1.完善AGV任务创建和下发 2.完善数据孪生 3.新增拍照获取照片 4.新增PDA配盘出库单立即出库 5.新增PDA配盘入库单下拉框获取订单号

zwl

2025-12-27 f14bb52ddab40bf589304b6b43331ddaccea69f6

1.完善AGV任务创建和下发
2.完善数据孪生
3.新增拍照获取照片
4.新增PDA配盘出库单立即出库
5.新增PDA配盘入库单下拉框获取订单号

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

@@ -31,16 +31,16 @@
//    @ManagerAuth
    public R overview(@RequestParam(required = false) String areaId){

        //digitalTwinService.overview(areaId);
        DtOverviewVo dtOverviewVo = digitalTwinService.overview(areaId);

        DtOverviewVo dtOverviewVo = DtOverviewVo.builder()
                .totalLoc(999)
                .useLoc(900)
                .idleLoc(99)
                .todayOutbound(160)
                .todayWarehousing(170)
                .remainingStock(180)
                .build();
//        DtOverviewVo dtOverviewVo = DtOverviewVo.builder()
//                .totalLoc(999)
//                .useLoc(900)
//                .idleLoc(99)
//                .todayOutbound(160)
//                .todayWarehousing(170)
//                .remainingStock(180)
//                .build();

        return R.ok().add(dtOverviewVo);
    }
@@ -57,19 +57,19 @@
    public R recentOrder(@RequestParam(required = false) String startDate,
                         @RequestParam(required = false) String endDate){

//        digitalTwinService.order(startDate, endDate);
        List<DtOrderVo> orderVoList = digitalTwinService.order(startDate, endDate);

        DtOrderVo dtOrderVo = DtOrderVo.builder()
                .orderDate("2025-10-22")
                .orderNum(156)
                .build();
        DtOrderVo dtOrderVo2 = DtOrderVo.builder()
                .orderDate("2025-10-23")
                .orderNum(166)
                .build();
        List<DtOrderVo> orderVoList = new ArrayList<>();
        orderVoList.add(dtOrderVo);
        orderVoList.add(dtOrderVo2);
//        DtOrderVo dtOrderVo = DtOrderVo.builder()
//                .orderDate("2025-10-22")
//                .orderNum(156)
//                .build();
//        DtOrderVo dtOrderVo2 = DtOrderVo.builder()
//                .orderDate("2025-10-23")
//                .orderNum(166)
//                .build();
//        List<DtOrderVo> orderVoList = new ArrayList<>();
//        orderVoList.add(dtOrderVo);
//        orderVoList.add(dtOrderVo2);

        return R.ok().add(orderVoList);
    }
@@ -88,19 +88,19 @@
                           @RequestParam(required = false) String startDate,
                         @RequestParam(required = false) String endDate){

//        digitalTwinService.recentLoc(areaId, startDate, 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);
//        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);
    }
@@ -119,21 +119,22 @@
                           @RequestParam(required = false) String startDate,
                           @RequestParam(required = false) String endDate){

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

        DtInAndOutBoundVo dtInAndOutBoundVo = DtInAndOutBoundVo.builder()
                .boundDate("2025-10-22")
                .inBoundNum(237)
                .outBoundNum(487)
                .build();
        DtInAndOutBoundVo dtInAndOutBoundVo2 = DtInAndOutBoundVo.builder()
                .boundDate("2025-10-23")
                .inBoundNum(187)
                .outBoundNum(287)
                .build();
        List<DtInAndOutBoundVo> inAndOutBoundVoList = new ArrayList<>();
        inAndOutBoundVoList.add(dtInAndOutBoundVo);
        inAndOutBoundVoList.add(dtInAndOutBoundVo2);

//        DtInAndOutBoundVo dtInAndOutBoundVo = DtInAndOutBoundVo.builder()
//                .boundDate("2025-10-22")
//                .inBoundNum(237)
//                .outBoundNum(487)
//                .build();
//        DtInAndOutBoundVo dtInAndOutBoundVo2 = DtInAndOutBoundVo.builder()
//                .boundDate("2025-10-23")
//                .inBoundNum(187)
//                .outBoundNum(287)
//                .build();
//        List<DtInAndOutBoundVo> inAndOutBoundVoList = new ArrayList<>();
//        inAndOutBoundVoList.add(dtInAndOutBoundVo);
//        inAndOutBoundVoList.add(dtInAndOutBoundVo2);

        return R.ok().add(inAndOutBoundVoList);
    }
@@ -152,31 +153,31 @@
                             @RequestParam(required = false) Integer pageIndex,
                             @RequestParam(required = false) Integer pageSize){

//        digitalTwinService.recentDetainMat(areaId, overDayNum, pageIndex, 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);
//        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);
    }
@@ -231,76 +232,74 @@
    @RequestMapping(value = "/warehouseDetail")
//    @ManagerAuth
    public R warehouseDetail(@RequestParam(required = false) String areaId){
        List<DtLocDetailVo> dtLocDetailVoList = digitalTwinService.warehouseDetail(areaId);

//        digitalTwinService.warehouseDetail(areaId);

        List<DtLocDetailVo> dtLocDetailVoList = new ArrayList<>();
        DtLocDetailVo dtLocDetailVo = new DtLocDetailVo();
        dtLocDetailVo.setLocNo("CA0100202");
        dtLocDetailVo.setLocSts("O");
        dtLocDetailVo.setAreaId(10010L);
        dtLocDetailVo.setAreaName("刀具库");
        dtLocDetailVo.setRow1(1);
        dtLocDetailVo.setBay1(2);
        dtLocDetailVo.setLev1(2);

        LocMast locMast = new LocMast();
        locMast.setLocNo("CA0100202");
        locMast.setLocSts("O");
        locMast.setRow1(1);
        locMast.setBay1(2);
        locMast.setLev1(2);
        dtLocDetailVo.setLocMast(locMast);

        LocDetl locDetl = new LocDetl();
        locDetl.setLocNo("CA0100202");
        locDetl.setAreaId(10010L);
        locDetl.setAreaName("刀具库");
        locDetl.setMatnr("mat10001");
        locDetl.setMaktx("刀把");
        dtLocDetailVo.setLocDetl(locDetl);
        dtLocDetailVoList.add(dtLocDetailVo);


        DtLocDetailVo dtLocDetailVo2 = new DtLocDetailVo();
        dtLocDetailVo2.setLocNo("CA0100202");
        dtLocDetailVo2.setLocSts("O");
        dtLocDetailVo2.setAreaId(10010L);
        dtLocDetailVo2.setAreaName("刀具库");
        dtLocDetailVo2.setRow1(1);
        dtLocDetailVo2.setBay1(2);
        dtLocDetailVo2.setLev1(2);

