wcs调度系统基本框架

ruoyi-admin/pom.xml

@@ -96,6 +96,11 @@
             <version>0.9.0</version>
         </dependency>
 
+        <dependency>
+            <groupId>com.github.dathlin</groupId>
+            <artifactId>HslCommunication</artifactId>
+        </dependency>
+
 
     </dependencies>
 

ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java

@@ -0,0 +1,58 @@
+package com.ruoyi.api.controller;
+
+import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
+import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
+import com.ruoyi.api.domain.wcs2wms.MydoJob;
+import com.ruoyi.api.service.IApiService;
+import com.ruoyi.common.core.controller.BaseController;
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.device.agv.domain.AgvQueue;
+import com.ruoyi.device.agv.service.IAgvQueueService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * Agv操作请求
+ */
+@RestController
+@RequestMapping("/agv/api")
+@Slf4j
+public class AgvController extends BaseController {
+
+
+    @Autowired
+    private IApiService apiService;
+
+    /**
+     * agv执行状态返回接口
+     * @param request
+     * @return
+     */
+    @PostMapping("/agvCallback")
+    public AgvCallbackResponse agvCallback(@RequestBody AgvCallbackRequest request) {
+        return apiService.agvCallback(request);
+    }
+
+    /**
+     * 推送AGV任务
+     * @param mydoJob
+     * @return
+     */
+    @PostMapping("/pushOutMydoJob")
+    public AjaxResult PushOutMydoJob(@RequestBody MydoJob mydoJob) {
+        return apiService.PushOutMydoJob(mydoJob);
+    }
+
+    /**
+     * agv搬运作业
+     * @param genAgvSchedulingTaskRequest
+     * @return
+     */
+    @PostMapping("/agvMoveJob")
+    public AjaxResult agvMoveJob(@RequestBody GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
+        return apiService.agvMoveJob(genAgvSchedulingTaskRequest);
+    }
+
+}

ruoyi-admin/src/main/java/com/ruoyi/api/controller/RequestLogController.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.api.controller;
+package com.ruoyi.api.controller;
 
 import java.util.List;
 import javax.servlet.http.HttpServletResponse;
@@ -16,8 +16,8 @@ import com.ruoyi.common.annotation.Log;
 import com.ruoyi.common.core.controller.BaseController;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.enums.BusinessType;
-import com.ruoyi.device.api.domain.RequestLog;
-import com.ruoyi.device.api.service.IRequestLogService;
+import com.ruoyi.api.domain.RequestLog;
+import com.ruoyi.api.service.IRequestLogService;
 import com.ruoyi.device.DeviceCar.domain.DeviceCar;
 import com.ruoyi.device.DeviceCar.service.IDeviceCarService;
 import com.ruoyi.common.utils.poi.ExcelUtil;

ruoyi-admin/src/main/java/com/ruoyi/api/controller/Wcs2WmsController.java

@@ -0,0 +1,10 @@
+package com.ruoyi.api.controller;
+
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController
+@RequestMapping("/wcs2Wms/api")
+public class Wcs2WmsController {
+
+}

ruoyi-admin/src/main/java/com/ruoyi/api/domain/InterfaceReceive.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.api.domain;
+package com.ruoyi.api.domain;
 
 import lombok.AllArgsConstructor;
 import lombok.Data;

ruoyi-admin/src/main/java/com/ruoyi/api/domain/RequestLog.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.api.domain;
+package com.ruoyi.api.domain;
 
 import org.apache.commons.lang3.builder.ToStringBuilder;
 import org.apache.commons.lang3.builder.ToStringStyle;

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/ResponseBase.java

@@ -1,9 +1,7 @@
-package com.ruoyi.device.agv.domain;
+package com.ruoyi.api.domain.agv;
 
 import lombok.Data;
 
-import javax.validation.constraints.NotNull;
-
 @Data
 public class ResponseBase {
     /**

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/agvCallback/AgvCallbackRequest.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.agvCallback;
+package com.ruoyi.api.domain.agv.agvCallback;
 
 import lombok.Data;
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/agvCallback/AgvCallbackResponse.java

@@ -1,9 +1,12 @@
-package com.ruoyi.device.agv.domain.agvCallback;
+package com.ruoyi.api.domain.agv.agvCallback;
 
-import com.ruoyi.device.agv.domain.ResponseBase;
+import lombok.AllArgsConstructor;
 import lombok.Data;
+import lombok.NoArgsConstructor;
 
 @Data
+@AllArgsConstructor
+@NoArgsConstructor
 public class AgvCallbackResponse {
 
     /**

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/cancelTask/CancelTaskRequest.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.cancelTask;
+package com.ruoyi.api.domain.agv.cancelTask;
 
 import lombok.Data;
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/cancelTask/CancelTaskResponse.java

@@ -1,6 +1,6 @@
-package com.ruoyi.device.agv.domain.cancelTask;
+package com.ruoyi.api.domain.agv.cancelTask;
 
-import com.ruoyi.device.agv.domain.ResponseBase;
+import com.ruoyi.api.domain.agv.ResponseBase;
 import lombok.Data;
 
 @Data

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/continueTask/ContinueTaskRequest.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.continueTask;
+package com.ruoyi.api.domain.agv.continueTask;
 
 import lombok.Data;
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/continueTask/ContinueTaskResponse.java

@@ -1,6 +1,6 @@
-package com.ruoyi.device.agv.domain.continueTask;
+package com.ruoyi.api.domain.agv.continueTask;
 
-import com.ruoyi.device.agv.domain.ResponseBase;
+import com.ruoyi.api.domain.agv.ResponseBase;
 import lombok.Data;
 
 @Data

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/continueTask/NextPositionCodeData.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.continueTask;
+package com.ruoyi.api.domain.agv.continueTask;
 
 public class NextPositionCodeData {
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.genAgvSchedulingTask;
+package com.ruoyi.api.domain.agv.genAgvSchedulingTask;
 
 import lombok.Data;
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/genAgvSchedulingTask/GenAgvSchedulingTaskResponse.java

@@ -1,10 +1,8 @@
-package com.ruoyi.device.agv.domain.genAgvSchedulingTask;
+package com.ruoyi.api.domain.agv.genAgvSchedulingTask;
 
-import com.ruoyi.device.agv.domain.ResponseBase;
+import com.ruoyi.api.domain.agv.ResponseBase;
 import lombok.Data;
 
