WAREAMS/warewms-ams/src/main/java/com/ruoyi/ams/xuankuang/service/WcsToWmsApiService.java

package com.ruoyi.ams.xuankuang.service;

import cn.hutool.core.collection.CollectionUtil;
import cn.hutool.core.comparator.CompareUtil;
import cn.hutool.core.util.ObjectUtil;
import com.baomidou.mybatisplus.core.toolkit.IdWorker;
import com.ruoyi.ams.asn.domain.WmsDocAsnDetails;
import com.ruoyi.ams.asn.domain.WmsDocAsnHeader;
import com.ruoyi.ams.asn.mapper.WmsDocAsnDetailsMapper;
import com.ruoyi.ams.asn.mapper.WmsDocAsnHeaderMapper;
import com.ruoyi.ams.asn.service.IWmsDocAsnDetailsService;
import com.ruoyi.ams.inv.service.IInvLotLocIdService;
import com.ruoyi.ams.task.domain.WcsTask;
import com.ruoyi.ams.task.service.IWcsTaskService;
import com.ruoyi.ams.xuankuang.domain.dto.LocationCoordDTO;
import com.ruoyi.ams.xuankuang.domain.form.*;
import com.ruoyi.ams.xuankuang.facade.IUnpackingMachineFacade;
import com.ruoyi.base.constant.Constant;
import com.ruoyi.base.domain.BaseLocationInfo;
import com.ruoyi.base.domain.vo.BaseLocationLotattDTO;
import com.ruoyi.base.service.IBaseLocationInfoService;
import com.ruoyi.base.service.IBaseSkuService;
import com.ruoyi.base.utils.IdSequenceUtils;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.common.exception.base.BaseException;
import com.ruoyi.common.utils.StringUtils;
import com.ruoyi.hard.xuankang.StirringTankClient;
import com.ruoyi.hard.xuankang.UnpackingMachineSubClient;
import io.jsonwebtoken.lang.Assert;
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.math.BigDecimal;
import java.util.Date;
import java.util.List;

import static com.ruoyi.ams.xuankuang.service.BaseLocationInfoSubService.OUT_ZONES;

/**
 * @author HuKang
 * @version 1.0
 * @date 2023/3/30 15:42
 */
@Slf4j
@Service
public class WcsToWmsApiService {

    @Autowired
    private IBaseSkuService iBaseSkuService;
    @Autowired
    private IBaseLocationInfoService iBaseLocationInfoService;
    @Autowired
    private BaseLocationInfoSubService baseLocationInfoSubService;
    @Autowired
    private InvLotLocIdSubService InvLotLocIdSubService;
    @Autowired
    private WcsTaskSubService wcsTaskSubService;
    @Autowired
    private IWcsTaskService iWcsTaskService;
    @Autowired
    private WmsDocAsnHeaderMapper wmsDocAsnHeaderMapper;
    @Autowired
    private WmsDocAsnDetailsMapper wmsDocAsnDetailsMapper;
    @Autowired
    private IUnpackingMachineFacade unpackingMachineFacade;
    @Autowired
    private IdSequenceUtils idSequenceUtils;
    @Autowired
    private StirringTankClient stirringTankClient;
    @Autowired
    private UnpackingMachineSubClient unpackingMachineSubClient;
    @Autowired
    private IWcsTaskService wcsTaskService;
    @Autowired
    private IWmsDocAsnDetailsService wmsDocAsnDetailsService;
    @Autowired
    private WmsDocAsnSubService wmsDocAsnSubService;
    @Autowired
    private AgvCallProxyService agvCallProxyService;
    @Autowired
    private IInvLotLocIdService invLotLocIdService;

