AcsService.java
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package com.huaheng.api.ACS.service;
import com.alibaba.fastjson.JSON;
import com.huaheng.common.exception.service.ServiceException;
import com.huaheng.common.utils.StringUtils;
import com.huaheng.common.utils.http.HttpUtils;
import com.huaheng.common.utils.security.ShiroUtils;
import com.huaheng.framework.web.domain.AjaxResult;
import com.huaheng.pc.config.address.domain.Address;
import com.huaheng.pc.config.address.service.IAddressService;
import com.huaheng.pc.config.points.domain.Points;
import com.huaheng.pc.config.points.service.PointsService;
import com.huaheng.pc.general.container.domain.Container;
import com.huaheng.pc.general.container.service.IContainerService;
import com.huaheng.pc.general.location.domain.Location;
import com.huaheng.pc.general.location.domain.LocationPosition;
import com.huaheng.pc.general.location.service.ILocationService;
import com.huaheng.pc.inventory.inventory.domain.Inventory;
import com.huaheng.pc.inventory.inventory.service.IInventoryService;
import com.huaheng.pc.monitor.agvcarinfo.domain.StateInfoUploadModel;
import com.huaheng.pc.monitor.agvcarinfo.mapper.AgvStateInfoMapper;
import com.huaheng.pc.receipt.receiptContainerHeader.domain.ReceiptContainerHeader;
import com.huaheng.pc.receipt.receiptContainerHeader.service.IReceiptContainerHeaderService;
import com.huaheng.pc.receipt.receiptDetail.domain.ReceiptDetail;
import com.huaheng.pc.receipt.receiptDetail.service.IReceiptDetailService;
import com.huaheng.pc.receipt.receiptHeader.domain.ReceiptHeader;
import com.huaheng.pc.receipt.receiptHeader.service.IReceiptHeaderService;
import com.huaheng.pc.shipment.shipmentContainerHeader.domain.ShipmentContainerHeader;
import com.huaheng.pc.shipment.shipmentContainerHeader.service.IShipmentContainerHeaderService;
import com.huaheng.pc.shipment.shipmentDetail.domain.ShipmentDetail;
import com.huaheng.pc.shipment.shipmentDetail.service.IShipmentDetailService;
import com.huaheng.pc.shipment.shipmentHeader.domain.ShipmentHeader;
import com.huaheng.pc.shipment.shipmentHeader.service.IShipmentHeaderService;
import com.huaheng.pc.task.agvTask.domain.AgvTask;
import com.huaheng.pc.task.agvTask.mapper.AgvTaskMapper;
import com.huaheng.pc.task.task.domain.Task;
import com.huaheng.pc.task.task.service.ITaskService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.RequestBody;
import javax.annotation.Resource;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@Service
public class AcsService {
@Autowired
private ITaskService taskService;
@Resource
private AgvTaskMapper agvTaskMapper;
@Resource
private AgvStateInfoMapper agvStateInfoMapper;
@Resource
private PointsService pointsService;
@Autowired
private IReceiptHeaderService receiptHeaderService;
@Autowired
private IShipmentHeaderService shipmentHeaderService;
@Autowired
private IReceiptDetailService receiptDetailService;
@Autowired
private IShipmentDetailService shipmentDetailService;
@Autowired
private IInventoryService iInventoryService;
@Autowired
private IReceiptContainerHeaderService receiptContainerHeaderService;
@Autowired
private IShipmentContainerHeaderService shipmentContainerHeaderService;
@Autowired
private ILocationService locationService;
@Autowired
private IAddressService addressService;
@Autowired
private IContainerService containerService;
final String interactionId = "6EAB7794-CFD7-449A-A754-FFDB98CE44C7";
private String getUrl(){
