修改了AGV的接口以及mas获取的数据

zyh

15 小时以前 3eee2147f220634b620b7ed84c97fbd8257205d5

修改了AGV的接口以及mas获取的数据

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

@@ -89,19 +89,6 @@
                           @RequestParam(required = false) String endDate){

        List<DtLocVo> locVoList = digitalTwinService.recentLoc(areaId, startDate, endDate);

//        DtLocVo dtLocVo = DtLocVo.builder()
//                .locDate("2025-10-22")
//                .idleNum(208)
//                .build();
//        DtLocVo dtLocVo2 = DtLocVo.builder()
//                .locDate("2025-10-23")
//                .idleNum(177)
//                .build();
//        List<DtLocVo> locVoList = new ArrayList<>();
//        locVoList.add(dtLocVo);
//        locVoList.add(dtLocVo2);

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

@@ -120,8 +107,7 @@
                                 @RequestParam(required = false) String endDate){

        List<DtInAndOutBoundVo> inAndOutBoundVoList = digitalTwinService.inAndOutBound(areaId, startDate, endDate);


//
//        DtInAndOutBoundVo dtInAndOutBoundVo = DtInAndOutBoundVo.builder()
//                .boundDate("2025-10-22")
//                .inBoundNum(237)
@@ -154,31 +140,6 @@
                             @RequestParam(required = false) Integer pageSize){

        List<DtDetainMatVo> detainMatVoList = digitalTwinService.recentDetainMat(areaId, overDayNum, pageIndex, pageSize);

//        DtDetainMatVo dtDetainMatVo = DtDetainMatVo.builder()
//                .belongAreaId("A1")
//                .belongAreaName("刀具库")
//                .matId("mat10001")
//                .matName("道具把")
//                .lokId("loc1001")
//                .lokName("库位10001")
//                .detainTime(765)
//                .inBoundTime("2025-10-11T11:15:16")
//                .build();
//        DtDetainMatVo dtDetainMatVo2 = DtDetainMatVo.builder()
//                .belongAreaId("A1")
//                .belongAreaName("刀具库")
//                .matId("mat10002")
//                .matName("道具把")
//                .lokId("loc1002")
//                .lokName("库位10002")
//                .detainTime(665)
//                .inBoundTime("2025-10-10T11:15:16")
//                .build();
//        List<DtDetainMatVo> detainMatVoList = new ArrayList<>();
//        detainMatVoList.add(dtDetainMatVo);
//        detainMatVoList.add(dtDetainMatVo2);

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

@@ -192,35 +153,7 @@
//    @ManagerAuth
    public R equipment(@RequestParam(required = false) String areaId){

        DtEquipmentVo dtDetainMatVo = DtEquipmentVo.builder()
                .equipmentId("eq1001")
                .equipmentName("堆垛机1")
                .equipmentType(1)
                .belongAreaId("A1")
                .belongAreaName("刀具库")
                .verticalSpeed(288)
                .horizontalSpeed(203)
                .voltage(48)
                .status(1)
                .operateMethod(1)
                .build();
        DtEquipmentVo dtDetainMatVo2 = DtEquipmentVo.builder()
                .equipmentId("eq1002")
                .equipmentName("堆垛机2")
                .equipmentType(1)
                .belongAreaId("A1")
                .belongAreaName("刀具库")
                .verticalSpeed(208)
                .horizontalSpeed(253)
                .voltage(48)
                .status(1)
                .operateMethod(1)
                .build();
        List<DtEquipmentVo> dtEquipmentVoList = new ArrayList<>();
        dtEquipmentVoList.add(dtDetainMatVo);
        dtEquipmentVoList.add(dtDetainMatVo2);

        return R.ok().add(dtEquipmentVoList);
        return R.ok(digitalTwinService.equipment(areaId));
    }

    /**
@@ -232,10 +165,8 @@
    @RequestMapping(value = "/warehouseDetail")
//    @ManagerAuth
    public R warehouseDetail(@RequestParam(required = false) String areaId){
        List<DtLocDetailVo> dtLocDetailVoList = digitalTwinService.warehouseDetail(areaId);

        return R.ok().add(dtLocDetailVoList);
    }
        return R.ok(digitalTwinService.warehouseDetail(areaId));
//        List<DtLocDetailVo> dtLocDetailVoList = new ArrayList<>();
//        DtLocDetailVo dtLocDetailVo = new DtLocDetailVo();
//        dtLocDetailVo.setLocNo("CA0100202");
@@ -289,17 +220,20 @@
//        locDetl2.setMaktx("刀把");
//        dtLocDetailVo2.setLocDetl(locDetl2);
//        dtLocDetailVoList.add(dtLocDetailVo2);


//        LocDetl locDetl2 = new LocDetl();
//        locDetl2.setLocNo("1001");
//        locDetl2.setAreaId(10010L);
//        locDetl2.setAreaName("刀具库");
//        locDetl2.setMatnr("mat10001");
//        locDetl2.setMaktx("刀把");
//
//
////        LocDetl locDetl2 = new LocDetl();
////        locDetl2.setLocNo("1001");
////        locDetl2.setAreaId(10010L);
////        locDetl2.setAreaName("刀具库");
////        locDetl2.setMatnr("mat10001");
////        locDetl2.setMaktx("刀把");
////
//////        List<LocDetl> locDetlList = new ArrayList<>();
//////        locDetlList.add(locDetl);
//////        locDetlList.add(locDetl2);
////        List<LocDetl> locDetlList = new ArrayList<>();
////        locDetlList.add(locDetl);
////        locDetlList.add(locDetl2);

