package com.zy.asrs.service.impl;

import com.alibaba.excel.util.DateUtils;
import com.alibaba.excel.util.StringUtils;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SnowflakeIdWorker;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.mes.*;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.EmptyPlateOutParam;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.mapper.AgvInfoMapper;
import com.zy.asrs.mapper.MatItemBarcodeMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.OrderInAndOutUtil;
import com.zy.common.model.DetlDto;
import com.zy.common.model.enums.WorkNoType;
import com.zy.common.service.CommonService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import javax.annotation.Resource;
import java.text.ParseException;
import java.util.*;
import java.util.concurrent.ExecutionException;
import java.util.stream.Collectors;
import java.util.stream.Stream;

@Slf4j
@Service
public class MesServiceImpl implements MesService {

    @Value("${mes.url}")
    public String MES_URL;
    @Value("${wms.currentName}")
    public String WMS_CURRENT_NAME;
    @Value("${wms.wmsTransStartStation1}")
    public String WMS_TRANS_START_STATION_1;
    @Value("${wms.wmsTransStartStation2}")
    public String WMS_TRANS_START_STATION_2;
    @Value("${wms.wmsTransStartStation3}")
    public String WMS_TRANS_START_STATION_3;
    @Value("${mes.defaultUserId}")
    public long defaultUserId;
    @Value("${wms.zpalletId}")
    public String WMS_ZPALLET_ID;

    @Resource
    private RcsService rcsService;
    @Resource
    private MatService matService;
    @Resource
    private TagService tagService;
    @Resource
    private OrderPakinService orderPakinService;
    @Resource
    private OrderDetlPakinService orderDetlPakinService;
    @Resource
    private OrderPakoutService orderPakoutService;
    @Resource
    private OrderDetlPakoutService orderDetlPakoutService;
    @Resource
    private WaitPakinService waitPakinService;
    @Resource
    private TaskService taskService;
    @Resource
    private TaskDetlService taskDetlService;
    @Resource
    private SnowflakeIdWorker snowflakeIdWorker;
    @Resource
    private CommonService commonService;
    @Resource
    private AgvInfoMapper agvInfoMapper;
    @Resource
    private WorkService workService;
    @Resource
    private MatItemBarcodeMapper matItemBarcodeMapper;
    @Resource
    private LocMastService locMastService;

    @Resource
    private LocDetlService locDetlService;

    @Resource
    private MobileService mobileService;
    @Autowired
    private DocTypeService docTypeService;
    @Autowired
    private OrderService orderService;


    // region MES接口

    /**
     * 物料信息同步，MES->WMS
     * 功能：同步物料信息->生成入库单
     * 后续流程：入库时，需要实时调用recvFeedback返回入库数量
     *
     * @param matRecvForm
     * @return
     */
    @Transactional(rollbackFor = Exception.class)
    public MesReturn matInfoAndInBound(MesMatRecvForm matRecvForm) throws CoolException {

        MesReturn mesReturn = new MesReturn();

        // 1、物料信息同步
        int matSuccess = 0;
        for (MesMatInfo mesMatInfo : matRecvForm.getItemdata()) {
            if (synMatInfo(mesMatInfo) == 1) {
                matSuccess++;
            } else {
                throw new CoolException("同步物料信息失败");
            }
        }

        // 2、生成入库单
        if (inBoundOrder_List(matRecvForm) == 1) {
            mesReturn.setSuccess("1");
            mesReturn.setMessage("");
        } else {
            throw new CoolException("同步物料信息，生成入库单失败");
        }
        mesReturn.setSuccess("1");
        mesReturn.setMessage("");
        return mesReturn;
    }

    /**
     * 新增、修改物料信息
     *
     * @param mesMatInfo
     * @return 1 成功；-1 保存物料类型失败；-2 保存物料失败；
     * @throws ParseException
     */
    public int synMatInfo(MesMatInfo mesMatInfo) {

        // 规则定义：默认第2层为库名（如：加工库），第3层为同步的物料类型
        long secondPath = 2;
        String secondParentName = WMS_CURRENT_NAME;
        Date now = new Date();

        // 物料类型更新
        long tagId = 0;
        EntityWrapper<Tag> wrapper = new EntityWrapper<>();
        wrapper.eq("name", mesMatInfo.getItemType());
        Tag tag = tagService.selectByName(mesMatInfo.getItemType(), 3);
        if (tag == null || StringUtils.isEmpty(tag.getName())) {
            Tag newTag = new Tag();
            newTag.setName(mesMatInfo.getItemType());
            newTag.setParentId(secondPath);
            newTag.setParentName(secondParentName);
            newTag.setPath("2");
            newTag.setPathName(secondParentName);
            newTag.setLevel(3);
            newTag.setStatus(1);
            newTag.setCreateBy(defaultUserId);
            newTag.setCreateTime(now);
            newTag.setUpdateBy(defaultUserId);
            newTag.setUpdateTime(now);

            if (!tagService.insert(newTag))
                return -1;
            tagId = newTag.getId();
        } else {
            tagId = tag.getId();
        }

        // 物料更新
        if (tagId > 0) {
            //        tagId = tagService.selectByName(mesMatInfo.getItem_type(), 3).getId();
            Mat mat = matService.selectByMatnr(mesMatInfo.getItemNo());
            Mat newMat = new Mat();
            newMat.setMatnr(mesMatInfo.getItemNo());
            newMat.setMaktx(mesMatInfo.getDescription());
            newMat.setTagId(tagId);
            newMat.setLocType(tagId);   //locType
            newMat.setSpecs(mesMatInfo.getSpecification());
            newMat.setUnit(mesMatInfo.getUnitOfMeasure());
            newMat.setModel(mesMatInfo.getClassificationCode());
            newMat.setMemo(JSONObject.toJSONString(mesMatInfo));
            newMat.setCreateBy(defaultUserId);
            newMat.setCreateTime(now);
            newMat.setUpdateBy(defaultUserId);
            newMat.setUpdateTime(now);
            newMat.setStatus(1);
            if (mat == null) {
                if (!matService.insert(newMat))
                    return -2;
            }
        } else {
            return -1;
        }

        return 1;
    }

    /**
     * 物料同步入库单，按OrderNo生成多个订单
     *
     * @param matRecvForm
     * @return
     */
    public int inBoundOrder_List(MesMatRecvForm matRecvForm) {

        long docType = 1;   // docType根据库类型确定  来料申请单
        long settle = 1;
        Date now = new Date();