Address address =new Address();
address.setParam("AGV");
address.setWarehouseCode(ShiroUtils.getWarehouseCode());
String url=addressService.selectEntity(address).getUrl();
return url;
}
//private static String address="http://172.16.30.48:8081/api/";
//pick任务下发
@Transactional
public AjaxResult Task(String code,String station){
//查找下发任务
AgvTask agvTask=new AgvTask();
agvTask.setTaskType("pick");
agvTask.setStation(station);
int num=0;
ReceiptHeader receiptHeader = new ReceiptHeader();
ReceiptDetail receiptDetail = new ReceiptDetail();
ShipmentHeader shipmentHeader = new ShipmentHeader();
ShipmentDetail shipmentDetail = new ShipmentDetail();
Inventory inventory = new Inventory();
receiptHeader.setCode(code);
receiptHeader = receiptHeaderService.selectFirstEntity(receiptHeader);
//判断code是否属于入库单，不属于则查找出库单
if (receiptHeader == null) {
shipmentHeader.setCode(code);
shipmentHeader = shipmentHeaderService.selectFirstEntity(shipmentHeader);
shipmentDetail.setShipmentCode(code);
shipmentDetail.setWarehouseId(ShiroUtils.getWarehouseId());
//查找AGV的子单
List<ShipmentDetail> shipmentDetails = shipmentDetailService.selectListAgvDetail(shipmentDetail);
for (ShipmentDetail item : shipmentDetails) {
if (item.getQty().compareTo(item.getQtyCompleted()) != 0) {
inventory.setMaterialCode(item.getMaterialCode());
inventory.setWarehouseCode(ShiroUtils.getWarehouseCode());
inventory.setZoneCode("AGV");
//查找物料对应的满盘的库存，没有则查找不满盘的库存
inventory.setContainerStatus("half");
Inventory inventorie = iInventoryService.selectFirstEntity(inventory);
if (inventorie == null) {
inventory.setContainerStatus("some");
inventorie = iInventoryService.selectFirstEntity(inventory);
}
agvTask.setTaskHeaderId(shipmentHeader.getId());
agvTask.setTaskDetailId(item.getId());
agvTask.setWarehouseId(item.getWarehouseId());
agvTask.setWarehouseCode(item.getWarehouseCode());
agvTask.setCompanyId(item.getCompanyId());
agvTask.setCompanyCode(item.getCompanyCode());
if (inventorie == null) {
num=num+1;
}else {
this.TaskModel(inventorie.getContainerCode(), agvTask);
}
}
}
if(num==shipmentDetails.size()){
throw new ServiceException("所有单据都没有库存，无法出库");
}
} else {
receiptDetail.setReceiptCode(code);
receiptDetail.setWarehouseCode(ShiroUtils.getWarehouseCode());
List<ReceiptDetail> receiptDetails = receiptDetailService.selectListAgvEntity(receiptDetail);
for (ReceiptDetail item : receiptDetails) {
if (item.getQty().compareTo(item.getQtyCompleted()) != 0) {
inventory.setMaterialCode(item.getMaterialCode());
inventory.setWarehouseCode(ShiroUtils.getWarehouseCode());
inventory.setZoneCode("AGV");
//查找物料对应的不满盘的库存
inventory.setContainerStatus("some");
Inventory inventorie = iInventoryService.selectFirstEntity(inventory);
agvTask.setTaskHeaderId(receiptHeader.getId());
agvTask.setTaskDetailId(item.getId());
agvTask.setWarehouseId(item.getWarehouseId());
agvTask.setWarehouseCode(item.getWarehouseCode());
agvTask.setCompanyId(item.getCompanyId());
agvTask.setCompanyCode(item.getCompanyCode());
if (inventorie == null) {
num=num+1;
}else {
this.TaskModel(inventorie.getContainerCode(), agvTask);
}
}
}
if(num==receiptDetails.size()){
throw new ServiceException("请手动叫车");
}
}
return AjaxResult.success("成功");
}
/**
* 设置agv下发任务的实体
*
*/
@Transactional
public AjaxResult TaskModel(String containerCode,AgvTask agvTask){
AjaxResult ajaxResult=new AjaxResult();
AgvTask model=new AgvTask();
String code=containerCode.substring(0,4);
Points points=new Points();
