package com.zy.asrs.wcs.core.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.BasLiftStaDto;
import com.zy.asrs.wcs.core.domain.param.AgvTaskCreateParam;
import com.zy.asrs.wcs.core.domain.param.CreateInTaskParam;
import com.zy.asrs.wcs.core.domain.param.CreateOutTaskParam;
import com.zy.asrs.wcs.core.domain.param.CreateWcsTaskParam;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.enums.WorkModeType;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;

@Service("openService")
@Slf4j
public class OpenServiceImpl implements OpenService {

    @Autowired
    private TaskService taskService;
    @Autowired
    private TaskCtgService taskCtgService;
    @Autowired
    private LocService locService;
    @Autowired
    private DictService dictService;
    @Autowired
    private BasConveyorPathService basConveyorPathService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private BasConveyorService basConveyorService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private TaskCacheService taskCacheService;


    @Override
    @Transactional
    public R createInTask(CreateInTaskParam param, CreateWcsTaskParam createWcsTaskParam) {
        //获取入库任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            throw new CoolException("任务类型异常");
        }

        Long hostId = 1L;//默认主仓库

        Loc loc = locService.selectByLocNo(param.getDestLoc());
        if (loc == null) {
            throw new CoolException("库位号不存在");
        }

        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }

        if (mapStrict && !loc.getLocStsFlag().equals("O")) {
            throw new CoolException("库位状态不满足入库条件");
        }

        Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
                .eq(Task::getTaskCtg, taskCtg.getId())
                .eq(Task::getOriginSite, param.getOriginSite())
                .eq(Task::getDestSite, param.getDestSite())
                .eq(Task::getDestLoc, param.getDestLoc()));
        if (one != null) {
            throw new CoolException("任务已存在");
        }

        String destSite = param.getDestSite();
        if (Cools.isEmpty(param.getDestSite())) {
            //目标站为空则使用WCS系统内置路径
            BasConveyorPath path = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
                    .eq(BasConveyorPath::getTypeNo, taskCtg.getId())
                    .eq(BasConveyorPath::getHostId, hostId)
                    .eq(BasConveyorPath::getStnNo, param.getOriginSite()));
            if(path == null) {
                throw new CoolException("内置路径不存在");
            }
            destSite = String.valueOf(path.getDeviceStn());
        }

        //判断出入库模式
        BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>()
                .eq(BasConveyorSta::getSiteNo, destSite));
        if (!basConveyorSta.getWorkMode().equals((int) WorkModeType.PAKIN_MODE.id)) {
            //不是入库模式，检测是否可切换入库
            //获取出库任务类型
            TaskCtg taskInCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                    .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
                    .eq(TaskCtg::getStatus, 1));
            if (taskInCtg == null) {
                throw new CoolException("任务类型异常");
            }
            List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                    .eq(Task::getTaskCtg, taskInCtg.getId()));
            if (!tasks.isEmpty()) {
                throw new CoolException("当前存在出库任务，无法切换入库模式");
            }

            BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
            if(basConveyor == null) {
                throw new CoolException("输送线不存在");
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            if(devpThread == null) {
                throw new CoolException("输送线线程不存在");
            }

            boolean result = devpThread.switchWorkMode(Integer.parseInt(destSite), WorkModeType.PAKIN_MODE.id);
            if (!result) {
                throw new CoolException("模式切换失败");
            }
        }

        //优先级
        Integer priority = 10;
        if (param.getPriority() != null) {
            priority = param.getPriority();
        }

        if (createWcsTaskParam != null) {
            //转发agv
            if (!createWcsTaskParam.getFrmPos().equals("06YZ0001")){
                try {
                    AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                    getInRequestParam(agvTaskCreateParam, createWcsTaskParam);
                    String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                    if (!httpRequest.equals("SUCCESS")){
                        throw new CoolException("转发AGV任务失败" + httpRequest);
                    }