-import javax.validation.constraints.NotNull;
-
 @Data
 public class GenAgvSchedulingTaskResponse extends ResponseBase {
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/genAgvSchedulingTask/PositionCodeData.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.genAgvSchedulingTask;
+package com.ruoyi.api.domain.agv.genAgvSchedulingTask;
 
 import lombok.AllArgsConstructor;
 import lombok.Data;

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/queryAgvStatus/AgvStatusData.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.queryAgvStatus;
+package com.ruoyi.api.domain.agv.queryAgvStatus;
 
 import lombok.Data;
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/queryAgvStatus/QueryAgvStatusRequest.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.queryAgvStatus;
+package com.ruoyi.api.domain.agv.queryAgvStatus;
 
 import lombok.Data;
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/queryAgvStatus/QueryAgvStatusResponse.java

@@ -1,6 +1,6 @@
-package com.ruoyi.device.agv.domain.queryAgvStatus;
+package com.ruoyi.api.domain.agv.queryAgvStatus;
 
-import com.ruoyi.device.agv.domain.ResponseBase;
+import com.ruoyi.api.domain.agv.ResponseBase;
 import lombok.Data;
 
 import java.util.List;

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/queryTaskStatus/QueryTaskStatusRequest.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.queryTaskStatus;
+package com.ruoyi.api.domain.agv.queryTaskStatus;
 
 import com.ruoyi.common.utils.uuid.UUID;
 import lombok.Data;

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/queryTaskStatus/QueryTaskStatusResponse.java

@@ -1,6 +1,6 @@
-package com.ruoyi.device.agv.domain.queryTaskStatus;
+package com.ruoyi.api.domain.agv.queryTaskStatus;
 
-import com.ruoyi.device.agv.domain.ResponseBase;
+import com.ruoyi.api.domain.agv.ResponseBase;
 import lombok.Data;
 
 import java.util.List;

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/queryTaskStatus/TaskStatusData.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.agv.domain.queryTaskStatus;
+package com.ruoyi.api.domain.agv.queryTaskStatus;
 
 import lombok.Data;
 

ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/MydoJob.java

@@ -0,0 +1,139 @@
+package com.ruoyi.api.domain.wcs2wms;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import lombok.ToString;
+import org.apache.commons.lang3.builder.ToStringBuilder;
+import org.apache.commons.lang3.builder.ToStringStyle;
+import com.ruoyi.common.annotation.Excel;
+import com.ruoyi.common.core.domain.BaseEntity;
+
+/**
+ * 任务表对象 mydo_job
+ *
+ * @author ruoyi
+ * @date 2025-05-23
+ */
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+@ToString
+public class MydoJob extends BaseEntity
+{
+    private static final long serialVersionUID = 1L;
+
+    /** 任务ID */
+    @Excel(name = "任务ID")
+    private String jobId;
+
+    /** 任务状态 */
+    @Excel(name = "任务状态",dictType = "mydo_job_status")
+    private String status;
+
+    /** 上线类型 */
+    @Excel(name = "上线类型",dictType = "on_line_type")
+    private String onLineType;
+
+    /** 任务号 */
+    @Excel(name = "任务号")
+    private String taskNo;
+
+    /** 供应商ID */
+    @Excel(name = "供应商ID")
+    private String supplierId;
+    @Excel(name = "供应商名称")
+    private String supplierName;
+
+    /** 客户ID */
+    @Excel(name = "客户ID")
+    private String customerId;
+    @Excel(name = "客户名称")
+    private String customerName;
+
+    /** 部门ID */
+    @Excel(name = "部门ID")
+    private String departmentId;
+    @Excel(name = "部门")
+    private String departmentName;
+
+    /** 托盘码 */
+    @Excel(name = "托盘码")
+    private String trayCode;
+
+    /** 巷道ID */
+    @Excel(name = "巷道ID")
+    private String roadwayId;
+
+    /** 货位ID */
+    @Excel(name = "货位ID")
+    private String cargoSpaceId;
+    @Excel(name = "货位名称")
+    private String cargoSpaceName;
+
+    /** 目标巷道ID */
+    @Excel(name = "目标巷道ID")
+    private String targetRoadwayId;
+
+    /** 目标货位ID */
+    @Excel(name = "目标货位ID")
+    private String targetCargoSpaceId;
+    @Excel(name = "目标货位名称")
+    private String targetCargoSpaceName;
+
+    /** 产线ID */
+    @Excel(name = "产线ID")
+    private String lineId;
+
+    /** 车间ID */
+    @Excel(name = "车间ID")
+    private String workshopId;
+
+    /** 优先级 */
+    @Excel(name = "优先级")
+    private Long priority;
+
+    /** 执行阶段 */
+    @Excel(name = "执行阶段",dictType = "execution_phase_type")
+    private String executionPhase;
+
+    /** 任务类型 */
+    @Excel(name = "任务类型",dictType = "in_or_out_type")
+    private String inOrOut;
+
+
+
+    /** 开始时间 */
+    @Excel(name = "开始时间")
+    private String startTime;
+
+    /** 结束时间 */
+    @Excel(name = "结束时间")
+    private String finishTime;
+
+    /** 入口ID */
+    @Excel(name = "入口ID")
+    private String entranceId;
+
+    /** 出口ID */
+    @Excel(name = "出口ID")
+    private String exitId;
+
+    /** 班组ID */
+    @Excel(name = "班组ID")
+    private String classId;
+
+    /** 仓库ID */
+    @Excel(name = "仓库ID")
+    private String warehouseId;
+    @Excel(name = "仓库名称")
+    private String warehouseName;
+
+    /** 重分标记 */
+    @Excel(name = "重分标记")
+    private String faultFlag;
+
+    private String inOut;
+
+
+}

ruoyi-admin/src/main/java/com/ruoyi/api/mapper/RequestLogMapper.java

@@ -1,19 +1,19 @@
-package com.ruoyi.device.api.mapper;
+package com.ruoyi.api.mapper;
 
 import java.util.List;
-import com.ruoyi.device.api.domain.RequestLog;
+import com.ruoyi.api.domain.RequestLog;
 
 /**
  * 接口记录Mapper接口
- * 
+ *
  * @author ruoyi
  * @date 2025-06-11
  */
-public interface RequestLogMapper 
+public interface RequestLogMapper
 {
     /**
      * 查询接口记录
-     * 
+     *
      * @param requestId 接口记录主键
      * @return 接口记录
      */
@@ -21,7 +21,7 @@ public interface RequestLogMapper
 
     /**
      * 查询接口记录列表
-     * 
+     *
      * @param requestLog 接口记录
      * @return 接口记录集合
      */
@@ -29,7 +29,7 @@ public interface RequestLogMapper
 