//        return R.ok().add(dtLocDetailVoList);
    }

}

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

@@ -644,9 +644,7 @@
                        break;
                    }
                }
                if (boo) {
                    settle.remove(orderPakin);
                }else {
                if (!boo) {
                    list.add(orderPakin.getOrderNo());
                }
            }else {
@@ -670,9 +668,7 @@
                        break;
                    }
                }
                if (boo) {
                    settle.remove(orderPakout);
                }else {
                if (!boo) {
                    list.add(orderPakout.getOrderNo());
                }
            }else {

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

@@ -12,6 +12,7 @@
import com.zy.common.model.TaskDto;
import com.zy.common.web.BaseController;
import lombok.Synchronized;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
@@ -27,6 +28,7 @@
 */

@RestController
@Slf4j
public class OutController extends BaseController {

    @Autowired
@@ -379,16 +381,17 @@
                }
            }
            if (issued > 0) {
                LocDto locDto = new LocDto(null, orderDetl.getMatnr(), orderDetl.getMaktx(), orderDetl.getBatch(), orderDetl.getOrderNo(), issued);
                locDto.setBrand(orderDetl.getBrand());
                locDto.setStandby1(orderDetl.getStandby1());
                locDto.setStandby2(orderDetl.getStandby2());
                locDto.setStandby3(orderDetl.getStandby3());
                locDto.setBoxType1(orderDetl.getBoxType1());
                locDto.setBoxType2(orderDetl.getBoxType2());
                locDto.setBoxType3(orderDetl.getBoxType3());
                locDto.setLack(Boolean.TRUE);
                locDtos.add(locDto);
//                LocDto locDto = new LocDto(null, orderDetl.getMatnr(), orderDetl.getMaktx(), orderDetl.getBatch(), orderDetl.getOrderNo(), issued);
//                locDto.setBrand(orderDetl.getBrand());
//                locDto.setStandby1(orderDetl.getStandby1());
//                locDto.setStandby2(orderDetl.getStandby2());
//                locDto.setStandby3(orderDetl.getStandby3());
//                locDto.setBoxType1(orderDetl.getBoxType1());
//                locDto.setBoxType2(orderDetl.getBoxType2());
//                locDto.setBoxType3(orderDetl.getBoxType3());
//                locDto.setLack(Boolean.TRUE);
//                locDtos.add(locDto);
                return R.error("库存不足");
            }
        }
        R pakout = pakout(locDtos);

 src/main/java/com/zy/asrs/entity/digitaltwin/DtDetainMatVo.java

@@ -5,7 +5,6 @@

// 数字孪生：呆滞品信息
@Data
@Builder
public class DtDetainMatVo {

    // 归属库区ID

 src/main/java/com/zy/asrs/entity/digitaltwin/DtEquipmentVo.java

@@ -1,10 +1,14 @@
package com.zy.asrs.entity.digitaltwin;

import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;

@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
public class DtEquipmentVo {

    // 设备ID

 src/main/java/com/zy/asrs/entity/mes/MesReturn.java

@@ -11,10 +11,10 @@
    // 1：成功；2：失败
    @JsonProperty("Success")
    @JSONField(name = "Success")
    private String Success;
    private String success;
    // 失败消息
    @JsonProperty("Message")
    @JSONField(name = "Message")
    private String Message;
    private String message;

}

 src/main/java/com/zy/asrs/mapper/DigitalTwinMapper.java

@@ -7,6 +7,7 @@
import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;

import java.util.Date;
import java.util.List;

@Mapper
@@ -15,12 +16,12 @@

    List<Double> overview(@Param("areaId")String areaId);

    List<DtOrderVo> recentOrder(@Param("startTime")String startTime, @Param("endTime")String endTime);
    List<DtOrderVo> recentOrder(@Param("startTime") Date startTime, @Param("endTime")Date endTime);

    List<DtInAndOutBoundVo> recentInBound(@Param("areaId")String areaId, @Param("startTime")String startTime, @Param("endTime")String endTime);
    List<DtInAndOutBoundVo> recentInBound(@Param("areaId")String areaId, @Param("startTime") Date startTime, @Param("endTime")Date endTime);

    List<DtInAndOutBoundVo> recentOutBound(@Param("areaId")String areaId, @Param("startTime")String startTime, @Param("endTime")String endTime);
    List<DtInAndOutBoundVo> recentOutBound(@Param("areaId")String areaId, @Param("startTime") Date startTime, @Param("endTime")Date endTime);

    List<DtDetainMatVo> recentDetainMat(@Param("areaId")String areaId, @Param("startTime")String startTime,
    List<DtDetainMatVo> recentDetainMat(@Param("areaId")String areaId, @Param("startTime")Date startTime,
                                        @Param("pageIndex")Integer pageIndex, @Param("pageSize")Integer pageSize);
}
}

 src/main/java/com/zy/asrs/service/DigitalTwinService.java

@@ -67,4 +67,6 @@
     *
     */
    void locNumCount();

    DtEquipmentVo equipment(String areaId);
}

 src/main/java/com/zy/asrs/service/OrderPakoutService.java

@@ -1,10 +1,13 @@
package com.zy.asrs.service;

import com.baomidou.mybatisplus.service.IService;
import com.core.common.R;
import com.zy.asrs.entity.OrderPakout;
import com.zy.asrs.entity.OrderDetlPakout;
import com.zy.asrs.entity.WrkDetl;
import com.zy.asrs.entity.WrkMast;
import com.zy.common.model.LocDto;
import org.springframework.web.bind.annotation.RequestBody;

import java.util.List;

@@ -34,4 +37,6 @@
    OrderPakout selectOrderMoveStatus();
    OrderPakout selectOrderMoveStatusInitial();

    R pakout(List<LocDto> locDtos);