                    Task task = new Task();
                    task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
                    task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
                    task.setWmsTaskNo(param.getTaskNo());
                    task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
                    task.setTaskCtg(taskCtg.getId());
                    task.setPriority(priority);
                    task.setOriginSite(param.getOriginSite());
                    task.setOriginLoc(null);
                    task.setDestSite(destSite);
                    task.setDestLoc(param.getDestLoc());
                    task.setZpallet(param.getBarcode());
                    task.setIoTime(new Date());
                    task.setStartTime(new Date());
                    task.setStatus(1);
                    task.setMemo("");
                    task.setShuttleNo(null);//等待主线程分配小车
                    task.setRecordLoc("Y");//记录库存信息
                    task.setHostId(hostId);//临时控制只允许host为1
                    task.setMemo(param.getEndSite());

                    boolean result = taskService.save(task);
                    if (!result) {
                        throw new CoolException("生成入库任务失败！");
                    }
                }catch (Exception e){
                    throw new CoolException("转发AGV任务出错" + e.getMessage());
                }
            }else {
                Task task = new Task();
                task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
                task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
                task.setWmsTaskNo(param.getTaskNo());
                task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
                task.setTaskCtg(taskCtg.getId());
                task.setPriority(priority);
                task.setOriginSite(param.getOriginSite());
                task.setOriginLoc(null);
                task.setDestSite(destSite);
                task.setDestLoc(param.getDestLoc());
                task.setZpallet(param.getBarcode());
                task.setIoTime(new Date());
                task.setStartTime(new Date());
                task.setStatus(1);
                task.setMemo("");
                task.setShuttleNo(null);//等待主线程分配小车
                task.setRecordLoc("Y");//记录库存信息
                task.setHostId(hostId);//临时控制只允许host为1
                task.setMemo(param.getEndSite());

                boolean result = taskService.save(task);
                if (!result) {
                    throw new CoolException("生成入库任务失败！");
                }
            }
        }else {
            Task task = new Task();
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            task.setTaskNo(String.valueOf(Utils.getTaskNo("IN")));
            task.setWmsTaskNo(param.getTaskNo());
            task.setTaskSts(TaskStsType.NEW_INBOUND.sts);
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(priority);
            task.setOriginSite(param.getOriginSite());
            task.setOriginLoc(null);
            task.setDestSite(destSite);
            task.setDestLoc(param.getDestLoc());
            task.setZpallet(param.getBarcode());
            task.setIoTime(new Date());
            task.setStartTime(new Date());
            task.setStatus(1);
            task.setMemo("");
            task.setShuttleNo(null);//等待主线程分配小车
            task.setRecordLoc("Y");//记录库存信息
            task.setHostId(hostId);//临时控制只允许host为1
            task.setMemo(param.getEndSite());

            boolean result = taskService.save(task);
            if (!result) {
                throw new CoolException("生成入库任务失败！");
            }
        }

        return R.ok();
    }

    @Override
    @Transactional
    public R createOutTask(CreateOutTaskParam param, CreateWcsTaskParam createWcsTaskParam) {
        //获取出库任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            throw new CoolException("任务类型异常");
        }

        Long hostId = 1L;//默认主仓库

        Loc loc = locService.selectByLocNo(param.getOriginLoc());
        if (loc == null) {
            throw new CoolException("库位号不存在");
        }

        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }

        if (mapStrict && !loc.getLocStsFlag().equals("F")) {
            throw new CoolException("库位状态不满足出库条件");
        }

        Task one = taskService.getOne(new LambdaQueryWrapper<Task>()
                .eq(Task::getTaskCtg, taskCtg.getId())
                .eq(Task::getOriginSite, param.getOriginSite())
                .eq(Task::getOriginLoc, param.getOriginLoc())
                .eq(Task::getDestSite, param.getDestSite()));
        if (one != null) {
            throw new CoolException("任务已存在");
        }

