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

@@ -61,89 +61,7 @@
    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    //agv任务完成
    @PostMapping("/toAgvTaskOver")
    @AppAuth(memo = "agv任务完成接口")
    public R getAgvTaskOver(@RequestHeader String appkey,
                           @RequestBody TaskOverParam param,
                           HttpServletRequest request){
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getWharfCode())){
            return R.error("码头[wharfCode]不能为空");
        }
        if (Cools.isEmpty(param.getStatus())){
            return R.error("完成标记[status]不能为空");
        }
        openService.getAgvTaskOver(param);
        return R.ok();
    }

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

    //查询任务详情
    @GetMapping("/queryTask")
@@ -158,59 +76,6 @@
        return R.ok().add(taskWrk);
    }

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

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

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

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

    private void auth(String appkey, Object obj, HttpServletRequest request) {
        log.info("{}接口被访问；appkey:{}；请求数据：{}", request.getServletPath(), appkey, JSON.toJSONString(obj));
        request.setAttribute("cache", obj);
@@ -222,99 +87,6 @@
        }
    }

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

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

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

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





    }

    //任务下发接口
    @PostMapping("/outboundTaskSend")
@@ -326,24 +98,24 @@
        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (CarryParam param:params){
            if (Cools.isEmpty(param)){
                map.put("Code","0");
                map.put("Msg","参数为空！");
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","参数为空！");
                return map;
            } else if (Cools.isEmpty(param.getTaskNo())){
                map.put("Code","0");
                map.put("Msg","任务号为空！");
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","任务号为空！");
                return map;
            } else if (Cools.isEmpty(param.getStereoscopicTaskType())){
                map.put("Code","0");
                map.put("Msg","任务类型为空！");
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","任务类型为空！");
                return map;
            }
            String fusion = Utils.Fusion(param.getOriginalRowNo(), param.getOriginalFloorNo(), param.getOriginalColumnNo());
            param.setStartPoint(fusion);
            LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
            if(Cools.isEmpty(locMast)){
                map.put("Code","0");
                map.put("Msg","初始库位无法找到！");
                map.put("ReturnStatus",1);
                map.put("ErrorMessage","初始库位无法找到！");
                return map;
            }

@@ -356,12 +128,12 @@
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getTerminalNo()));
                if(Cools.isEmpty(staDesc)){
                    map.put("Code","0");
                    map.put("Msg","出库路劲不存在！");
                    map.put("ReturnStatus",1);
                    map.put("ErrorMessage","出库路劲不存在！");
                    return map;
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
                if(r.get("Code").equals("0")){
                if(r.get("ReturnStatus").equals(1)){
                    return r;
                }
            }else if (param.getStereoscopicTaskType() == 3){
@@ -369,7 +141,7 @@
                param.setTerminalNo(fusion1);
                //移库任务创建
                r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
                if(r.get("Code").equals("0")){
                if(r.get("ReturnStatus").equals(1)){
                    return r;
                }
            }
@@ -382,8 +154,8 @@
                    ,true
            );
        }
        map.put("Code","1");
        map.put("Msg","ok");
        map.put("ReturnStatus",0);
        map.put("ErrorMessage","ok");
        return map;
    }

@@ -445,7 +217,8 @@
    //设备状态查询接口
    @GetMapping("/deviceStatus")
    @Transactional
    public R deviceStatus() {
    public HashMap<String, Object> deviceStatus() {
        HashMap<String,Object> map=new HashMap<>();
        List<CrnStatusParam> crnStatusParams=new ArrayList<>();
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp:basCrnps){
@@ -461,7 +234,11 @@
            }
            crnStatusParams.add(crnStatusParam);
        }
        return R.ok(crnStatusParams);

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

    public static <T> List<T> convertListMapToListObject(List<HashMap<String, Object>> listMap, Class<T> clazz) throws Exception {
@@ -510,4 +287,252 @@
        }
    }