}

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

@@ -1,15 +1,22 @@
package com.zy.asrs.service.impl;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.LocCount;
import com.zy.asrs.entity.LocDetl;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.digitaltwin.*;
import com.zy.asrs.mapper.DigitalTwinMapper;
import com.zy.asrs.mapper.LocCountMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.DigitalTwinService;
import com.zy.asrs.service.LocMastService;
import org.springframework.beans.BeanUtils;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.text.ParseException;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Calendar;
@@ -57,21 +64,27 @@
     */
    public List<DtOrderVo> order(String startDate, String endDate) {

        String startTime;
        String endTime;
        Date startTime = new Date();
        Date endTime = new Date();
        if (startDate == null || endDate == null || startDate.isEmpty() || endDate.isEmpty()){
            Date now = new Date();
            Calendar calendar = Calendar.getInstance();
            calendar.setTime(now);
            calendar.add(Calendar.DAY_OF_MONTH, -7);
            Date start = calendar.getTime();
            startTime = calendar.getTime();
            endTime = now;

            SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd");
            endDate = sdf.format(now);
            startDate = sdf.format(start);
        } else {
            SimpleDateFormat sdf =
                    new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS");

            try {
                startTime  = sdf.parse(startDate);
                endTime = sdf.parse(endDate);
            } catch (ParseException e) {
                e.printStackTrace();
            }
        }
        startTime = startDate.substring(0, 4) + "-" + startDate.substring(4, 6) + "-" + startDate.substring(6, 8) + "00:00:00";
        endTime = endDate.substring(0, 4) + "-" + endDate.substring(4, 6) + "-" + endDate.substring(6, 8) + "00:00:00";
        List<DtOrderVo> dbOrder = digitalTwinMapper.recentOrder(startTime, endTime);
        // 空日期补全
        for (DtOrderVo dtOrderVo : dbOrder) {
@@ -91,27 +104,34 @@
     */
    public List<DtInAndOutBoundVo> inAndOutBound(String areaId, String startDate, String endDate) {

        List<DtInAndOutBoundVo> dtInAndOutBoundVos = new ArrayList<>();

        String startTime;
        String endTime;
        Date startTime = new Date();
        Date endTime = new Date();
        if (startDate == null || endDate == null || startDate.isEmpty() || endDate.isEmpty()){
            Date now = new Date();
            Calendar calendar = Calendar.getInstance();
            calendar.setTime(now);
            calendar.add(Calendar.DAY_OF_MONTH, -7);
            Date start = calendar.getTime();
            startTime = calendar.getTime();
            endTime = now;

            SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd");
            endDate = sdf.format(now);
            startDate = sdf.format(start);
        } else {
            SimpleDateFormat sdf =
                    new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS");

            try {
                startTime  = sdf.parse(startDate);
                endTime = sdf.parse(endDate);
            } catch (ParseException e) {
                e.printStackTrace();
            }
        }
        startTime = startDate.substring(0, 4) + "-" + startDate.substring(4, 6) + "-" + startDate.substring(6, 8) + "00:00:00";
        endTime = endDate.substring(0, 4) + "-" + endDate.substring(4, 6) + "-" + endDate.substring(6, 8) + "00:00:00";

        List<DtInAndOutBoundVo> dtInBoundVos = digitalTwinMapper.recentInBound(areaId, startTime, endTime);
        List<DtInAndOutBoundVo> dtOutBoundVos = digitalTwinMapper.recentOutBound(areaId, startTime, endTime);

        // 格式整理
        List<DtInAndOutBoundVo> dtInAndOutBoundVos = new ArrayList<>(dtInBoundVos);
        dtInAndOutBoundVos.addAll(dtOutBoundVos);

        return dtInAndOutBoundVos;
    }
@@ -136,13 +156,14 @@
        calendar.setTime(now);
        calendar.add(Calendar.DAY_OF_MONTH, -overDayNum);
        Date start = calendar.getTime();
        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
        String startTime = sdf.format(start);
//        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
//        Date startTime = sdf.parse(start);

        List<DtDetainMatVo> dbDetainMats = digitalTwinMapper.recentDetainMat(areaId, startTime, pageIndex, pageSize);

        return dbDetainMats;
        return digitalTwinMapper.recentDetainMat(areaId, start, pageIndex, pageSize);
    }

    @Resource
    private LocMastService locMastService;

    /**
     * 查询库存和库位详细信息
@@ -151,31 +172,39 @@
     * @return
     */
    public List<DtLocDetailVo> warehouseDetail(String areaId) {
        List<DtLocDetailVo> locDetailVos = new ArrayList<>();

        List<LocMast> locMasts = new ArrayList<>();
        List<LocDetl> locDetls = new ArrayList<>();

        for (LocMast locMast : locMasts) {
            DtLocDetailVo dtLocDetailVo = new DtLocDetailVo();
            dtLocDetailVo.setLocMast(locMast);
            dtLocDetailVo.setLocNo(locMast.getLocNo());
            dtLocDetailVo.setLocSts(locMast.getLocSts());
            dtLocDetailVo.setRow1(locMast.getRow1());
            dtLocDetailVo.setBay1(locMast.getBay1());
            dtLocDetailVo.setLev1(locMast.getLev1());
            for (LocDetl locDetl : locDetls) {
                List<LocDetl> locDetl1 = locDetls.parallelStream().filter(a -> a.getLocNo().equals(locDetl.getLocNo())).collect(Collectors.toList());
                if (locDetl1 != null && locDetl1.size() == 1) {
                    dtLocDetailVo.setLocDetl(locDetl1.get(0));
                    dtLocDetailVo.setAreaId(locDetl.getAreaId());
                    dtLocDetailVo.setAreaName(locDetl.getAreaName());
                }
            }
            locDetailVos.add(dtLocDetailVo);
        }