    /**
     * 组盘上报
     *
     * @param stackingCompletion
     * @return
     */
    @Transactional
    public synchronized AjaxResult stackingCompletion(StackingCompletionForm stackingCompletion) {
        // 上报类型
        int reportType = stackingCompletion.getReportType();
        // 托盘号
        String palletNo = stackingCompletion.getPalletNo();
        // Wcs物料类型
        String materialType = stackingCompletion.getMaterialType();
        // wms物料编码
        String sku = iBaseSkuService.selectBaseSkuByMaterialType(materialType).getSku();
        // 数量
        Double qty = (double) stackingCompletion.getQty();
        // 入库单号
        String asnNo = stackingCompletion.getRelatedWmsNo();
        // 任务号
        String wcsNo = stackingCompletion.getWcsNo();


        if (asnNo.equals("")) {
            AjaxResult ajaxResult1 = generateAShippingOrder(sku, new BigDecimal(qty));
            // 判重
            WcsTask wcsTaskQuery = new WcsTask();
            //AsnNO
            wcsTaskQuery.setExt1(ajaxResult1.getData().toString());
            wcsTaskQuery.setExt2(palletNo);
            wcsTaskQuery.setExt3(wcsNo);
            WcsTask wcsTask = iWcsTaskService.selectWcsTaskByModel(wcsTaskQuery);
            if (wcsTask != null) {
                String locationTo = wcsTask.getLocationTo();
                BaseLocationInfo baseLocationInfo = iBaseLocationInfoService.selectBaseLocationInfoByIdOrNo(locationTo, Constant.WAREHOUSE_ID);
                LocationCoordDTO locationCoordinateVo = new LocationCoordDTO();
                locationCoordinateVo.setTaskNo(wcsTask.getTaskNo());
                locationCoordinateVo.setLocationId(baseLocationInfo.getLocationNo());
                locationCoordinateVo.setFloor(Integer.valueOf(baseLocationInfo.getShiftNo()));
                locationCoordinateVo.setCol(Integer.valueOf(baseLocationInfo.getRowNo()));
                locationCoordinateVo.setRow(Integer.valueOf(baseLocationInfo.getRowIndex()));
                return AjaxResult.success("仓位获取成功!", locationCoordinateVo);
            }

            // 推荐目标库位
            BaseLocationLotattDTO baseLocationLotattVO = baseLocationInfoSubService.recommendAReceiptLocation(sku);
            if (baseLocationLotattVO == null) {
                AjaxResult.error("没有可以推荐的目标库位！");
            }

            //TODO recommendAReceiptLocation，获取库位时，判断同列库存是否是相同入库日期的，不同相同日期不可放

            // 生成任务
            String taskNo = "";
            AjaxResult ajaxResult = addWcsTask(Constant.LOC_STAGE_CACHE.toString()
                    , baseLocationLotattVO.getId().toString(), ajaxResult1.getData().toString(), palletNo, wcsNo);
            if (!ajaxResult.isSuccess()) {
                return ajaxResult;
            }
            taskNo = ajaxResult.get("data").toString();
            // 入库缓存位生成库存
            InvLotLocIdSubService.initInv(Constant.LOC_STAGE_CACHE.toString(), sku, palletNo, ajaxResult1.getData().toString(), taskNo, qty);
            // 反馈
            LocationCoordDTO locationCoordinateVo = new LocationCoordDTO();
            locationCoordinateVo.setTaskNo(taskNo);
            locationCoordinateVo.setLocationId(baseLocationLotattVO.getLocationNo());
            locationCoordinateVo.setFloor(Integer.valueOf(baseLocationLotattVO.getShiftNo()));
            locationCoordinateVo.setCol(Integer.valueOf(baseLocationLotattVO.getRowNo()));
            locationCoordinateVo.setRow(Integer.valueOf(baseLocationLotattVO.getRowIndex()));
            return AjaxResult.success("仓位获取成功!", locationCoordinateVo);
        }