points.setWarehouseCode(ShiroUtils.getWarehouseCode());
points.setGoodsShelfNo(code);
points=pointsService.selectEntity(points);
//任务下发实体
model.setTaskHeaderId(agvTask.getTaskHeaderId());
model.setTaskDetailId(agvTask.getTaskDetailId());
model.setTaskType(agvTask.getTaskType());
model.setStation(agvTask.getStation());
model.setStatus(10);
if(containerCode.substring(5,7).equals("1")) {
model.setOrientation("A");
}else {
model.setOrientation("C");
}
//判断货架是否处于1阶段，1阶段为pick阶段。
if (points == null) {
throw new ServiceException("货架不存在！");
}
if(points.getIsLocked()!=1 && points.getIsLocked()!=2){
model.setShelfNo(points.getGoodsShelfNo());
model.setFromLocationNo("");
model.setToLocationNo("");
ajaxResult=this.TaskAssign(model);
if(!ajaxResult.hasErr()){
//修改points表，设为出库状态,修改出库前位置
points.setIsLocked(1);
points.setoIntX(points.getIntX());
points.setoIntY(points.getIntY());
pointsService.updatePoints(points);
model.setCompanyId(agvTask.getCompanyId());
model.setCompanyCode(agvTask.getCompanyCode());
model.setWarehouseId(agvTask.getWarehouseId());
model.setWarehouseCode(agvTask.getWarehouseCode());
if(agvTaskMapper.insertModel(model)<1){
throw new ServiceException("agv任务下发失败");
}
}
}else{
return AjaxResult.success("该货架已出库");
}
return ajaxResult;
}
//手动叫车
@Transactional
public AjaxResult ManualCalling(String station,String shelfNo,String code){
AgvTask model = new AgvTask();
ReceiptHeader receiptHeader=new ReceiptHeader();
ReceiptDetail receiptDetail=new ReceiptDetail();
ShipmentHeader shipmentHeader=new ShipmentHeader();
ShipmentDetail shipmentDetail=new ShipmentDetail();
receiptHeader.setCode(code);
receiptHeader=receiptHeaderService.selectFirstEntity(receiptHeader);
//判断code是否属于入库单，不属于则查找出库单
if(receiptHeader==null){
shipmentHeader.setCode(code);
shipmentHeader=shipmentHeaderService.selectFirstEntity(shipmentHeader);
shipmentDetail.setShipmentCode(code);
shipmentDetail.setZoneCode("AGV");
shipmentDetail.setWarehouseCode(ShiroUtils.getWarehouseCode());
shipmentDetail=shipmentDetailService.selectFirstEntity(shipmentDetail);
model.setTaskHeaderId(shipmentHeader.getId());
model.setTaskDetailId(shipmentDetail.getId());
model.setWarehouseId(shipmentDetail.getWarehouseId());
model.setWarehouseCode(shipmentDetail.getWarehouseCode());
model.setCompanyId(shipmentDetail.getCompanyId());
model.setCompanyCode(shipmentDetail.getCompanyCode());
}else {
receiptDetail.setReceiptCode(code);
receiptDetail.setZoneCode("AGV");
receiptDetail.setWarehouseCode(ShiroUtils.getWarehouseCode());
receiptDetail=receiptDetailService.selectFirstEntity(receiptDetail);
model.setTaskHeaderId(receiptHeader.getId());
model.setTaskDetailId(receiptDetail.getId());
model.setWarehouseId(receiptDetail.getWarehouseId());
model.setWarehouseCode(receiptDetail.getWarehouseCode());
model.setCompanyId(receiptDetail.getCompanyId());
model.setCompanyCode(receiptDetail.getCompanyCode());
}
model.setTaskType("pick");
model.setShelfNo(shelfNo);
model.setStation(station);
model.setStatus(20);
Points points=new Points();
points.setWarehouseCode(ShiroUtils.getWarehouseCode());
points.setGoodsShelfNo(shelfNo);
AjaxResult ajaxResult=new AjaxResult();
points=pointsService.selectFirstEntity(points);
if(points==null){
throw new ServiceException("没有此货架");
}
if(points.getIsLocked()!=1 && points.getIsLocked()!=2) {
model.setFromLocationNo("");
model.setToLocationNo("");
model.setOrientation("A");
ajaxResult = this.TaskAssign(model);
if (!ajaxResult.hasErr()) {