        return locDetailVos;
        List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<>());
        return locMastList.stream()
                .map(loc -> {
                    DtLocDetailVo vo = new DtLocDetailVo();
                    BeanUtils.copyProperties(loc, vo);
                    return vo;
                })
                .collect(Collectors.toList());
//        List<DtLocDetailVo> locDetailVos = new ArrayList<>();
//
//        List<LocMast> locMasts = new ArrayList<>();
//        List<LocDetl> locDetls = new ArrayList<>();
//
//        for (LocMast locMast : locMasts) {
//            DtLocDetailVo dtLocDetailVo = new DtLocDetailVo();
//            dtLocDetailVo.setLocMast(locMast);
//            dtLocDetailVo.setLocNo(locMast.getLocNo());
//            dtLocDetailVo.setLocSts(locMast.getLocSts());
//            dtLocDetailVo.setRow1(locMast.getRow1());
//            dtLocDetailVo.setBay1(locMast.getBay1());
//            dtLocDetailVo.setLev1(locMast.getLev1());
//            for (LocDetl locDetl : locDetls) {
//                List<LocDetl> locDetl1 = locDetls.parallelStream().filter(a -> a.getLocNo().equals(locDetl.getLocNo())).collect(Collectors.toList());
//                if (locDetl1 != null && locDetl1.size() == 1) {
//                    dtLocDetailVo.setLocDetl(locDetl1.get(0));
//                    dtLocDetailVo.setAreaId(locDetl.getAreaId());
//                    dtLocDetailVo.setAreaName(locDetl.getAreaName());
//                }
//            }
//            locDetailVos.add(dtLocDetailVo);
//        }
//
//        return locDetailVos;
    }

    /**
@@ -203,11 +232,11 @@
        }

        List<LocCount> locCounts;
        if(areaId.isEmpty()){
            locCounts = locCountMapper.getByDate(Integer.parseInt(startDate), Integer.parseInt(endDate));
        } else {
            locCounts = locCountMapper.getByAreaAndDate(areaId, Integer.parseInt(startDate), Integer.parseInt(endDate));
        }
//        if(areaId.isEmpty()){
        locCounts = locCountMapper.getByDate(Integer.parseInt(startDate), Integer.parseInt(endDate));
//        } else {
//            locCounts = locCountMapper.getByAreaAndDate(areaId, Integer.parseInt(startDate), Integer.parseInt(endDate));
//        }

        for (LocCount locCount : locCounts) {
            String date = locCount.getDate().toString();
@@ -227,29 +256,30 @@
     *
     */
    public void locNumCount() {

        List<LocCount> result = new ArrayList<>();
        SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd");
        String date = sdf.format(new Date());

        List<LocCount> totalLoc = locCountMapper.totalLoc();
        List<LocCount> useLoc = locCountMapper.useLoc();
        for (LocCount locCount : totalLoc) {
            LocCount locCount1 = new LocCount();
            locCount1.setDate(Integer.valueOf(date));
            locCount1.setAreaId(locCount.getAreaId());
            locCount1.setLocNum(locCount1.getLocNum());
            for (LocCount locCount2 : useLoc) {
                if(locCount1.getAreaId().equals(locCount2.getAreaId())){
                    locCount1.setRemainNum(locCount1.getLocNum() - locCount2.getLocNum());
                }
            }
            result.add(locCount1);
        }

        for (LocCount locCount  : result) {
            locCountMapper.insertOrUpdate(locCount);
        }
        LocCount locCount1 = new LocCount();
        locCount1.setDate(Integer.valueOf(date));
        locCount1.setLocNum(totalLoc.get(0).getLocNum());
        locCount1.setRemainNum(locCount1.getLocNum() - useLoc.get(0).getLocNum());

        locCountMapper.insertOrUpdate(locCount1);
    }

    @Resource
    private BasCrnpService basCrnpService;

    @Override
    public DtEquipmentVo equipment(String areaId) {
        BasCrnp crnp = basCrnpService.selectOne(new EntityWrapper<>());
        return DtEquipmentVo.builder()
                .equipmentId("1").equipmentName("堆垛机1").equipmentType(1)
                .belongAreaId("C").belongAreaName("联结器库").verticalSpeed(Integer.valueOf(Cools.isEmpty(crnp.getCtlHp()) ? "0" : crnp.getCtlHp()))
                .horizontalSpeed(Integer.valueOf( Cools.isEmpty(crnp.getCtlRest()) ? "0" : crnp.getCtlRest())).voltage(220).status(crnp.getCrnErr() == 0 ? 1 : 3).operateMethod(crnp.getCrnSts() == 3 ? 1 : 3).build();
    }



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

@@ -978,6 +978,10 @@

                    set.add(mesOutApplyItem.getTrayid());
                    Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
                    if (Cools.isEmpty(mat)) {
                        log.error("物料编号不存在: {}", mesOutApplyItem.getItemno());
                        throw new CoolException("物料编号不存在: " + mesOutApplyItem.getItemno());
                    }
                    OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
                    orderDetlPakout.setOrderId(orderPakout.getId());
                    orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
@@ -1108,7 +1112,9 @@
        Date now = new Date();
        Task task = new Task();
        task.setWrkNo(workNo);
        task.setTaskType("ZX-AGV");
        //08-1是空托盘转序任务
        //08-2是物料转序任务
        task.setTaskType("ZX-AGV-"+transTask.getTransType());
        task.setWrkSts(301L);//301.AGV任务创建
        task.setIoType(3);//3.站到站
        task.setIoPri(10.00);
@@ -1232,7 +1238,7 @@
        if ("Y".equals(allow.getStatus())) {
            String TaskNo = allow.getTaskno();
            if(allow.getTaskno().contains("-")){
                TaskNo = allow.getTaskno().split("-")[0];
                TaskNo = allow.getTaskno().substring(0, allow.getTaskno().length() - 2);
            }
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", TaskNo));
            if (Cools.isEmpty(task)) {
@@ -1324,7 +1330,7 @@
        if ("Y".equals(allow.getStatus())) {
            String TaskNo = allow.getTaskno();
            if(allow.getTaskno().contains("-")){
                TaskNo = allow.getTaskno().split("-")[0];
                TaskNo = allow.getTaskno().substring(0, allow.getTaskno().length() - 2);
            }
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", TaskNo));
            if (Cools.isEmpty(task)) {

