(value.getClass())) {
            field.set(obj, value);
        } else if (fieldType == int.class || fieldType == Integer.class) {
            field.set(obj, ((Number) value).intValue());
        } else if (fieldType == long.class || fieldType == Long.class) {
            field.set(obj, ((Number) value).longValue());
        } else if (fieldType == double.class || fieldType == Double.class) {
            field.set(obj, ((Number) value).doubleValue());
        } else if (fieldType == float.class || fieldType == Float.class) {
            field.set(obj, ((Number) value).floatValue());
        } else if (fieldType == boolean.class || fieldType == Boolean.class) {
            field.set(obj, (Boolean) value);
        } else if (fieldType == String.class) {
            field.set(obj, String.valueOf(value));
        } else {
            System.out.println("Unsupported field type: " + fieldType.getName());
        }
    }

    //AGV请求入库码头接口
//    @PostMapping("/targetWharfApply")
//    @AppAuth(memo = "AGV请求入库码头接口")
//    public R targetWharfApply(@RequestHeader String appkey,
//                              @RequestBody WMSAndAGVInterfaceParam param,
//                              HttpServletRequest request) throws IOException {
//        auth(appkey,param,request);
//
//        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.getContainerCode())){
//            return R.error("托盘编码为空！");
//        } else if (Cools.isEmpty(param.getWharfSource())){
//            return R.error("源码头为空！");
//        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
//            return R.error("空闲的入库码头（AGV）为空！");
//        }
//        R r = openService.AgvToWCSToWms(param);
//        apiLogService.save("AGV请求入库码头接口"
//                ,request.getRemoteAddr()+request.getRequestURI()
//                ,appkey
//                ,request.getRemoteAddr()
//                ,JSON.toJSONString(param)
//                ,r.toString()
//                ,true
//        );
//        return r;
//    }
//
//    //AGV请求动作接口
//    @PostMapping("/agvTaskRequest")
//    @AppAuth(memo = "AGV请求动作接口")
//    public R agvTaskRequest(@RequestHeader String appkey,
//                              @RequestBody WMSAndAGVInterfaceParam param,
//                              HttpServletRequest request) {
//        auth(appkey, param, request);
//        if (Cools.isEmpty(param)){
//            return R.error("参数为空！");
//        } else if (Cools.isEmpty(param.getRequestType())){
//            return R.error("请求类型为空！");
//        } else if (Cools.isEmpty(param.getWharfCode())){
//            return R.error("码头编号为空！");
//        }
//
//        Map<String,Integer> map = new HashMap<>();
//        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()));
////        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
//                    ,request.getRemoteAddr()
//                    ,JSON.toJSONString(param)
//                    ,R.ok().toString()
//                    ,true
//            );
//            return R.ok("可入");
//        }else {
//            apiLogService.save("AGV请求入库码头接口"
//                    ,request.getRemoteAddr()+request.getRequestURI()
//                    ,appkey
//                    ,request.getRemoteAddr()
//                    ,JSON.toJSONString(param)
//                    ,R.error("站点状态不可入").toString()
//                    ,true
//            );
//            return R.error("站点状态不可入");
//        }
//    }

    //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);
//    }


    //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);
//    }

    //查询任务指令集合
//    @GetMapping("/queryTaskCommand")
//    public R queryTaskCommand(@RequestHeader String appkey,
//                              @RequestParam String taskNo,
//                              HttpServletRequest request) {
//        auth(appkey, taskNo, request);
//        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
//        if (taskWrk == null) {
//            return R.error("任务不存在");
//        }
//
//        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
//        return R.ok().add(commandInfos);
//    }

    //创建任务
//    @PostMapping("/taskCreate")
//    @Transactional
//    public HashMap<String, Object> taskCreate(@RequestHeader String appkey,
//                                              @RequestBody List<TaskCreateParam> param1,
//                                              HttpServletRequest request) {
//        auth(appkey, param1, request);
//        HashMap<String, Object> map = new HashMap<>();
//
//        try{
//            List<TaskCreateParam> paramList = new ArrayList<>();
//            List<String> locNoList = new ArrayList<>();
//            for (TaskCreateParam param : param1) {
//                if (Cools.isEmpty(param)) {
//                    map.put("ReturnStatus",1);
//                    map.put("ErrorMessage",BaseRes.PARAM);
//                    return map;
//                }
//                if (Cools.isEmpty(param.getTaskNo())) {
//                    map.put("ReturnStatus",1);
//                    map.put("ErrorMessage","任务号[taskNo]不能为空");
//                    return map;
//                }
//                if (Cools.isEmpty(param.getIoType())) {
//                    map.put("ReturnStatus",1);
//                    map.put("ErrorMessage","任务类型[ioType]不能为空");
//                    return map;
//                }
//                if (Cools.isEmpty(param.getBarcode())) {
//                    map.put("ReturnStatus",1);
//                    map.put("ErrorMessage","条码[barcode]不能为空");
//                    return map;
//                }
//                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);
//                        map.put("ReturnStatus",1);
//                        map.put("ErrorMessage","库位号不存在"+locNo);
//                        return map;
//                    }
//                }catch (Exception e){
//                    log.error("库位号检测程序异常==》异常信息"+e);
//                    map.put("ReturnStatus",1);
//                    map.put("ErrorMessage","库位号检测程序异常==》异常信息"+e);
//                    return map;
//                }
//                LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
//                        .eq("loc_sts","F")
//                        .eq("loc_no",locNo)
//                        .eq("barcode",param.getBarcode()));
//                if(Cools.isEmpty(locMast)){
//                    map.put("ReturnStatus",1);
//                    map.put("ErrorMessage","该库位不满足出库条件"+param.getTargetPoint());
//                    return map;
//                }
//                if (!locNoList.contains(locMast.getLocNo())){
//                    locNoList.add(locMast.getLocNo());
//                    paramList.add(param);
//                }else {
//                    map.put("ReturnStatus",1);
//                    map.put("ErrorMessage","该库位不能同时下发两笔任务"+locMast.getLocNo());
//                    return map;
//                }
//            }
//            for (TaskCreateParam param : paramList){
//                openService.taskCreate(param);
//            }
//        }catch (Exception e){
//            log.error("任务下发异常"+e);
//            map.put("ReturnStatus",1);
//            map.put("ErrorMessage","服务器错误");
//            return map;
//        }
//        map.put("ReturnStatus",0);
//        map.put("ErrorMessage","OK");
//        return R.ok();
//    }

    //agv任务完成
//    @PostMapping("/toAgvTaskOver")
//    @AppAuth(memo = "agv任务完成接口")
//    public R getAgvTaskOver(@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.getWharfCode())){
//            return R.error("码头[wharfCode]不能为空");
//        }
//        if (Cools.isEmpty(param.getStatus())){
//            return R.error("完成标记[status]不能为空");
//        }
//        openService.getAgvTaskOver(param);
//        return R.ok();
//    }
}