        LocMast locMast2 = new LocMast();
        locMast2.setLocNo("CA0100203");
        locMast2.setLocSts("O");
        locMast2.setRow1(1);
        locMast2.setBay1(2);
        locMast2.setLev1(3);
        dtLocDetailVo2.setLocMast(locMast2);

        LocDetl locDetl2 = new LocDetl();
        locDetl2.setLocNo("CA0100203");
        locDetl2.setAreaId(10010L);
        locDetl2.setAreaName("刀具库");
        locDetl2.setMatnr("mat10001");
        locDetl2.setMaktx("刀把");
        dtLocDetailVo2.setLocDetl(locDetl2);
        dtLocDetailVoList.add(dtLocDetailVo2);


        return R.ok().add(dtLocDetailVoList);
    }
//        List<DtLocDetailVo> dtLocDetailVoList = new ArrayList<>();
//        DtLocDetailVo dtLocDetailVo = new DtLocDetailVo();
//        dtLocDetailVo.setLocNo("CA0100202");
//        dtLocDetailVo.setLocSts("O");
//        dtLocDetailVo.setAreaId(10010L);
//        dtLocDetailVo.setAreaName("刀具库");
//        dtLocDetailVo.setRow1(1);
//        dtLocDetailVo.setBay1(2);
//        dtLocDetailVo.setLev1(2);
//
//        LocMast locMast = new LocMast();
//        locMast.setLocNo("CA0100202");
//        locMast.setLocSts("O");
//        locMast.setRow1(1);
//        locMast.setBay1(2);
//        locMast.setLev1(2);
//        dtLocDetailVo.setLocMast(locMast);
//
//        LocDetl locDetl = new LocDetl();
//        locDetl.setLocNo("CA0100202");
//        locDetl.setAreaId(10010L);
//        locDetl.setAreaName("刀具库");
//        locDetl.setMatnr("mat10001");
//        locDetl.setMaktx("刀把");
//        dtLocDetailVo.setLocDetl(locDetl);
//        dtLocDetailVoList.add(dtLocDetailVo);
//
//
//        DtLocDetailVo dtLocDetailVo2 = new DtLocDetailVo();
//        dtLocDetailVo2.setLocNo("CA0100202");
//        dtLocDetailVo2.setLocSts("O");
//        dtLocDetailVo2.setAreaId(10010L);
//        dtLocDetailVo2.setAreaName("刀具库");
//        dtLocDetailVo2.setRow1(1);
//        dtLocDetailVo2.setBay1(2);
//        dtLocDetailVo2.setLev1(2);
//
//        LocMast locMast2 = new LocMast();
//        locMast2.setLocNo("CA0100203");
//        locMast2.setLocSts("O");
//        locMast2.setRow1(1);
//        locMast2.setBay1(2);
//        locMast2.setLev1(3);
//        dtLocDetailVo2.setLocMast(locMast2);
//
//        LocDetl locDetl2 = new LocDetl();
//        locDetl2.setLocNo("1001");
//        locDetl2.setLocNo("CA0100203");
//        locDetl2.setAreaId(10010L);
//        locDetl2.setAreaName("刀具库");
//        locDetl2.setMatnr("mat10001");
//        locDetl2.setMaktx("刀把");
//        dtLocDetailVo2.setLocDetl(locDetl2);
//        dtLocDetailVoList.add(dtLocDetailVo2);
//
////        List<LocDetl> locDetlList = new ArrayList<>();
////        locDetlList.add(locDetl);
////        locDetlList.add(locDetl2);

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

}

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

@@ -1,5 +1,6 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -12,6 +13,7 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.digitaltwin.LocPicDto;
import com.zy.asrs.entity.param.LocMastInitParam;
import com.zy.asrs.mapper.LocDetlMapper;
import com.zy.asrs.service.*;
@@ -20,6 +22,7 @@
import com.zy.common.service.CommonService;
import com.zy.common.web.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
@@ -46,6 +49,8 @@
    private WrkMastLogService wrkMastLogService;
    @Resource
    private WrkDetlLogService wrkDetlLogService;
    @Value("${wcs.url}")
    private String WCS_URL;

    @RequestMapping(value = "/locMast/init/pwd")
    public R locMastInitPwd(@RequestParam(required = false) String pwd) {
@@ -335,4 +340,39 @@
            return R.error("初始化失败===>" + e.getMessage());
        }
    }

    @GetMapping("/locMast/picUrl")
    @ManagerAuth
    public R getPicUrl(@RequestParam String locNo) {
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("loc_no", locNo));
        if (locMast == null) {
            return R.error();
        }

        List<LocPicDto> list = new ArrayList<>();
        String picStr = locMast.getPic();
        if (Cools.isEmpty(picStr)) {
            return R.ok().add(list);
        }
        List<String> pics = JSON.parseArray(picStr, String.class);
        for (String pic : pics) {
            List<String> picList = new ArrayList<>();
            String[] split = pic.split("_");
            String picPath = split[0];
            String locNoStr = "";
            if (split.length > 1) {
                locNoStr = split[1];
                picPath += "_" + locNoStr;
            }
            picList.add("http://" + WCS_URL + "/image/" + picPath + "-1.jpg");
            picList.add("http://" + WCS_URL + "/image/" + picPath + "-2.jpg");

            LocPicDto locPicDto = new LocPicDto();
            locPicDto.setLocNo(locNoStr);
            locPicDto.setPics(picList);
            list.add(locPicDto);
        }
        return R.ok().add(list);
    }
}

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

@@ -41,14 +41,14 @@
        return mesReturn;
    }

//    // 出库申请
//    @PostMapping("/api/mes/outBoundOrder")
//    public MesReturn outBoundOrder(@RequestBody MesOutApply param){
//
//        MesReturn mesReturn = new MesReturn();
//        mesReturn.setSuccess(mesService.outBoundOrder(param) == 1 ? "1" : "2");
//        return mesReturn;
//    }
    // 出库申请
    @PostMapping("/api/mes/outBoundOrder")
    public MesReturn outBoundOrder(@RequestBody MesOutApply param){

        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess(mesService.outBoundOrder(param) == 1 ? "1" : "2");
        return mesReturn;
    }

//    // 出库入库订单申请
    @PostMapping("/api/mes/callOutBoundOrder")

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

@@ -14,6 +14,10 @@
import com.zy.asrs.entity.result.MobileAdjustResult;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.OrderDetlPakinServiceImpl;
import com.zy.asrs.service.impl.OrderDetlPakoutServiceImpl;
import com.zy.asrs.service.impl.OrderPakinServiceImpl;
import com.zy.asrs.service.impl.OrderPakoutServiceImpl;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.WrkDto;
import com.zy.common.utils.HttpHandler;
@@ -24,6 +28,7 @@
import org.springframework.web.bind.annotation.*;