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

@@ -2,21 +2,23 @@

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SnowflakeIdWorker;
import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.EmptyPlateOutParam;
import com.zy.asrs.entity.param.OpenOrderPakinParam;
import com.zy.asrs.entity.param.OpenOrderPakoutParam;
import com.zy.asrs.mapper.OrderDetlPakoutMapper;
import com.zy.asrs.mapper.OrderPakoutMapper;
import com.zy.asrs.service.*;
import com.zy.common.model.DetlDto;
import com.zy.common.model.LocDto;
import com.zy.common.model.TaskDto;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;

@@ -38,6 +40,19 @@
    private WrkDetlService wrkDetlService;
    @Autowired
    private OrderDetlPakoutServiceImpl orderDetlPakoutService;
    @Autowired
    private LocDetlService locDetlService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private WorkService workService;
    @Autowired
    private BasDevpService basDevpService;

    @Resource
    private OrderPakoutService orderPakOutService;

    @Override
    public OrderPakout selectByNo(String orderNo) {
@@ -203,4 +218,153 @@
        return this.baseMapper.selectOrderMoveStatusInitial();
    }

    @Override
    public R pakout(List<LocDto> locDtos) {
        if (Cools.isEmpty(locDtos)) {
            return R.parse(BaseRes.PARAM);
        }
        List<LocDto> locDtoArrayList = new ArrayList<>();
        for (LocDto locDto : locDtos) {
            if (locDto.getFrozen() != 1 && locDto.getFrozenLoc() != 1) {
                locDtoArrayList.add(locDto);
            }
        }
        locDtos = locDtoArrayList;
        if (Cools.isEmpty(locDtos)) {
            return R.parse("库存/库位被冻结，请处理后出库！！！");
        }
        boolean lack = true;
        for (LocDto locDto : locDtos) {
            if (!locDto.isLack()) {
                lack = false;
                break;
            }
        }
        if (lack) {
            return R.error("库存不足");
        }

        List<TaskDto> taskDtos = new ArrayList<>();
        // 根据 （库位 & 出库站） 分组； 理想状态：一组为一次出库任务
        for (LocDto locDto : locDtos) {
            if (locDto.isLack()) {
                continue;
            }
            TaskDto taskDto = new TaskDto(locDto.getLocNo(), locDto.getStaNo(), locDto);
            if (TaskDto.has(taskDtos, taskDto)) {
                TaskDto dto = TaskDto.find(taskDtos, taskDto);
                assert dto != null;
                dto.getLocDtos().addAll(taskDto.getLocDtos());
            } else {
                taskDtos.add(taskDto);
            }
        }
        OrderPakout orderPakout = orderPakOutService.selectByNo(locDtos.get(0).getOrderNo());

        //配盘出库单用， i=5时或者出库到最后时下发空板出库任务
        int i = 0;
        //需要出库的托盘数量
        int size = taskDtos.size();
        //优先级
        int ioPri = 50;
        //已下空板出库任务数量
        int j = 1;
        // -----------------------------------------------------------------------------------------------
        for (TaskDto taskDto : taskDtos) {
            BasDevp staNo = basDevpService.checkSiteStatus(taskDto.getStaNo());
            workService.stockOut(staNo, taskDto, 9995L, ioPri);
            ioPri--;
            i++;
            //配盘出库单使用，下发需要出的空板任务
            if (orderPakout.getDocType() == 11) {
                if (i == size) {
                    for (; j <= orderPakout.getPayType(); j++) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", taskDto.getLocNo()));
                        Integer locType = Integer.valueOf(locMast1.getLocType2());
                        //配盘 出库单出库区域时Q-L4时,出大托盘空板
                        if(!Cools.isEmpty(orderPakout.getCstmrName())&&orderPakout.getCstmrName().equals("Q-L4")){
                            locType = 2;
                        }
                        String bar = "";
                        //具体待定
//                        if(!Cools.isEmpty(orderPakout.getShipCode())&&orderPakout.getShipCode().equals("A01")){
//                            bar = "A01";
//                        }
                        LocMast locMast = new LocMast();
                        if (Cools.isEmpty(bar)) {
                            locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "D").eq("loc_type2", locType).orderBy("row1",false));
                        } else {
                            locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "D").eq("loc_type2", locType).like("barcode", bar).orderBy("row1",false));
                        }

                        if (Cools.isEmpty(locMast)) {
                            return R.error("库存没有空板");
                        }
                        String locNo = locMast.getLocNo();
                        EmptyPlateOutParam emptyPlateOutParam = new EmptyPlateOutParam();
                        emptyPlateOutParam.setOutSite(303);
                        emptyPlateOutParam.setLocNos(new ArrayList<String>() {{
                            add(locNo);
                        }});
                        String agvSta = "";
                        if (locMast.getLocType3() == 2) {
                            agvSta = "Z-LZP26";
                        }else if(locType ==2){

                        } else {
                            agvSta = orderPakout.getCstmrName();//agv目标站点位置
                        }
                        WrkMast wrkMast = workService.emptyPlateOut(emptyPlateOutParam, ioPri, agvSta);
                        ioPri--;