        // 按OrderNo分组，然后再生成入库单
        List<MesMatInfo> mesInApply = matRecvForm.getItemdata();
        Map<String, List<MesMatInfo>> map = mesInApply.stream().collect(Collectors.groupingBy(MesMatInfo::getOrderNo));
        for (Map.Entry<String, List<MesMatInfo>> entry : map.entrySet()) {
            List<MesMatInfo> list = entry.getValue();

            // 校验订单是否重复
            OrderPakin order = orderPakinService.selectByNo(entry.getKey());
            // 如果单据不存在则添加；如果单据存在，作业中无法修改，反之则修改单据
            if (!Cools.isEmpty(order)) {
                if (order.getSettle() > 1L) {
                    throw new CoolException(entry.getKey() + "正在出库，无法修改单据");
                }
                orderPakinService.remove(order.getId());
            }

            // 生成订单
            JSONObject newMemo = new JSONObject();
            newMemo.put("sourceNo", matRecvForm.getSourceNo());
            newMemo.put("sourceName", matRecvForm.getSourceName());
            newMemo.put("operuser", matRecvForm.getOperuser());
            newMemo.put("itemdata", list);


            // 生成订单
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(entry.getKey());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(1L);
            orderPakin.setStatus(1);
            orderPakin.setCreateBy(defaultUserId);
            orderPakin.setCreateTime(now);
            orderPakin.setUpdateBy(defaultUserId);
            orderPakin.setUpdateTime(now);
            orderPakin.setMemo(JSONObject.toJSONString(newMemo));  //为出库完成反馈保存
            orderPakin.setPakinPakoutStatus(1);
            orderPakinService.insert(orderPakin);
            if (list != null && !list.isEmpty()) {
                for (MesMatInfo mesMatInfo : list) {

                    // 生成明细
                    Mat mat = matService.selectByMatnr(mesMatInfo.getItemNo());
                    if (Cools.isEmpty(mat)) {
                        log.error("该物料编号立库没有=" + mesMatInfo.getItemNo());
                        continue;
                    }
                    OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
                    orderDetlPakin.setOrderId(orderPakin.getId());
                    orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
                    orderDetlPakin.setAnfme(Double.valueOf(mesMatInfo.getQty()));
                    orderDetlPakin.setQty(0.0);
                    orderDetlPakin.setMatnr(mat.getMatnr());
                    orderDetlPakin.setMaktx(mat.getMaktx());
                    orderDetlPakin.setSpecs(mat.getSpecs());
                    orderDetlPakin.setModel(mat.getModel());
//                    orderDetlPakin.setThreeCode(mesOutApplyItem.getItemBarcode());
//                    orderDetlPakin.setStandby1(mesOutApplyItem.getTrayid());   //保存配盘号，非托盘号
                    orderDetlPakin.setStandby2("0");  //保存齐套性检查标识，1 检查；0 不检查；
                    orderDetlPakin.setCreateBy(defaultUserId);
                    orderDetlPakin.setCreateTime(now);
                    orderDetlPakin.setUpdateBy(defaultUserId);
                    orderDetlPakin.setUpdateTime(now);
                    orderDetlPakin.setStatus(1);
                    orderDetlPakin.setPakinPakoutStatus(1);
                    orderDetlPakinService.insert(orderDetlPakin);
                }
            }
        }
        return 1;

    }

    /**
     * 领料入库反馈
     * 触发条件：物料同步接口入库单，入库后
     * 推送时机：当订单中有物料入库后（应该在每托入库完成后，可以在更新OrderDetlPakin之后）则推送，不等全部订单完成
     *
     * @param orderNo
     * @param zapplet
     * @return
     */
    public int recvFeedback(String orderNo, String zapplet) {

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            List<MesRecvFeedback.MesRecvFeedbackItem> list = new ArrayList<>();
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());

            // 从组托信息中查询入库的信息
            EntityWrapper<WaitPakin> waitPakinEntityWrapper = new EntityWrapper<>();
            waitPakinEntityWrapper.eq("zpallet", zapplet);
            List<WaitPakin> zpalletMat = waitPakinService.selectList(waitPakinEntityWrapper);

            EntityWrapper<OrderDetlPakin> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakin> orderDetlPakins = orderDetlPakinService.selectList(wrapper);
            if (orderDetlPakins != null && !orderDetlPakins.isEmpty()) {
                for (OrderDetlPakin orderDetl : orderDetlPakins) {
                    for (WaitPakin zMat : zpalletMat) {
                        if (orderDetl.getMatnr().equals(zMat.getMatnr())) {
                            MesRecvFeedback.MesRecvFeedbackItem item = new MesRecvFeedback.MesRecvFeedbackItem();
                            item.setItemNo(orderDetl.getMatnr());
                            item.setOrderNo(orderNo);
                            item.setQty(orderDetl.getAnfme().intValue());
                            item.setRealQty(zMat.getAnfme().intValue());
                            // 回传托盘绑定的零件二维码
                            EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
                            matItemBarcodeEntityWrapper.eq("zapplet", zapplet).eq("status", 1);
                            List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
                            if (barcodes != null) {
                                List<String> itemBarcode = new ArrayList<>();
                                for (MatItemBarcode barcode : barcodes) {
                                    itemBarcode.add(barcode.getItemBarcode());
                                }
                                item.setItemBarcode(itemBarcode);
                                list.add(item);
                            }
                        }
                    }
                }
            }

            MesRecvFeedback mesRecvFeedback = new MesRecvFeedback();
            mesRecvFeedback.setSourceNo(dbMemo.getString("sourceNo"));
            mesRecvFeedback.setOperuser(dbMemo.getString("operuser"));
            mesRecvFeedback.setItemdata(list);

            String url = MES_URL + "MaterialReceiptAndReturn";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesRecvFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")) {
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if ("1".equals(mesReturn.getSuccess())) {
                    return 1;
                }
            }
        }

        return 0;
    }

    /**
     * 出库申请，加工库、刀具库
     * 出库后需要自动呼叫AGV送货
     * 出库规则：需要按零件二维码（一件一码）出库，整托出库，该托上有其他物料也一起出库，他们后期会再入库
     *
     * @param mesOutApply
     * @return 1 成功；-1 订单重复；
     */
    public int outBoundOrder(MesOutApply mesOutApply) {