        String originSite = param.getOriginSite();
        if (Cools.isEmpty(param.getOriginSite())) {
            //使用WCS系统内置路径
            BasConveyorPath path = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
                    .eq(BasConveyorPath::getTypeNo, taskCtg.getId())
                    .eq(BasConveyorPath::getHostId, hostId)
                    .eq(BasConveyorPath::getStnNo, param.getDestSite()));
            if (path == null) {
                throw new CoolException("内置路径不存在");
            }
            Integer deviceNo = path.getDeviceNo();//获取提升机号
            BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, deviceNo).eq(BasLift::getHostId, hostId));
            if (basLift == null) {
                throw new CoolException("提升机对象不存在");
            }
            List<BasLiftStaDto> staList = JSON.parseArray(basLift.getSta(), BasLiftStaDto.class);
            BasLiftStaDto originStaDto = null;
            for (BasLiftStaDto sta : staList) {
                if (sta.getLev() == Utils.getLev(param.getOriginLoc())) {
                    originStaDto = sta;
                    break;
                }
            }

            if (originStaDto == null) {
                throw new CoolException("源站不存在");
            }

            originSite = String.valueOf(originStaDto.getStaNo());
        }

        //判断出入库模式
        BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>()
                .eq(BasConveyorSta::getSiteNo, originSite));
        if (!basConveyorSta.getWorkMode().equals((int) WorkModeType.PAKOUT_MODE.id)) {
            //不是出库模式，检测是否可切换出库
            //获取入库任务类型
            TaskCtg taskInCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                    .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
                    .eq(TaskCtg::getStatus, 1));
            if (taskInCtg == null) {
                throw new CoolException("任务类型异常");
            }
            List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
                    .eq(Task::getTaskCtg, taskInCtg.getId()));
            if (!tasks.isEmpty()) {
                throw new CoolException("当前存在入库任务，无法切换出库模式");
            }

            BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getConveyorNo, basConveyorSta.getConveyorNo()));
            if (basConveyor == null) {
                throw new CoolException("输送线不存在");
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            if (devpThread == null) {
                throw new CoolException("输送线线程不存在");
            }

            boolean result = devpThread.switchWorkMode(Integer.parseInt(originSite), WorkModeType.PAKOUT_MODE.id);
            if (!result) {
                throw new CoolException("模式切换失败");
            }
        }

        //优先级
        Integer priority = 10;
        if (param.getPriority() != null) {
            priority = param.getPriority();
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
        task.setWmsTaskNo(param.getTaskNo());
        task.setTaskSts(TaskStsType.NEW_OUTBOUND.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(priority);
        task.setOriginSite(originSite);
        task.setOriginLoc(param.getOriginLoc());
        task.setDestSite(param.getDestSite());
        task.setDestLoc(null);
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo(param.getEndSite());
        task.setShuttleNo(null);//等待主线程分配小车
        task.setRecordLoc("Y");//记录库存信息
        task.setHostId(hostId);//临时控制只允许host为1
        task.setZpallet(param.getZpallet());

        boolean result = taskService.save(task);
        if (!result) {
            throw new CoolException("生成出库任务失败！");
        }

        return R.ok();
    }

    @Override
    @Transactional
    public HashMap<String, Object> executeWcsTaskCache(CreateWcsTaskParam param) {
        HashMap<String, Object> map = new HashMap<>();
        String sta = "06YZ";
        String loc = "0601KW";
        if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,6).equals(loc)){

            CreateInTaskParam createInTaskParam = new CreateInTaskParam();
            createInTaskParam.setTaskNo(param.getRequestPK());
            createInTaskParam.setDestLoc(getWMStoWCSLocNo(param.getToPos()));
            createInTaskParam.setOriginSite("100");
            createInTaskParam.setBarcode(param.getContNo());
            createInTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
            createInTaskParam.setEndSite(param.getToPos());
            R inTask = null;
            try {
                inTask = this.createInTask(createInTaskParam, param);
                int code = (int) inTask.get("code");
                if (code == 200){
                    map.put("success", "1");
                    map.put("message", inTask.get("msg"));
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                }else {
                    map.put("success", "0");
                    map.put("message", inTask.get("msg"));
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                }