        // 判重
        WcsTask wcsTaskQuery = new WcsTask();
        wcsTaskQuery.setExt1(asnNo);
        wcsTaskQuery.setExt2(palletNo);
        wcsTaskQuery.setExt3(wcsNo);
        WcsTask wcsTask = iWcsTaskService.selectWcsTaskByModel(wcsTaskQuery);
        if (wcsTask != null) {
            String locationTo = wcsTask.getLocationTo();
            BaseLocationInfo baseLocationInfo = iBaseLocationInfoService.selectBaseLocationInfoByIdOrNo(locationTo, Constant.WAREHOUSE_ID);
            LocationCoordDTO locationCoordinateVo = new LocationCoordDTO();
            locationCoordinateVo.setTaskNo(wcsTask.getTaskNo());
            locationCoordinateVo.setLocationId(baseLocationInfo.getLocationNo());
            locationCoordinateVo.setFloor(Integer.valueOf(baseLocationInfo.getShiftNo()));
            locationCoordinateVo.setCol(Integer.valueOf(baseLocationInfo.getRowNo()));
            locationCoordinateVo.setRow(Integer.valueOf(baseLocationInfo.getRowIndex()));
            return AjaxResult.success("仓位获取成功!", locationCoordinateVo);
        }

        // 推荐目标库位
        BaseLocationLotattDTO baseLocationLotattVO = baseLocationInfoSubService.recommendAReceiptLocation(sku);
        if (ObjectUtil.isNull(baseLocationLotattVO)) {
            return AjaxResult.error("没有可以推荐的目标库位！");
        }

        // 生成任务
        String taskNo = "";
        AjaxResult ajaxResult = addWcsTask(Constant.LOC_STAGE_CACHE.toString()
                , baseLocationLotattVO.getId().toString(), asnNo, palletNo, wcsNo);
        if (!ajaxResult.isSuccess()) {
            return ajaxResult;
        }
        taskNo = ajaxResult.get("data").toString();
        // 入库缓存位生成库存
        InvLotLocIdSubService.initInv(Constant.LOC_STAGE_CACHE.toString(), sku, palletNo, asnNo, taskNo, qty);
        // 反馈
        LocationCoordDTO locationCoordinateVo = new LocationCoordDTO();
        locationCoordinateVo.setTaskNo(taskNo);
        locationCoordinateVo.setLocationId(baseLocationLotattVO.getLocationNo());
        locationCoordinateVo.setFloor(Integer.valueOf(baseLocationLotattVO.getShiftNo()));
        locationCoordinateVo.setCol(Integer.valueOf(baseLocationLotattVO.getRowNo()));
        locationCoordinateVo.setRow(Integer.valueOf(baseLocationLotattVO.getRowIndex()));
        return AjaxResult.success("仓位获取成功!", locationCoordinateVo);
    }

    /**
     * 空托仓位请求
     *
     * @param emptyPalletLocForm
     * @return
     */
    @Transactional
    public synchronized AjaxResult emptyPalletLoc(EmptyPalletLocForm emptyPalletLocForm) {
        // 空托仓位请求类型
        int taskType = emptyPalletLocForm.getTaskType();
        // 任务号
        String wcsNo = emptyPalletLocForm.getWcsNo();

        if (taskType == 0) {
            return AjaxResult.error("未传入空托仓位请求类型");
        }

        if (taskType == 1) {
            // 判重
            WcsTask wcsTaskQuery = new WcsTask();
            wcsTaskQuery.setExt1("");
            wcsTaskQuery.setExt2("");
            wcsTaskQuery.setExt3(wcsNo);
            WcsTask wcsTask = iWcsTaskService.selectWcsTaskByModel(wcsTaskQuery);
            if (wcsTask != null) {
                String locationTo = wcsTask.getLocationTo();
                BaseLocationInfo baseLocationInfo = iBaseLocationInfoService.selectBaseLocationInfoByIdOrNo(locationTo, Constant.WAREHOUSE_ID);
                LocationCoordDTO locationCoordinateVo = new LocationCoordDTO();
                locationCoordinateVo.setTaskNo(wcsTask.getTaskNo());
                locationCoordinateVo.setLocationId(baseLocationInfo.getLocationNo());
                locationCoordinateVo.setFloor(Integer.valueOf(baseLocationInfo.getShiftNo()));
                locationCoordinateVo.setCol(Integer.valueOf(baseLocationInfo.getRowNo()));
                locationCoordinateVo.setRow(Integer.valueOf(baseLocationInfo.getRowIndex()));
                return AjaxResult.success("仓位获取成功!", locationCoordinateVo);
            }