//        // 空托出库
//        if (StringUtils.isEmpty(mesOutApply.getOrderNo()) && "01".equals(mesOutApply.getTransType())) {
//            // 生成空托出库任务
//            mobileService.callEmptyBinOutBound(WMS_TRANS_START_STATION_1, "1", defaultUserId);
//
//            try {
//                if (!StringUtils.isEmpty(mesOutApply.getTaskno()) && !StringUtils.isEmpty(mesOutApply.getStationId())) {
//                    TransTask transTask = new TransTask();
//                    transTask.setTaskno(mesOutApply.getTaskno());
//                    transTask.setTaskname(mesOutApply.getTaskname());
//                    transTask.setOrderNo(mesOutApply.getOrderNo());
//                    transTask.setTransType(mesOutApply.getTransType());
//                    transTask.setCurStationId(WMS_TRANS_START_STATION_1);
//                    transTask.setNextProcess(mesOutApply.getProductLineId());
//                    transTask.setNextStationId(mesOutApply.getStationId());
//                    transTask.setItemno(WMS_ZPALLET_ID);  // 固定为空托的编码
//                    transTask.setQty(1);    // 空托只出1个
//                    transTask.setProductLineId(mesOutApply.getProductLineId());
//                    transTask.setOperateType(1);
//                    transTask.setAgvFactory(1);
//                    JSONObject sendAgvTask = submitTask(transTask);
//                    if (!"1".equals(sendAgvTask.getString("Success"))) {
//                        log.error("出库下发agv运输任务失败：{}", JSONObject.toJSONString(transTask));
//                    }
//                }
//            } catch (Exception e) {
//                log.error("下发AGV运输任务失败", e);
//            }
//
//            return 1;
//        } else {    // 毛坯（物料）出库
//            // docType根据库类型确定
//            long docType = 7;
//            long settle = 1;
//
//            // 校验订单是否重复
//            OrderPakout order = orderPakoutService.selectByNo(mesOutApply.getOrderNo());
//            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
//                log.error("出库订单号重复：{}", mesOutApply.getOrderNo());
//                return -1;
//            }
//
//            // 生成订单
//            Date now = new Date();
//            OrderPakout orderPakout = new OrderPakout();
//            orderPakout.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
//            orderPakout.setOrderNo(mesOutApply.getOrderNo());
//            orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
//            orderPakout.setDocType(docType);
//            orderPakout.setSettle(settle);
//            orderPakout.setStatus(1);
//            orderPakout.setCreateBy(defaultUserId);
//            orderPakout.setCreateTime(now);
//            orderPakout.setUpdateBy(defaultUserId);
//            orderPakout.setUpdateTime(now);
//            orderPakout.setMemo(JSONObject.toJSONString(mesOutApply));
//            orderPakout.setPakinPakoutStatus(2);
//            if (!orderPakoutService.insert(orderPakout)) {
//                log.error("MES保存出库订单主档失败");
//                throw new CoolException("保存出库订单主档失败");
//            }
//
//            // 生成明细
//            Mat mat = matService.selectByMatnr(mesOutApply.getItemno());
//            OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
//            orderDetlPakout.setOrderId(orderPakout.getId());
//            orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
//            orderDetlPakout.setAnfme(Double.valueOf(mesOutApply.getQty()));
//            orderDetlPakout.setQty(0.0);
//            orderDetlPakout.setMatnr(mat.getMatnr());
//            orderDetlPakout.setMaktx(mat.getMaktx());
//            orderDetlPakout.setSpecs(mat.getSpecs());
//            orderDetlPakout.setModel(mat.getModel());
//            orderDetlPakout.setStandby1(barCodeListToStr(mesOutApply.getItemBarcode()));
//            orderDetlPakout.setCreateBy(defaultUserId);
//            orderDetlPakout.setCreateTime(now);
//            orderDetlPakout.setUpdateBy(defaultUserId);
//            orderDetlPakout.setUpdateTime(now);
//            orderDetlPakout.setStatus(1);
//            orderDetlPakout.setPakinPakoutStatus(2);
//            if (!orderDetlPakoutService.insert(orderDetlPakout)) {
//                log.error("MES保存出库订单明细档失败");
//                throw new CoolException("保存出库订单明细档失败");
//            }
//
//            // TODO：若AGV和输送线没有安全交互，则要保证立库出货完成后再呼叫AGV。
//            // 立库生成订单后，自动调度AGV运送到站点，目前多托生成多个。
//            try {
//                if (!StringUtils.isEmpty(mesOutApply.getTaskno()) && !StringUtils.isEmpty(mesOutApply.getStationId())) {
//                    // 按零件二维码查询有几个托，多托生成多个任务，每托对应零件二维码
//                    String barCode = barCodeListToStr(mesOutApply.getItemBarcode());
//                    EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
//                    matItemBarcodeEntityWrapper.in("item_barcode", barCode);
//                    List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
//                    if (barcodes != null) {
//                        Map<String, List<MatItemBarcode>> map = barcodes.stream().collect(Collectors.groupingBy(MatItemBarcode::getZapplet));
//                        for (Map.Entry<String, List<MatItemBarcode>> entry : map.entrySet()) {
//                            List<MatItemBarcode> list = entry.getValue();
//                            List<String> codes = new ArrayList<>();
//                            for (MatItemBarcode zapllet : list) {
//                                codes.add(zapllet.getItemBarcode());
//                            }
//
//                            TransTask transTask = new TransTask();
//                            transTask.setTaskno(mesOutApply.getTaskno());
//                            transTask.setTaskname(mesOutApply.getTaskname());
//                            transTask.setOrderNo(mesOutApply.getOrderNo());
//                            transTask.setTransType(mesOutApply.getTransType());
//                            transTask.setCurStationId(WMS_TRANS_START_STATION_3);
//                            transTask.setNextProcess(mesOutApply.getProductLineId());
//                            transTask.setNextStationId(mesOutApply.getStationId());
//                            transTask.setItemno(mesOutApply.getItemno());
//                            transTask.setQty(list.size());
//                            transTask.setProductLineId(mesOutApply.getProductLineId());
//                            transTask.setItemBarcode(codes);
//                            transTask.setTuoPanId(entry.getKey());
//                            transTask.setOperateType(1);
//                            transTask.setAgvFactory(1);
//                            JSONObject sendAgvTask = submitTask(transTask);
//                            if (!"1".equals(sendAgvTask.getString("Success"))) {
//                                log.error("出库下发agv运输任务失败", JSONObject.toJSONString(transTask));
//                            }
//                        }
//                    }
//                }
//            } catch (Exception e) {
//                log.error("下发AGV运输任务失败", e);
//            }
//        }

        return 1;
    }

    /**
     * 入库申请
     * 收到入库申请后自动呼叫AGV取货
     *
     * @param mesInApply
     */
    @Transactional
    public int inBoundOrder(MesInApply mesInApply) {