                    }
                } else if (i == 4) {
                    LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", taskDto.getLocNo()));
                    Integer locType = Integer.valueOf(locMast1.getLocType2());
                    //配盘 出库单出库区域时Q-L4时,出大托盘空板
                    if(orderPakout.getCstmrName().equals("Q-L4")){
                        locType = 2;
                    }

                    String bar = "";
                    if (!Cools.isEmpty(orderPakout.getShipCode()) && orderPakout.getShipCode().equals("A01")) {
                        bar = "A01";
                    }
                    LocMast locMast = null;
                    if (Cools.isEmpty(bar)) {
                        locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("loc_sts", "D").eq("loc_type2", locType).orderBy("row1",false));
                    } else {
                        locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("loc_sts", "D").eq("loc_type2", locType).like("barcode", bar).orderBy("row1",false));
                    }

                    if (Cools.isEmpty(locMast)) {
                        return R.error("库存没有空板");
                    }
                    String locNo = locMast.getLocNo();
                    EmptyPlateOutParam emptyPlateOutParam = new EmptyPlateOutParam();
                    emptyPlateOutParam.setOutSite(303);
                    emptyPlateOutParam.setLocNos(new ArrayList<String>() {{
                        add(locNo);
                    }});
                    String agvSta = "";
                    if (locMast.getLocType3() == 2) {
                        agvSta = "Z-LZP26";
                    }else if(locType ==2){

                    } else {
                        agvSta = orderPakout.getCstmrName();//agv目标站点位置
                    }
                    WrkMast wrkMast = workService.emptyPlateOut(emptyPlateOutParam, ioPri, agvSta);
                    ioPri--;
                    j++;
                }
            }
        }
        return R.ok();
    }

}

 src/main/java/com/zy/asrs/task/AGVTaskReportScheduler.java

@@ -3,10 +3,10 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.OrderPakoutService;
import com.zy.asrs.service.TaskService;
import com.zy.asrs.service.WrkDetlService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.BasDevpServiceImpl;
import com.zy.asrs.task.core.ReturnT;
@@ -34,7 +34,11 @@
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private BasDevpServiceImpl basDevpService;
    @Autowired
    private OrderPakoutService orderPakoutService;

    /**
     * 满板和空板出库任务，出到输送线后创建AGV搬运任务
@@ -61,19 +65,41 @@
            Task task1 = taskService.selectOne(new EntityWrapper<Task>()
                    .in("source_sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo())
                    .in("sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo()));
            if (Cools.isEmpty(task1)) {

            if (Cools.isEmpty(task1)) {
                //生成AGV搬运出库任务
                // 保存工作档
                Task task = new Task();
                Date date = new Date();
                String TaskNo = wrkMast.getWrkNo() + "aa" + date.getTime();
                String taskType = "AGV";
                List<WrkDetl> wrkDetls = wrkDetlService.selectByWrkNo(wrkMast.getWrkNo());

                if (wrkMast.getIoType()!=110){
                    if (wrkDetls != null && !Cools.isEmpty(wrkDetls.get(0).getOrderNo())){
                        TaskNo = wrkDetls.get(0).getOrderNo();
                        taskType = "KB-AGV";
                    }

                }else{
                    if (wrkDetls != null && !Cools.isEmpty(wrkDetls.get(0).getOrderNo())){
                        OrderPakout orderPakout = orderPakoutService.selectByNo(wrkDetls.get(0).getOrderNo());
                        if (orderPakout.getDocType()==11){
                            taskType = "PP-AGV";
                        }else if (orderPakout.getDocType()==12){
                            taskType = "ZP-AGV";
                        }

                    }

                }

                task.setWrkNo(wrkMast.getWrkNo())
                        .setTaskNo(TaskNo)
                        .setIoTime(date)
                        .setWrkSts(301L) // 工作状态：301.任务下发
                        .setIoType(ioType) // 入出库状态： 3.站到站  4.站到区域
                        .setTaskType("agv")
                        .setTaskType(taskType)
                        .setIoPri(10D)
                        .setFullPlt("Y") // 满板：Y
                        .setPicking("N") // 拣料

 src/main/java/com/zy/asrs/task/OrderSyncScheduler.java

@@ -138,7 +138,7 @@
    }

    // 入库订单完成上报-领料单，原材料
    @Scheduled(cron = "0/30 * * * * ? ")
    //@Scheduled(cron = "0/30 * * * * ? ")
    @Async("orderThreadPool")
    void inOrderCompleteReport() {
        String erpReport = Parameter.get().getErpReport();
@@ -256,9 +256,9 @@
        }
    }

    // 出库单上报
    @Scheduled(cron = "0/30 * * * * ? ")
    @Async("orderThreadPool")
    // 装配单自动出库
    @Scheduled(cron = "0/3 * * * * ? ")
//    @Async("orderThreadPool")
    void AutoOutOrderPinOut() throws InterruptedException {
        String erpReport = Parameter.get().getErpReport();
        if (!Cools.isEmpty(erpReport) && erpReport.equals("true")) {
@@ -318,7 +318,7 @@
                if (boo){
                    continue;
                }
                R pakout = outController.pakout(locDtos);
                R pakout = orderPakoutService.pakout(locDtos);
                break;
            }


 src/main/java/com/zy/asrs/task/WorkMastScheduler.java

@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.DigitalTwinService;
import com.zy.asrs.service.MesService;
import com.zy.asrs.service.TaskService;
import com.zy.asrs.service.WrkMastService;
@@ -35,6 +36,13 @@
    @Resource
    private MesService mesService;
    // TODO：reporterTask()
    @Resource
    private DigitalTwinService digitalTwinService;

    @Scheduled(cron = "0 50 23 * * ?")
    private void locNumCount() {
        digitalTwinService.locNumCount();
    }