    //AGV请求入库码头接口
//    @PostMapping("/targetWharfApply")
//    @AppAuth(memo = "AGV请求入库码头接口")
//    public R targetWharfApply(@RequestHeader String appkey,
//                              @RequestBody WMSAndAGVInterfaceParam param,
//                              HttpServletRequest request) throws IOException {
//        auth(appkey,param,request);
//
//        if (Cools.isEmpty(param)){
//            return R.error("参数为空！");
//        } else if (Cools.isEmpty(param.getTaskNo())){
//            return R.error("工作号为空！");
//        } else if (Cools.isEmpty(param.getContainerCode())){
//            return R.error("托盘编码为空！");
//        } else if (Cools.isEmpty(param.getWharfSource())){
//            return R.error("源码头为空！");
//        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
//            return R.error("空闲的入库码头（AGV）为空！");
//        }
//        R r = openService.AgvToWCSToWms(param);
//        apiLogService.save("AGV请求入库码头接口"
//                ,request.getRemoteAddr()+request.getRequestURI()
//                ,appkey
//                ,request.getRemoteAddr()
//                ,JSON.toJSONString(param)
//                ,r.toString()
//                ,true
//        );
//        return r;
//    }
//
//    //AGV请求动作接口
//    @PostMapping("/agvTaskRequest")
//    @AppAuth(memo = "AGV请求动作接口")
//    public R agvTaskRequest(@RequestHeader String appkey,
//                              @RequestBody WMSAndAGVInterfaceParam param,
//                              HttpServletRequest request) {
//        auth(appkey, param, request);
//        if (Cools.isEmpty(param)){
//            return R.error("参数为空！");
//        } else if (Cools.isEmpty(param.getRequestType())){
//            return R.error("请求类型为空！");
//        } else if (Cools.isEmpty(param.getWharfCode())){
//            return R.error("码头编号为空！");
//        }
//
//        Map<String,Integer> map = new HashMap<>();
//        map.put("J-1102",102);map.put("J-1101",101);
//        map.put("J-1103",105);map.put("J-1104",106);
//        map.put("J-1105",109);map.put("J-1106",110);
//        map.put("J-1107",113);map.put("J-1108",114);
//        map.put("J-1109",117);map.put("J-1110",118);
//        map.put("J-1111",121);map.put("J-1112",122);
//        map.put("H-1102",300);map.put("H-1101",305);
//        map.put("G-1102",400);map.put("G-1101",405);
////        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
////                .eq("stn_desc", param.getWharfCode()));
////
////        if (Cools.isEmpty(staDesc)){
////            return R.error("程序报错，未查询到站点");
////        }
//        if (Cools.isEmpty(map.get(param.getWharfCode()))){
//            return R.error("未查询到站点");
//        }
//        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
////        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
//        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))){
//            apiLogService.save("AGV请求入库码头接口"
//                    ,request.getRemoteAddr()+request.getRequestURI()
//                    ,appkey
//                    ,request.getRemoteAddr()
//                    ,JSON.toJSONString(param)
//                    ,R.ok().toString()
//                    ,true
//            );
//            return R.ok("可入");
//        }else {
//            apiLogService.save("AGV请求入库码头接口"
//                    ,request.getRemoteAddr()+request.getRequestURI()
//                    ,appkey
//                    ,request.getRemoteAddr()
//                    ,JSON.toJSONString(param)
//                    ,R.error("站点状态不可入").toString()
//                    ,true
//            );
//            return R.error("站点状态不可入");
//        }
//    }

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


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

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

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

    //agv任务完成
//    @PostMapping("/toAgvTaskOver")
//    @AppAuth(memo = "agv任务完成接口")
//    public R getAgvTaskOver(@RequestHeader String appkey,
//                           @RequestBody TaskOverParam param,
//                           HttpServletRequest request){
//        auth(appkey, param, request);
//        if (Cools.isEmpty(param)) {
//            return R.parse(BaseRes.PARAM);
//        }
//        if (Cools.isEmpty(param.getWharfCode())){
//            return R.error("码头[wharfCode]不能为空");
//        }
//        if (Cools.isEmpty(param.getStatus())){
//            return R.error("完成标记[status]不能为空");
//        }
//        openService.getAgvTaskOver(param);
//        return R.ok();
//    }
}

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

@@ -71,7 +71,7 @@
    /**
     * 任务类型
     */
    @ApiModelProperty(value= "任务类型")
    @ApiModelProperty(value= "任务类型 1:入库 2:出库 3:移库")
    @TableField("io_type")
    private Integer ioType;


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

@@ -7,11 +7,13 @@
    //托盘码
    private String BoxNo;
    //执行状态   0：成功 1：失败
    private Integer WCSStatus=0;
    private Integer WCSStatus = 0;
    //错误信息   具体的错误信息（超高，超重等）
    private String WCSErrorMessage="";
    private String WCSErrorMessage = "";
    //是否满板 1满板  0空板
    private int StaType=1;
    private int StaType = 1;
    //库位类型 1高库位 0低库位
    private int LocType=0;
    private int LocType = 0;
    //站点
    private int TerminalNo = 0;
}

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

@@ -113,13 +113,15 @@
    private CrnController crnController;
    @Autowired
    private SiteController siteController;
    @Autowired
    private TaskWrkLogService taskWrkLogService;

