wms / wms_changshusanyi · Files

package com.huaheng.api.robot.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.toolkit.StringUtils;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.huaheng.api.general.domain.InventoryQueryDomain;
import com.huaheng.api.robot.domain.*;
import com.huaheng.api.robot.service.RobotService;
import com.huaheng.api.wcs.domain.PageModel;
import com.huaheng.api.wcs.domain.RobotInventory;
import com.huaheng.api.wcs.domain.WcsTask;
import com.huaheng.api.wcs.service.emptyOutHandle.EmptyOutHandleService;
import com.huaheng.common.constant.QuantityConstant;
import com.huaheng.common.utils.DateUtils;
import com.huaheng.framework.aspectj.lang.annotation.ApiLogger;
import com.huaheng.framework.web.controller.BaseController;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.pc.config.container.domain.Container;
import com.huaheng.pc.config.container.service.ContainerService;
import com.huaheng.pc.config.containerType.service.ContainerTypeService;
import com.huaheng.pc.config.location.domain.Location;
import com.huaheng.pc.config.location.domain.LocationStatus;
import com.huaheng.pc.config.location.service.LocationService;
import com.huaheng.pc.config.material.domain.Material;
import com.huaheng.pc.config.material.service.MaterialService;
import com.huaheng.pc.config.station.domain.Station;
import com.huaheng.pc.config.station.service.StationService;
import com.huaheng.pc.config.zone.domain.Zone;
import com.huaheng.pc.config.zone.service.ZoneService;
import com.huaheng.pc.inventory.InventoryMaterialSummary.domain.InventoryMaterialSummary;
import com.huaheng.pc.inventory.InventoryMaterialSummary.service.InventoryMaterialSummaryService;
import com.huaheng.pc.inventory.inventoryDetail.domain.InventoryDetail;
import com.huaheng.pc.inventory.inventoryDetail.service.InventoryDetailService;
import com.huaheng.pc.inventory.inventoryHeader.domain.InventoryHeader;
import com.huaheng.pc.inventory.inventoryHeader.service.InventoryHeaderService;
import com.huaheng.pc.task.taskDetail.domain.TaskDetail;
import com.huaheng.pc.task.taskDetail.service.TaskDetailService;
import com.huaheng.pc.task.taskHeader.domain.TaskHeader;
import com.huaheng.pc.task.taskHeader.service.ReceiptTaskService;
import com.huaheng.pc.task.taskHeader.service.ShipmentTaskService;
import com.huaheng.pc.task.taskHeader.service.TaskHeaderService;
import com.huaheng.pc.task.taskHeader.service.WorkTaskService;
import io.swagger.annotations.ApiOperation;
import org.apache.commons.collections.MapUtils;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.math.BigDecimal;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.stream.Collectors;

@RestController
@RequestMapping("/API/WMS/v2")
public class RobotController  extends BaseController {

    @Resource
    private EmptyOutHandleService emptyOutHandleService;
    @Resource
    private ZoneService zoneService;
    @Resource
    private InventoryDetailService inventoryDetailService;
    @Resource
    private ContainerService containerService;
    @Resource
    private ContainerTypeService containerTypeService;
    @Resource
    private TaskHeaderService taskHeaderService;
    @Resource
    private StationService stationService;
    @Resource
    private ReceiptTaskService receiptTaskService;
    @Resource
    private ShipmentTaskService shipmentTaskService;
    @Resource
    private InventoryHeaderService inventoryHeaderService;
    @Resource
    private InventoryMaterialSummaryService inventoryMaterialSummaryService;
    @Resource
    private TaskDetailService taskDetailService;
    @Resource
    private MaterialService materialService;
    @Resource
    private RobotService robotService;
    @Resource
    private LocationService locationService;
    @Resource
    private WorkTaskService workTaskService;


    //并发控制
    Map<String, Boolean> runningTaskMap = new HashMap<>();


    @PostMapping("/callReceipt")
    @ApiOperation("生产入库")
    @ApiLogger(apiName = "生产入库", from = "ROBOT")
    @ResponseBody
    public AjaxResult callReceipt(@RequestBody Map<String, String> map) {
        String materialCodePLC = map.get("materialCodePLC");
        String orderNo = map.get("orderNo");
        String line = map.get("line");
        String materialCode = map.get("materialCode");
        String qty = map.get("qty");
        String area = map.get("area");
        String qcc = map.get("qc");
        String typee = map.get("type");
        String from = map.get("from");
        int qc = QuantityConstant.QC_NOCHECK;
        if(StringUtils.isNotEmpty(qcc)) {
            qc = Integer.parseInt(qcc);
        }
        int type = QuantityConstant.QC_NOCHECK;
        if(StringUtils.isNotEmpty(typee)) {
            type = Integer.parseInt(typee);
        }
        if (line == null) {
            return AjaxResult.error("没有line");
        }
        if (materialCode == null) {
            return AjaxResult.error("没有materialCode");
        }
        if (qty == null) {
            return AjaxResult.error("没有qty");
        }
        if (area == null) {
            return AjaxResult.error("没有area");
        }
        if(area.equals("7")){
            materialCodePLC = "0";
        }
        if (materialCodePLC == null) {
            return AjaxResult.error("没有materialCodePLC");
        }
        if (orderNo == null) {
            return AjaxResult.error("没有orderNo");
        }
        int materialCodePLCint = Integer.parseInt(materialCodePLC);
        int finalQc = qc;
        int finalType = type;
        AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
            @Override
            public AjaxResult doProcess() {
                AjaxResult ajaxResult = robotService.innerCallReceipt(line,
                        materialCode, qty, area, materialCodePLCint, orderNo, finalQc, finalType);
                return ajaxResult;
            }
        });
        return ajaxResult;
    }