     /**
      * 新增接口记录
-     * 
+     *
      * @param requestLog 接口记录
      * @return 结果
      */
@@ -37,7 +37,7 @@ public interface RequestLogMapper
 
     /**
      * 修改接口记录
-     * 
+     *
      * @param requestLog 接口记录
      * @return 结果
      */
@@ -45,7 +45,7 @@ public interface RequestLogMapper
 
     /**
      * 删除接口记录
-     * 
+     *
      * @param requestId 接口记录主键
      * @return 结果
      */
@@ -53,7 +53,7 @@ public interface RequestLogMapper
 
     /**
      * 批量删除接口记录
-     * 
+     *
      * @param requestIds 需要删除的数据主键集合
      * @return 结果
      */

ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java

@@ -0,0 +1,78 @@
+package com.ruoyi.api.service;
+
+import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
+import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
+import com.ruoyi.api.domain.agv.cancelTask.CancelTaskRequest;
+import com.ruoyi.api.domain.agv.cancelTask.CancelTaskResponse;
+import com.ruoyi.api.domain.agv.continueTask.ContinueTaskRequest;
+import com.ruoyi.api.domain.agv.continueTask.ContinueTaskResponse;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
+import com.ruoyi.api.domain.wcs2wms.MydoJob;
+import com.ruoyi.common.core.domain.AjaxResult;
+
+import java.util.List;
+
+/**
+ * 接口记录Service接口
+ *
+ * @author ruoyi
+ * @date 2025-06-11
+ */
+public interface IApiService
+{
+    /**
+     * 获取任务列表
+     * @param mydoJob
+     * @return
+     */
+    public List<MydoJob> getMydoJobList(MydoJob mydoJob);
+    /**
+     * 更新任务
+     * @param mydoJob
+     */
+    boolean updateMydoJob(MydoJob mydoJob);
+
+    /**
+     * WMS出库任务推送
+     * @param mydoJob
+     */
+    public AjaxResult PushOutMydoJob(MydoJob mydoJob);
+
+    /**
+     * 取消AGV任务
+     *
+     * @param cancelTaskRequest
+     * @return
+     */
+    public CancelTaskResponse cancelTask(CancelTaskRequest cancelTaskRequest);
+
+    /**
+     * 继续AGV任务
+     * @param continueTaskRequest
+     * @return
+     */
+    public ContinueTaskResponse continueTask(ContinueTaskRequest continueTaskRequest);
+
+    /**
+     * 生成AGV生成任务
+     *
+     * @param genAgvSchedulingTaskRequest
+     * @return
+     */
+    public GenAgvSchedulingTaskResponse genAgvSchedulingTask(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest);
+
+    /**
+     * agv任务状态推送
+     * @param request
+     * @return
+     */
+    AgvCallbackResponse agvCallback(AgvCallbackRequest request);
+
+    /**
+     * agv搬运作业
+     * @param genAgvSchedulingTaskRequest
+     * @return
+     */
+    AjaxResult agvMoveJob(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest);
+}

ruoyi-admin/src/main/java/com/ruoyi/api/service/IRequestLogService.java

@@ -1,19 +1,19 @@
-package com.ruoyi.device.api.service;
+package com.ruoyi.api.service;
 
 import java.util.List;
-import com.ruoyi.device.api.domain.RequestLog;
+import com.ruoyi.api.domain.RequestLog;
 
 /**
  * 接口记录Service接口
- * 
+ *
  * @author ruoyi
  * @date 2025-06-11
  */
-public interface IRequestLogService 
+public interface IRequestLogService
 {
     /**
      * 查询接口记录
-     * 
+     *
      * @param requestId 接口记录主键
      * @return 接口记录
      */
@@ -21,7 +21,7 @@ public interface IRequestLogService
 
     /**
      * 查询接口记录列表
-     * 
+     *
      * @param requestLog 接口记录
      * @return 接口记录集合
      */
@@ -29,7 +29,7 @@ public interface IRequestLogService
 
     /**
      * 新增接口记录
-     * 
+     *
      * @param requestLog 接口记录
      * @return 结果
      */
@@ -37,7 +37,7 @@ public interface IRequestLogService
 
     /**
      * 修改接口记录
-     * 
+     *
      * @param requestLog 接口记录
      * @return 结果
      */
@@ -45,7 +45,7 @@ public interface IRequestLogService
 
     /**
      * 批量删除接口记录
-     * 
+     *
      * @param requestIds 需要删除的接口记录主键集合
      * @return 结果
      */
@@ -53,9 +53,26 @@ public interface IRequestLogService
 
     /**
      * 删除接口记录信息
-     * 
+     *
      * @param requestId 接口记录主键
      * @return 结果
      */
     public int deleteRequestLogByRequestId(Long requestId);
+
+    /**
+     * 发送请求，并插入日志
+     * @param url
+     * @param param
+     * @param endPoint
+     * @return
+     */
+    public RequestLog getRequestLog(String url, String param, String endPoint);
+
+    /**
+     * 接收请求，并插入日志
+     * @param url
+     * @param param
+     * @return
+     */
+    public RequestLog getRequestLog(String url, String param);
 }

ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java

@@ -0,0 +1,211 @@
+package com.ruoyi.api.service.impl;
+
+import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjUtil;
+import cn.hutool.json.JSONUtil;
+import com.ruoyi.api.domain.InterfaceReceive;
+import com.ruoyi.api.domain.RequestLog;
+import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
+import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
+import com.ruoyi.api.domain.agv.cancelTask.CancelTaskRequest;
+import com.ruoyi.api.domain.agv.cancelTask.CancelTaskResponse;
+import com.ruoyi.api.domain.agv.continueTask.ContinueTaskRequest;
+import com.ruoyi.api.domain.agv.continueTask.ContinueTaskResponse;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
+import com.ruoyi.api.domain.wcs2wms.MydoJob;
+import com.ruoyi.api.service.IApiService;
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.common.core.text.Convert;
+import com.ruoyi.device.agv.domain.AgvQueue;
+import com.ruoyi.device.agv.service.IAgvQueueService;
+import com.ruoyi.schedule.plcRead.ssj.domain.SsjDevice;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+import static com.ruoyi.common.Constant.*;
+
+/**
+ * 接口记录Service业务层处理
+ *
+ * @author ruoyi
+ * @date 2025-06-11
+ */
+@Service
+@Slf4j
+public class ApiServiceImpl implements IApiService {
+    @Autowired
+    private RequestLogServiceImpl requestLogService;
+    @Autowired
+    private IAgvQueueService agvQueueService;
+
+
+    @Override
+    public List<MydoJob> getMydoJobList(MydoJob mydoJob) {
+        RequestLog requestLog = requestLogService.getRequestLog(GET_MYDOJOB_URL, "获取任务", JSONUtil.toJsonStr(mydoJob));
+        String responseBody = requestLog.getResponseBody();
+        InterfaceReceive bean = JSONUtil.toBean(responseBody, InterfaceReceive.class);
+        return JSONUtil.toList(JSONUtil.toJsonStr(bean.getData()), MydoJob.class);
+    }
+
+    @Override
+    public GenAgvSchedulingTaskResponse genAgvSchedulingTask(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
+        RequestLog requestLog = requestLogService.getRequestLog(GEN_AGV_SCHEDULING_TASK, JSONUtil.toJsonStr(genAgvSchedulingTaskRequest), "生成AGV任务");
+        return BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskResponse.class);
+    }
+
+    @Override
+    public AgvCallbackResponse agvCallback(AgvCallbackRequest request) {
+        RequestLog requestLog = requestLogService.getRequestLog(JSONUtil.toJsonStr(request), "AGV任务执行通知");
+        requestLog.setRequestUrl("http://10.214.18.61:8089/external/log/outStockJob");
+        AgvCallbackResponse response = new AgvCallbackResponse(0, "成功", "");
+        try {
+            agvCallbackInfo(request);
+            requestLog.setResponseBody(JSONUtil.toJsonStr(response));
+            requestLog.setResponseStatus("1");
+            return new AgvCallbackResponse(0, "成功", "");
+        } catch (RuntimeException e) {
+            requestLog.setErrorDetails(e.getMessage());
+            requestLog.setIsSuccessful("0");
+            requestLog.setResponseBody(JSONUtil.toJsonStr(response));
+            requestLog.setResponseStatus("0");
+            return new AgvCallbackResponse(1, "失败", "");
+        } finally {
+            requestLogService.insertRequestLog(requestLog);
+        }
+    }
+
+    @Override
+    public AjaxResult agvMoveJob(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
+        //todo 生成agvQueue队列
+        AgvQueue agvQueue = new AgvQueue();
+        agvQueueService.insertAgvQueue(agvQueue);
+        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = genAgvSchedulingTask(genAgvSchedulingTaskRequest);
+        if (genAgvSchedulingTaskResponse.getCode() == 0){
+            return AjaxResult.success();
+        }
+        return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
+    }
+
+
+    private void agvCallbackInfo(AgvCallbackRequest request) {
+        String taskCode = request.getTaskCode();
+
+        AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(taskCode);
+
+        if (ObjUtil.isNotNull(agvQueue)) {
+            switch (request.getMethod()) {
+                case "start":
+                    //任务开始
+                    log.info("【AGV任务开始】任务号：{}", taskCode);
+                    break;
+                case "outbin":
+                    //走出储位
+                    if ("2".equals(agvQueue.getStatus())) {
+                        agvQueue.setStatus("3");
+                        agvQueueService.updateAgvQueue(agvQueue);
+                        log.info("【AGV走出储位】任务号：{}", taskCode);
+                    }
+                    break;
+                case "end":
+                    //任务结束
+                    agvQueue.setStatus("4");
+                    agvQueueService.updateAgvQueue(agvQueue);
+                    if ("1".equals(agvQueue.getWmsTaskType()) || "2".equals(agvQueue.getWmsTaskType())){
+                        //通知wms 任务结束
+                        MydoJob mydoJobParam = new MydoJob();
+                        mydoJobParam.setTaskNo(agvQueue.getWmsTaskNo());
+                        mydoJobParam.setTrayCode(agvQueue.getWmsTraycode());
+                        List<MydoJob> mydoJobList = getMydoJobList(mydoJobParam);
+                        if (CollUtil.isNotEmpty(mydoJobList)) {
+                            MydoJob mydoJob = mydoJobList.get(0);
+                            //通知wms agv搬运阶段完成
+                            Map<String, Object> param = new HashMap<>();
+                            param.put("task_no", agvQueue.getWmsTaskNo());
+                            param.put("tray_code", agvQueue.getWmsTraycode());
+                            requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
+                            log.info("【AGV任务结束】任务号：{}", taskCode);
+                            if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
+                                //入库任务  暂无特殊逻辑
+                            } else {
+                                //todo 写入对应的plc 任务号
+                            }
+                        } else {
+                            log.info("【AGV任务结束】任务号：{}，wms不存在对应的作业", taskCode);
+                        }
+                    }else if (agvQueue.getWmsTaskType().equals("3")){
+                        //todo 绑定点位和料架
+                    }
+                    break;
+                case "cancel":
+                    //任务单取消
+                    log.info("【AGV任务单取消】任务号：{}", taskCode);
+                    break;
+                case "apply":
+                    //CTU料箱取放申请
+                    //请求放货
+                    if ("0".equals(agvQueue.getRequest())) {
+                        agvQueue.setRequest("1");
+                        agvQueueService.updateAgvQueue(agvQueue);
+                    }
+                    log.info("【AGV料箱取放申请】任务号：{}", taskCode);
+                    break;
+                default:
+                    log.info("未知方法");
+            }
+        }
+
+    }
+
+    @Override
+    public AjaxResult PushOutMydoJob(MydoJob mydoJob) {
+        AgvQueue agvQueue = new AgvQueue();
+        String reqCode = IdUtil.fastSimpleUUID();
+        agvQueue.setReqCode(reqCode);
+        agvQueue.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
+        agvQueue.setAgvType("CTU");
+        agvQueue.setPositionCode1(mydoJob.getCargoSpaceId());
+        agvQueue.setPositionCode2(mydoJob.getExitId());
+        int i = agvQueueService.insertAgvQueue(agvQueue);
+        if (i > 0) {
+            log.info("向AGV下任务成功");
+            return AjaxResult.success("向AGV下任务成功");
+        } else {
+            log.info("向AGV下任务失败");
+            return AjaxResult.error("向AGV下任务失败");
+        }
+    }
+
+    @Override
+    public CancelTaskResponse cancelTask(CancelTaskRequest cancelTaskRequest) {
+        RequestLog requestLog = requestLogService.getRequestLog(CANCEL_TASK_URL, "取消任务", JSONUtil.toJsonStr(cancelTaskRequest));
+        return BeanUtil.toBean(requestLog.getResponseBody(), CancelTaskResponse.class);
+
+    }
+
+    @Override
+    public ContinueTaskResponse continueTask(ContinueTaskRequest continueTaskRequest) {
+        RequestLog requestLog = requestLogService.getRequestLog(CONTINUE_TASK_URL, "继续执行任务", JSONUtil.toJsonStr(continueTaskRequest));
+        return BeanUtil.toBean(requestLog.getResponseBody(), ContinueTaskResponse.class);
+    }
+
+    @Override
+    public boolean updateMydoJob(MydoJob mydoJob) {
+        RequestLog requestLog = requestLogService.getRequestLog(GET_MYDOJOB_URL, "获取任务", JSONUtil.toJsonStr(mydoJob));
+        String responseBody = requestLog.getResponseBody();
+        InterfaceReceive bean = JSONUtil.toBean(responseBody, InterfaceReceive.class);
+        if (bean.getCode() == 0) {
+            return true;
+        } else {
+            return false;
+        }
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/RequestLogServiceImpl.java