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove1() {
        try {
            List <BasCrnp> basCrnps =basCrnpService.selectList(new EntityWrapper<BasCrnp>());
            List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>());
            for (BasCrnp crn : basCrnps) {
                if (!crn.getEmpIn().equals("1")) {
                    continue;
@@ -131,7 +133,7 @@
                if (crnProtocol == null) {
                    continue;
                }
                TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("crn_no",crn.getCrnNo()).eq("io_type",3));
                TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("crn_no", crn.getCrnNo()).eq("io_type", 3));
                if (taskWrk1 != null) {
                    continue;
                }
@@ -141,7 +143,7 @@

                    LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getCrnNo());

                    LocMast loc = locMastService.queryDemoLoc(crn.getCrnNo(),sourceLoc.getLocType1());
                    LocMast loc = locMastService.queryDemoLoc(crn.getCrnNo(), sourceLoc.getLocType1());
                    if (null == sourceLoc || null == loc) {
                        continue;
                    }
@@ -152,7 +154,7 @@
                    // 保存工作档
                    TaskWrk taskWrk = new TaskWrk();
                    taskWrk.setWrkNo(workNo);
                    taskWrk.setTaskNo(workNo+"");//任务号
                    taskWrk.setTaskNo(workNo + "");//任务号
                    taskWrk.setWrkSts(11); // 工作状态：11.生成出库ID
                    taskWrk.setIoType(3); // 入出库状态： 3.库格移载
                    taskWrk.setIoPri(13);
@@ -164,7 +166,7 @@
                    int res = taskWrkMapper.insert(taskWrk);
                    if (res == 0) {
                        throw new CoolException("保存工作档失败");
                    }else {
                    } else {
                        loc.setCtnKind(1);
                        locMastService.updateById(loc);
                    }
@@ -362,12 +364,13 @@
                            storageEscalationParam.setWCSStatus(1);
                            storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
                        }
                        log.info("组托入库={}", storageEscalationParam);
                        storageEscalationParam.setBoxNo(BoxNo);
                        //是否满板 1满板  0空板
                        storageEscalationParam.setStaType(staProtocol.isEmptyMk()? 0:1);
                        storageEscalationParam.setStaType(staProtocol.isEmptyMk() ? 0 : 1);
                        //库位类型 1高库位 0低库位
                        storageEscalationParam.setLocType(staProtocol.isHigh()? 1:0);
                        storageEscalationParam.setLocType(staProtocol.isHigh() ? 1 : 0);
                        storageEscalationParam.setTerminalNo(staProtocol.getSiteId());
                        log.info("组托入库={}", storageEscalationParam);
                        String response = "";
                        Boolean success = false;
                        try {
@@ -389,7 +392,7 @@
                                    // 创新一个入库工作档
                                    TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
                                    if (Cools.isEmpty(taskWrk)) {
                                        taskWrk = createTask1(result, BoxNo);
                                        taskWrk = createTask1(result, BoxNo,staProtocol.getSiteId());
                                        if (Cools.isEmpty(taskWrk)) {
                                            log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
                                        } else {
@@ -442,6 +445,153 @@
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }
                            }
                        } catch (Exception e) {
                            log.error("请求入库调用接口失败");
                            log.error("异常信息打印：" + e);
                            try {
                                BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
                                if (Cools.isEmpty(basDevp)) {
                                    log.error("站点号异常" + inSta.getStaNo());
                                } else if (basDevp.getStaErr() != 0) {
                                    basDevp.setStaErr(2);
                                    basDevpService.updateById(basDevp);
                                }
                            } catch (Exception e1) {
                                // 退回
                                log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
                            }
                        } finally {
                            apiLogService.save("wms请求入库货位接口"
                                    , wmsUrl + inboundTaskApplyPath
                                    , null
                                    , "127.0.0.1"
                                    , JSON.toJSONString(storageEscalationParam)
                                    , response
                                    , success
                            );
                        }
                        log.info("入库请求参数=" + JSON.toJSONString(BoxNo));
                        log.info("入库请求返回参数=" + JSON.toJSONString(response));
                    }
                }
            }
        } catch (Exception e) {
            log.error("generateStoreWrkFile e", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    //拣料回库
    public synchronized void PickingAndReturningToTheWarehouse() throws IOException, InterruptedException {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历入库口
                for (DevpSlave.Sta inSta : devp.getPickSta()) {
                    StorageEscalationParam storageEscalationParam = new StorageEscalationParam();
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        String BoxNo = "";
                        if(!staProtocol.isEmptyMk()&&staProtocol.getWorkNo()<9990){
                            TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("task_no", workNo));