        // 空托回库
        if (StringUtils.isEmpty(mesInApply.getOrderNo()) && StringUtils.isEmpty(mesInApply.getItemno())) {
            if (!StringUtils.isEmpty(mesInApply.getTaskno()) && !StringUtils.isEmpty(mesInApply.getStationID())) {
                TransTask transTask = new TransTask();
                transTask.setTaskno(mesInApply.getTaskno());
                transTask.setTaskname(mesInApply.getTaskname());
                transTask.setOrderNo(mesInApply.getOrderNo());
                transTask.setTransType(mesInApply.getTransType());
                transTask.setCurProcess(mesInApply.getProductLineId());
                transTask.setCurStationId(mesInApply.getStationID());
                transTask.setNextStationId(WMS_TRANS_START_STATION_2);
                transTask.setItemno(WMS_ZPALLET_ID);  // 固定为空托的编码
                transTask.setQty(1);    // 空托只回1个
                transTask.setProductLineId(mesInApply.getProductLineId());
                transTask.setOperateType(1);
                transTask.setAgvFactory(1);
                JSONObject sendAgvTask = submitTask(transTask);
                if (!"1".equals(sendAgvTask.getString("Success"))) {
                    log.error("出库下发agv运输任务失败,{}", JSONObject.toJSONString(transTask));
                    return 2;
                }
            } else {
                log.error("无任务号：{}，或无物料编码:{}", mesInApply.getTaskno(), mesInApply.getItemno());
                return 2;
            }

            return 1;
        } else {    // 毛坯、成品回库
            // docType根据库类型确定
            long docType = 3;
            long settle = 1;

            // 校验订单是否重复
            OrderPakin order = orderPakinService.selectByNo(mesInApply.getOrderNo());
            if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
                log.error("订单重复：{}", mesInApply.getOrderNo());
                return 2;
            }

            // 生成订单
            Date now = new Date();
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(mesInApply.getOrderNo());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setDocType(docType);
            orderPakin.setSettle(settle);
            orderPakin.setStatus(1);
            orderPakin.setCreateBy(defaultUserId);
            orderPakin.setCreateTime(now);
            orderPakin.setUpdateBy(defaultUserId);
            orderPakin.setUpdateTime(now);
            orderPakin.setMemo(JSONObject.toJSONString(mesInApply));  //为出库完成反馈保存
            orderPakin.setPakinPakoutStatus(1);
            orderPakinService.insert(orderPakin);

            // 生成明细
            Mat mat = matService.selectByMatnr(mesInApply.getItemno());
            OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
            orderDetlPakin.setOrderId(orderPakin.getId());
            orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
            orderDetlPakin.setAnfme(Double.valueOf(mesInApply.getQty()));
            orderDetlPakin.setQty(0.0);
            orderDetlPakin.setMatnr(mat.getMatnr());
            orderDetlPakin.setMaktx(mat.getMaktx());
            orderDetlPakin.setSpecs(mat.getSpecs());
            orderDetlPakin.setModel(mat.getModel());
            if (mesInApply.getProductInfo() != null) {
                orderDetlPakin.setStandby1(JSONObject.toJSONString(mesInApply.getProductInfo())); //零件详情存在1
            }
            orderDetlPakin.setStandby2("0");  //保存齐套性检查标识，1 检查；0 不检查；
            orderDetlPakin.setCreateBy(defaultUserId);
            orderDetlPakin.setCreateTime(now);
            orderDetlPakin.setUpdateBy(defaultUserId);
            orderDetlPakin.setUpdateTime(now);
            orderDetlPakin.setStatus(1);
            orderDetlPakin.setPakinPakoutStatus(1);
            orderDetlPakinService.insert(orderDetlPakin);

            // 生成入库通知档
            WaitPakin waitPakin = new WaitPakin();
            BeanUtils.copyProperties(mat, waitPakin);
//                waitPakin.sync(mat);
            waitPakin.setOrderNo(orderPakin.getOrderNo());   // 单据编号
            waitPakin.setOrderId(orderPakin.getId());
            waitPakin.setZpallet(mesInApply.getTuoPanId());   // 托盘码
            waitPakin.setIoStatus("N");     // 入出状态
            waitPakin.setAnfme(orderDetlPakin.getAnfme());  // 数量
            waitPakin.setStatus("Y");    // 状态
            waitPakin.setAppeUser(defaultUserId);
            waitPakin.setAppeTime(now);
            waitPakin.setModiUser(defaultUserId);
            waitPakin.setModiTime(now);
            List<String> itemBarcode = mesInApply.getProductInfo().stream().map(MesInApply.ProductInfo::getItemBarcode).collect(Collectors.toList());
            waitPakin.setStandby1(barCodeListToStr(itemBarcode));
            waitPakinService.insert(waitPakin);
            OrderInAndOutUtil.increaseWorkQty(Boolean.TRUE, orderPakin.getId(), orderDetlPakin.getMatnr(), orderDetlPakin.getBatch(),
                    orderDetlPakin.getBrand(), orderDetlPakin.getStandby1(), orderDetlPakin.getStandby2(), orderDetlPakin.getStandby3(),
                    orderDetlPakin.getBoxType1(), orderDetlPakin.getBoxType2(), orderDetlPakin.getBoxType3(), orderDetlPakin.getAnfme());
            OrderInAndOutUtil.updateOrder(Boolean.TRUE, orderPakin.getId(), 2L, defaultUserId);

            // 呼叫AGV从产线运回立库
            try {
                if (!StringUtils.isEmpty(mesInApply.getTaskno())) {
                    TransTask transTask = new TransTask();
                    transTask.setTaskno(mesInApply.getTaskno());
                    transTask.setTaskname(mesInApply.getTaskname());
                    transTask.setOrderNo(mesInApply.getOrderNo());
                    transTask.setTransType(mesInApply.getTransType());
                    transTask.setCurProcess(mesInApply.getProductLineId());
                    transTask.setCurStationId(mesInApply.getStationID());
                    transTask.setNextStationId(WMS_TRANS_START_STATION_2);
                    transTask.setItemno(mesInApply.getItemno());
                    transTask.setQty(mesInApply.getQty());
                    transTask.setProductLineId(mesInApply.getProductLineId());
                    transTask.setItemBarcode(itemBarcode);
                    transTask.setTuoPanId(mesInApply.getTuoPanId());
                    transTask.setOperateType(1);
                    transTask.setAgvFactory(1);
                    JSONObject sendAgvTask = submitTask(transTask);
                    if (!"1".equals(sendAgvTask.getString("Success"))) {
                        log.error("出库下发agv运输任务失败:{}", JSONObject.toJSONString(transTask));
                    }
                }
            } catch (Exception e) {
                log.error("下发AGV运输任务失败", e);
            }
        }

        return 1;
    }

    /**
     * 出库完成
     * 出库后，按托推送，非整个订单
     *
     * @param orderNo
     * @return
     */
    public int outFeedbackByTuo(String orderNo, Task agvTask) {

        int success = 0;