    @PostMapping("/callShipment")
    @ApiOperation("生产叫料")
    @ApiLogger(apiName = "生产叫料", from = "ROBOT")
    @ResponseBody
    public AjaxResult callShipment(@RequestBody Map<String, Object> map) {
        String materialCodePLC = (String) map.get("materialCodePLC");
        String orderNo = (String) map.get("orderNo");
        String productCode = (String) map.get("productCode");
        String line = (String) map.get("line");
        String materialCode = (String) map.get("materialCode");
        String qty = map.get("qty").toString();
        String area = map.get("area").toString();
        String qc = (String) map.get("qc");
        String from = (String) map.get("from");
        Object typee =  map.get("type");
        //内圈
        String insideOrderNo = (String) map.get("insideOrderNo");
        Integer taskType = (Integer) map.get("taskType");
        Integer isNeedQC = (Integer) map.get("isNeedQC");
        Object rule = map.get("rule");
        String[] objects = null;
        if(rule != null && !"".equals(rule.toString())){
            objects = JSON.parseObject(rule.toString(),String[].class);
        }
        Area7Param area7Param = new Area7Param();
        area7Param.setInsideOrderNo(insideOrderNo);
        area7Param.setTaskType(taskType);
        area7Param.setIsNeedQC(isNeedQC);
        area7Param.setRule(objects);
        if (line == null) {
            return AjaxResult.error("没有line");
        }
        if (materialCode == null) {
            return AjaxResult.error("没有materialCode");
        }
        if (qty == null) {
            return AjaxResult.error("没有qty");
        }
        if (area == null) {
            return AjaxResult.error("没有area");
        }
        if("7".equals(area)){
            materialCodePLC = "0";
        }
        if (materialCodePLC == null || "".equals(materialCodePLC)) {
            return AjaxResult.error("没有materialCodePLC");
        }
        if (orderNo == null) {
            return AjaxResult.error("没有orderNo");
        }
        int type = 0;
        if(typee !=null ) {
            if( StringUtils.isNotEmpty(typee.toString())){
                type = Integer.parseInt(typee.toString());
            }
        }
        int materialCodePLCint = Integer.parseInt(materialCodePLC);
        int finalType = type;
        AjaxResult ajaxResult = null;
        if("7".equals(area)){
            ajaxResult = handleMultiProcess(new MultiProcessListener() {
                @Override
                public AjaxResult doProcess() {
                    AjaxResult ajaxResult = robotService.innerCallShipmentByArea7(line, materialCode, productCode, qty,
                            area, materialCodePLCint, orderNo, finalType,area7Param);
                    return ajaxResult;
                }
            });
        }else{
            ajaxResult = handleMultiProcess(new MultiProcessListener() {
                @Override
                public AjaxResult doProcess() {
                    AjaxResult ajaxResult = robotService.innerCallShipment(line, materialCode, productCode, qty,
                            area, materialCodePLCint, orderNo, finalType);
                    return ajaxResult;
                }
            });
        }


        return ajaxResult;
    }



    /**
     * 查询托盘库存
     */
    @PostMapping("/searchContainerInventory")
    @ApiOperation("查询托盘库存")
    @ApiLogger(apiName = "查询托盘库存", from = "ROBOT")
    @ResponseBody
    public AjaxResult searchContainerInventory(@RequestBody InventoryQueryDomain inventoryQueryDomain) {
        LambdaQueryWrapper<InventoryDetail> inventoryDetailLambdaQueryWrapper = Wrappers.lambdaQuery();
        inventoryDetailLambdaQueryWrapper.eq(StringUtils.isNotEmpty(inventoryQueryDomain.getWarehouseCode()),
                InventoryDetail::getWarehouseCode, inventoryQueryDomain.getWarehouseCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getContainerCode()),
                        InventoryDetail::getContainerCode, inventoryQueryDomain.getContainerCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getLocationCode()),
                        InventoryDetail::getLocationCode, inventoryQueryDomain.getLocationCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getCompanyCode()),
                        InventoryDetail::getCompanyCode, inventoryQueryDomain.getCompanyCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getZoneCode()),
                        InventoryDetail::getZoneCode, inventoryQueryDomain.getZoneCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getMaterialCode()),
                        InventoryDetail::getMaterialCode, inventoryQueryDomain.getMaterialCode());
        List<InventoryDetail> inventoryDetailList = inventoryDetailService.list(inventoryDetailLambdaQueryWrapper);
        return AjaxResult.success(inventoryDetailList);
    }

    /**
     * 查询托盘库存
     */
    @PostMapping("/searchContainer")
    @ApiOperation("查询托盘库存")
    @ApiLogger(apiName = "查询托盘库存", from = "ROBOT")
    @ResponseBody
    public AjaxResult searchContainer(@RequestBody InventoryQueryDomain inventoryQueryDomain) {
        LambdaQueryWrapper<InventoryDetail> inventoryDetailLambdaQueryWrapper = Wrappers.lambdaQuery();
        inventoryDetailLambdaQueryWrapper.eq(StringUtils.isNotEmpty(inventoryQueryDomain.getWarehouseCode()),
                InventoryDetail::getWarehouseCode, inventoryQueryDomain.getWarehouseCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getContainerCode()),
                        InventoryDetail::getContainerCode, inventoryQueryDomain.getContainerCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getLocationCode()),
                        InventoryDetail::getLocationCode, inventoryQueryDomain.getLocationCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getCompanyCode()),
                        InventoryDetail::getCompanyCode, inventoryQueryDomain.getCompanyCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getZoneCode()),
                        InventoryDetail::getZoneCode, inventoryQueryDomain.getZoneCode())
                .eq(StringUtils.isNotEmpty(inventoryQueryDomain.getMaterialCode()),
                        InventoryDetail::getMaterialCode, inventoryQueryDomain.getMaterialCode());
        List<InventoryDetail> inventoryDetailList = inventoryDetailService.list(inventoryDetailLambdaQueryWrapper);
        List<InventoryDetail> removeInventoryDetailList = new ArrayList<>();
        if (inventoryDetailList != null && inventoryDetailList.size() > 0) {
            for (InventoryDetail inventoryDetail : inventoryDetailList) {
                String zoneCode = inventoryDetail.getZoneCode();
                if (zoneCode.equals("H") || zoneCode.equals("I")) {
                    int taskQty = inventoryDetail.getTaskQty().intValue();
                    if (taskQty != 0) {
                        removeInventoryDetailList.add(inventoryDetail);
                    }
                }
            }
            inventoryDetailList.removeAll(removeInventoryDetailList);
        }
        return AjaxResult.success(inventoryDetailList);
    }

    @PostMapping("/back")
    @ApiOperation("wcs托盘回库")
    @ResponseBody
    public AjaxResult back(@RequestBody WcsTask wcsTask) {
        AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
            @Override
            public AjaxResult doProcess() {
                AjaxResult ajaxResult = robotService.innerBack(wcsTask);
                return ajaxResult;
            }
        });
        return ajaxResult;
    }