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

/**
@@ -61,6 +66,16 @@

    @Resource
    private StaDescService staDescService;
    @Autowired
    private OrderPakinServiceImpl orderPakinService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private OrderDetlPakinServiceImpl orderDetlPakinService;
    @Autowired
    private OrderPakoutServiceImpl orderPakoutService;
    @Autowired
    private OrderDetlPakoutServiceImpl orderDetlPakoutService;

    @RequestMapping("/pda/WarehouseOut/v1")
    @ManagerAuth(memo = "并板途中拣料-参考念初")
@@ -209,48 +224,50 @@
    @RequestMapping("/order/search/orderNo/auth")
    @ManagerAuth
    public R orderSearchByBarcode(@RequestParam String orderNo){
        if (Cools.isEmpty(orderNo)){
            orderNo=null;
        }
//        List<Order> orders = orderService.selectorderNoL(orderNo);
        List<Order> orders = OrderInAndOutUtil.selectOrderNoL(null, orderNo);
        if (Cools.isEmpty(orders)){
        OrderPakin orderPakin = orderPakinService.selectByNo(orderNo);
        if (orderPakin == null) {
            return R.ok();
        }
        LinkedList<CombParam> combParams = new LinkedList<>();
        if (!Cools.isEmpty(orders)){
            for (Order order:orders){
                CombParam combParam=new CombParam();
                if (order == null) {
                    continue;
                }
                DocType docType = docTypeService.selectById(order.getDocType());
                if (docType.getPakin() == null || docType.getPakin() != 1) {
                    continue;
                }
                if (order.getSettle() > 2) {
                    continue;
                }
//                List<OrderDetl> orderDetls = orderService.selectWorkingDetls(order.getId());
                List<OrderDetl> orderDetls = OrderInAndOutUtil.selectWorkingDetls(order.getPakinPakoutStatus$(), order.getId());
                if (!Cools.isEmpty(orderDetls)) {
                    LinkedList<CombParam.CombMat> combMats = new LinkedList<>();
                    for (OrderDetl orderDetl:orderDetls){
                        CombParam.CombMat combMat = new CombParam.CombMat();
                        combMat.setMatnr(orderDetl.getMatnr());
                        combMat.setBatch(orderDetl.getBatch());
                        combMat.setAnfme(orderDetl.getAnfme()-orderDetl.getWorkQty());
                        combMat.setMaktx(orderDetl.getMaktx());
                        combMat.setSpecs(orderDetl.getSpecs());
                        combMats.add(combMat);
                    }
                    combParam.setCombMats(combMats);
                }
                combParam.setOrderNo(order.getOrderNo());
                combParams.add(combParam);
            }
        DocType docType = docTypeService.selectById(orderPakin.getDocType());
        if (docType.getPakin() != 1) {
            return R.ok();
        }
        return R.ok().add(combParams);

        List<OrderDetlPakin> orderDetlPakins = orderPakinService.selectWorkingDetls(orderPakin.getId());
        if (Cools.isEmpty(orderDetlPakins)) {
            return R.ok();
        }
        List<OrderDetlPakin> orderDetls1= new ArrayList<>();
        for (OrderDetlPakin orderDetl : orderDetlPakins) {
            if(orderDetl.getAnfme()-orderDetl.getWorkQty()>0){
                orderDetls1.add(orderDetl);
            }

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

    @RequestMapping("/order/search/orderNo/out/auth")
    @ManagerAuth
    public R orderSearchByBarcodeOut(@RequestParam String orderNo){
        OrderPakout orderPakout = orderPakoutService.selectByNo(orderNo);
        if (orderPakout == null) {
            return R.ok();
        }
        DocType docType = docTypeService.selectById(orderPakout.getDocType());

        List<OrderDetlPakout> orderDetlPakouts = orderPakoutService.selectWorkingDetls(orderPakout.getId());
        if (Cools.isEmpty(orderDetlPakouts)) {
            return R.ok();
        }
        List<OrderDetlPakout> orderDetls1= new ArrayList<>();
        for (OrderDetlPakout orderDetl : orderDetlPakouts) {
            if(orderDetl.getAnfme()-orderDetl.getWorkQty()>0){
                orderDetls1.add(orderDetl);
            }

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

    @RequestMapping("/comb/auth")
@@ -549,4 +566,116 @@
        return mobileService.callEmptyBinOutBound(locNo,size,getUserId());
    }

    /**
     * 空板回库或者拣料回库
     *
     * @param sourceStaNo
     * @param staNo
     * @return
     */
    @RequestMapping("/AGVStartReturn")
    public synchronized R AGVStartReturn(@RequestParam(required = false) String sourceStaNo
            , @RequestParam(required = false) String staNo
            , @RequestParam(required = false) String taskNo) {
        if (Cools.isEmpty(sourceStaNo) || Cools.isEmpty(staNo)) {
            return R.error("源站点和托盘码不能为空");
        }
        List<Task> tasks = taskService.selectList(new EntityWrapper<Task>().eq("source_sta_no", sourceStaNo).eq("barcode", staNo));
        if (tasks.size() > 0) {
            return R.error("该托盘="+staNo+"已经存在搬运任务，请不要重复下发");
        }

        String barcode = staNo.substring(0,1);
        if(barcode.equals("3")){
            taskNo = "307";
        }else if(barcode.equals("4")){
            taskNo = "402";
        }else if(barcode.equals("5")){
            taskNo = "401";
        }

        R r = R.ok();
        //生成AGV搬运出库任务
        // 保存工作档
        Task task = new Task();
        Date date = new Date();
        String TaskNo = 555555 + "aa" + date.getTime();
        task.setWrkNo((int) date.getTime())
                .setTaskNo(TaskNo)
                .setIoTime(date)
                .setWrkSts(301L) // 工作状态：301.任务下发
                .setIoType(3) // 入出库状态： 3.站到站  4.站到区域
                .setTaskType("agv")
                .setIoPri(10D)
                .setFullPlt("Y") // 满板：Y
                .setPicking("N") // 拣料
                .setExitMk("N")// 退出
                .setStaNo(staNo)
                .setSourceStaNo(taskNo)//agv取货站点
                .setEmptyMk("N")// 空板
                .setBarcode(staNo)// 托盘码
                .setLinkMis("N")
                .setAppeUser(9945L)
                .setAppeTime(date)
                .setModiUser(9945L)
                .setModiTime(date);
        if (!taskService.insert(task)) {
            throw new CoolException("保存工作档失败");
        }

        return r;
    }

    @RequestMapping("/orderIn")
    public synchronized R AGVOrderInReturn() {
        List<OrderPakin> settle = orderPakinService.selectList(new EntityWrapper<OrderPakin>().in("settle", 1, 2));
        List<String> list = new ArrayList<>();
        for (OrderPakin orderPakin : settle) {
            if (orderPakin.getSettle()==2){
                List<OrderDetlPakin> orderId = orderDetlPakinService.selectList(new EntityWrapper<OrderDetlPakin>().eq("order_id", orderPakin.getId()));
                Boolean boo=true;
                for (OrderDetlPakin orderDetlPakin : orderId) {
                    if (orderDetlPakin.getAnfme()>orderDetlPakin.getWorkQty()){
                        boo=false;
                        break;
                    }
                }
                if (boo) {
                    settle.remove(orderPakin);
                }else {
                    list.add(orderPakin.getOrderNo());
                }
            }else {
                list.add(orderPakin.getOrderNo());
            }
        }
        return R.ok(list);
    }