        OrderPakout order = orderPakoutService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());

            // TODO：出库完成后，若未解绑托盘和物料，则执行托盘解绑
            // TODO：出库完成后，若未清除零件二维码，则执行清除，也可以在AGV送货完成后清除
//            EntityWrapper<OrderDetlPakout> wrapper = new EntityWrapper<>();
//            wrapper.eq("order_no", orderNo);
//            List<OrderDetlPakout> orderDetlPakouts = orderDetlPakoutService.selectList(wrapper);
//            if (orderDetlPakouts != null && !orderDetlPakouts.isEmpty()) {
//                for (OrderDetlPakout orderDetl : orderDetlPakouts) {
//                    StringBuilder palletId = new StringBuilder();
//                    EntityWrapper<WaitPakin> wrapper2 = new EntityWrapper<>();
//                    wrapper2.eq("order_no", orderDetl.getOrderNo());
//                    List<WaitPakin> waitPakins = waitPakinService.selectList(wrapper2);
//                    if (waitPakins != null && waitPakins.size() > 0) {
//                        for (WaitPakin waitPakin : waitPakins) {
//                            palletId.append(waitPakin.getZpallet()).append(",");
//                        }
//                    }
//
//                    MesOutFeedback mesOutFeedback = new MesOutFeedback();
//                    mesOutFeedback.setTaskno(dbMemo.getString("taskno"));
//                    mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
//                    mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
//                    mesOutFeedback.setStationId(dbMemo.getString("StationID"));
//                    mesOutFeedback.setItemno(orderDetl.getMatnr());
//                    mesOutFeedback.setTuoPanId(zpalletId);
//                    mesOutFeedback.setQty(orderDetl.getQty().intValue());
//                    if (!StringUtils.isEmpty(dbMemo.getString("ItemBarcode"))) {
//                        mesOutFeedback.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
//                    }
//                    mesOutFeedback.setOrderNo(orderNo);
//                }
//            }

            EntityWrapper<TaskDetl> entityWrapper = new EntityWrapper<>();
            entityWrapper.eq("wrk_no", agvTask.getWrkNo());
            TaskDetl taskDetl = taskDetlService.selectOne(entityWrapper);
            String zpalletId = taskDetl.getZpallet();
            List<String> itemBarCode = new ArrayList<>();
            JSONArray array = JSONArray.parseArray(taskDetl.getMemo());
            for (Object one : array) {
                itemBarCode.add(one.toString());
                // TODO：入库时存储零件码(ItemBarCode），并绑定托盘，出库后这里考虑解绑
            }

            MesOutFeedback mesOutFeedback = new MesOutFeedback();
            mesOutFeedback.setTaskno(agvTask.getTaskNo());
            mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
            mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
            mesOutFeedback.setStationId(dbMemo.getString("StationId"));
            mesOutFeedback.setItemno(dbMemo.getString("Itemno"));
            mesOutFeedback.setTuoPanId(zpalletId);
            if (itemBarCode != null && itemBarCode.size() > 0) {
                mesOutFeedback.setQty(itemBarCode.size());
                mesOutFeedback.setItemBarcode(itemBarCode);
            }
            mesOutFeedback.setOrderNo(orderNo);

            String url = MES_URL + "issueComplete";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesOutFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")) {
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if ("1".equals(mesReturn.getSuccess())) {
                    success = 1;
                }
            }
        }

        return success;
    }

    /**
     * 入库完成
     * 入库后，按托推送，非整个订单
     *
     * @param orderNo
     * @param zapplet
     * @return
     */
    public int inFeedbackByTuo(String orderNo, String zapplet) {

        int success = 0;

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            List<MesInApply.ProductInfo> list = new ArrayList<>();
            // 从托盘绑定的零件二维码中查询信息
            EntityWrapper<MatItemBarcode> matItemBarcodeEntityWrapper = new EntityWrapper<>();
            matItemBarcodeEntityWrapper.eq("zapplet", zapplet).eq("status", 1);
            List<MatItemBarcode> barcodes = matItemBarcodeMapper.selectList(matItemBarcodeEntityWrapper);
            for (MatItemBarcode barcode : barcodes) {
                MesInApply.ProductInfo productInfo = new MesInApply.ProductInfo();
                productInfo.setItemBarcode(barcode.getItemBarcode());
                productInfo.setQualityStatus(barcode.getQualityStatus());
                list.add(productInfo);
            }

            MesInApply result = JSONObject.parseObject(order.getMemo(), MesInApply.class);
            result.setProductInfo(list);
            result.setQty(list.size());

            String url = MES_URL + "loadComplete";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(result));
            if (!StringUtils.isEmpty(response) && response.contains("Success")) {
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if ("1".equals(mesReturn.getSuccess())) {
                    success = 1;
                }
            }
        }

        return success;
    }

    /**
     * 零件二维码，数组转string
     *
     * @param list
     * @return
     */
    public static String barCodeListToStr(List<String> list) {
        StringBuilder stringBuilder = new StringBuilder();
        for (String str : list) {
            stringBuilder.append(str).append(",");
        }
        String result = stringBuilder.toString();
        return result.endsWith(",") ? result.substring(0, result.length() - 1) : result;
    }

    /**
     * 零件二维码，string转数组
     *
     * @param str
     * @return
     */
    public static List<String> barCodeStrToList(String str) {
        String[] array = str.split(",");
        return Arrays.asList(array);
    }

    /**
     * 入库完成
     * 入库单完成后，整单推送
     *
     * @param orderNo
     * @return
     */
    public int inFeedback(String orderNo) {

        int success = 0;

        OrderPakin order = orderPakinService.selectByNo(orderNo);
        if (order != null && !StringUtils.isEmpty(order.getOrderNo())) {
            EntityWrapper<OrderDetlPakin> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakin> orderDetlPakins = orderDetlPakinService.selectList(wrapper);
            if (orderDetlPakins != null && !orderDetlPakins.isEmpty()) {
                for (OrderDetlPakin orderDetl : orderDetlPakins) {
                    MesInApply result = JSONObject.parseObject(order.getMemo(), MesInApply.class);
                    result.setQty(orderDetl.getQty().intValue());