    /**
     * 查询库存
     */
    @PostMapping("/searchInventory")
    @ApiOperation("查询库存")
    @ResponseBody
    @ApiLogger(apiName = "查询库存", from = "ROBOT")
    public AjaxResult searchInventory(@RequestBody InventoryMaterialSummary inventoryMaterialSummary) {
        String area = inventoryMaterialSummary.getArea();
        if (StringUtils.isNotEmpty(area)) {
            LambdaQueryWrapper<Zone> zoneLambdaQueryWrapper = Wrappers.lambdaQuery();
            zoneLambdaQueryWrapper.eq(Zone::getArea, area);
            Zone zone = zoneService.getOne(zoneLambdaQueryWrapper);
            inventoryMaterialSummary.setZoneCode(zone.getCode());
        }
        List<InventoryMaterialSummary> list = inventoryMaterialSummaryService.selectInventoryDetailByInventory(inventoryMaterialSummary);
        if (list == null) {
            list = Collections.emptyList();
        }
        if("7".equals(area)){
            List<InventoryMaterialSummary> inventoryMaterialSummaries = inventoryMaterialSummaryService.inventoryMaterialSummaryByLevel(list);
            return AjaxResult.success(inventoryMaterialSummaries);
        }
        //筛选库存汇总数据的专用方法
        List<InventoryMaterialSummary> details = inventoryMaterialSummaryService.duplicateRemoval(list);
        return AjaxResult.success(details);
    }


    /**
     * 查询是否满足自动出库
     */
    @PostMapping("/searchShipmentTask")
    @ApiOperation("查询出库任务")
    @ResponseBody
    @ApiLogger(apiName = "查询出库任务", from = "ROBOT")
    public AjaxResult searchShipmentTask(@RequestBody Map<String, String> map) {
        String area = map.get("area");
        String line = map.get("line");

        if (line == null) {
            return AjaxResult.error("没有line");
        }
        if (area == null) {
            return AjaxResult.error("没有area");
        }

        LambdaQueryWrapper<Zone> zoneLambdaQueryWrapper = Wrappers.lambdaQuery();
        zoneLambdaQueryWrapper.eq(Zone::getArea,area);
        Zone zoneServiceOne = zoneService.getOne(zoneLambdaQueryWrapper);


        LambdaQueryWrapper<Station> stationLambdaQueryWrapper = Wrappers.lambdaQuery();
        stationLambdaQueryWrapper.eq(Station::getArea, area)
                .eq(Station::getLine, line);
        List<Station> stationList = stationService.list(stationLambdaQueryWrapper);
        if (stationList == null || stationList.size() == 0) {
            return AjaxResult.error("区域和线体不正确");
        }
        List<String> portCodeList = stationList.stream().map(t -> t.getCode()).collect(Collectors.toList());
        if (portCodeList == null || portCodeList.size() == 0) {
            return AjaxResult.error("线体编码或者区域不正确，没有找到对应出口");
        }
        if (portCodeList.size() > 1) {
            for (String portCode : portCodeList) {
                LambdaQueryWrapper<TaskHeader> taskHeaderLambdaQueryWrapper = Wrappers.lambdaQuery();
                taskHeaderLambdaQueryWrapper.eq(TaskHeader::getPort, portCode)
                        .eq(TaskHeader::getZoneCode,zoneServiceOne.getCode())
                        .isNull(TaskHeader::getOrderNo)
                        .in(TaskHeader::getTaskType, QuantityConstant.TASK_TYPE_SORTINGSHIPMENT,
                                QuantityConstant.TASK_TYPE_WHOLESHIPMENT)
                        .lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
                List<TaskHeader> taskHeaders = taskHeaderService.list(taskHeaderLambdaQueryWrapper);
                if (taskHeaders != null && !taskHeaders.isEmpty()) {
                    return AjaxResult.error("还存在手动任务,无法下发自动任务!");
                }
            }
        } else {
            LambdaQueryWrapper<TaskHeader> taskHeaderLambdaQueryWrapper = Wrappers.lambdaQuery();
            taskHeaderLambdaQueryWrapper.eq(TaskHeader::getPort, portCodeList.get(0))
                    .eq(TaskHeader::getZoneCode,zoneServiceOne.getCode())
                    .isNull(TaskHeader::getOrderNo)
                    .in(TaskHeader::getTaskType, QuantityConstant.TASK_TYPE_SORTINGSHIPMENT,
                            QuantityConstant.TASK_TYPE_WHOLESHIPMENT)
                    .lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
            List<TaskHeader> taskHeaders = taskHeaderService.list(taskHeaderLambdaQueryWrapper);
            if (taskHeaders != null && !taskHeaders.isEmpty()) {
                return AjaxResult.error("还存在手动任务,无法下发自动任务!");
            }
        }
        return AjaxResult.success();
    }

    /**
     * 出库抓取信息
     */
    @PostMapping("/addShipmentDetail")
    @ApiOperation("出库抓取信息")
    @ResponseBody
    @ApiLogger(apiName = "出库抓取信息", from="ROBOT")
    public AjaxResult addShipmentDetail(@RequestBody Map<String,String> map)
    {
        String containerCode = map.get("containerCode");
        String port = map.get("port");
        String materialCode = map.get("materialCode");
        String qty = map.get("qty");
        String sn = map.get("sn");
        String isPrint = map.get("isPrint");
        String position = map.get("position");
        String area = map.get("area");
        String qcc = map.get("qc");
        String from = map.get("from");
        String level = map.get("qC_Class");
        if(containerCode == null) {
            return AjaxResult.error("没有containerCode");
        }
        if(port == null) {
            return AjaxResult.error("没有port");
        }
        if(materialCode == null) {
            return AjaxResult.error("没有materialCode");
        }
        if(qty == null) {
            return AjaxResult.error("没有qty");
        }
        if(sn == null) {
            return AjaxResult.error("没有sn");
        }
        if(position == null) {
            return AjaxResult.error("没有position");
        }
        AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
            @Override
            public AjaxResult doProcess() {
                AjaxResult ajaxResult = robotService.innerAddShipmentDetail(containerCode,
                        materialCode, port, qty, sn, position, isPrint, area,level);
                return ajaxResult;
            }
        });
        return ajaxResult;
    }