    @RequestMapping("/orderOut")
    public synchronized R AGVOrderOutReturn() {
        List<OrderPakout> settle = orderPakoutService.selectList(new EntityWrapper<OrderPakout>().in("settle", 1, 2).eq("doc_type",11));
        List<String> list = new ArrayList<>();
        for (OrderPakout orderPakout: settle) {
            if (orderPakout.getSettle()==2){
                List<OrderDetlPakout> orderId = orderDetlPakoutService.selectList(new EntityWrapper<OrderDetlPakout>().eq("order_id", orderPakout.getId()));
                Boolean boo=true;
                for (OrderDetlPakout orderDetlPakout: orderId) {
                    if (orderDetlPakout.getAnfme()>orderDetlPakout.getWorkQty()){
                        boo=false;
                        break;
                    }
                }
                if (boo) {
                    settle.remove(orderPakout);
                }else {
                    list.add(orderPakout.getOrderNo());
                }
            }else {
                list.add(orderPakout.getOrderNo());
            }
        }
        return R.ok(list);
    }

}

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

@@ -11,6 +11,7 @@
import com.zy.common.model.LocDto;
import com.zy.common.model.TaskDto;
import com.zy.common.web.BaseController;
import lombok.Synchronized;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
@@ -81,8 +82,8 @@
                if (issued <= 0.0D) {
                    continue;
                }
                List<LocDetl> locDetls = locDetlService.queryStockAll(null, exist,orderDetl.getMatnr(), orderDetl.getBatch(),
                        orderDetl.getBrand(),orderDetl.getStandby1(),orderDetl.getStandby2(),orderDetl.getStandby3(),orderDetl.getBoxType1(),orderDetl.getBoxType2(),orderDetl.getBoxType3());
                List<LocDetl> locDetls = locDetlService.queryStockAll(null, exist, orderDetl.getMatnr(), orderDetl.getBatch(),
                        orderDetl.getBrand(), orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3());
                for (LocDetl locDetl : locDetls) {
                    if (issued > 0) {
                        LocDto locDto = new LocDto(locDetl.getLocNo(), locDetl.getMatnr(), locDetl.getMaktx(), locDetl.getBatch(), orderDetl.getOrderNo(),
@@ -128,8 +129,8 @@
                    continue;
                }

                List<LocDetl> locDetls = locDetlService.queryStockAll(null, exist,orderDetl.getMatnr(), orderDetl.getBatch(),
                        orderDetl.getBrand(),orderPakOut.getDocType()==11?null:orderDetl.getStandby1(),orderDetl.getStandby2(),orderDetl.getStandby3(),orderDetl.getBoxType1(),orderDetl.getBoxType2(),orderDetl.getBoxType3());
                List<LocDetl> locDetls = locDetlService.queryStockAll(null, exist, orderDetl.getMatnr(), orderDetl.getBatch(),
                        orderDetl.getBrand(), orderPakOut.getDocType() == 11 ? null : orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3());
                for (LocDetl locDetl : locDetls) {
                    if (issued > 0) {
                        LocDto locDto = new LocDto(locDetl.getLocNo(), locDetl.getMatnr(), locDetl.getMaktx(), locDetl.getBatch(), orderDetl.getOrderNo(),
@@ -172,15 +173,16 @@
        return R.ok().add(locDtos);
    }

    @Synchronized
    @PostMapping("/out/pakout/auth")
    @ManagerAuth(memo = "订单出库")
    public synchronized R pakout(@RequestBody List<LocDto> locDtos) throws InterruptedException {
    public R pakout(@RequestBody List<LocDto> locDtos) throws InterruptedException {
        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){
        for (LocDto locDto : locDtos) {
            if (locDto.getFrozen() != 1 && locDto.getFrozenLoc() != 1) {
                locDtoArrayList.add(locDto);
            }
        }
@@ -204,7 +206,9 @@
        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; }
            if (locDto.isLack()) {
                continue;
            }
            TaskDto taskDto = new TaskDto(locDto.getLocNo(), locDto.getStaNo(), locDto);
            if (TaskDto.has(taskDtos, taskDto)) {
                TaskDto dto = TaskDto.find(taskDtos, taskDto);
@@ -223,29 +227,35 @@
        //优先级
        int ioPri = 50;
        //已下空板出库任务数量
        int j=1;
        int j = 1;
        // -----------------------------------------------------------------------------------------------
        for (TaskDto taskDto : taskDtos) {
            BasDevp staNo = basDevpService.checkSiteStatus(taskDto.getStaNo());
            workService.stockOut(staNo, taskDto, getUserId(),ioPri);
            workService.stockOut(staNo, taskDto, getUserId(), 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++){
                        String bar="";
                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(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"));
                        }else {
                            locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "D").like("barcode", bar));
                        LocMast locMast = new LocMast();
                        if (Cools.isEmpty(bar)) {
                            locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "D").eq("loc_type2", locType));
                        } else {
                            locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "D").eq("loc_type2", locType).like("barcode", bar));
                        }

                        if (Cools.isEmpty(locMast)) {
@@ -254,29 +264,38 @@
                        String locNo = locMast.getLocNo();
                        EmptyPlateOutParam emptyPlateOutParam = new EmptyPlateOutParam();
                        emptyPlateOutParam.setOutSite(303);
                        emptyPlateOutParam.setLocNos(new ArrayList<String>(){{add(locNo);}});
                        emptyPlateOutParam.setLocNos(new ArrayList<String>() {{
                            add(locNo);
                        }});
                        String agvSta = "";
                        if(locMast.getLocType3()==2){
                        if (locMast.getLocType3() == 2) {