                    String url = MES_URL + "loadComplete";
                    String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(result));
                    if (!StringUtils.isEmpty(response) && response.contains("Success")) {
                        MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                        if ("1".equals(mesReturn.getSuccess())) {
                            success++;
                        }
                    }
                }

                if (success == orderDetlPakins.size()) {
                    success = 1;
                } else {
                    success = 0;
                }
            }
        }

        return success;
    }

    /**
     * （备份）出库订单完成
     *
     * @param orderNo
     * @return
     */
    public int outFeedback(String orderNo) {

        int success = 0;

        OrderPakout order = orderPakoutService.selectByNo(orderNo);
        if (order != null && order.getSettle() == 4) {   // 校验是否完成
            JSONObject dbMemo = JSONObject.parseObject(order.getMemo());
            EntityWrapper<OrderDetlPakout> wrapper = new EntityWrapper<>();
            wrapper.eq("order_no", orderNo);
            List<OrderDetlPakout> orderDetlPakouts = orderDetlPakoutService.selectList(wrapper);
            if (orderDetlPakouts != null && !orderDetlPakouts.isEmpty()) {
                for (OrderDetlPakout orderDetl : orderDetlPakouts) {
                    StringBuilder palletId = new StringBuilder();
                    EntityWrapper<WaitPakin> wrapper2 = new EntityWrapper<>();
                    wrapper2.eq("order_no", orderDetl.getOrderNo());
                    List<WaitPakin> waitPakins = waitPakinService.selectList(wrapper2);
                    if (waitPakins != null && waitPakins.size() > 0) {
                        for (WaitPakin waitPakin : waitPakins) {
                            palletId.append(waitPakin.getZpallet()).append(",");
                        }
                    }

                    MesOutFeedback mesOutFeedback = new MesOutFeedback();
                    mesOutFeedback.setTaskno(dbMemo.getString("taskno"));
                    mesOutFeedback.setTaskname(dbMemo.getString("taskname"));
                    mesOutFeedback.setProductLineId(dbMemo.getString("ProductLineId"));
                    mesOutFeedback.setStationId(dbMemo.getString("StationID"));
                    mesOutFeedback.setItemno(orderDetl.getMatnr());
                    if (!StringUtils.isEmpty(palletId.toString())) {
                        mesOutFeedback.setTuoPanId(palletId.substring(0, palletId.length() - 1));
                    }
                    mesOutFeedback.setQty(orderDetl.getQty().intValue());
                    if (!StringUtils.isEmpty(dbMemo.getString("ItemBarcode"))) {
                        mesOutFeedback.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
                    }
                    mesOutFeedback.setOrderNo(orderNo);

                    // TODO:备注：出库完成后解绑托盘和物料，若前面未解绑，此处需要解绑

                    String url = MES_URL + "issueComplete";
                    String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(mesOutFeedback));
                    if (!StringUtils.isEmpty(response) && response.contains("Success")) {
                        MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                        if ("1".equals(mesReturn.getSuccess())) {
                            success++;
                        }
                    }
                }

                if (success == orderDetlPakouts.size()) {
                    success = 1;

                    // TODO：立库出库后自动调度AGV运送到站点
                    String taskNo = dbMemo.getString("taskno");
                    if (!StringUtils.isEmpty(taskNo)) {
                        TransTask transTask = new TransTask();
                        transTask.setTaskno(dbMemo.getString("taskno"));
                        transTask.setTaskname(dbMemo.getString("taskname"));
                        transTask.setOrderNo(dbMemo.getString("OrderNo"));
                        transTask.setTransType(dbMemo.getString("TransType"));
//                    transTask.setCurProcess();
                        transTask.setCurStationId(WMS_TRANS_START_STATION_1);
                        transTask.setNextProcess(dbMemo.getString("ProductLineId"));
                        transTask.setNextStationId(dbMemo.getString("StationId"));
                        transTask.setItemno(dbMemo.getString("Itemno"));
                        transTask.setQty(dbMemo.getInteger("Qty"));
                        transTask.setProductLineId(dbMemo.getString("ProductLineId"));
                        transTask.setItemBarcode(barCodeStrToList(dbMemo.getString("ItemBarcode")));
                        transTask.setOperateType(1);
                        transTask.setAgvFactory(1);
                        JSONObject sendAgvTask = submitTask(transTask);
                        if (!"1".equals(sendAgvTask.getString("Success"))) {
                            log.error("出库下发agv运输任务失败", JSONObject.toJSONString(transTask));
                        }
                    }
                } else {
                    success = 0;
                }
            }
        }

        return success;
    }

    /**
     * 出库申请（叫料）,装配库、滑块库
     *
     * @param mesCallOutApply
     * @return
     */
    public int callOutBoundOrder(MesCallOutApply mesCallOutApply) {
        DocType docType = docTypeService.selectOne(new EntityWrapper<DocType>().eq("doc_name", mesCallOutApply.getTransType()));
        if (docType == null) {
            return 0;
        }
        //生成出库单
        if (docType.getPakout() == 1) {
            long settle = 1;

            // 校验订单是否重复
            OrderPakout order = orderPakoutService.selectByNo(mesCallOutApply.getOrderNo());
            // 如果单据不存在则添加；如果单据存在，作业中无法修改，反之则修改单据
            if (!Cools.isEmpty(order)) {
                if (order.getSettle() > 1L) {
                    throw new CoolException(mesCallOutApply.getOrderNo() + "正在出库，无法修改单据");
                }
                orderPakoutService.remove(order.getId());
            }