points.setIsLocked(1);
points.setoIntX(points.getIntX());
points.setoIntY(points.getIntY());
pointsService.updatePoints(points);
}
}else {
throw new ServiceException("该货架已出库");
}
return ajaxResult;
}
/**
* AGV 任务下发
*/
public AjaxResult TaskAssign(AgvTask model)
{
model.setInteractionId(interactionId);
model.setPlatform("wms");
String url = this.getUrl()+"TaskAssign";
String JsonParam = JSON.toJSONString(model);
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* agv putway任务下发
*
*/
@Transactional
public AjaxResult TaskAssigns(String code,String containerCode,String station,String row,String line)
{
//查找下发任务
int result=0;
String warehouseCode=ShiroUtils.getWarehouseCode();
ReceiptHeader receiptHeader=new ReceiptHeader();
ReceiptDetail receiptDetail=new ReceiptDetail();
ShipmentHeader shipmentHeader=new ShipmentHeader();
ShipmentDetail shipmentDetail=new ShipmentDetail();
AgvTask agvTask=new AgvTask();
receiptHeader.setCode(code);
receiptHeader=receiptHeaderService.selectFirstEntity(receiptHeader);
//判断code是否属于入库单，不属于则查找出库单
if(receiptHeader==null){
shipmentHeader.setCode(code);
shipmentHeader=shipmentHeaderService.selectFirstEntity(shipmentHeader);
shipmentDetail.setShipmentCode(code);
shipmentDetail.setZoneCode("AGV");
shipmentDetail.setWarehouseCode(warehouseCode);
shipmentDetail=shipmentDetailService.selectFirstEntity(shipmentDetail);
agvTask.setTaskHeaderId(shipmentHeader.getId());
agvTask.setTaskDetailId(shipmentDetail.getId());
agvTask.setWarehouseId(shipmentDetail.getWarehouseId());
agvTask.setWarehouseCode(shipmentDetail.getWarehouseCode());
agvTask.setCompanyId(shipmentDetail.getCompanyId());
agvTask.setCompanyCode(shipmentDetail.getCompanyCode());
}else {
receiptDetail.setReceiptCode(code);
receiptDetail.setZoneCode("AGV");
receiptDetail.setWarehouseCode(warehouseCode);
receiptDetail=receiptDetailService.selectFirstEntity(receiptDetail);
agvTask.setTaskHeaderId(receiptHeader.getId());
agvTask.setTaskDetailId(receiptDetail.getId());
agvTask.setWarehouseId(receiptDetail.getWarehouseId());
agvTask.setWarehouseCode(receiptDetail.getWarehouseCode());
agvTask.setCompanyId(receiptDetail.getCompanyId());
agvTask.setCompanyCode(receiptDetail.getCompanyCode());
}
agvTask.setTaskType("putway");
AjaxResult ajaxResult = new AjaxResult();
//查找需要回去的对应的货架
String containCode=containerCode.substring(0,4);
Points points=new Points();
points.setWarehouseCode(warehouseCode);
points.setGoodsShelfNo(containCode);
points.setIsLocked(2);
points=pointsService.selectEntity(points);
if(points!=null) {
AgvTask model = new AgvTask();
model.setTaskHeaderId(agvTask.getTaskHeaderId());
model.setTaskDetailId(agvTask.getTaskDetailId());
model.setTaskType("putway");
model.setShelfNo(points.getGoodsShelfNo());
model.setStation(station);
model.setFromLocationNo("");
//给出目的位置
//找出已出库的货架
Points point=new Points();
point.setWarehouseCode(warehouseCode);
point.setGoodsShelfNo(points.getGoodsShelfNo());
point=pointsService.selectFirstEntity(point);
// point=pointsService.getFirstEntity(point);
//如果查找到的货架和回库任务的货架相同，就不做操作
if(point.getoIntX().equals(points.getIntX()) && point.getoIntY().equals(points.getIntY())){
model.setToLocationNo("");
}else {
//如果不同，则目的位置为该货架的oIntX，oIntY
model.setToLocationNo(point.getoIntX() + "," + point.getoIntY());
}
//有手动输入位置时,已手动位置为主
if(StringUtils.isNotEmpty(row) && StringUtils.isNotEmpty(line) ){
//查找手动位置的库位
Location location = new Location();
location.setWarehouseCode(warehouseCode);