@@ -1,4 +1,4 @@
-package com.ruoyi.device.api.service.impl;
+package com.ruoyi.api.service.impl;
 
 import java.util.Date;
 import java.util.List;
@@ -6,15 +6,14 @@ import java.util.List;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.IdUtil;
 import cn.hutool.http.HttpUtil;
 import cn.hutool.json.JSONUtil;
-import com.ruoyi.device.api.domain.InterfaceReceive;
+import com.ruoyi.api.domain.InterfaceReceive;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
-import com.ruoyi.device.api.mapper.RequestLogMapper;
-import com.ruoyi.device.api.domain.RequestLog;
-import com.ruoyi.device.api.service.IRequestLogService;
+import com.ruoyi.api.mapper.RequestLogMapper;
+import com.ruoyi.api.domain.RequestLog;
+import com.ruoyi.api.service.IRequestLogService;
 
 /**
  * 接口记录Service业务层处理
@@ -108,7 +107,8 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @param param 参数
      * @return requestLog
      */
-    private RequestLog getRequestLog(String url, String param, String endPoint) {
+    @Override
+    public RequestLog getRequestLog(String url, String param, String endPoint) {
         RequestLog requestLog = new RequestLog();
         Date requestTime = new Date();
         requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
@@ -150,7 +150,8 @@ public class RequestLogServiceImpl implements IRequestLogService
      *
      * @return requestLog
      */
-    private RequestLog getRequestLog(String param, String endPoint) {
+    @Override
+    public RequestLog getRequestLog(String param, String endPoint) {
         RequestLog requestLog = new RequestLog();
         Date requestTime = new Date();
         requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));

ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java

@@ -18,4 +18,12 @@ public class Constant {
      */
     public static final String BASEURL_AGV = BASEURL + "/rcms-dps/rest/queryAgvStatus/";
 
+
+    public static final String GET_MYDOJOB_URL = "http://127.0.0.1:8081/rcms-dps/rest/queryAgvStatus/";
+    public static final String UPDATE_MYDOJOB_URL = "http://127.0.0.1:8081/rcms-dps/rest/queryAgvStatus/";
+    public static final String AGV_FINISH_URL = "http://127.0.0.1:8081/rcms-dps/rest/queryAgvStatus/";
+    public static final String CONTINUE_TASK_URL = "http://127.0.0.1:8081/rcms-dps/rest/queryAgvStatus/";
+    public static final String CANCEL_TASK_URL = "http://127.0.0.1:8081/rcms-dps/rest/queryAgvStatus/";
+    public static final String GEN_AGV_SCHEDULING_TASK = "http://127.0.0.1:8081/rcms-dps/rest/queryAgvStatus/";
+
 }

ruoyi-admin/src/main/java/com/ruoyi/device/agv/controller/AgvController.java

@@ -1,91 +0,0 @@
-package com.ruoyi.device.agv.controller;
-
-import cn.hutool.http.HttpRequest;
-import com.alibaba.fastjson2.JSON;
-import com.ruoyi.common.Constant;
-import com.ruoyi.common.TaskStatusCode;
-import com.ruoyi.common.core.controller.BaseController;
-import com.ruoyi.common.core.page.TableDataInfo;
-import com.ruoyi.common.utils.StringUtils;
-import com.ruoyi.device.DeviceCar.domain.DeviceCar;
-import com.ruoyi.device.agv.domain.ResponseBase;
-import com.ruoyi.device.agv.domain.agvCallback.AgvCallbackRequest;
-import com.ruoyi.device.agv.domain.agvCallback.AgvCallbackResponse;
-import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
-import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
-import com.ruoyi.device.api.domain.RequestLog;
-import com.ruoyi.schedule.plc.domain.AgvRead;
-import com.ruoyi.schedule.task.domain.WcsTask;
-import com.ruoyi.schedule.task.mapper.WcsTaskMapper;
-import com.ruoyi.schedule.task.service.IWcsTaskService;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.*;
-
-import java.time.LocalDateTime;
-import java.time.format.DateTimeFormatter;
-import java.util.List;
-
-/**
- * Agv操作请求
- */
-@RestController
-@RequestMapping("/agv/api")
-@Slf4j
-public class AgvController extends BaseController {
-
-
-    @Autowired
-    WcsTaskMapper wcsTaskMapper;
-
-    @PostMapping("/agvCallback")
-    public AgvCallbackResponse agvCallback(@RequestBody AgvCallbackRequest request) {
-
-        AgvCallbackResponse response = new AgvCallbackResponse();
-
-        response.setCode(0);
-        response.setMessage("success");
-        response.setReqCode(request.getReqCode());
-
-        //请求字符串空校验
-        if (request == null ||
-                StringUtils.isBlank(request.getReqCode()) ||
-                StringUtils.isBlank(request.getReqTime()) ||
-                StringUtils.isBlank(request.getCurrentPositionCode()) ||
-                StringUtils.isBlank(request.getMethod()) ||
-                StringUtils.isBlank(request.getRobotCode()) ||
-                StringUtils.isBlank(request.getTaskCode())
-        ) {
-            response.setCode(1);
-            response.setMessage("failed");
-            log.error("【设备执行任务回调接口异常】:{}", JSON.toJSONString(request));
-        }
-
-        //根据回调参数更新任务状态
-        WcsTask task = wcsTaskMapper.selectWcsTaskByTaskId(request.getTaskCode());
-        switch (request.getMethod()){
-            case "start":
-            case "outbin":
-                task.setTaskStatus(TaskStatusCode.TASK_RUNNING);
-                log.info("【更新任务状态】任务号：{}，任务执行中",task.getTaskId());
-                break;
-            case "end":
-                task.setTaskStatus(TaskStatusCode.TASK_FINISH);
-                log.info("【更新任务状态】任务号：{}，任务自动完成",task.getTaskId());
-                break;
-            case "cancel":
-                task.setTaskStatus(TaskStatusCode.TASK_CANCEL);
-                log.info("【更新任务状态】任务号：{}，任务已取消",task.getTaskId());
-                break;
-            case "apply":
-                //task.setTaskStatus(TaskStatusCode.TASK_RUNNING);
-                break;
-        }
-        task.setDeviceId(request.getRobotCode());
-
-        wcsTaskMapper.updateWcsTask(task);
-
-        return response;
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/controller/AgvQueueController.java