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

                    }
                }else if(i == 4){
                    String bar="";
                    if(!Cools.isEmpty(orderPakout.getShipCode())&&orderPakout.getShipCode().equals("A01")){
                } 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"));
                    }else {
                        locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("loc_sts", "D").like("barcode", bar));
                    if (Cools.isEmpty(bar)) {
                        locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("loc_sts", "D").eq("loc_type2", locType));
                    } else {
                        locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("loc_sts", "D").eq("loc_type2", locType).like("barcode", bar));
                    }

                    if (Cools.isEmpty(locMast)) {
@@ -285,19 +304,91 @@
                    String locNo = locMast.getLocNo();
                    EmptyPlateOutParam emptyPlateOutParam = new EmptyPlateOutParam();
                    emptyPlateOutParam.setOutSite(303);
                    emptyPlateOutParam.setLocNos(new ArrayList<String>(){{add(locNo);}});
                    emptyPlateOutParam.setLocNos(new ArrayList<String>() {{
                        add(locNo);
                    }});
                    String agvSta = "";
                    if(locMast.getLocType3()==2){
                    if (locMast.getLocType3() == 2) {

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

    @PostMapping("/out/pakout/preview/auth1")
    @ManagerAuth
    public R pakoutPreview1(@RequestBody String orderNo) throws InterruptedException {
        if (Cools.isEmpty(orderNo)) {
            return R.parse(BaseRes.PARAM);
        }
        List<OrderDetlPakout> orderDetlPakouts = orderDetlPakoutService.selectList(new EntityWrapper<OrderDetlPakout>().eq("order_no", orderNo));

        if (orderDetlPakouts.size() == 0) {
            return R.parse("订单明细为空");
        }

        List<LocDto> locDtos = new ArrayList<>();

        Set<String> exist = new HashSet<>();

        // 获取订单主表
        OrderPakout orderPakOut = orderPakOutService.selectByNo(orderDetlPakouts.get(0).getOrderNo());

        for (OrderDetlPakout orderDetl : orderDetlPakouts) {
            double issued = Optional.of(orderDetl.getAnfme() - orderDetl.getWorkQty()).orElse(0.0D);
            if (issued <= 0.0D) {
                continue;
            }

            List<LocDetl> locDetls = locDetlService.queryStockAll(null, exist, orderDetl.getMatnr(), orderDetl.getBatch(),
                    orderDetl.getBrand(), orderPakOut.getDocType() == 11 ? null : orderDetl.getStandby1(), orderDetl.getStandby2(), orderDetl.getStandby3(), orderDetl.getBoxType1(), orderDetl.getBoxType2(), orderDetl.getBoxType3());
            for (LocDetl locDetl : locDetls) {
                if (issued > 0) {
                    LocDto locDto = new LocDto(locDetl.getLocNo(), locDetl.getMatnr(), locDetl.getMaktx(), locDetl.getBatch(), orderDetl.getOrderNo(),
                            issued >= locDetl.getAnfme() ? locDetl.getAnfme() : issued);
                    LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", locDetl.getLocNo()));
                    locDto.setFrozen(locDetl.getFrozen());
                    locDto.setFrozenLoc(locMast.getFrozen());
                    List<Integer> staNos = staDescService.queryOutStaNosByLocNo(locDetl.getLocNo(), issued >= locDetl.getAnfme() ? 101 : 103);
                    locDto.setStaNos(staNos);
                    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());
                    locDtos.add(locDto);
                    exist.add(locDetl.getLocNo());
                    // 剩余待出数量递减
                    issued = issued - locDetl.getAnfme();
                } else {
                    break;
                }
            }
            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);
            }
        }
        R pakout = pakout(locDtos);
        return R.ok().add(pakout);
    }

}

 src/main/java/com/zy/asrs/entity/LocMast.java

@@ -209,6 +209,9 @@
    @TableField("frozen_memo")
    private String frozenMemo;

    @ApiModelProperty(value= "拍照图片")
    private String pic;


    public String getWhsType$(){
        BasWhsTypeService service = SpringUtils.getBean(BasWhsTypeService.class);

 src/main/java/com/zy/asrs/entity/Task.java

@@ -135,6 +135,10 @@
    @ApiModelProperty(value= "料架号")
    private String packed;

    @ApiModelProperty(value= "下发AGV任务计数")
    @TableField("ctn_type")
    private Integer ctnType=0;

    /**
     * 拣料
     */
@@ -173,10 +177,6 @@
    @ApiModelProperty(value= "工作时间")
    @TableField("io_time")
    private Date ioTime;

    @ApiModelProperty(value= "")
    @TableField("ctn_type")
    private Integer ctnType;

    @ApiModelProperty(value= "")
    @TableField("ove_mk")

 src/main/java/com/zy/asrs/entity/WrkMast.java

@@ -332,6 +332,9 @@
    @TableField("task_no")
    private String taskNo;

    @ApiModelProperty(value= "拍照图片")
    private String pic;

    public WrkMast() {}

    public String getYmd$(){

 src/main/java/com/zy/asrs/entity/WrkMastLog.java

@@ -327,6 +327,9 @@
    @TableField("take_none")
    private String takeNone;

    @ApiModelProperty(value= "拍照图片")
    private String pic;

    public WrkMastLog() {
    }


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

@@ -3,13 +3,17 @@
import lombok.Builder;
import lombok.Data;

import java.time.LocalDate;
import java.time.ZoneId;
import java.util.Date;

// 数字孪生：按天订单数量
@Data
@Builder
// DtOrderVo.java
public class DtOrderVo {

    // 日期
    private String orderDate;
    // 订单数量
    private String orderDate;  // 或 LocalDate
    private Integer orderNum;

}

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

New file
@@ -0,0 +1,13 @@
package com.zy.asrs.entity.digitaltwin;

import lombok.Data;

import java.util.List;

@Data
public class LocPicDto {
    private String locNo;

    private List<String> pics;

}

 src/main/java/com/zy/asrs/entity/param/CombParam.java

@@ -19,6 +19,9 @@
    // 库位编号
    private String locNo;

    //agv原站点
    private String rsta;

    private List<CombMat> combMats;

    @Data

 src/main/java/com/zy/asrs/entity/rcs/RcsTaskSubmit.java

@@ -9,7 +9,7 @@
public class RcsTaskSubmit {

    // 任务类型，枚举值：TRANSPORT搬运。
    private String taskType = "TRANSPORT";
    private String taskType = "CS3";
    // 执行步骤集合。本次任务机器人需要执行的关键路径，序号0代表起点，序号1代表终点。
    private List<RcsTaskTargetRoute> targetRoute;
    // 任务唯一编号,如果为空，系统生成任务号并返回。