    /**
     * 入库抓取信息
     */
    @PostMapping("/addReceiptDetail")
    @ApiOperation("入库抓取信息")
    @ResponseBody
    @ApiLogger(apiName = "入库抓取信息", from="ROBOT")
    public AjaxResult addReceiptDetail(@RequestBody Map<String,String> map)
    {
        String containerCode = map.get("containerCode");
        String port = map.get("port");
        String materialCode = map.get("materialCode");
        String qty = map.get("qty");
        String sn = map.get("sn");
        String isPrint = map.get("isPrint");
        String position = map.get("position");
        String area = map.get("area");
        String qcc = map.get("qc");
        String typee = map.get("type");
        String from = map.get("from");
        String qC_class = map.get("qC_Class");
        String diameter = map.get("qC_diameter");
        String qC_result = map.get("qC_result");
        //钢球直径
        int diameterInt = 0;
        if(StringUtils.isNotEmpty(qC_result)){
            int anInt = Integer.parseInt(qC_result);
            if(anInt== QuantityConstant.QC_NOCHECK){
                qC_class = "NG";
            }
        }
        int qc = QuantityConstant.QC_NOCHECK;
        if(StringUtils.isNotEmpty(qcc)) {
            qc = Integer.parseInt(qcc);
        }
        int type = QuantityConstant.QC_NOCHECK;
        if(StringUtils.isNotEmpty(typee)) {
            type = Integer.parseInt(typee);
        }
        if(StringUtils.isNotEmpty(diameter)) {
            diameterInt = Integer.parseInt(diameter);
        }
        ParamDomain domain =new ParamDomain();
        domain.setLevel(qC_class);
        domain.setDiameter(diameterInt);

        if(containerCode == null) {
            return AjaxResult.error("没有containerCode");
        }
        if(port == null) {
            return AjaxResult.error("没有port");
        }
        if(materialCode == null) {
            return AjaxResult.error("没有materialCode");
        }
        if(qty == null) {
            return AjaxResult.error("没有qty");
        }
        if(position == null) {
            return AjaxResult.error("没有position");
        }
        int finalQc = qc;
        int finalType = type;
        AjaxResult ajaxResult = handleMultiProcess(new MultiProcessListener() {
            @Override
            public AjaxResult doProcess() {
                AjaxResult ajaxResult = robotService.innerAddReceiptDetail(containerCode,
                        materialCode, port, qty, sn, position, isPrint, area, finalQc, finalType,domain);
                return ajaxResult;
            }
        });
        return ajaxResult;
    }

    //并发控制
    Map<String, Boolean> runningLocationMap = new HashMap<>();

    /**
     * 查询库位列表
     */
    @PostMapping("/getAllLocation")
    @ApiOperation("查询库位列表")
    @ResponseBody
    @ApiLogger(apiName = "查询库位列表", from="ROBOT")
    public AjaxResult getAllLocation (@RequestBody Map<String,String> map) {
        String area = map.get("area");
        if(StringUtils.isEmpty(area)) {
            return AjaxResult.error("area不能为空");
        }
        String taskKey = "autoExecuteTask";
        if(MapUtils.getBoolean(runningLocationMap, taskKey, false)) {
            AjaxResult.error("系统正在处理上条消息");
        }
        AjaxResult ajxResult = new AjaxResult();
        try {
            runningLocationMap.put(taskKey, true);
            ajxResult = innerGetAllLocation(area);
        } catch (Exception e) {
            e.printStackTrace();
        } finally {
            runningLocationMap.put(taskKey, false);
        }
        return ajxResult;
    }

    private AjaxResult innerGetAllLocation(String area) {
        LambdaQueryWrapper<Zone> zoneLambdaQueryWrapper = Wrappers.lambdaQuery();
        zoneLambdaQueryWrapper.in(Zone::getArea, area);
        Zone zone = zoneService.getOne(zoneLambdaQueryWrapper);
        String type = zone.getCode();
        String warehouseCode = "CS0001";
        String row = null, line = null, layer = null;
        /* 查询库位信息*/
        AjaxResult ajaxResult = locationService.selectLocationByLocationTypeAndWarehouseCode(type, warehouseCode);
        if(ajaxResult.hasErr()){
            return ajaxResult;
        }
        List<Location> locations = (List<Location>)ajaxResult.getData();
        List<Location> locationList = new ArrayList<>();
        /* 查询库存明细*/
        List<InventoryDetail> inventoryDetailList = inventoryDetailService.selectInventoryDetailByWarehouse(warehouseCode);

        for (Location location1 : locations) {
            InventoryDetail inventoryDetail = null;
            String materialName = null;
            for (InventoryDetail inventoryDetail2 : inventoryDetailList) {
                if(location1.getCode().equals(inventoryDetail2.getLocationCode())) {
                    inventoryDetail = inventoryDetail2;
                }
            }
            List<InventoryDetail> inventoryDetails = inventoryDetailList.stream().filter(inventoryDetail1 ->
                    inventoryDetail1.getLocationCode().equals(location1.getCode())).collect(Collectors.toList());
            int userDef3 = 0;
            String status = location1.getStatus();
            String containerCode = location1.getContainerCode();
            List<String> materialNameList = inventoryDetails.stream().map(InventoryDetail::getMaterialName).collect(Collectors.toList());
            List<String> batchList = inventoryDetails.stream().map(InventoryDetail::getBatch).collect(Collectors.toList());
            List<String> materialCodeList = inventoryDetails.stream().map(InventoryDetail::getMaterialCode).collect(Collectors.toList());
            List<BigDecimal> qtyList = inventoryDetails.stream().map(InventoryDetail::getQty).collect(Collectors.toList());
            List<String> snList = inventoryDetails.stream().map(InventoryDetail::getSn).collect(Collectors.toList());
            String matreialName = null;
            String matreialCode = null;
            int qty = 0;
            if(qtyList != null && qtyList.size() > 0) {
                qty = qtyList.size();
            }
            if(materialCodeList != null && materialCodeList.size() > 0) {
                matreialCode = materialCodeList.get(0);
            }
            if(materialNameList != null && materialNameList.size() > 0) {
                matreialName = materialNameList.get(0);
            }
            if(QuantityConstant.STATUS_LOCATION_EMPTY.equals(status)) {
                if(StringUtils.isEmpty(containerCode)) {
                    userDef3 = LocationStatus.IDLE_EMPTY_LOCATION;
                } else {
                    if(inventoryDetail == null) {
                        userDef3 = LocationStatus.IDLE_EMPTY_CONTAINER;
                        location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_EMPTY);
                    } else {
                        location1.setMaterialName2(matreialName);
                        location1.setMaterialCode2(matreialCode);
                        location1.setBatch(batchList);
                        location1.setSnList(snList);
                        location1.setQty2(qty);
                        userDef3 = LocationStatus.IDLE_FULL_CONTAINER;
                        if(StringUtils.isNotEmpty(matreialCode)) {
                            location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_SOME);
                        }
                    }
                }
            } else if(QuantityConstant.STATUS_LOCATION_LOCK.equals(status)) {
                if(StringUtils.isEmpty(containerCode)) {
                    userDef3 = LocationStatus.LOCK_EMPTY_LOCATION;
                } else {
                    if(inventoryDetail == null) {
                        userDef3 = LocationStatus.LOCK_EMPTY_CONTAINER;
                        location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_LOCK);
                    } else {
                        location1.setMaterialName2(matreialName);
                        location1.setMaterialCode2(matreialCode);
                        location1.setBatch(batchList);
                        location1.setSnList(snList);
                        location1.setQty2(qty);
                        userDef3 = LocationStatus.LOCK_FULL_CONTAINER;
                        if(StringUtils.isNotEmpty(matreialCode)) {
                            location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_LOCK);
                        }
                    }
                }
            }