                            if (!Cools.isEmpty(taskWrk1)) {
                                BoxNo = taskWrk1.getBarcode();
                            } else {
                                TaskWrkLog taskWrkLog = taskWrkLogService.selectOne(new EntityWrapper<TaskWrkLog>().eq("task_no", workNo).orderBy("modi_time", false));
                                if (taskWrkLog != null) {
                                    BoxNo = taskWrkLog.getBarcode();
                                }
                            }
                        }
                        log.info("组托入库={}", storageEscalationParam);
                        storageEscalationParam.setBoxNo(BoxNo);
                        //是否满板 1满板  0空板
                        storageEscalationParam.setStaType(staProtocol.isEmptyMk() ? 0 : 1);
                        //库位类型 1高库位 0低库位
                        storageEscalationParam.setLocType(staProtocol.isHigh() ? 1 : 0);
                        storageEscalationParam.setTerminalNo(staProtocol.getSiteId());
                        String response = "";
                        Boolean success = false;
                        try {
                            response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath(inboundTaskApplyPath)
                                    .setJson(JSON.toJSONString(storageEscalationParam))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);

                            if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
                                Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);
                                // 创新一个入库工作档
                                TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
                                if (Cools.isEmpty(taskWrk)) {
                                    taskWrk = createTask1(result, BoxNo,staProtocol.getSiteId());
                                    if (Cools.isEmpty(taskWrk)) {
                                        log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
                                    } else {
                                        taskWrkService.insert(taskWrk);
                                        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                        staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                        HashMap<String, Object> hashMap = new HashMap<>();
                                        hashMap.put("TaskNo", taskWrk.getTaskNo());
                                        try {
                                            //开始上报,任务开始时，WCS回调WMS
                                            response = new HttpHandler.Builder()
                                                    .setUri(wmsUrl)
                                                    .setPath(taskStatusFeedbackPath)
                                                    .setJson(JSON.toJSONString(hashMap))
                                                    .build()
                                                    .doPost();
                                            JSONObject jsonObject1 = JSON.parseObject(response);
                                            Boolean bool = false;
                                            if (jsonObject1.get("ReturnStatus").equals(0)) {
                                                taskWrk.setStatus(2);//派发任务
                                                bool = true;
                                                taskWrkService.updateById(taskWrk);
                                            }
                                            apiLogService.save("wcs开始入库任务上报wms"
                                                    , wmsUrl + TaskExecCallback
                                                    , null
                                                    , "127.0.0.1"
                                                    , JSON.toJSONString(hashMap)
                                                    , response
                                                    , bool
                                            );
                                        } catch (Exception e) {

                                        }
                                    }
                                } else {
                                    staProtocol.setWorkNo((short) 9991);
                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }

                            } else {
                                staProtocol.setWorkNo((short) 9991);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            }

                        } catch (Exception e) {
                            log.error("请求入库调用接口失败");
                            log.error("异常信息打印：" + e);
@@ -968,18 +1118,9 @@

                    LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                    //判断其库位是否为深库位，如果为深库位找其浅库位是都有货
                    if (locMast.getRow1() == 1 || locMast.getRow1() == 5) {
                    if (locMast.getRow1() == 8 || locMast.getRow1() == 5) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1() + 1))
                                .eq("bay1", locMast.getBay1())
                                .eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
                        if (!Cools.isEmpty(locMast1)) {
                            log.info(locMast.getLocNo() + "出深库位，浅库位有货");
                            continue;
                        }
                    } else if (locMast.getRow1() == 4 || locMast.getRow1() == 8) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1() - 1))
                                .eq("bay1", locMast.getBay1())
                                .eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
                        if (!Cools.isEmpty(locMast1)) {
@@ -1013,11 +1154,11 @@
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                            break;
                        }
                        int storeCount = basDevpService.getStoreCount();
                        if (storeCount >= maxCount) {
                            log.error("输送线暂存数达到上限{}", storeCount);
                            break;
                        }
//                        int storeCount = basDevpService.getStoreCount();
//                        if (storeCount >= maxCount) {
//                            log.error("输送线暂存数达到上限{}", storeCount);
//                            break;
//                        }


                        // 已经存在吊车执行任务时，则过滤
@@ -1627,9 +1768,8 @@
        return response;
    }

    private TaskWrk createTask1(Result result, String barcode) {
    private TaskWrk createTask1(Result result, String barcode,Integer staNo) {
        String locNo = Utils.Fusion(result.getRow(), result.getFloor(), result.getColumn());