            }catch (Exception e){
                map.put("success", "0");
                map.put("message", e.getMessage());
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:" + JSONObject.toJSONString(map));
                return map;
            }
        } else if (param.getFrmPos().substring(0,6).equals(loc) && param.getToPos().substring(0,4).equals(sta)) {
            CreateOutTaskParam createOutTaskParam = new CreateOutTaskParam();
            createOutTaskParam.setTaskNo(param.getRequestPK());
            createOutTaskParam.setOriginLoc(getWMStoWCSLocNo(param.getFrmPos()));
            createOutTaskParam.setOriginSite("101");
            createOutTaskParam.setDestSite("100");
            createOutTaskParam.setPriority(Integer.valueOf(param.getTrkPrty()));
            createOutTaskParam.setEndSite(param.getToPos());
            createOutTaskParam.setZpallet(param.getContNo());
            R outTask = null;
            try {
                outTask = this.createOutTask(createOutTaskParam, param);

                int code = (int) outTask.get("code");
                if (code == 200){
                    map.put("success", "1");
                    map.put("message", outTask.get("msg"));
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                }else {
                    map.put("success", "0");
                    map.put("message", outTask.get("msg"));
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                }

            }catch (Exception e){
                map.put("success", "0");
                map.put("message", e.getMessage());
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }

        } else if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,4).equals(sta)) {
            try {
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getTransmitRequestParam(agvTaskCreateParam,param);
                String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (!httpRequest.equals("SUCCESS")){
                    map.put("success", "0");
                    map.put("message", httpRequest);
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                    log.info("返回mes信息:"+JSONObject.toJSONString(map));
                    return map;
                }
            }catch (Exception e){
                map.put("success", "0");
                map.put("message", "转发AGV任务出错");
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }

        } else {
            map.put("success", "0");
            map.put("message", "未找到对应任务类型");
            map.put("result", "");
            map.put("requestPK", param.getRequestPK());
        }

        return map;
    }

    @Override
    public HashMap<String, Object> createWcsTaskCache(CreateWcsTaskParam param) {
        HashMap<String, Object> map = new HashMap<>();
        String sta = "06YZ";
        String loc = "0601KW";
        if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,6).equals(loc)){
            //入库
            TaskCache taskCache = new TaskCache();
            taskCache.setTaskType(1);
            taskCache.setTaskParam(JSON.toJSONString(param));
            boolean save = taskCacheService.save(taskCache);
            if (!save) {
                map.put("success", "0");
                map.put("message", "生成任务出错");
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }
            map.put("success", "1");
            map.put("message", "success");
            map.put("result", "");
            map.put("requestPK", param.getRequestPK());
            return map;
        } else if (param.getFrmPos().substring(0,6).equals(loc) && param.getToPos().substring(0,4).equals(sta)) {
            //出库
            TaskCache taskCache = new TaskCache();
            taskCache.setTaskType(2);
            taskCache.setTaskParam(JSON.toJSONString(param));
            boolean save = taskCacheService.save(taskCache);
            if (!save) {
                map.put("success", "0");
                map.put("message", "生成任务出错");
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }
            map.put("success", "1");
            map.put("message", "success");
            map.put("result", "");
            map.put("requestPK", param.getRequestPK());
        } else if (param.getFrmPos().substring(0,4).equals(sta) && param.getToPos().substring(0,4).equals(sta)) {
            try {
                AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
                getTransmitRequestParam(agvTaskCreateParam,param);
                String httpRequest = doHttpRequest(agvTaskCreateParam, "172.18.16.248:443", "/rcs/rtas/api/robot/controller/task/submit");
                if (!httpRequest.equals("SUCCESS")){
                    map.put("success", "0");
                    map.put("message", httpRequest);
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                    log.info("返回mes信息:"+JSONObject.toJSONString(map));
                    return map;
                }else {
                    map.put("success", "1");
                    map.put("message", "success");
                    map.put("result", "");
                    map.put("requestPK", param.getRequestPK());
                    log.info("返回mes信息:"+JSONObject.toJSONString(map));
                    return map;
                }
            }catch (Exception e){
                map.put("success", "0");
                map.put("message", "转发AGV任务出错");
                map.put("result", "");
                map.put("requestPK", param.getRequestPK());
                log.info("返回mes信息:"+JSONObject.toJSONString(map));
                return map;
            }