            location1.setUserDef3(String.valueOf(userDef3));
            locationList.add(location1);
        }

        return AjaxResult.success(locationList);
    }

    /**
     * 分页查询库位列表
     */
    @PostMapping("/getPortInPage")
    @ApiOperation("分页查询库位列表")
    @ResponseBody
    @ApiLogger(apiName = "分页查询库位列表", from="ROBOT")
    public AjaxResult getPortInPage (@RequestBody Map<String,String> map) {
        String area = map.get("area");
        String pageNum = map.get("pageNum");
        String pageSize = map.get("pageSize");
        if(StringUtils.isEmpty(area)) {
            return AjaxResult.error("area不能为空");
        }
        if(StringUtils.isEmpty(pageNum)) {
            return AjaxResult.error("pageNum不能为空");
        }
        if(StringUtils.isEmpty(pageSize)) {
            return AjaxResult.error("pageSize不能为空");
        }
        String warehouseCode = "CS0001";
        List<String> list = Arrays.asList(area.split(","));
        LambdaQueryWrapper<Station> stationLambdaQueryWrapper = Wrappers.lambdaQuery();
        stationLambdaQueryWrapper.in(Station::getArea, list)
                .eq(Station::getWarehouseCode, warehouseCode);
        List<Station> stationList = stationService.list(stationLambdaQueryWrapper);
        for (Station station : stationList) {
            List<TaskInfo> taskInfos = new ArrayList<>();
            String port = station.getCode();
            LambdaQueryWrapper<TaskHeader> taskHeaderLambdaQueryWrapper = Wrappers.lambdaQuery();
            taskHeaderLambdaQueryWrapper.eq(TaskHeader::getPort, port)
                                        .lt(TaskHeader::getStatus, QuantityConstant.TASK_STATUS_COMPLETED);
            List<TaskHeader> taskHeaderList = taskHeaderService.list(taskHeaderLambdaQueryWrapper);
            for(TaskHeader taskHeader : taskHeaderList) {
                TaskInfo taskInfo = new TaskInfo();
                String containerCode = taskHeader.getContainerCode();
                LambdaQueryWrapper<InventoryDetail> inventoryDetailLambdaQueryWrapper = Wrappers.lambdaQuery();
                inventoryDetailLambdaQueryWrapper.eq(InventoryDetail::getContainerCode, containerCode);
                List<InventoryDetail> inventoryDetailList = inventoryDetailService.list(inventoryDetailLambdaQueryWrapper);
                List<String> materialNameList = inventoryDetailList.stream().map(InventoryDetail::getMaterialName).collect(Collectors.toList());
                List<String> batchList = inventoryDetailList.stream().map(InventoryDetail::getBatch).collect(Collectors.toList());
                List<String> materialCodeList = inventoryDetailList.stream().map(InventoryDetail::getMaterialCode).collect(Collectors.toList());
                List<BigDecimal> qtyList = inventoryDetailList.stream().map(InventoryDetail::getQty).collect(Collectors.toList());
                List<String> snList = inventoryDetailList.stream().map(InventoryDetail::getSn).collect(Collectors.toList());
                List<Integer> positionList = inventoryDetailList.stream().map(InventoryDetail::getPosition).collect(Collectors.toList());

                taskInfo.setContainerCode(containerCode);
                taskInfo.setMaterialCode(materialCodeList.get(0));
                taskInfo.setMaterialName(materialNameList.get(0));
                taskInfo.setQty(qtyList.size());
                taskInfo.setBatchList(batchList);
                taskInfo.setSnList(snList);
                taskInfo.setPositionList(positionList);
                taskInfos.add(taskInfo);
            }
            station.setTaskInfo(taskInfos);
        }
        PageModel<Station> pm = new PageModel(stationList, Integer.parseInt(pageSize));
        List<Station> stationList1 = pm.getObjects(Integer.parseInt(pageNum));
        TaskInfoInventory taskInfoInventory = new TaskInfoInventory();
        taskInfoInventory.setStationList(stationList1);
        taskInfoInventory.setTotalSize(stationList1.size());

        return AjaxResult.success(taskInfoInventory);
    }

    /**
     * 分页查询所有库位列表
     */
    @PostMapping("/getAllLocationInPage")
    @ApiOperation("分页查询所有库位列表")
    @ResponseBody
    @ApiLogger(apiName = "分页查询所有库位列表", from="ROBOT")
    public AjaxResult getAllLocationInPage (@RequestBody Map<String,String> map) {
        String area = map.get("area");
        String pageNum = map.get("pageNum");
        String pageSize = map.get("pageSize");
        if(StringUtils.isEmpty(area)) {
            return AjaxResult.error("area不能为空");
        }
        if(StringUtils.isEmpty(pageNum)) {
            return AjaxResult.error("pageNum不能为空");
        }
        if(StringUtils.isEmpty(pageSize)) {
            return AjaxResult.error("pageSize不能为空");
        }

        String warehouseCode = "CS0001";
        String row = null, line = null, layer = null;
        List<String> list = Arrays.asList(area.split(","));

        /* 查询库位信息*/
        LambdaQueryWrapper<Location> locationLambdaQueryWrapper = Wrappers.lambdaQuery();
        locationLambdaQueryWrapper.in(Location::getArea, list)
                .eq(Location::getWarehouseCode, warehouseCode);
        List<Location> locations = locationService.list(locationLambdaQueryWrapper);
        List<Location> locationList = new ArrayList<>();