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

@@ -74,7 +74,9 @@
        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) {
            dtOrderVo.setOrderDate(dtOrderVo.getOrderDate());
        }

        return dbOrder;
    }

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

@@ -733,7 +733,7 @@
                Order order = OrderInAndOutUtil.selectByNo(Boolean.TRUE, orderNo);
                OrderInAndOutUtil.updateOrder(Boolean.TRUE, order.getId(), 2L, userId);
            });
            if(!Cools.isEmpty(param.getLocNo())){
            if(!Cools.isEmpty(param.getRsta()) && param.getRsta().contains("-")){
                //生成AGV搬运任务
                //生成AGV搬运出库任务
                // 保存工作档
@@ -741,14 +741,14 @@
                Date date = new Date();
                String s = "";
                if (param.getBarcode().charAt(0) == '3'){
                    s = "307";
                    s = "Z-307";
                }else if (param.getBarcode().charAt(0) == '4'){
                    s = "401";
                    s = "Z-402";
                }else if (param.getBarcode().charAt(0) == '5'){
                    s = "402";
                    s = "Z-401";
                }
                String TaskNo = param.getBarcode()+"-"+date.getTime();
                task.setWrkNo(Integer.getInteger(param.getBarcode()))
                String TaskNo = param.getBarcode()+"aa"+date.getTime();
                task.setWrkNo((int) date.getTime())
                        .setTaskNo(TaskNo)
                        .setIoTime(date)
                        .setWrkSts(301L) // 工作状态：301.任务下发
@@ -759,7 +759,7 @@
                        .setPicking("N") // 拣料
                        .setExitMk("N")// 退出
                        .setStaNo(s)
                        .setSourceStaNo(param.getLocNo())//空料架缓存区E1
                        .setSourceStaNo(param.getRsta())//agv取货位
                        .setEmptyMk("N")// 空板
                        .setBarcode(param.getBarcode())// 托盘码
                        .setLinkMis("N")
@@ -1334,11 +1334,12 @@
        //滑块库
        if(locMast.getLocType3()==1){
            if(locMast.getLocType2()==1){


                sta = "Z-402";
            }else if(locMast.getLocType2()==2){
                sta = "Z-401";
            }
        }else if(locMast.getLocType3()==2){
            sta="307";
            sta="Z-307";
        }

        // 获取路径

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

@@ -100,6 +100,7 @@
                    orderDetl.setCreateBy(order.getCreateBy());
                    orderDetl.setUpdateTime(order.getUpdateTime());
                    orderDetl.setUpdateBy(order.getUpdateBy());
                    orderDetl.setBarcode(wrkDetl.getZpallet());
                    if (!orderDetlPakinService.insert(orderDetl)) {
                        throw new CoolException("重整出库订单【orderNo = " + order.getOrderNo() + "】明细失败");
                    }

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

@@ -233,7 +233,7 @@
            RcsReturn rcsReturn = JSONObject.parseObject(response, RcsReturn.class);
            if("SUCCESS".equals(rcsReturn.getCode())||"200".equals(rcsReturn.getCode())) {
                JSONObject data = rcsReturn.getData();
                String robotTaskCode = data.getString("RobotTaskCode");
                String robotTaskCode = data.getString("robotTaskCode");
                if (robotTaskCode.equals(rcsTaskSubmit.getRobotTaskCode())){
                    return 1;
                }
@@ -327,6 +327,8 @@

        String robotTaskCode = rcsReporterTask.getRobotTaskCode();
        String singleRobotCode = rcsReporterTask.getSingleRobotCode();
        String[] split = robotTaskCode.split("-");
        robotTaskCode = split[0];
        //华晓AGV状态反馈，及申请
        if(Cools.isEmpty(rcsReporterTask.getExtra())){
            if(Cools.isEmpty(rcsReporterTask.getMethod())){

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

@@ -67,7 +67,7 @@
                // 保存工作档
                Task task = new Task();
                Date date = new Date();
                String TaskNo = wrkMast.getWrkNo() + "-" + date.getTime();
                String TaskNo = wrkMast.getWrkNo() + "aa" + date.getTime();
                task.setWrkNo(wrkMast.getWrkNo())
                        .setTaskNo(TaskNo)
                        .setIoTime(date)
@@ -78,8 +78,8 @@
                        .setFullPlt("Y") // 满板：Y
                        .setPicking("N") // 拣料
                        .setExitMk("N")// 退出
                        .setStaNo(stnNo)
                        .setSourceStaNo(wrkMast.getSourceStaNo())//空料架缓存区E1
                        .setStaNo(wrkMast.getMemo())
                        .setSourceStaNo("Z-"+wrkMast.getSourceStaNo())
                        .setEmptyMk("N")// 空板
                        .setBarcode(wrkMast.getBarcode())// 托盘码
                        .setLinkMis("N")
@@ -123,7 +123,7 @@
                    //如果是接驳站点则需要判断接驳站点是否有空料架
                    //如果有空料架需要判断是否有出库任务
                    //有出库任务则禁止下发本次搬运任务
                    if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
                    if (task.getStaNo().equals("Z-401") || task.getStaNo().equals("Z-402") || task.getStaNo().equals("Z-307")) {
                        BasDevp basDevp = basDevpService.checkSiteStatus(Integer.parseInt(task.getStaNo()));
                        if (basDevp != null && !Cools.isEmpty(basDevp.getInreq1()) && basDevp.getInreq1().equals("Y")) {
                            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
@@ -139,13 +139,13 @@
                                    //生成AGV搬运出库任务
                                    // 保存工作档
                                    String SourceStaNo = "";
                                    if (task.getStaNo().equals("401")) {
                                    if (task.getStaNo().equals("Z-401")) {
                                        //大料架缓冲区
                                        SourceStaNo = "E3";
                                    }else if (task.getStaNo().equals("402")) {
                                        SourceStaNo = "E2";
                                    }else if (task.getStaNo().equals("307")) {
                                        SourceStaNo = "E1";
                                        SourceStaNo = "Q-E3";
                                    }else if (task.getStaNo().equals("Z-402")) {
                                        SourceStaNo = "Q-E2";
                                    }else if (task.getStaNo().equals("Z-307")) {
                                        SourceStaNo = "Q-E1";
                                    }
                                    Task task3 = new Task();
                                    Date date = new Date();
@@ -183,10 +183,18 @@
                        if (!start.isSuccess()) {
                            task.setUpdMk("X");
                            task.setErrorMemo(start.getMsg());
                            task.setCtnType(task.getCtnType()+1);//下发任务计数
                            task.setModiTime(new Date());
                            if (!taskService.updateById(task)) {
                                log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo());
                            }
                        }else {
                            task.setCtnType(task.getCtnType()+1);
                            task.setModiTime(new Date());
                            task.setWrkSts(302L);//任务执行中
                            if (!taskService.updateById(task)) {
                                log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo());
                            }
                        }
                    }