            // 生成订单
            Date now = new Date();
            OrderPakout orderPakout = new OrderPakout();
            orderPakout.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakout.setOrderNo(mesCallOutApply.getOrderNo());
            orderPakout.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakout.setDocType(docType.getDocId());
            orderPakout.setSettle(settle);
            orderPakout.setStatus(1);
            orderPakout.setCreateBy(defaultUserId);
            orderPakout.setCreateTime(now);
            orderPakout.setUpdateBy(defaultUserId);
            orderPakout.setUpdateTime(now);
            orderPakout.setMemo(JSONObject.toJSONString(mesCallOutApply));
            orderPakout.setPakinPakoutStatus(2);
            orderPakout.setCstmrName(mesCallOutApply.getStationId());//agv目标站点
            if (!orderPakoutService.insert(orderPakout)) {
                log.error("MES保存出库订单（叫料）主档失败");
                throw new CoolException("保存出库订单（叫料）主档失败");
            }
            Set<String> set = new HashSet<>();
            // 生成明细
            if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
                for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()) {

                    set.add(mesOutApplyItem.getTrayid());
                    Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
                    OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
                    orderDetlPakout.setOrderId(orderPakout.getId());
                    orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
                    orderDetlPakout.setAnfme(Double.valueOf(mesOutApplyItem.getQty()));
                    orderDetlPakout.setQty(0.0);
                    orderDetlPakout.setMatnr(mat.getMatnr());
                    orderDetlPakout.setMaktx(mat.getMaktx());
                    orderDetlPakout.setSpecs(mat.getSpecs());
                    orderDetlPakout.setModel(mat.getModel());
                    orderDetlPakout.setThreeCode(mesOutApplyItem.getItemBarcode());
                    orderDetlPakout.setStandby1(mesOutApplyItem.getTrayid());   //保存配盘号，非托盘号
                    orderDetlPakout.setCreateBy(defaultUserId);
                    orderDetlPakout.setCreateTime(now);
                    orderDetlPakout.setUpdateBy(defaultUserId);
                    orderDetlPakout.setUpdateTime(now);
                    orderDetlPakout.setStatus(1);
                    orderDetlPakout.setPakinPakoutStatus(2);
                    if (!orderDetlPakoutService.insert(orderDetlPakout)) {
                        log.error("MES保存出库订单（叫料）明细档失败");
                        throw new CoolException("保存出库订单（叫料）明细档失败");
                    }
                }
            }

            //有多少种不同的配盘号   只有配盘出库单需要知道
            if (mesCallOutApply.getTransType().equals("配盘出库单")) {
                orderPakout.setPayType(set.size());
                String shipCode = mesCallOutApply.getItemdata().get(0).getTrayid().split("-")[2];
                orderPakout.setShipCode(shipCode);//区域  是否是特殊托盘
                orderPakoutService.updateById(orderPakout);
            }

            return 1;
        } else {
            // 校验订单是否重复
            OrderPakin order = orderPakinService.selectByNo(mesCallOutApply.getOrderNo());
            // 如果单据不存在则添加；如果单据存在，作业中无法修改，反之则修改单据
            if (!Cools.isEmpty(order)) {
                if (order.getSettle() > 1L) {
                    throw new CoolException(mesCallOutApply.getOrderNo() + "正在出库，无法修改单据");
                }
                orderPakinService.remove(order.getId());
            }

            // 生成订单
            Date now = new Date();
            OrderPakin orderPakin = new OrderPakin();
            orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            orderPakin.setOrderNo(mesCallOutApply.getOrderNo());
            orderPakin.setOrderTime(com.core.common.DateUtils.convert(now));
            orderPakin.setDocType(docType.getDocId());
            orderPakin.setSettle(1L);
            orderPakin.setStatus(1);
            orderPakin.setCreateBy(defaultUserId);
            orderPakin.setCreateTime(now);
            orderPakin.setUpdateBy(defaultUserId);
            orderPakin.setUpdateTime(now);
            orderPakin.setMemo(JSONObject.toJSONString(mesCallOutApply));  //为出库完成反馈保存
            orderPakin.setPakinPakoutStatus(1);
            orderPakinService.insert(orderPakin);
            if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
                for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()) {
                    // 生成明细
                    Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
                    if (Cools.isEmpty(mat)) {
                        log.error("该物料编号立库没有=" + mesOutApplyItem.getItemno());
                        continue;
                    }
                    OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
                    orderDetlPakin.setOrderId(orderPakin.getId());
                    orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
                    orderDetlPakin.setAnfme(Double.valueOf(mesOutApplyItem.getQty()));
                    orderDetlPakin.setQty(0.0);
                    orderDetlPakin.setMatnr(mat.getMatnr());
                    orderDetlPakin.setMaktx(mat.getMaktx());
                    orderDetlPakin.setSpecs(mat.getSpecs());
                    orderDetlPakin.setModel(mat.getModel());
                    orderDetlPakin.setThreeCode(mesOutApplyItem.getItemBarcode());
                    orderDetlPakin.setStandby1(mesOutApplyItem.getTrayid());   //保存配盘号，非托盘号
                    orderDetlPakin.setStandby2("0");  //保存齐套性检查标识，1 检查；0 不检查；
                    orderDetlPakin.setCreateBy(defaultUserId);
                    orderDetlPakin.setCreateTime(now);
                    orderDetlPakin.setUpdateBy(defaultUserId);
                    orderDetlPakin.setUpdateTime(now);
                    orderDetlPakin.setStatus(1);
                    orderDetlPakin.setPakinPakoutStatus(1);
                    orderDetlPakinService.insert(orderDetlPakin);
                }

            }
            return 1;
        }

    }

    // endregion


    // region 搬运任务调度

    // route转发3个WCS任务

    /**
     * 9.1下发运输任务
     * TODO:其他库的任务全部转到滑块库统一调度
     *
     * @param transTask
     * @return
     */
    @Transactional
    public JSONObject submitTask(TransTask transTask) {

        JSONObject result = new JSONObject();
        result.put("taskno", transTask.getTaskno());

        // 重复性校验
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", transTask.getTaskno());
        List<Task> tasks = taskService.selectList(wrapper);
        if (tasks != null && !tasks.isEmpty()) {
            log.error("agv任务号重复:{}", transTask.getTaskno());
            result.put("Success", "2");
            result.put("Message", "agv任务号重复:" + transTask.getTaskno());
            return result;
        }

        int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
        Date now = new Date();
        Task task = new Task();
        task.setWrkNo(workNo);
        task.setTaskType("ZX-AGV");
        task.setWrkSts(301L);//301.AGV任务创建
        task.setIoType(3);//3.站到站
        task.setIoPri(10.00);
        task.setWrkDate(now);
        task.setBarcode(transTask.getBarcode());
        task.setSourceStaNo(transTask.getCurStationId());
        task.setStaNo(transTask.getNextStationId());
        task.setBarcode(transTask.getTuoPanId());
        task.setModiUser(defaultUserId);
        task.setModiTime(now);
        task.setAppeUser(defaultUserId);
        task.setAppeTime(now);
        task.setTaskNo(transTask.getTaskno());
        task.setMemo(JSONObject.toJSONString(transTask));
        task.setPltType(transTask.getAgvFactory());//华晓AGV
        task.setPacked(transTask.getRackNumber());//料架号
        task.setCtnType(1);

        if (taskService.insert(task)) {
                result.put("Success", "1");
                result.put("Message", "任务接收成功");