            BaseLocationInfo baseLocationInfo = selectLocationInfo();
            if (baseLocationInfo == null) {
                AjaxResult.error("没有可以推荐的目标库位！");
            }

            // 生成任务
            String taskNo = "";
            AjaxResult ajaxResult = addWcsTask(Constant.LOC_STAGE_CACHE.toString()
                    , baseLocationInfo.getId().toString(), StringUtils.EMPTY, StringUtils.EMPTY,
                    wcsNo, "空托盘入库任务", Constant.TaskType.EMPTY_PALLET.getDesc());
            if (!ajaxResult.isSuccess()) {
                return ajaxResult;
            }
            taskNo = ajaxResult.get("data").toString();
            // 入库缓存位生成库存
            InvLotLocIdSubService.initInv(Constant.LOC_STAGE_CACHE.toString(), Constant.PALLET_TYPE, "", "", taskNo, 1.0);
            // 反馈
            LocationCoordDTO locationCoordinateVo = new LocationCoordDTO();
            locationCoordinateVo.setTaskNo(taskNo);
            locationCoordinateVo.setLocationId(baseLocationInfo.getLocationNo());
            locationCoordinateVo.setFloor(Integer.valueOf(baseLocationInfo.getShiftNo()));
            locationCoordinateVo.setCol(Integer.valueOf(baseLocationInfo.getRowNo()));
            locationCoordinateVo.setRow(Integer.valueOf(baseLocationInfo.getRowIndex()));
            return AjaxResult.success("空托入库仓位获取成功!", locationCoordinateVo);
        }

        if (taskType == 2) {

            BaseLocationLotattDTO baseLocationLotatt = allocateLocationInfo();
            Assert.isTrue(ObjectUtil.isNotNull(baseLocationLotatt), "仓库中无库存");
            String palletNo = ObjectUtil.isNotNull(baseLocationLotatt.getLotattVO())
                    ? baseLocationLotatt.getLotattVO().getLotatt07() : StringUtils.EMPTY;

            // 生成四向车出库任务
            String taskNo = IdWorker.getIdStr();

            addWcsOutTask(taskNo, baseLocationLotatt.getLocationNo(), Constant.LOC_SORTATION_CACHE.toString(),
                    palletNo, wcsNo, "空托盘出库任务", Constant.TaskType.EMPTY_PALLET.getDesc());
            Assert.isTrue( ObjectUtil.isNotNull(baseLocationLotatt.getId()), "仓库中无库存");
            invLotLocIdService.operateTraceIdByLocationId(String.valueOf(baseLocationLotatt.getId()), taskNo);
            LocationCoordDTO locationCoordinateVo1 = new LocationCoordDTO();
            locationCoordinateVo1.setTaskNo(taskNo);
            locationCoordinateVo1.setLocationId(baseLocationLotatt.getLocationNo());
            locationCoordinateVo1.setFloor(Integer.valueOf(baseLocationLotatt.getShiftNo()));
            locationCoordinateVo1.setCol(Integer.valueOf(baseLocationLotatt.getRowNo()));
            locationCoordinateVo1.setRow(Integer.valueOf(baseLocationLotatt.getRowIndex()));
            return AjaxResult.success(" 空托出库仓位获取成功", locationCoordinateVo1);
        }
        return AjaxResult.success();
    }

    private AjaxResult addWcsTask(String locationFrom, String locationTo
            , String asnNo, String palletNo, String wcsNo, String remark, String taskType) {
        return wcsTaskSubService.addWcsTask(IdWorker.getIdStr(), locationFrom, locationTo, asnNo,
                palletNo, wcsNo, 10L, remark, taskType);
    }