        /* 查询库存明细*/
        LambdaQueryWrapper<InventoryDetail> inventoryDetailLambda = Wrappers.lambdaQuery();
        inventoryDetailLambda.eq(InventoryDetail::getWarehouseCode, warehouseCode);
        List<InventoryDetail> inventoryDetailList = inventoryDetailService.list(inventoryDetailLambda);

        for (Location location1 : locations) {
            area = location1.getArea();
            InventoryDetail inventoryDetail = null;
            String materialName = null;
            for (InventoryDetail inventoryDetail2 : inventoryDetailList) {
                if(location1.getCode().equals(inventoryDetail2.getLocationCode())) {
                    inventoryDetail = inventoryDetail2;
                }
            }
            List<InventoryDetail> inventoryDetails = inventoryDetailList.stream().filter(inventoryDetail1 ->
                    inventoryDetail1.getLocationCode().equals(location1.getCode())).collect(Collectors.toList());
            int userDef3 = 0;
            String status = location1.getStatus();
            String containerCode = location1.getContainerCode();
            List<String> materialNameList = inventoryDetails.stream().map(InventoryDetail::getMaterialName).collect(Collectors.toList());
            List<String> batchList = inventoryDetails.stream().map(InventoryDetail::getBatch).collect(Collectors.toList());
            List<String> materialCodeList = inventoryDetails.stream().map(InventoryDetail::getMaterialCode).collect(Collectors.toList());
            List<BigDecimal> qtyList = inventoryDetails.stream().map(InventoryDetail::getQty).collect(Collectors.toList());
            List<String> snList = inventoryDetails.stream().map(InventoryDetail::getSn).collect(Collectors.toList());
            List<Integer> positionList = inventoryDetails.stream().map(InventoryDetail::getPosition).collect(Collectors.toList());
            String matreialName = null;
            String matreialCode = null;
            int qty = 0;
            if(qtyList != null && qtyList.size() > 0) {
                qty = qtyList.size();
            }
            if(materialCodeList != null && materialCodeList.size() > 0) {
                matreialCode = materialCodeList.get(0);
            }
            if(materialNameList != null && materialNameList.size() > 0) {
                matreialName = materialNameList.get(0);
            }
            if(QuantityConstant.STATUS_LOCATION_EMPTY.equals(status)) {
                if(StringUtils.isEmpty(containerCode)) {
                    userDef3 = LocationStatus.IDLE_EMPTY_LOCATION;
                } else {
                    if(inventoryDetail == null) {
                        userDef3 = LocationStatus.IDLE_EMPTY_CONTAINER;
                        location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_EMPTY);
                    } else {
                        location1.setMaterialName2(matreialName);
                        location1.setMaterialCode2(matreialCode);
                        location1.setBatch(batchList);
                        location1.setSnList(snList);
                        location1.setPositionList(positionList);
                        location1.setQty2(qty);
                        userDef3 = LocationStatus.IDLE_FULL_CONTAINER;
                        if(StringUtils.isNotEmpty(matreialCode)) {
                            Material material = materialService.findAllByCode(matreialCode, warehouseCode);
                            int max = material.getMaxContainer();
                            if(area.equals("4")) {
                                max = material.getMax();
                            }
                            if(qty < max) {
                                location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_SOME);
                            } else {
                                location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_FULL);
                            }
                        }
                    }
                }
            } else if(QuantityConstant.STATUS_LOCATION_LOCK.equals(status)) {
                if(StringUtils.isEmpty(containerCode)) {
                    userDef3 = LocationStatus.LOCK_EMPTY_LOCATION;
                } else {
                    if(inventoryDetail == null) {
                        userDef3 = LocationStatus.LOCK_EMPTY_CONTAINER;
                        location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_LOCK);
                    } else {
                        location1.setMaterialName2(matreialName);
                        location1.setMaterialCode2(matreialCode);
                        location1.setBatch(batchList);
                        location1.setSnList(snList);
                        location1.setPositionList(positionList);
                        location1.setQty2(qty);
                        userDef3 = LocationStatus.LOCK_FULL_CONTAINER;
                        if(StringUtils.isNotEmpty(matreialCode)) {
                            Material material = materialService.findAllByCode(matreialCode, warehouseCode);
                            int max = material.getMaxContainer();
                            if(area.equals("4")) {
                                max = material.getMax();
                            }
                            if(qty < max) {
                                location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_LOCK);
                            } else {
                                location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_LOCK);
                            }
                        }
                    }
                }
            }

            if(location1.getDeleted()) {
                if(StringUtils.isEmpty(containerCode)) {
                    userDef3 = LocationStatus.DISABLE_EMPTY_LOCATION;
                } else {
                    if(inventoryDetail == null) {
                        userDef3 = LocationStatus.DISABLE_EMPTY_CONTAINER;
                        location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_EMPTY);
                    } else {
                        location1.setMaterialName2(matreialName);
                        location1.setMaterialCode2(matreialCode);
                        location1.setBatch(batchList);
                        location1.setSnList(snList);
                        location1.setPositionList(positionList);
                        location1.setQty2(qty);
                        userDef3 = LocationStatus.DISABLE_FULL_CONTAINER;
                        if(StringUtils.isNotEmpty(matreialCode)) {
                            Material material = materialService.findAllByCode(matreialCode, warehouseCode);
                            int max = material.getMaxContainer();
                            if(area.equals("4")) {
                                max = material.getMax();
                            }
                            if(qty < max) {
                                location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_SOME);
                            } else {
                                location1.setContainerStatus(QuantityConstant.STATUS_CONTAINER_FULL);
                            }
                        }
                    }
                }
            }
            location1.setUserDef3(String.valueOf(userDef3));
            locationList.add(location1);
        }

        PageModel<Location> pm = new PageModel(locationList, Integer.parseInt(pageSize));
        List<Location> locationList1 = pm.getObjects(Integer.parseInt(pageNum));
        RobotInventory robotInventory = new RobotInventory();
        robotInventory.setLocationList(locationList1);
        robotInventory.setTotalSize(locationList.size());

        return AjaxResult.success(robotInventory);
    }



    /**
     * agv入库
     */
    @PostMapping("/agvReceipt")
    @ApiOperation("agv入库")
    @ResponseBody
    @ApiLogger(apiName = "agv入库", from="ROBOT")
    public AjaxResult agvReceipt (@RequestBody Map<String,String> map) {
        String area = map.get("area");
        String type = map.get("type");
        String containerCode = map.get("containerCode");
        String qty = map.get("qty");
        String materialCode = map.get("materialCode");
        String taskIndex = map.get("taskIndex");
        String destinationLocation = map.get("destinationLocation");
        if(containerCode == null) {
            return AjaxResult.error("没有containerCode");
        }
        if(area == null) {
            return AjaxResult.error("没有area");
        }
        if(type == null) {
            return AjaxResult.error("没有type");
        }
        int areaInt = Integer.parseInt(area);
        if(areaInt != 4) {
            return AjaxResult.error("AGV只有4号区");
        }
        AjaxResult ajaxResult = workTaskService.createEmptyIn(containerCode, destinationLocation);
        if(!ajaxResult.hasErr()) {
            String taskId =  ajaxResult.getData().toString();
            TaskHeader taskHeader  = taskHeaderService.getById(taskId);
            if(taskHeader != null) {
                taskHeader.setTaskIndex(taskIndex);
                taskHeader.setAgv(1);
                taskHeader.setBack(1);
            }
            taskHeaderService.updateById(taskHeader);
            ajaxResult.setData("P5001");
        }
        return ajaxResult;
    }