        }else {
            result.put("Success", "2");
            result.put("Message", "任务下发给RCS失败");
        }
        return result;
    }

    /**
     * 9.2返回任务执行结果
     *
     * @param rcsReporterTask
     * @return
     */
    public int reporterTask(RcsReporterTask rcsReporterTask) {

        // 结果汇总
        boolean completed = true;
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", rcsReporterTask.getRobotTaskCode());
        List<Task> tasks = taskService.selectList(wrapper);
        if (tasks != null && !tasks.isEmpty()) {
            for (Task task : tasks) {
                if (task.getWrkSts() != 304) {   // TODO：确认完成，可能存在多盘任务
                    completed = false;
                }
            }
        }

        if (completed) {
            TransTaskFeedback transTaskFeedback = new TransTaskFeedback();
            transTaskFeedback.setTaskno(rcsReporterTask.getRobotTaskCode());
//            transTaskFeedback.setTaskname();
            transTaskFeedback.setResult(1);

            String url = MES_URL + "api/task/reporter";
            String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(transTaskFeedback));
            if (!StringUtils.isEmpty(response) && response.contains("Success")) {
                MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
                if ("1".equals(mesReturn.getSuccess())) {
                    return 1;
                }
            }
        }

        return 0;
    }

    /**
     * 9.8申请华晓AGV进入生产线
     *
     * @param apply
     * @return
     */
    public String applyInLine(TransParent apply) {

        String url = MES_URL + "api/apply/inLine";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")) {
            JSONObject jsonObject = JSONObject.parseObject(response);
            if ("1".equals(jsonObject.getString("Success"))) {
                return jsonObject.getJSONObject("Data").getString("status");
            }
        }

        return "N";
    }

    /**
     * 入站请求：转发AGV->入站请求->给MES
     *
     * @param apply
     * @return
     */
    public int applyInStation(TransParent apply) {
        String path = "AGVTransportPalletNotice";
        String url = MES_URL + path;
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")) {
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if ("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 入站允许：转发MES->允许入站->给AGV
     *
     * @param allow
     * @return
     */
    public MesReturn allowInStation(TransInOutStationAllow allow) {

        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("2");

        if ("Y".equals(allow.getStatus())) {
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
            if (Cools.isEmpty(task)) {
                mesReturn.setMessage("没有找个该任务编号=" + allow.getTaskno() + "的AGV移动任务");
            } else {
                //查看申请站点的是海康还是华晓
                //海康
                if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1) {
                    RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                    rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
                    rcsTaskContinue.setTriggerType("TASK");
                    rcsTaskContinue.setTriggerCode(allow.getTaskno());
//            rcsTaskContinue.setTriggerType("ROBOT");
//            rcsTaskContinue.setTriggerCode(allow.getAgvCode());

                    int success = rcsService.continueTask(rcsTaskContinue, 1);
                    mesReturn.setSuccess(success == 1 ? "1" : "2");
                    mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
                } else {
                    allow.setMethod("APPLY_IN_STATION");
                    int success = rcsService.continueTask(allow, 2);
                    mesReturn.setSuccess(success == 1 ? "1" : "2");
                    mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
                }

            }
        }

        return mesReturn;
    }

    /**
     * 到站完成：转发AGV->到站完成->给MES
     *
     * @param arrivalStation
     * @return
     */
    public int arriveOnStation(TransArrivalStation arrivalStation) {

        if ("01".equals(arrivalStation.getDaotype())) {
            arrivalStation.setItemno(null);
            arrivalStation.setItemBarcode(new ArrayList<>());
            arrivalStation.setOrderNo(null);
        }

        String url = MES_URL + "AGVArrivalCompleted";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(arrivalStation));
        if (!StringUtils.isEmpty(response) && response.contains("Success")) {
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if ("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 离站请求：转发AGV->离站请求->给MES
     *
     * @param apply
     * @return
     */
    public int applyOutStation(TransParent apply) {

        String url = MES_URL + "AGVDepartureRequest";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")) {
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if ("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    /**
     * 离站允许：转发MES->允许离站->给AGV
     *
     * @param allow
     * @return
     */
    public MesReturn allowOutStation(TransInOutStationAllow allow) {

        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("2");

        if ("Y".equals(allow.getStatus())) {
            Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
            if (Cools.isEmpty(task)) {
                mesReturn.setMessage("没有找个该任务编号=" + allow.getTaskno() + "的AGV移动任务");
            } else {
                //查看申请站点的是海康还是华晓
                //海康
                if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1) {
                    RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                    rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
                    rcsTaskContinue.setTriggerType("TASK");
                    rcsTaskContinue.setTriggerCode(allow.getTaskno());
//            rcsTaskContinue.setTriggerType("ROBOT");
//            rcsTaskContinue.setTriggerCode(allow.getAgvCode());

                    int success = rcsService.continueTask(rcsTaskContinue, 1);
                    mesReturn.setSuccess(success == 1 ? "1" : "2");
                    mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
                } else {
                    allow.setMethod("APPLY_OFF_STATION");
                    int success = rcsService.continueTask(allow, 2);
                    mesReturn.setSuccess(success == 1 ? "1" : "2");
                    mesReturn.setMessage(success == 1 ? "" : "转发给RCS失败");
                }

            }
        }

        return mesReturn;
    }

    /**
     * 离站完成：转发AGV->离站完成->给MES
     *
     * @param apply
     * @return
     */
    public int outStation(TransParent apply) {

        String url = MES_URL + "AGVDepartureCompleted";
        String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
        if (!StringUtils.isEmpty(response) && response.contains("Success")) {
            MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
            if ("1".equals(mesReturn.getSuccess())) {
                return 1;
            }
        }

        return 0;
    }

    @Override
    public MesReturn queryInventory(String itemno, String orderNo) {
        MesReturn mesReturn = new MesReturn();
        mesReturn.setSuccess("1");
        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("matnr", itemno).eq("order_no", orderNo));

        int count = 0;
        for (LocDetl locDetl : locDetls) {
            count += locDetl.getAnfme();
        }
        mesReturn.setMessage(String.valueOf(count));
        return mesReturn;
    }

    // endregion

    /**
     * 查询Rcs地址
     *
     * @param agvNo
     * @return 1 海康；2 华晓
     */
    private int checkRcsFactory(String agvNo) {

        AgvInfo agvInfo = agvInfoMapper.selectById(agvNo);
        return agvInfo.getAgvFactory();
    }

}