    private AjaxResult addWcsOutTask(String taskNo, String locationFrom, String locationTo,
                                     String palletNo, String wcsNo, String remark, String taskType) {
        return wcsTaskSubService.addWcsOutTask(taskNo, locationFrom, locationTo
                , StringUtils.EMPTY, palletNo, wcsNo, 10L, remark, taskType);
    }

    protected BaseLocationLotattDTO allocateLocationInfo() {
        List<BaseLocationLotattDTO> baseLocationLotattList = baseLocationInfoSubService.selectAllocatingInventoryAccordingConditionsOrderBy(OUT_ZONES, Constant.PALLET_TYPE);
        Assert.isTrue(CollectionUtil.isNotEmpty(baseLocationLotattList),  "there is no stock in the warehouse");
        return filterInv1(baseLocationLotattList);
    }

    protected BaseLocationInfo selectLocationInfo() {
        return baseLocationInfoSubService.recommendAReceiptLocation(Constant.PALLET_TYPE);
    }


    /**
     * 任务状态反馈
     *
     * @param taskStatusForm
     * @return
     */
    public AjaxResult taskStatusResponse(TaskStatusForm taskStatusForm) {
        String taskNo = taskStatusForm.getTaskNo();
        int status = taskStatusForm.getStatus();
        wcsTaskSubService.callBack(taskNo, status, null);
        return AjaxResult.success();
    }

    /**
     * 匹配库存
     *
     * @param locationLotattList
     * @return
     */
    public synchronized BaseLocationLotattDTO filterInv1(List<BaseLocationLotattDTO> locationLotattList) {
        return locationLotattList.parallelStream()
                .filter(item -> ObjectUtil.isNotNull(item)
                        && StringUtils.equals(Constant.PALLET_TYPE, item.getSku())
                        && CompareUtil.compare(item.getQty(), 1F) == 0).findFirst().orElse(null);
    }

    /**
     * 生成入库单
     *
     * @param sku
     * @param qty
     * @return
     */
    public AjaxResult generateAShippingOrder(String sku, BigDecimal qty) {
        WmsDocAsnHeader wmsDocAsnHeader = new WmsDocAsnHeader();
        //生成单头
        String asnNo = idSequenceUtils.generateId("ASNNO");
        wmsDocAsnHeader.setAsnNo(asnNo);
        wmsDocAsnHeader.setEdiSendFlag("N");
        wmsDocAsnHeader.setAsnType(Constant.ASN_TYP.HK.getValue());
        wmsDocAsnHeader.setCreateTime(new Date());
        wmsDocAsnHeader.setAsnStatus(Constant.ASN_STS.STS10.getValue());
        wmsDocAsnHeader.setCreateBy("Wms");
        wmsDocAsnHeaderMapper.insertWmsDocAsnHeader(wmsDocAsnHeader);

        //生成明细
        WmsDocAsnDetails wmsDocAsnDetails = new WmsDocAsnDetails();
        wmsDocAsnDetails.setAsnNo(asnNo);
        wmsDocAsnDetails.setAsnLineNo(1l);
        wmsDocAsnDetails.setSku(sku);
        wmsDocAsnDetails.setCreateTime(new Date());
        wmsDocAsnDetails.setExpectedQty(qty);
        wmsDocAsnDetails.setExpectedQtyEach(qty);
        wmsDocAsnDetails.setReceivedQty(new BigDecimal(0));
        wmsDocAsnDetails.setReceivedQtyEach(new BigDecimal(0));
        wmsDocAsnDetails.setLineStatus(Constant.ASN_STS.STS10.getValue());
        wmsDocAsnDetails.setCreateTime(new Date());
        wmsDocAsnDetails.setCreateBy("Wms");
        wmsDocAsnDetailsMapper.insertWmsDocAsnDetails(wmsDocAsnDetails);
        return AjaxResult.success("操作成功！", asnNo);
    }