@@ -0,0 +1,104 @@
+package com.ruoyi.device.agv.controller;
+
+import java.util.List;
+import javax.servlet.http.HttpServletResponse;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.DeleteMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import com.ruoyi.common.annotation.Log;
+import com.ruoyi.common.core.controller.BaseController;
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.common.enums.BusinessType;
+import com.ruoyi.device.agv.domain.AgvQueue;
+import com.ruoyi.device.agv.service.IAgvQueueService;
+import com.ruoyi.common.utils.poi.ExcelUtil;
+import com.ruoyi.common.core.page.TableDataInfo;
+
+/**
+ * AGV任务队列Controller
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+@RestController
+@RequestMapping("/agv/queue")
+public class AgvQueueController extends BaseController
+{
+    @Autowired
+    private IAgvQueueService agvQueueService;
+
+    /**
+     * 查询AGV任务队列列表
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queue:list')")
+    @GetMapping("/list")
+    public TableDataInfo list(AgvQueue agvQueue)
+    {
+        startPage();
+        List<AgvQueue> list = agvQueueService.selectAgvQueueList(agvQueue);
+        return getDataTable(list);
+    }
+
+    /**
+     * 导出AGV任务队列列表
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queue:export')")
+    @Log(title = "AGV任务队列", businessType = BusinessType.EXPORT)
+    @PostMapping("/export")
+    public void export(HttpServletResponse response, AgvQueue agvQueue)
+    {
+        List<AgvQueue> list = agvQueueService.selectAgvQueueList(agvQueue);
+        ExcelUtil<AgvQueue> util = new ExcelUtil<AgvQueue>(AgvQueue.class);
+        util.exportExcel(response, list, "AGV任务队列数据");
+    }
+
+    /**
+     * 获取AGV任务队列详细信息
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queue:query')")
+    @GetMapping(value = "/{reqCode}")
+    public AjaxResult getInfo(@PathVariable("reqCode") String reqCode)
+    {
+        return success(agvQueueService.selectAgvQueueByReqCode(reqCode));
+    }
+
+    /**
+     * 新增AGV任务队列
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queue:add')")
+    @Log(title = "AGV任务队列", businessType = BusinessType.INSERT)
+    @PostMapping
+    public AjaxResult add(@RequestBody AgvQueue agvQueue)
+    {
+        return toAjax(agvQueueService.insertAgvQueue(agvQueue));
+    }
+
+    /**
+     * 修改AGV任务队列
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queue:edit')")
+    @Log(title = "AGV任务队列", businessType = BusinessType.UPDATE)
+    @PutMapping
+    public AjaxResult edit(@RequestBody AgvQueue agvQueue)
+    {
+        return toAjax(agvQueueService.updateAgvQueue(agvQueue));
+    }
+
+    /**
+     * 删除AGV任务队列
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queue:remove')")
+    @Log(title = "AGV任务队列", businessType = BusinessType.DELETE)
+	@DeleteMapping("/{reqCodes}")
+    public AjaxResult remove(@PathVariable String[] reqCodes)
+    {
+        return toAjax(agvQueueService.deleteAgvQueueByReqCodes(reqCodes));
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/controller/AgvQueueFinishController.java

@@ -0,0 +1,104 @@
+package com.ruoyi.device.agv.controller;
+
+import java.util.List;
+import javax.servlet.http.HttpServletResponse;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.DeleteMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import com.ruoyi.common.annotation.Log;
+import com.ruoyi.common.core.controller.BaseController;
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.common.enums.BusinessType;
+import com.ruoyi.device.agv.domain.AgvQueueFinish;
+import com.ruoyi.device.agv.service.IAgvQueueFinishService;
+import com.ruoyi.common.utils.poi.ExcelUtil;
+import com.ruoyi.common.core.page.TableDataInfo;
+
+/**
+ * agv历史队列Controller
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+@RestController
+@RequestMapping("/agv/queueFinish")
+public class AgvQueueFinishController extends BaseController
+{
+    @Autowired
+    private IAgvQueueFinishService agvQueueFinishService;
+
+    /**
+     * 查询agv历史队列列表
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queueFinish:list')")
+    @GetMapping("/list")
+    public TableDataInfo list(AgvQueueFinish agvQueueFinish)
+    {
+        startPage();
+        List<AgvQueueFinish> list = agvQueueFinishService.selectAgvQueueFinishList(agvQueueFinish);
+        return getDataTable(list);
+    }
+
+    /**
+     * 导出agv历史队列列表
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queueFinish:export')")
+    @Log(title = "agv历史队列", businessType = BusinessType.EXPORT)
+    @PostMapping("/export")
+    public void export(HttpServletResponse response, AgvQueueFinish agvQueueFinish)
+    {
+        List<AgvQueueFinish> list = agvQueueFinishService.selectAgvQueueFinishList(agvQueueFinish);
+        ExcelUtil<AgvQueueFinish> util = new ExcelUtil<AgvQueueFinish>(AgvQueueFinish.class);
+        util.exportExcel(response, list, "agv历史队列数据");
+    }
+
+    /**
+     * 获取agv历史队列详细信息
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queueFinish:query')")
+    @GetMapping(value = "/{reqCode}")
+    public AjaxResult getInfo(@PathVariable("reqCode") String reqCode)
+    {
+        return success(agvQueueFinishService.selectAgvQueueFinishByReqCode(reqCode));
+    }
+
+    /**
+     * 新增agv历史队列
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queueFinish:add')")
+    @Log(title = "agv历史队列", businessType = BusinessType.INSERT)
+    @PostMapping
+    public AjaxResult add(@RequestBody AgvQueueFinish agvQueueFinish)
+    {
+        return toAjax(agvQueueFinishService.insertAgvQueueFinish(agvQueueFinish));
+    }
+
+    /**
+     * 修改agv历史队列
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queueFinish:edit')")
+    @Log(title = "agv历史队列", businessType = BusinessType.UPDATE)
+    @PutMapping
+    public AjaxResult edit(@RequestBody AgvQueueFinish agvQueueFinish)
+    {
+        return toAjax(agvQueueFinishService.updateAgvQueueFinish(agvQueueFinish));
+    }
+
+    /**
+     * 删除agv历史队列
+     */
+    @PreAuthorize("@ss.hasPermi('agv:queueFinish:remove')")
+    @Log(title = "agv历史队列", businessType = BusinessType.DELETE)
+	@DeleteMapping("/{reqCodes}")
+    public AjaxResult remove(@PathVariable String[] reqCodes)
+    {
+        return toAjax(agvQueueFinishService.deleteAgvQueueFinishByReqCodes(reqCodes));
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/AgvQueue.java