    /**
     * agv出库
     */
    @PostMapping("/agvShipment")
    @ApiOperation("agv出库")
    @ResponseBody
    @ApiLogger(apiName = "agv出库", from="ROBOT")
    public AjaxResult agvShipment (@RequestBody Map<String,Object> map) {
        String area = String.valueOf( (Integer) map.get("area"));
        String type =String.valueOf( (Integer) map.get("type"));
        List<String> containerCodeList =  (List<String>) map.get("containerCodeList");
//        String stationCode =  (String) map.get("stationCode");
        String taskIndex = (String) map.get("taskIndex");
        if(containerCodeList == null) {
            return AjaxResult.error("没有containerCodeList");
        }
        if(area == null) {
            return AjaxResult.error("没有area");
        }
        if(type == null) {
            return AjaxResult.error("没有type");
        }
//        if(stationCode == null) {
//            return AjaxResult.error("没有stationCode");
//        }
        if(taskIndex == null) {
            return AjaxResult.error("没有taskIndex");
        }
        AjaxResult ajaxResult = null;
        int areaInt = Integer.parseInt(area);
        if(areaInt != 4) {
            return AjaxResult.error("AGV只有4号区");
        }
        String stationCode = "P5001";
        for(String containerCode : containerCodeList) {
            String line = "5001";
            String warehouseCode = "CS0001";
            Container container = containerService.getContainerByCode(containerCode, warehouseCode);
            String locationCode = container.getLocationCode();
            String orderNo = "AGV";
            int materialCodePlc = 0;
            String materialCode = null;
            LambdaQueryWrapper<InventoryDetail> inventoryDetailLambdaQueryWrapper = Wrappers.lambdaQuery();
            inventoryDetailLambdaQueryWrapper.eq(InventoryDetail::getContainerCode, containerCode)
                    .eq(InventoryDetail::getTaskQty, 0);
            List<InventoryDetail> inventoryDetailList = inventoryDetailService.list(inventoryDetailLambdaQueryWrapper);
            if (inventoryDetailList != null && inventoryDetailList.size() > 0) {
                InventoryDetail inventoryDetail = inventoryDetailList.get(0);
                materialCode = inventoryDetail.getMaterialCode();
            } else {
                return AjaxResult.error("没有找到库存");
            }

            ajaxResult = shipmentTaskService.createWholeShipmentTask(containerCode, locationCode, materialCode,
                    warehouseCode, stationCode, materialCodePlc, orderNo, line, 1);
            if (!ajaxResult.hasErr()) {
                Integer taskId = (Integer) ajaxResult.getData();
                TaskHeader taskHeader = taskHeaderService.getById(taskId);
                if (taskHeader != null) {
                    taskHeader.setTaskIndex(taskIndex);
                }
                taskHeaderService.updateById(taskHeader);
                ajaxResult.setData("P5001");
            }
        }
        return ajaxResult;
    }


    /**
     * 查询最近的一条记录
     */
    @GetMapping("/list")
    @ApiOperation("查询最近的一条记录")
    @ResponseBody
    @ApiLogger(apiName = "查询最近的一条记录", from="ROBOT")
    public AjaxResult search () {
        String taskKey = "search";
        if(MapUtils.getBoolean(runningTaskMap, taskKey, false)) {
            return AjaxResult.error("不允许重复请求");
        }
        AjaxResult ajaxResult = AjaxResult.error("不允许重复请求");
        try {
            runningTaskMap.put(taskKey, true);
            ajaxResult = innerSearch();
        } catch (Exception e) {
            e.printStackTrace();
        } finally {
            runningTaskMap.put(taskKey, false);
        }
        return ajaxResult;
    }

    private AjaxResult innerSearch() {
        List<String> zoneList = new ArrayList<>();
        zoneList.add("A");
        zoneList.add("B");
        zoneList.add("C");
        zoneList.add("D");
        zoneList.add("E");
        zoneList.add("F");
        zoneList.add("G");
        zoneList.add("H");
        zoneList.add("I");
        List<DigitalInfo> digitals = taskHeaderService.selectTaskIdAndArea(zoneList);
        if(digitals == null || digitals.size() == 0){
            return AjaxResult.error("查询异常，请再次查询！");
        }
        for (DigitalInfo digital : digitals) {
            String zoneCode = digital.getZoneCode();
            int area = digital.getArea();
            int containerSomeSize = inventoryHeaderService.count(new LambdaQueryWrapper<InventoryHeader>().eq(InventoryHeader::getZoneCode, zoneCode));
            int allLocation = locationService.count(new LambdaQueryWrapper<Location>().eq(Location::getArea, area));
            int noGoodsQuantity = allLocation - containerSomeSize;
            String locUtilization  = ((float) containerSomeSize / (float) allLocation) * 100 + "%";
            int id = Integer.parseInt(digital.getCurrentTaskCode());
            TaskHeader taskHeader = taskHeaderService.getOne(new LambdaQueryWrapper<TaskHeader>().eq(TaskHeader::getId, id));
            if(taskHeader == null){
                continue;
            }
            Date taskStartTime = taskHeader.getCreated();
            Date taskEndTime = taskHeader.getLastUpdated();

            digital.setInventoryLocNo(containerSomeSize);
            digital.setLocUtilization(locUtilization);
            digital.setNoGoodsQuantity(noGoodsQuantity);
            digital.setTaskStartTime(taskStartTime);
            digital.setTaskEndTime(taskEndTime);
            List<TaskDetail> list = taskDetailService.list(new LambdaQueryWrapper<TaskDetail>().eq(TaskDetail::getTaskId, id));
            if (list.size() > 0) {
                TaskDetail taskDetail = list.get(0);
                MaterialInfo materialInfo = new MaterialInfo();
                materialInfo.setMaterialName(taskDetail.getMaterialName());
                materialInfo.setMaterialNo(taskDetail.getMaterialCode());
                materialInfo.setReallyNumber(list.size());
                digital.setMaterialInfo(materialInfo);
            }
        }
        return AjaxResult.success(digitals);
    }