    /**
     * 拆包机开启接口
     *
     * @param lineOpenNotificationForm
     * @return
     */
    public AjaxResult lineOpenNotification(LineOpenNotificationForm lineOpenNotificationForm) {
        String lineId = lineOpenNotificationForm.getLineId();
        boolean[] booleans = stirringTankClient.readTank14();
        return unpackingMachineFacade.unpackingMachineOpen(lineId, booleans) ? AjaxResult.success() : AjaxResult.error();
    }

    public AjaxResult turnOffTheUnpacker(LineOpenNotificationForm lineOpenNotificationForm){
        switch (lineOpenNotificationForm.getLineId()) {
            case "1":
                return turnOffTheUnpacker();
            case "2":
                return turnOffTheUnpacker1();
            case "3":
                return turnOffTheUnpacker2();
            case "4":
                return turnOffTheUnpacker3();
            case "5":
                return turnOffTheUnpacker4();
            default:
                throw new BaseException("lineId is not exist ......");
        }
    }

    /**
     * 正常关闭1号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpacker() {
        new Thread(() -> {
            try {
                Thread.sleep(300000);
                //写关闭拆包机信号
                unpackingMachineSubClient.writeV141_2();
                //写仓库注入碳酸钠完成
                stirringTankClient.writeTank05();
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }).start();
        return AjaxResult.success();
    }

    /**
     * 正常关闭2号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpacker1() {
        new Thread(() -> {
            try {
                Thread.sleep(300000);
                //写关闭拆包机信号
                unpackingMachineSubClient.writeV141_3();
                //写仓库注入丁黄药完成
                stirringTankClient.writeTank05_1();
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }).start();
        return AjaxResult.success();
    }

    /**
     * 正常关闭3号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpacker2() {
        new Thread(() -> {
            try {
                Thread.sleep(300000);
                //写关闭拆包机信号
                unpackingMachineSubClient.writeV141_4();
                //写仓库注入六偏磷酸钠完成
                stirringTankClient.writeTank05_3();
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }).start();
        return AjaxResult.success();
    }

    /**
     * 正常关闭4号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpacker3() {
        new Thread(() -> {
            try {
                Thread.sleep(300000);
                //写关闭拆包机信号
                unpackingMachineSubClient.writeV141_5();
                //写仓库注入硫酸铵完成
                stirringTankClient.writeTank05_4();
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }).start();
        return AjaxResult.success();
    }

    /**
     * 正常关闭5号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpacker4() {
        new Thread(() -> {
            try {
                Thread.sleep(300000);
                //写关闭拆包机信号
                unpackingMachineSubClient.writeV141_6();
                //写仓库注入乙黄药完成
                stirringTankClient.writeTank05_5();
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }).start();
        return AjaxResult.success();
    }

    /**
     * 异常关闭1号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpackererror() {
        //写仓库注入碳酸钠失败
        stirringTankClient.writeTank04();
        stirringTankClient.writeTank05f();
        //写关闭拆包机信号
        unpackingMachineSubClient.writeV141_2();
        return AjaxResult.success();
    }

    /**
     * 异常关闭2号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpackererror1() {
        //写仓库注入丁黄药失败
        stirringTankClient.writeTank04_1();
        stirringTankClient.writeTank05_1f();
        unpackingMachineSubClient.writeV141_3();
        return AjaxResult.success();
    }

    /**
     * 异常关闭3号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpackererror2() {
        //写仓库注入六偏磷酸钠失败
        stirringTankClient.writeTank04_3();
        stirringTankClient.writeTank05_3f();
        unpackingMachineSubClient.writeV141_4();
        return AjaxResult.success();
    }

    /**
     * 异常关闭4号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpackererror3() {
        //写仓库注入硫酸铵失败
        stirringTankClient.writeTank04_4();
        stirringTankClient.writeTank05_4f();
        unpackingMachineSubClient.writeV141_5();
        return AjaxResult.success();
    }

    /**
     * 异常关闭5号拆包机
     *
     * @return
     */
    public AjaxResult turnOffTheUnpackererror4() {
        //写仓库注入乙黄药失败
        stirringTankClient.writeTank04_5();
        stirringTankClient.writeTank05_5f();
        unpackingMachineSubClient.writeV141_6();
        return AjaxResult.success();
    }