@@ -0,0 +1,277 @@
+package com.ruoyi.device.agv.domain;
+
+import org.apache.commons.lang3.builder.ToStringBuilder;
+import org.apache.commons.lang3.builder.ToStringStyle;
+import com.ruoyi.common.annotation.Excel;
+import com.ruoyi.common.core.domain.BaseEntity;
+
+/**
+ * AGV任务队列对象 agv_queue
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+public class AgvQueue extends BaseEntity
+{
+    private static final long serialVersionUID = 1L;
+
+    /** 请求编号 */
+    private String reqCode;
+
+    /** 请求时间截 yyyy-MM-dd HH:mm:ss */
+    @Excel(name = "请求时间截 yyyy-MM-dd HH:mm:ss")
+    private String reqTime;
+
+    /** 起点  */
+    @Excel(name = "起点 ")
+    private String positionCode1;
+
+    /** 终点 */
+    @Excel(name = "终点")
+    private String positionCode2;
+
+    /** 任务类型  */
+    @Excel(name = "任务类型 ")
+    private String taskType;
+
+    /** 容器类型 */
+    @Excel(name = "容器类型")
+    private String ctnrType;
+
+    /** 容器编号 */
+    @Excel(name = "容器编号")
+    private String ctnrCode;
+
+    /** 容器数量 */
+    @Excel(name = "容器数量")
+    private String ctnrNum;
+
+    /** 任务模式 */
+    @Excel(name = "任务模式")
+    private String taskMode;
+
+    /** 优先级 */
+    @Excel(name = "优先级")
+    private String priority;
+
+    /** 设备类型 */
+    @Excel(name = "设备类型")
+    private String agvType;
+
+    /** 继续请求 */
+    @Excel(name = "继续请求")
+    private String request;
+
+    /** 结束时间 yyyy-MM-dd HH:mm:ss */
+    @Excel(name = "结束时间 yyyy-MM-dd HH:mm:ss")
+    private String finishTime;
+
+    /** wms托盘码/容器码 */
+    @Excel(name = "wms托盘码/容器码")
+    private String wmsTraycode;
+
+    /** wms任务号 */
+    @Excel(name = "wms任务号")
+    private String wmsTaskNo;
+
+    private String status;
+
+    private String taskCode;
+
+    private String wmsTaskType;
+
+    public String getWmsTaskType() {
+        return wmsTaskType;
+    }
+
+    public void setWmsTaskType(String wmsTaskType) {
+        this.wmsTaskType = wmsTaskType;
+    }
+
+    public String getTaskCode() {
+        return taskCode;
+    }
+
+    public void setTaskCode(String taskCode) {
+        this.taskCode = taskCode;
+    }
+
+    public String getStatus() {
+        return status;
+    }
+
+    public void setStatus(String status) {
+        this.status = status;
+    }
+
+    public void setReqCode(String reqCode)
+    {
+        this.reqCode = reqCode;
+    }
+
+    public String getReqCode()
+    {
+        return reqCode;
+    }
+
+    public void setReqTime(String reqTime)
+    {
+        this.reqTime = reqTime;
+    }
+
+    public String getReqTime()
+    {
+        return reqTime;
+    }
+
+    public void setPositionCode1(String positionCode1)
+    {
+        this.positionCode1 = positionCode1;
+    }
+
+    public String getPositionCode1()
+    {
+        return positionCode1;
+    }
+
+    public void setPositionCode2(String positionCode2)
+    {
+        this.positionCode2 = positionCode2;
+    }
+
+    public String getPositionCode2()
+    {
+        return positionCode2;
+    }
+
+    public void setTaskType(String taskType)
+    {
+        this.taskType = taskType;
+    }
+
+    public String getTaskType()
+    {
+        return taskType;
+    }
+
+    public void setCtnrType(String ctnrType)
+    {
+        this.ctnrType = ctnrType;
+    }
+
+    public String getCtnrType()
+    {
+        return ctnrType;
+    }
+
+    public void setCtnrCode(String ctnrCode)
+    {
+        this.ctnrCode = ctnrCode;
+    }
+
+    public String getCtnrCode()
+    {
+        return ctnrCode;
+    }
+
+    public void setCtnrNum(String ctnrNum)
+    {
+        this.ctnrNum = ctnrNum;
+    }
+
+    public String getCtnrNum()
+    {
+        return ctnrNum;
+    }
+
+    public void setTaskMode(String taskMode)
+    {
+        this.taskMode = taskMode;
+    }
+
+    public String getTaskMode()
+    {
+        return taskMode;
+    }
+
+    public void setPriority(String priority)
+    {
+        this.priority = priority;
+    }
+
+    public String getPriority()
+    {
+        return priority;
+    }
+
+    public void setAgvType(String agvType)
+    {
+        this.agvType = agvType;
+    }
+
+    public String getAgvType()
+    {
+        return agvType;
+    }
+
+    public void setRequest(String request)
+    {
+        this.request = request;
+    }
+
+    public String getRequest()
+    {
+        return request;
+    }
+
+    public void setFinishTime(String finishTime)
+    {
+        this.finishTime = finishTime;
+    }
+
+    public String getFinishTime()
+    {
+        return finishTime;
+    }
+
+    public void setWmsTraycode(String wmsTraycode)
+    {
+        this.wmsTraycode = wmsTraycode;
+    }
+
+    public String getWmsTraycode()
+    {
+        return wmsTraycode;
+    }
+
+    public void setWmsTaskNo(String wmsTaskNo)
+    {
+        this.wmsTaskNo = wmsTaskNo;
+    }
+
+    public String getWmsTaskNo()
+    {
+        return wmsTaskNo;
+    }
+
+    @Override
+    public String toString() {
+        return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
+            .append("reqCode", getReqCode())
+            .append("reqTime", getReqTime())
+            .append("positionCode1", getPositionCode1())
+            .append("positionCode2", getPositionCode2())
+            .append("taskType", getTaskType())
+            .append("ctnrType", getCtnrType())
+            .append("ctnrCode", getCtnrCode())
+            .append("ctnrNum", getCtnrNum())
+            .append("taskMode", getTaskMode())
+            .append("priority", getPriority())
+            .append("agvType", getAgvType())
+            .append("request", getRequest())
+            .append("finishTime", getFinishTime())
+            .append("wmsTraycode", getWmsTraycode())
+            .append("wmsTaskNo", getWmsTaskNo())
+            .toString();
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/AgvQueueFinish.java