    /**
     * 查询库位列表
     */
    @PostMapping("/pullTaskInfo")
    @ApiOperation("拉取出/入任务信息")
    @ResponseBody
    @ApiLogger(apiName = "拉取出/入任务信息", from="ROBOT")
    public AjaxResult pullTaskInfo (@RequestBody Map<String,String> map) {
        String warehouseCode = "CS0001";
        SimpleDateFormat df = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
        String startDateStr = map.get("startDate");
        String endDateStr = map.get("endDate");
        if(StringUtils.isEmpty(startDateStr) || StringUtils.isEmpty(endDateStr)){
            return AjaxResult.error("时间日期不能为null");
        }
        Date startDate = DateUtils.dateTime(DateUtils.YYYY_MM_DD_HH_MM_SS, startDateStr);
        Date endDate = DateUtils.dateTime(DateUtils.YYYY_MM_DD_HH_MM_SS, endDateStr);

        //分拣出库，补充入库，整盘入库，整盘出库
        Integer [] taskType = {QuantityConstant.TASK_TYPE_WHOLERECEIPT,
                QuantityConstant.TASK_TYPE_SUPPLEMENTRECEIPT,
                QuantityConstant.TASK_TYPE_WHOLESHIPMENT,
                QuantityConstant.TASK_TYPE_SORTINGSHIPMENT};
        List<Integer> taskTypes = Arrays.asList(taskType);
        LambdaQueryWrapper<TaskDetail> taskDetailLambda = Wrappers.lambdaQuery();
        taskDetailLambda.eq(TaskDetail::getWarehouseCode,warehouseCode)
                .gt((startDate != null),TaskDetail::getCreated,startDate)
                .lt((endDate != null),TaskDetail::getCreated,endDate)
                .in(TaskDetail::getTaskType,taskTypes);
        List<TaskDetail> taskDetailList = taskDetailService.list(taskDetailLambda);

        return AjaxResult.success(taskDetailList);
    }

    /**
     * 入库残盘返回
     */
    @PostMapping("/receiptContainerBack")
    @ApiOperation("入库残盘返回")
    @ResponseBody
    @ApiLogger(apiName = "入库残盘返回", from="中控")
    public AjaxResult receiptContainerBack (@RequestBody Map<String,String> map) {
        Integer area = Integer.parseInt(map.get("area"));
        String port = map.get("port");
//        String containerCode = map.get("containerCode");
//        if(containerCode == null) {
//            return AjaxResult.error("容器号containerCode不能为空");
//        }
        if(area == null) {
            return AjaxResult.error("库区area不能为空");
        }
        if(port == null) {
            return AjaxResult.error("出口port不能为空");
        }
        LambdaQueryWrapper<TaskHeader> query = Wrappers.lambdaQuery();
//        query.eq(TaskHeader::getContainerCode,containerCode);
        query.isNotNull(TaskHeader::getOrderNo);
        query.eq(TaskHeader::getArea,area);
        query.eq(TaskHeader::getPort,port);
        query.eq(TaskHeader::getStatus,50);
        query.eq(TaskHeader::getBack,0);
        query.in(TaskHeader::getTaskType,100,200)
                .last("LIMIT 1");
        TaskHeader taskheader = taskHeaderService.getOne(query);
        if(taskheader==null){
            return AjaxResult.error("找不到任务或任务已完成。");
        }
        List<TaskDetail> taskDetails = taskDetailService.findByTaskId(taskheader.getId());
        int size = taskDetails.size();
        if(size == 0 || size != taskheader.getPush()){
            return AjaxResult.error(taskheader.getOrderNo()+"：未收到中控物料抓取信息").setData(taskheader.getOrderNo());
        }
        if(size != taskheader.getPush()){
            return AjaxResult.error(taskheader.getOrderNo()+"：没有收到中控物料抓取信息").setData(taskheader.getOrderNo());
        }
        taskheader.setBack(1);
        boolean result = taskHeaderService.updateById(taskheader);
        if(!result){
            return AjaxResult.error("返回失败，重新请求！");
        }
        return AjaxResult.success(taskheader);
    }

    /**
     * 出库残盘返回
     */
    @PostMapping("/shipmentContainerBack")
    @ApiOperation("出库残盘返回")
    @ResponseBody
    @ApiLogger(apiName = "出库残盘返回", from="中控")
    public AjaxResult shipmentContainerBack (@RequestBody Map<String,String> map) {
        Integer area = Integer.parseInt(map.get("area"));
        String port = map.get("port");
        if(area == null) {
            return AjaxResult.error("库区area不能为空");
        }
        if(port == null) {
            return AjaxResult.error("出口port不能为空");
        }
        LambdaQueryWrapper<TaskHeader> query = Wrappers.lambdaQuery();
//        query.eq(TaskHeader::getContainerCode,containerCode);
        query.isNotNull(TaskHeader::getOrderNo);
        query.eq(TaskHeader::getStatus,50);
        query.eq(TaskHeader::getBack,0);
        query.eq(TaskHeader::getArea,area);
        query.eq(TaskHeader::getPort,port);
        query.in(TaskHeader::getTaskType,300,400)
                .last("LIMIT 1");
        TaskHeader taskheader = taskHeaderService.getOne(query);
        if(taskheader==null){
            return AjaxResult.error("找不到任务。");
        }
        List<TaskDetail> taskDetails = taskDetailService.findByTaskId(taskheader.getId());
        int size = taskDetails.size();
        if(size == 0 || size != taskheader.getPush()){
            return AjaxResult.error(taskheader.getOrderNo()+"：未收到中控物料抓取信息").setData(taskheader.getOrderNo());
        }
        if(size != taskheader.getPush()){
            return AjaxResult.error(taskheader.getOrderNo()+"：没有收到中控物料抓取信息").setData(taskheader.getOrderNo());
        }
        taskheader.setBack(1);
        boolean result = taskHeaderService.updateById(taskheader);
        if(!result){
            return AjaxResult.error("返回失败，重新请求！");
        }
        return AjaxResult.success(taskheader);
    }

}