    @Scheduled(cron = "0/3 * * * * ? ")
    private void execute(){

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

@@ -47,15 +47,15 @@
        Boolean flag2 = false;

        if(stationProperties.getStation().contains(task.getStaNo())){
            taskType = "YLIN";
            taskType = "LJIN";
            flag1 = true;
        }
        if (stationProperties.getStation().contains(task.getSourceStaNo())){
            taskType = "YLOUT";
            taskType = "LJOUT";
            flag2 = true;
        }
        if(flag1&&flag2){
            taskType = "YLBOTH";
        if(flag1 && flag2){
            taskType = "LJBOTH";
        }
        //AGV区域中无法用-
        String StaNo = task.getStaNo();

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

@@ -614,19 +614,20 @@
        if (wrkMast != null) {
            if (wrkMast.getIoType()==110&& wrkMast.getWrkSts()>12){
                wrkMast.setWrkSts(32L);//32.等待组托
            }else if (wrkMast.getIoType()==101){
            }else if (wrkMast.getIoType()==101 && wrkMast.getWrkSts()>12){
                wrkMast.setWrkSts(15L);//15.出库更新完成
            }else if (wrkMast.getIoType()==103 && wrkMast.getWrkSts()>12){
                wrkMast.setWrkSts(20L);//20.等待回库
            }
            wrkMast.setModiTime(new Date());
            wrkMast.setOveMk("Y");
            wrkMastService.updateById(wrkMast);
            task.setWrkSts(305L);//任务状态从304--》305
            task.setModiTime(new Date());
            taskService.updateById(task);

            //对转序搬运完成的任务结果反馈给mes
        }else if(task.getTaskType().equals("ZX-AGV")){
        }else if(task.getTaskType().equals("ZX-AGV-08-1")||task.getTaskType().equals("ZX-AGV-08-2")){
            HashMap<String,Object> map = new HashMap<>();
            map.put("taskno", task.getTaskNo());
            String mesUrl = url+"AGVArrivalCompletedFit";

 src/main/java/com/zy/asrs/utils/OrderInAndOutUtil.java

@@ -543,7 +543,9 @@

    public static OrderDetl selectItem(boolean sign,String orderNo, String matnr, String batch, String brand, String standby1, String standby2, String standby3, String boxType1, String boxType2, String boxType3){
        try{
            Object invoke = implement(OrderMethodVo.SELECT_ITEM2).invoke(getOrderInAndOutType(sign), orderNo, matnr, batch,brand,standby1,standby2,standby3,boxType1,boxType2,boxType3);
            Method m = implement(OrderMethodVo.SELECT_ITEM2);
            OrderInAndOutType t = getOrderInAndOutType(sign);
            Object invoke = m.invoke(t, orderNo, matnr, batch,brand,standby1,standby2,standby3,boxType1,boxType2,boxType3);
            return aOrderDetl(invoke);
        } catch (Exception e) {
            throw new CoolException(e.getCause().getMessage());

 src/main/java/com/zy/common/model/TaskDto.java

@@ -109,7 +109,11 @@
                    }
                }
                if (dto.getAnfme() > locDetl.getAnfme()) {
                    throw new CoolException("服务器内部错误");
                    throw new CoolException(String.format(
                            "出库数量[%s]超过库存数量[%s]，物料：%s，批次：%s",
                            dto.getAnfme(), locDetl.getAnfme(),
                            dto.getMatnr(), dto.getBatch()
                    ));
                }
                if (dto.getAnfme().equals(locDetl.getAnfme())) {
                    sameNumber++;

 src/main/java/com/zy/common/web/WcsController.java

@@ -66,7 +66,7 @@
        if (Cools.isEmpty(param.getSourceStaNo())) {
            return R.error("源站编号不能为空");
        }
        if (Cools.isEmpty(param.getSourceStaNo())||param.getBarcode().length()==8) {
        if (Cools.isEmpty(param.getSourceStaNo())) {
            return R.error("托盘不能为空或者托盘码不为八位");
        }
        List<WaitPakin> waitPakins = null;

 src/main/resources/application-dev.yml

@@ -135,7 +135,7 @@
#mes对接
mes:

  url: http://192.9.100.173:8088/prod-api/basicmodel/WmsFit/Api/
  url: http://172.26.160.5:80/dev-api/basicmodel/WmsFit/Api/
  #默认接口操作人员id
  defaultUserId: 30

@@ -143,8 +143,7 @@
hik:
  switch: true
  url: http://172.26.11.98:80/rcs/rtas/
  station: 402,401,307,Z-LZL41,Z-LZL42

  station: 402,401,307,Z-LVL10, Z-LVL11,Z-LVL12, Z-LVL13,Z-LVL14, Z-LVL15,Z-LVL16, Z-LVL17,Z-LVL18, Z-LVL19,Z-LVL05, Z-LVL06,Z-LVL07, Z-LVL08, Z-LVL09, Z-LZH19, Z-LZH20, Z-LZH21, Z-LZH22, Z-LZH23, Z-LZH24
#华晓对接
hx:
  url: http://172.26.3.131:8300/api/robot/

 src/main/resources/mapper/LocCountMapper.xml

@@ -22,11 +22,18 @@
    </select>

    <insert id="insertOrUpdate" parameterType="com.zy.asrs.entity.LocCount">
        IF EXISTS (SELECT date FROM asr_loc_count WHERE date = #{model.date} AND area_id = #{model.areaId})
            INSERT INTO asr_loc_count(date, area_id, loc_num, remain_num)
            VALUES (#{model.date}, #{model.areaId}, #{model.locNum}, #{model.remainNum})
        IF EXISTS (SELECT 1 FROM asr_loc_count WHERE date = #{model.date})
            BEGIN
                UPDATE asr_loc_count
                SET loc_num = #{model.locNum},
                    remain_num = #{model.remainNum}
                WHERE date = #{model.date}
            END
        ELSE
            UPDATE asr_loc_count SET loc_num = #{model.locNum}, remain_num = #{model.remainNum}
            BEGIN
                INSERT INTO asr_loc_count(date, area_id, loc_num, remain_num)
                VALUES (#{model.date}, #{model.areaId}, #{model.locNum}, #{model.remainNum})
            END
    </insert>