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

@@ -179,7 +179,7 @@
    void otherInOrderCompleteReport() {
        String erpReport = Parameter.get().getErpReport();
        if (!Cools.isEmpty(erpReport) && erpReport.equals("true")) {
            OrderPakin orderPakin = orderPakinService.selectOne(new EntityWrapper<OrderPakin>().eq("settle", 4)
            OrderPakin orderPakin = orderPakinService.selectOne(new EntityWrapper<OrderPakin>().ne("doc_type",1).eq("settle", 4)
                    .ne("doc_type", 1).orderBy("update_time"));
            if (orderPakin == null) {
                return;

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

@@ -37,21 +37,48 @@
        }else if(task.getIoType()==5){
            SourceStaNoType = "ZONE";
        }
        String taskType = "CS3";
        Boolean flag1 = false;
        Boolean flag2 = false;
        if(task.getStaNo().equals("Z-401")|| task.getStaNo().equals("Z-402")|| task.getStaNo().equals("Z-307")){
            taskType = "YLIN";
            flag1 = true;
        }
        if (task.getSourceStaNo().equals("Z-401")|| task.getSourceStaNo().equals("Z-402")|| task.getSourceStaNo().equals("Z-307")){
            taskType = "YLOUT";
            flag2 = true;
        }
        if(flag1&&flag2){
            taskType = "YLBOTH";
        }
        //AGV区域中无法用-
        String StaNo = task.getStaNo();
        String SourceStaNo = task.getSourceStaNo();
        if (task.getStaNo().split("-")[0].equals("Q")) {
            String[] split = task.getStaNo().split("-");
            StaNo = split[0]+split[1];
        }
        if (task.getSourceStaNo().split("-")[0].equals("Q")) {
            String[] split = task.getStaNo().split("-");
            SourceStaNo = split[0]+split[1];
        }

        // 下发给RCS
        RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
        rcsTaskSubmit.setRobotTaskCode(task.getTaskNo());
        rcsTaskSubmit.setTaskType(taskType);
        rcsTaskSubmit.setRobotTaskCode(task.getTaskNo()+"-"+task.getCtnType());
        rcsTaskSubmit.setInitPriority(10);  //默认10
        List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
        RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
        startRoute.setSeq(0);
        startRoute.setType(SourceStaNoType);
        startRoute.setCode(task.getSourceStaNo());
        startRoute.setCode(SourceStaNo);
        startRoute.setOperation("COLLECT");
        targetRouteList.add(startRoute);
        RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
        endRoute.setSeq(1);
        endRoute.setType(TargetStaNoType);
        endRoute.setCode(task.getStaNo());
        endRoute.setCode(StaNo);
        endRoute.setOperation("DELIVERY");
        targetRouteList.add(endRoute);
        rcsTaskSubmit.setTargetRoute(targetRouteList);

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

@@ -93,6 +93,7 @@
                        locMast.setLocSts("D");
                        locMast.setIoTime(now);
                        locMast.setModiTime(now);
                        locMast.setPic(wrkMast.getPic());
                        if (!locMastService.updateById(locMast)) {
//                            exceptionHandle("空板入库 ===>> 修改库位状态失败;[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -177,6 +178,7 @@
                        locMast.setBarcode(wrkMast.getBarcode());
                        locMast.setIoTime(now);
                        locMast.setModiTime(now);
                        locMast.setPic(wrkMast.getPic());
                        if (!locMastService.updateById(locMast)) {
//                            exceptionHandle("全板入库 ===>> 修改库位状态失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -285,6 +287,7 @@
                        locMast.setBarcode(wrkMast.getBarcode());
                        locMast.setIoTime(now);
                        locMast.setModiTime(now);
                        locMast.setPic(wrkMast.getPic());
                        if (!locMastService.updateById(locMast)) {
//                            exceptionHandle("拣料入库 ===>> 修改库位状态失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -354,6 +357,7 @@
                        locMast.setBarcode(wrkMast.getBarcode());
                        locMast.setIoTime(now);
                        locMast.setModiTime(now);
                        locMast.setPic(wrkMast.getPic());
                        if (!locMastService.updateById(locMast)) {
//                            exceptionHandle("并板入库 ===>> 修改库位状态失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -391,6 +395,7 @@
                        locMast.setBarcode(wrkMast.getBarcode());
                        locMast.setIoTime(now);
                        locMast.setModiTime(now);
                        locMast.setPic(wrkMast.getPic());
                        if (!locMastService.updateById(locMast)) {
//                            exceptionHandle("盘点入库 ===>> 修改库位状态失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -413,8 +418,10 @@
                        }
                    }
                    // 修改源库位状态 ==> O
                    String picUrl = "";
                    LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
                    if (null != sourceLoc) {
                        picUrl = sourceLoc.getPic();
                        sourceLoc.setBarcode("");
                        sourceLoc.setLocSts("O");
                        sourceLoc.setModiTime(now);
@@ -430,6 +437,7 @@
                    locMast.setBarcode(wrkMast.getBarcode());
                    locMast.setIoTime(now);
                    locMast.setModiTime(now);
                    locMast.setPic(picUrl);
                    if (!locMastService.updateById(locMast)) {
//                        exceptionHandle("库位移转 ===>> 修改目标库位状态失败；[workNo={0}],[locNo={1}]", wrkMast.getWrkNo(), wrkMast.getLocNo());
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

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

@@ -227,9 +227,9 @@
        if (Cools.isEmpty(matnr)) {
            return null;
        }
        for (DetlDto detlDto : detlDtos) {
        for (DetlDto detlDto : detlDtos) {//&& standby1.equals(detlDto.getStandby1())
            if (matnr.equals(detlDto.getMatnr()) && Cools.eq(batch, detlDto.getBatch())
                    && brand.equals(detlDto.getBrand()) && standby1.equals(detlDto.getStandby1())
                    && brand.equals(detlDto.getBrand())
                    && standby2.equals(detlDto.getStandby2()) && standby3.equals(detlDto.getStandby3())
                    && boxType1.equals(detlDto.getBoxType1()) && boxType2.equals(detlDto.getBoxType2())
                    && boxType3.equals(detlDto.getBoxType3())) {