location.setType("A");
location.setRow(Integer.valueOf(row));
location.setLine(Integer.valueOf(line));
location=locationService.selectFirstEntity(location);
//再查找库位的地址
LocationPosition lp=new LocationPosition();
lp.setWarehouseCode(warehouseCode);
lp.setLocationCode(location.getCode());
lp=locationService.selectLocationPosition(lp);
//通过地址匹配货架
Points p=new Points();
p.setWarehouseCode(warehouseCode);
p.setoIntX(lp.getIntX());
p.setoIntY(lp.getIntY());
p.setIsLocked(2);
p=pointsService.selectFirstEntity(p);
if (p==null){
throw new ServiceException("此处位置已有货架，请另选位置");
}
point=p;
model.setToLocationNo(point.getoIntX()+","+point.getoIntY());
}
model.setOrientation("A");
ajaxResult = this.TaskAssign(model);
String shelfNo=points.getGoodsShelfNo().substring(1, 5);
LocationPosition lps=new LocationPosition();
lps.setWarehouseCode(warehouseCode);
lps.setIntX(point.getoIntX());
lps.setIntY(point.getoIntY());
if (!ajaxResult.hasErr()) {
//回去位置与货架位置不一样时
if(!lps.getIntX().equals(points.getIntX()) || !lps.getIntY().equals(points.getIntY()) ) {
//先通过货架points找到容器code
Container container=new Container();
container.setWarehouseCode(warehouseCode);
container.setType("A");
container.setCode(containCode);
//修改container表
result=containerService.updateLocationCode(container,lps);
if(result<1){
throw new ServiceException("修改容器对应的库位失败");
}
//修改location表
result=locationService.updateContainer(container,lps);
if(result<1){
throw new ServiceException("修改库位对应的容器失败");
}
int results=iInventoryService.updateLocationCode(shelfNo,warehouseCode);
if(results<1){
throw new ServiceException("AGV移库后库存修改库位失败");
}
//位置不同时，修改回库货架的x，y值
points.setIntX(lps.getIntX());
points.setIntY(lps.getIntY());
//位置不同，货架编号不同时，修改回去位置的货架的o属性x，y值
if(!point.getGoodsShelfNo().equals(points.getGoodsShelfNo())) {
point.setoIntX(points.getoIntX());
point.setoIntY(points.getoIntY());
pointsService.updatePoints(point);
}
}
points.setIsLocked(3);
points.setNum(points.getNum()+1);
pointsService.updatePoints(points);
List<ReceiptContainerHeader> list = receiptContainerHeaderService.selectAgvListByLike(shelfNo, agvTask.getWarehouseCode());
if (list.size()!=0) {
//修改receiptContainerHeader表
result=receiptContainerHeaderService.updateList(shelfNo,warehouseCode);
if(result<1){
throw new ServiceException("修改入库组盘头失败");
}
Integer[] ids = list.stream().map(x -> x.getId()).toArray(Integer[]::new);
try {
//生成任务
taskService.createReceiptTask(ids);
} catch (Exception e) {
return AjaxResult.error("生成任务失败");
}
}
List<ShipmentContainerHeader> listt = shipmentContainerHeaderService.selectAgvListByLike(shelfNo, agvTask.getWarehouseCode());
if (listt.size()!=0) {
//修改shipmentContainerHeader表
result=shipmentContainerHeaderService.updateList(shelfNo,warehouseCode);
if(result<1){
throw new ServiceException("修改出库组盘头失败");
}
List<Integer> ids = listt.stream().map(x -> x.getId()).collect(Collectors.toList());
try {
//生成任务
shipmentContainerHeaderService.createTask(ids);
} catch (Exception e) {
return AjaxResult.error("生成任务失败");
}
}
model.setCompanyId(agvTask.getCompanyId());
model.setCompanyCode(agvTask.getCompanyCode());
model.setWarehouseId(agvTask.getWarehouseId());
model.setWarehouseCode(agvTask.getWarehouseCode());
if (agvTaskMapper.insertModel(model) < 1) {
throw new ServiceException("agv任务下发失败");
}
}
}else {
throw new ServiceException("该货架不在站台，无法下发回库任务,或者AGV小车没有反馈信息");
}
return ajaxResult;
}
/**
* AGV 任务取消
*/
public AjaxResult TaskCancel(String message)
{