    /**
     * 更新数据接口
     *
     * @param updateForm
     * @return
     */
    public AjaxResult updateAsnData(UpdateForm updateForm) {
        String asnNo = updateForm.getDocNo();
        String asnLineNo = updateForm.getLineNo();
        Integer num = updateForm.getNum();
        WmsDocAsnDetails wmsDocAsnDetails = wmsDocAsnDetailsMapper.selectWmsDocAsnDetailsByAsnLineNo(asnNo, asnLineNo);
        wmsDocAsnDetails.setExpectedQty(new BigDecimal(num));
        wmsDocAsnDetails.setExpectedQtyEach(new BigDecimal(num));
        wmsDocAsnDetailsMapper.updateWmsDocAsnDetails(wmsDocAsnDetails);
        return AjaxResult.success();
    }


    /**
     * 安全交握，Wcs回调通知agv是否可以执行
     * @param callbackForm
     * @return
     */
    public Boolean callbackNotice(CallbackTaskForm callbackForm) {
        Assert.isTrue(StringUtils.equals(Constant.SAFE_CODE.PASS.getCode(), callbackForm.getSafeCode()),
                "当前任务未执行");
        WcsTask wcsTask = wcsTaskService.selectWcsTaskByTaskNo(callbackForm.getTaskNo());
        Assert.isTrue(ObjectUtil.isNotNull(wcsTask), "wcsTask is null");
        return wcsTaskService.updateTaskStatus(wcsTask.getExt1(), Constant.TaskType.AGV.getDesc(),
                Constant.TASK_STS.TASK_CREATE.getValue(),  Constant.TASK_STS.TASK_WAIT.getValue());
    }

    /**
     * 出库任务下发
     * @return
     */
    public AjaxResult outboundRequest(OutboundForm outboundForm) {
        String locationFrom = "100733";
        String locationTo = "";
        String palletNo = outboundForm.getPalletNo();
        String wcsId = outboundForm.getWcsId();
        AjaxResult ajaxResult = agvCallProxyService.barrelsOutOfStorage(locationFrom, locationTo, palletNo,wcsId);
        if (ajaxResult.isSuccess()){
            return AjaxResult.success("任务创建成功");
        }
        return AjaxResult.error("任务创建失败");
    }

    /**
     * 回调卸货完成前
     * @return
     */
    public AjaxResult agvCallbackWCSBeforeUnloadingIsCompleted() {
        // 查询出状态为10，包含物料信息为丁铵黑药的入库单
        WmsDocAsnDetails wmsDocAsnDetails = new WmsDocAsnDetails();
        wmsDocAsnDetails.setSku("C4H9O2PSSNH4");
        wmsDocAsnDetails.setLineStatus(Constant.ASN_STS.STS10.getValue());
        WmsDocAsnDetails wmsDocAsnDetails1 = wmsDocAsnDetailsService.selectWmsDocAsnDetailsByModel(wmsDocAsnDetails);
        String asnNo = wmsDocAsnDetails1.getAsnNo();
        // 根据入库单号（Ext1）查询出所对应的任务
        WcsTask wcsTask = new WcsTask();
        wcsTask.setExt1(asnNo);
        WcsTask wcsTask1 = wcsTaskService.selectWcsTaskByModel(wcsTask);
        // 根据查出来的任务编号反馈wcs卸货完成
        String taskNo = wcsTask1.getTaskNo();
        wmsDocAsnSubService.wmsAgvCallbackIntask(taskNo);
        return AjaxResult.success();
    }

    private AjaxResult addWcsTask(String locationFrom, String locationTo
            , String asnNo, String palletNo, String wcsNo) {
        return wcsTaskSubService.addWcsTask(IdWorker.getIdStr(), locationFrom, locationTo, asnNo, palletNo,
                wcsNo, 10L, "立体库入库任务", StringUtils.EMPTY);
    }



}