    <select id="totalLoc" resultType="com.zy.asrs.entity.LocCount">

 src/main/resources/mapper/ViewDigitalTwinMapper.xml

@@ -3,39 +3,32 @@
        "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.mapper.DigitalTwinMapper">

    <resultMap id="dtOrderMap" type="com.zy.asrs.entity.digitaltwin.DtOrderVo">
        <constructor>
            <arg column="orderDate" javaType="java.util.Date"/>
            <arg column="orderNum" javaType="java.lang.Integer"/>
        </constructor>
    </resultMap>

    <!--总览：总库位、已用库位、今日库存、今日出库、今日入库-->
    <select id="overview" resultType="Double">
        SELECT COUNT(*) FROM asr_loc_mast WHERE loc_sts != 'Z'
        <if test="areaId != null">
            and area_id = #{areaId}
        </if>
        <!--            <if test="areaId != null">-->
        <!--                and area_id = #{areaId}-->
        <!--            </if>-->
        UNION ALL
        SELECT COUNT(*) FROM asr_loc_mast WHERE loc_sts = 'F' or loc_sts = 'P' or loc_sts = 'Q' or loc_sts = 'R' or loc_sts = 'S' or loc_sts = 'X'
        <if test="areaId != null">
            and area_id = #{areaId}
        </if>
        <!--        <if test="areaId != null">-->
        <!--            and area_id = #{areaId}-->
        <!--        </if>-->
        UNION ALL
        SELECT ISNULL(SUM(anfme), 0) FROM asr_loc_detl
        <if test="areaId != null">
            WHERE area_id = #{areaId}
        </if>
        <!--        <if test="areaId != null">-->
        <!--            WHERE area_id = #{areaId}-->
        <!--        </if>-->
        UNION ALL
        SELECT ISNULL(SUM(anfme), 0) FROM asr_wrkin_view WHERE CONVERT(VARCHAR, io_time, 23) = CONVERT(VARCHAR, GETDATE(), 23)
        <if test="areaId != null">
            and area_id = #{areaId}
        </if>
        <!--        <if test="areaId != null">-->
        <!--            and area_id = #{areaId}-->
        <!--        </if>-->
        UNION ALL
        SELECT ISNULL(SUM(anfme), 0) FROM asr_wrkout_view WHERE CONVERT(VARCHAR, io_time, 23) = CONVERT(VARCHAR, GETDATE(), 23)
        <if test="areaId != null">
            and area_id = #{areaId}
        </if>
        <!--        <if test="areaId != null">-->
        <!--            and area_id = #{areaId}-->
        <!--        </if>-->
    </select>

    <select id="recentOrder" resultType="com.zy.asrs.entity.digitaltwin.DtOrderVo">
@@ -65,9 +58,9 @@
        SELECT CONVERT(VARCHAR, io_time, 23) AS boundDate, SUM(anfme) AS inBoundNum
        FROM asr_wrkin_view
        WHERE io_time BETWEEN #{startTime} AND #{endTime}
        <if test="areaId != null">
            and area_id = #{areaId}
        </if>
        <!--        <if test="areaId != null">-->
        <!--            and area_id = #{areaId}-->
        <!--        </if>-->
        GROUP BY CONVERT(VARCHAR, io_time, 23)
    </select>

@@ -75,28 +68,31 @@
        SELECT CONVERT(VARCHAR, io_time, 23) AS boundDate, SUM(anfme) AS outBoundNum
        FROM asr_wrkout_view
        WHERE io_time BETWEEN #{startTime} AND #{endTime}
        <if test="areaId != null">
            and area_id = #{areaId}
        </if>
        <!--        <if test="areaId != null">-->
        <!--            and area_id = #{areaId}-->
        <!--        </if>-->
        GROUP BY CONVERT(VARCHAR, io_time, 23)
    </select>

    <select id="recentDetainMat" resultType="com.zy.asrs.entity.digitaltwin.DtDetainMatVo">
        select
        *
        from (
        select
        ROW_NUMBER() OVER(Order by t.io_time desc) as row , *
        from (
        SELECT area_id AS belongAreaId, area_name AS belongAreaName, matnr AS matId, maktx AS matName,
        loc_no AS lokId, '' AS lokName,
        DATEDIFF(MINUTE, appe_time, GETDATE()) AS detainTime, appe_time AS inBoundTime
        FROM asr_loc_detl WHERE appe_time &lt; #{startTime}
        <if test="areaId != null">
            and area_id = #{areaId}
        </if>
        ) t
        ) a where 1=1 and a.row between ((#{pageIndex}-1)*#{pageSize}+1) and (#{pageIndex}*#{pageSize})
        SELECT *
        FROM (
                 SELECT
                     ROW_NUMBER() OVER(ORDER BY t.inBoundTime DESC) AS rownum,
                     t.*
                 FROM (
                          SELECT
                              matnr AS matId,
                              maktx AS matName,
                              loc_no AS lokId,
                              '' AS lokName,
                              DATEDIFF(MINUTE, appe_time, GETDATE()) AS detainTime,
                              appe_time AS inBoundTime
                          FROM asr_loc_detl
                          WHERE appe_time &lt;= #{startTime}
                      ) t
             ) a
        WHERE a.rownum BETWEEN ((#{pageIndex}-1)*#{pageSize}+1) AND (#{pageIndex}*#{pageSize})
    </select>

</mapper>