Map<String, Object> map = new HashMap<>();
map.put("interactionId", interactionId);
map.put("reason", message);
String JsonParam = JSON.toJSONString(map);
String url= this.getUrl()+"TaskCancel";
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* AGV 信息查询
*/
public AjaxResult StateInfoGET(String carNo)
{
Map<String, String> map = new HashMap<>();
map.put("carNo", carNo);
map.put("interactionId", interactionId);
String JsonParam = JSON.toJSONString(map);
String url= this.getUrl()+"StateInfoGET";
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* AGV 旋转方向
*/
public AjaxResult TurnOriention(String carNo,String orientation)
{
Map<String, String> map = new HashMap<>();
map.put("carNo", carNo);
map.put("orientation", orientation);
String JsonParam = JSON.toJSONString(map);
String url= this.getUrl()+"TurnOriention";
String result = HttpUtils.sendPost(url, JsonParam);
AjaxResult ajaxResult = JSON.parseObject(result, AjaxResult.class);
return ajaxResult;
}
/**
* AGV 任务回传
*/
@Transactional
public AjaxResult TaskConfirm(AgvTask model)
{
model.setWarehouseId(ShiroUtils.getWarehouseId());
model.setWarehouseCode(ShiroUtils.getWarehouseCode());
int result=agvTaskMapper.insertModel(model);
if(result<1){
throw new ServiceException("数据插入失败");
}
String shelfNo = model.getShelfNo().substring(1, 5);
String warehouseCode = ShiroUtils.getWarehouseCode();
Points points=new Points();
points.setWarehouseCode(warehouseCode);
points.setGoodsShelfNo(shelfNo);
points=pointsService.selectEntity(points);
if(points==null){
throw new ServiceException("没有对应的货架");
}
if(model.getTaskType().equals("pick") && model.getState().equals("1")){
points.setIsLocked(0);
int rt=pointsService.updatePoints(points);
if(rt<1){
throw new ServiceException("删除AGV出库任务后修改货架状态失败");
}
}
//回传任务为putway时，查找到改货架中物料为agv的任务，并完成任务。
if (model.getTaskType().equals("putway")) {
List<Task> list = taskService.selectAgvListByLike(shelfNo, warehouseCode);
if(list.size()!=0) {
Integer[] ids = list.stream().map(x -> x.getId()).toArray(Integer[]::new);
try {
taskService.completeTaskByWMS(ids);
} catch (Exception e) {
return AjaxResult.error("完成任务失败");
}
}
}
return AjaxResult.success(model);
}
/**
* AGV 信息上传
*/
public AjaxResult StateInfoUpload(@RequestBody StateInfoUploadModel model)
{
try {
model.setWarehouseId(ShiroUtils.getWarehouseId());
model.setWarehouseCode(ShiroUtils.getWarehouseCode());
if(model.getState().equals("2")) {
Points points = new Points();
points.setGoodsShelfNo(model.getShelfNo());
points.setWarehouseCode(ShiroUtils.getWarehouseCode());
points.setIsLocked(1);
points=pointsService.selectFirstEntity(points);
if(points!=null) {
points.setIsLocked(2);
int result = pointsService.updatePoints(points);
if (result < 1) {
throw new ServiceException("小车回传状态时修改货架状态失败");
}
}
agvStateInfoMapper.insertModel(model);
}else {
agvStateInfoMapper.insertModel(model);
}
}catch (Exception e){
return AjaxResult.error("没有数据");
}
return AjaxResult.success("收到");
}
/**
*
* 自动组盘时下发任务
*
*/
@Transactional
public AjaxResult TaskAss(Integer id)
{
Task task=new Task();
task=taskService.selectEntityById(id);
AgvTask agvTask=new AgvTask();
agvTask.setTaskHeaderId(task.getId());
agvTask.setTaskDetailId(task.getId());
agvTask.setWarehouseId(task.getWarehouseId());
agvTask.setWarehouseCode(task.getWarehouseCode());
agvTask.setCompanyId(task.getCompanyId());
agvTask.setCompanyCode(task.getCompanyCode());
this.TaskModel(task.getContainerCode(), agvTask);
return AjaxResult.success("成功");
}
}