        } else {
            map.put("success", "0");
            map.put("message", "未找到对应任务类型");
            map.put("result", "");
            map.put("requestPK", param.getRequestPK());
        }

        return map;
    }

    private void getInRequestParam(AgvTaskCreateParam agvTaskCreateParam,CreateWcsTaskParam param){
        List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getFrmPos(),0,1),
                //目标位
                new AgvTaskCreateParam.AgvTaskParam("SITE","06YZ0001",1,1)
        );
        List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.carrierInfoParam()

        );
        agvTaskCreateParam.setTaskType("F01");
        agvTaskCreateParam.setInitPriority(param.getTrkPrty());
        agvTaskCreateParam.setRobotTaskCode(param.getRequestPK());
        agvTaskCreateParam.setTargetRoute(agvTaskParamList);
        agvTaskCreateParam.setCarrierInfo(carrierInfoParam);

    }
    private void getTransmitRequestParam(AgvTaskCreateParam agvTaskCreateParam,CreateWcsTaskParam param){
        List<AgvTaskCreateParam.AgvTaskParam> agvTaskParamList = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getFrmPos(),0,1),
                //目标位
                new AgvTaskCreateParam.AgvTaskParam("SITE",param.getToPos(),1,1)
        );
        List<AgvTaskCreateParam.carrierInfoParam> carrierInfoParam = Arrays.asList(
                //起始位
                new AgvTaskCreateParam.carrierInfoParam()

        );
        agvTaskCreateParam.setTaskType("F01");
        agvTaskCreateParam.setInitPriority(param.getTrkPrty());
        agvTaskCreateParam.setRobotTaskCode(param.getRequestPK());
        agvTaskCreateParam.setTargetRoute(agvTaskParamList);
        agvTaskCreateParam.setCarrierInfo(carrierInfoParam);

    }
    private String doHttpRequest(AgvTaskCreateParam requestParam, String url, String path){
        String response = "";
        String success = "error";
        Map<String, Object> map = new HashMap<>();
        map.put("Content-Type", "application/json;charset=UTF-8");
        map.put("X-lr-request-id", requestParam.getRobotTaskCode());
        map.put("X-lr-version", 4.1);
        map.put("X-lr-trace-id", "{{$guid}}");
        try {
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(url)
                    .setHttps(true)
                    .setPath(path)
                    .setJson(JSONObject.toJSONString(requestParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);

            String code = jsonObject.get("code").toString();
            if(code.equals("SUCCESS")){
                success = "SUCCESS";
            }else {
                success = jsonObject.get("message").toString();
            }
            log.info("转发agv任务：请求体:"+JSONObject.toJSONString(requestParam)+",返回值:"+jsonObject);
        }catch (Exception e){

        }
        return success;
    }

    public static String getWMStoWCSLocNo(String loc){
        String locNo = "";
        int row = Integer.parseInt(loc.substring(6,8));
        int bay = Integer.parseInt(loc.substring(8,10));
        int lev = Integer.parseInt(loc.substring(10,12));
        if (row == 2){
            row = 3;
        }
        locNo = row +"-"+bay+"-"+lev;
        return locNo;
    }
}