        Date now = new Date();
        TaskWrk taskWrk = new TaskWrk();
@@ -1638,18 +1778,13 @@
        taskWrk.setWrkNo(workNo1);
        taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
        taskWrk.setCreateTime(now);
        taskWrk.setIoType(1);//任务类型
        taskWrk.setIoType(1);//任务类型 入库
        taskWrk.setIoPri(13);//优先级
        taskWrk.setBarcode(barcode);//条码
        LocMast locMast = locMastService.selectByLocNo(locNo);
        taskWrk.setCrnNo(locMast.getCrnNo());
        taskWrk.setTargetPoint(locNo);
        taskWrk.setStartPoint("116");
        if (result.getAlley().equals("1")) {
            taskWrk.setCrnNo(1);
        } else {
            taskWrk.setCrnNo(2);
        }
        taskWrk.setStartPoint(staNo+"");
        taskWrk.setCrnNo(Integer.valueOf(result.getAlley()));//堆垛机号

        if (taskWrk.getIoType() == 1) {
            taskWrk.setWrkSts(2);
            if (!Cools.isEmpty(taskWrk.getTargetPoint())) {

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

@@ -70,8 +70,8 @@
        HashMap<String,Object> map=new HashMap<>();
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
        if (taskWrk != null) {
            map.put("Code","0");
            map.put("Msg",param.getTaskNo()+"任务已经生成！");
            map.put("ReturnStatus",1);
            map.put("ErrorMessage",param.getTaskNo()+"任务已经生成！");
            return map;
        }

@@ -90,6 +90,7 @@
                }
            }
        } catch (Exception e) {

        }
        taskWrk.setIoType(param.getIoType());//任务类型
        taskWrk.setIoPri(param.getTaskPriority());//优先级
@@ -123,12 +124,12 @@
        }

        if (!taskWrkService.insert(taskWrk)) {
            map.put("Code","0");
            map.put("Msg",param.getTaskNo()+"创建任务失败！");
            map.put("ReturnStatus",1);
            map.put("ErrorMessage",param.getTaskNo()+"创建任务失败！");
            return map;
        }
        map.put("Code","1");
        map.put("Msg","ok");
        map.put("ReturnStatus",0);
        map.put("ErrorMessage","ok");
        return map;
    }


 src/main/java/com/zy/common/utils/HttpHandler.java

@@ -15,7 +15,7 @@
 */
public class HttpHandler {

    private static final Integer DEFAULT_TIMEOUT_SECONDS = 5;
    private static final Integer DEFAULT_TIMEOUT_SECONDS = 10;
    private static final MediaType MEDIA_TYPE = MediaType.parse("application/json");

    private String uri;

 src/main/resources/application-prod.yml

@@ -80,13 +80,13 @@
    port: 102
    crnOutStn[0]: #堆垛机出库站点--1F输送线 放货口
      staNo: 1056
      row: 6
      row: 7
      bay: 1
      lev: 1
      devpPlcId: ${wcs-slave.devp[2].id}
    crnInStn[0]: #堆垛机入库站点1--1F输送线 取货口
      staNo: 1058
      row: 7
      row: 6
      bay: 1
      lev: 1
      backSta: 106
@@ -201,10 +201,6 @@
    inSta[0]: #入库口1
      staNo: 1052
      backSta: 1051
      barcode: ${wcs-slave.barcode[2].id}
    inSta[1]: #入库口2  #空板入库口0
      staNo: 1058
      backSta: 1053
      barcode: ${wcs-slave.barcode[2].id}
    outSta[0]: #出库口1
      staNo: 1053

 src/main/resources/application.yml

@@ -53,14 +53,14 @@
  #url: 10.32.53.195:8080
  # WMS系统ip
  #  url: 10.210.157.109:8090
  url: 10.10.10.222:2410
  url: 192.168.61.230:8078
  # 入库任务申请接口
  #inboundTaskApplyPath: api/InterFace/inboundTaskApply
  inboundTaskApplyPath: api/StereoscopicCallBack/AcceptTaskStatus
  inboundTaskApplyPath: other/api/wcs/allocation
  #  inboundTaskApplyPath: open/asrs/inboundTaskApply
  # 任务开始时，WCS回调WMS
  taskStatusFeedbackPath: api/StereoscopicCallBack/TaskExecCallback
  taskStatusFeedbackPath: other/api/wcs/taskStart
  # 任务完成结束时，WCS回调WMS
  TaskExecCallback: api/StereoscopicCallBack/TaskExecFinishedCallback
  TaskExecCallback: other/api/wcs/taskFinish
  # 移库申请接口
  movePath: api/InterFace/get_InterFace_TestStorage