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

@@ -71,14 +71,14 @@
        // 汇总不考虑序列码
        List<DetlDto> detlDtos = new ArrayList<>();
        for (LocDto locDto : this.getLocDtos()) {
            DetlDto dto = new DetlDto(locDto.getMatnr(), locDto.getBatch(),locDto.getBrand(),locDto.getStandby1(),locDto.getStandby2(),locDto.getStandby3(),locDto.getBoxType1(),locDto.getBoxType2(),locDto.getBoxType3(), locDto.getAnfme());
            DetlDto dto = new DetlDto(locDto.getMatnr(), locDto.getBatch(),locDto.getBrand(),null,locDto.getStandby2(),locDto.getStandby3(),locDto.getBoxType1(),locDto.getBoxType2(),locDto.getBoxType3(), locDto.getAnfme());
            if (DetlDto.has(detlDtos, dto)) {
                DetlDto detlDto = DetlDto.find(detlDtos, locDto.getMatnr(), dto.getBatch(),dto.getBrand(),dto.getStandby1(),dto.getStandby2(),dto.getStandby3(),dto.getBoxType1(),dto.getBoxType2(),dto.getBoxType3());
                DetlDto detlDto = DetlDto.find(detlDtos, locDto.getMatnr(), dto.getBatch(),dto.getBrand(),null,dto.getStandby2(),dto.getStandby3(),dto.getBoxType1(),dto.getBoxType2(),dto.getBoxType3());
                assert detlDto != null;
                detlDto.setAnfme(detlDto.getAnfme() + locDto.getAnfme());
            } else {
                detlDtos.add(new DetlDto(locDto.getMatnr(), locDto.getBatch()
                        ,locDto.getBrand(),locDto.getStandby1(),locDto.getStandby2(),locDto.getStandby3(),locDto.getBoxType1(),locDto.getBoxType2(),locDto.getBoxType3()
                        ,locDto.getBrand(),null,locDto.getStandby2(),locDto.getStandby3(),locDto.getBoxType1(),locDto.getBoxType2(),locDto.getBoxType3()
                        , locDto.getAnfme()));
            }
        }

 src/main/resources/application-dev.yml

@@ -129,6 +129,9 @@
  #托盘物料号
  zpalletId: tuopan

wcs:
  url: 127.0.0.1:9094/wcs

#mes对接
mes:

@@ -139,7 +142,7 @@
#海康对接
hik:
  switch: true
  url: http://172.26.11.98:80/
  url: http://172.26.11.98:80/rcs/rtas/

#华晓对接
hx:

 src/main/resources/mapper/LocMastMapper.xml

@@ -36,6 +36,7 @@
        <result column="ctn_no" property="ctnNo" />
        <result column="frozen" property="frozen" />
        <result column="frozen_memo" property="frozenMemo" />
        <result column="pic" property="pic" />
    </resultMap>

    <select id="queryFreeLocMast" resultMap="BaseResultMap">

 src/main/resources/mapper/ViewDigitalTwinMapper.xml

@@ -3,6 +3,13 @@
        "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'
@@ -32,10 +39,26 @@
    </select>

    <select id="recentOrder" resultType="com.zy.asrs.entity.digitaltwin.DtOrderVo">
        SELECT CONVERT(VARCHAR, order_time, 23) as orderDate, COUNT(*) AS orderNum
        FROM man_order

        SELECT
        FORMAT(orderDate, 'yyyyMMdd') as orderDate,
        COUNT(*) as orderNum
        FROM (
        SELECT
        CAST(order_time AS DATE) as orderDate
        FROM man_order_pakin
        WHERE order_time BETWEEN #{startTime} AND #{endTime}
        GROUP BY CONVERT(VARCHAR, order_time, 23)

        UNION ALL

        SELECT
        CAST(order_time AS DATE) as orderDate
        FROM man_order_pakout
        WHERE order_time BETWEEN #{startTime} AND #{endTime}
        ) combined
        GROUP BY orderDate
        ORDER BY orderDate

    </select>

    <select id="recentInBound" resultType="com.zy.asrs.entity.digitaltwin.DtInAndOutBoundVo">

 src/main/resources/mapper/WrkMastLogMapper.xml

@@ -61,6 +61,7 @@
        <result column="full_plt" property="fullPlt" />
        <result column="pre_have" property="preHave" />
        <result column="take_none" property="takeNone" />
        <result column="pic" property="pic" />
    </resultMap>
    <sql id="queryWhere">
        <where>

 src/main/resources/mapper/WrkMastMapper.xml

@@ -60,6 +60,7 @@
        <result column="full_plt" property="fullPlt" />
        <result column="pre_have" property="preHave" />
        <result column="take_none" property="takeNone" />
        <result column="pic" property="pic" />
    </resultMap>

    <select id="selectToBeCompleteData" resultMap="BaseResultMap">

 src/main/webapp/static/js/stoMan/stoQue.js

@@ -56,7 +56,7 @@
            ,{field: 'locType3$', align: 'center',title: '轻重类型', hide:true}
            ,{field: 'modiUser$', align: 'center',title: '修改人员', hide:true}
            ,{field: 'modiTime$', align: 'center',title: '修改时间', width: 180, hide:false}
            ,{ fixed: 'right', title:'操作', align: 'center', toolbar: '#operate'}
            ,{ fixed: 'right', title:'操作', align: 'center', toolbar: '#operate', width: 180}
        ]],
        request: {
            pageName: 'curr',
@@ -181,6 +181,46 @@
                }
                locDetlToLayer(data.locNo);
                break;
            case 'showPic':
                let imgHtml = '<div style="height:100%;display: flex;justify-content: space-around;align-items: center;flex-wrap: wrap;">';
                $.ajax({
                    url: baseUrl+"/locMast/picUrl",
                    headers: {'token': localStorage.getItem('token')},
                    data: {
                        locNo: data.locNo
                    },
                    method: 'GET',
                    traditional:true,
                    success: function (res) {
                        if (res.code === 200){
                            res.data.forEach((item) => {
                                let locNo = item.locNo;
                                let pics = item.pics;
                                pics.forEach((pic) => {
                                    let tmp = '<div><div><img width="600" src="' + pic + '" /></div><div>' + locNo + '</div></div>';
                                    imgHtml += tmp;
                                })
                            })
                            imgHtml += "</div>";

                            layer.open({
                                type: 1,
                                title: '查看图片',
                                area: [top.detailWidth, top.detailHeight],
                                shadeClose: true,
                                content: imgHtml,
                                success: function(layero, index){
                                }
                            });

                        } else if (res.code === 403){
                            top.location.href = baseUrl+"/";
                        } else {
                            layer.msg(res.msg)
                        }
                    }
                });
                break;
        }
    });


 src/main/webapp/views/stoMan/stoQue.html

@@ -105,6 +105,7 @@

<script type="text/html" id="operate">
    <a class="layui-btn layui-btn-xs loc-detl" lay-event="locDetl">查看明细</a>
    <a class="layui-btn layui-btn-xs loc-detl" lay-event="showPic">查看图片</a>
</script>

<!--明细表-->