@@ -0,0 +1,247 @@
+package com.ruoyi.device.agv.domain;
+
+import org.apache.commons.lang3.builder.ToStringBuilder;
+import org.apache.commons.lang3.builder.ToStringStyle;
+import com.ruoyi.common.annotation.Excel;
+import com.ruoyi.common.core.domain.BaseEntity;
+
+/**
+ * agv历史队列对象 agv_queue_finish
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+public class AgvQueueFinish extends BaseEntity
+{
+    private static final long serialVersionUID = 1L;
+
+    /** 请求编号 */
+    private String reqCode;
+
+    /** 请求时间截 yyyy-MM-dd HH:mm:ss */
+    @Excel(name = "请求时间截 yyyy-MM-dd HH:mm:ss")
+    private String reqTime;
+
+    /** 起点  */
+    @Excel(name = "起点 ")
+    private String positionCode1;
+
+    /** 终点 */
+    @Excel(name = "终点")
+    private String positionCode2;
+
+    /** 任务类型  */
+    @Excel(name = "任务类型 ")
+    private String taskType;
+
+    /** 容器类型 */
+    @Excel(name = "容器类型")
+    private String ctnrType;
+
+    /** 容器编号 */
+    @Excel(name = "容器编号")
+    private String ctnrCode;
+
+    /** 容器数量 */
+    @Excel(name = "容器数量")
+    private String ctnrNum;
+
+    /** 任务模式 */
+    @Excel(name = "任务模式")
+    private String taskMode;
+
+    /** 优先级 */
+    @Excel(name = "优先级")
+    private String priority;
+
+    /** 设备类型 */
+    @Excel(name = "设备类型")
+    private String agvType;
+
+    /** 继续请求 */
+    @Excel(name = "继续请求")
+    private String request;
+
+    /** 结束时间 yyyy-MM-dd HH:mm:ss */
+    @Excel(name = "结束时间 yyyy-MM-dd HH:mm:ss")
+    private String finishTime;
+
+    /** wms托盘码/容器码 */
+    @Excel(name = "wms托盘码/容器码")
+    private String wmsTraycode;
+
+    /** wms任务号 */
+    @Excel(name = "wms任务号")
+    private String wmsTaskNo;
+
+    public void setReqCode(String reqCode)
+    {
+        this.reqCode = reqCode;
+    }
+
+    public String getReqCode()
+    {
+        return reqCode;
+    }
+
+    public void setReqTime(String reqTime)
+    {
+        this.reqTime = reqTime;
+    }
+
+    public String getReqTime()
+    {
+        return reqTime;
+    }
+
+    public void setPositionCode1(String positionCode1)
+    {
+        this.positionCode1 = positionCode1;
+    }
+
+    public String getPositionCode1()
+    {
+        return positionCode1;
+    }
+
+    public void setPositionCode2(String positionCode2)
+    {
+        this.positionCode2 = positionCode2;
+    }
+
+    public String getPositionCode2()
+    {
+        return positionCode2;
+    }
+
+    public void setTaskType(String taskType)
+    {
+        this.taskType = taskType;
+    }
+
+    public String getTaskType()
+    {
+        return taskType;
+    }
+
+    public void setCtnrType(String ctnrType)
+    {
+        this.ctnrType = ctnrType;
+    }
+
+    public String getCtnrType()
+    {
+        return ctnrType;
+    }
+
+    public void setCtnrCode(String ctnrCode)
+    {
+        this.ctnrCode = ctnrCode;
+    }
+
+    public String getCtnrCode()
+    {
+        return ctnrCode;
+    }
+
+    public void setCtnrNum(String ctnrNum)
+    {
+        this.ctnrNum = ctnrNum;
+    }
+
+    public String getCtnrNum()
+    {
+        return ctnrNum;
+    }
+
+    public void setTaskMode(String taskMode)
+    {
+        this.taskMode = taskMode;
+    }
+
+    public String getTaskMode()
+    {
+        return taskMode;
+    }
+
+    public void setPriority(String priority)
+    {
+        this.priority = priority;
+    }
+
+    public String getPriority()
+    {
+        return priority;
+    }
+
+    public void setAgvType(String agvType)
+    {
+        this.agvType = agvType;
+    }
+
+    public String getAgvType()
+    {
+        return agvType;
+    }
+
+    public void setRequest(String request)
+    {
+        this.request = request;
+    }
+
+    public String getRequest()
+    {
+        return request;
+    }
+
+    public void setFinishTime(String finishTime)
+    {
+        this.finishTime = finishTime;
+    }
+
+    public String getFinishTime()
+    {
+        return finishTime;
+    }
+
+    public void setWmsTraycode(String wmsTraycode)
+    {
+        this.wmsTraycode = wmsTraycode;
+    }
+
+    public String getWmsTraycode()
+    {
+        return wmsTraycode;
+    }
+
+    public void setWmsTaskNo(String wmsTaskNo)
+    {
+        this.wmsTaskNo = wmsTaskNo;
+    }
+
+    public String getWmsTaskNo()
+    {
+        return wmsTaskNo;
+    }
+
+    @Override
+    public String toString() {
+        return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
+            .append("reqCode", getReqCode())
+            .append("reqTime", getReqTime())
+            .append("positionCode1", getPositionCode1())
+            .append("positionCode2", getPositionCode2())
+            .append("taskType", getTaskType())
+            .append("ctnrType", getCtnrType())
+            .append("ctnrCode", getCtnrCode())
+            .append("ctnrNum", getCtnrNum())
+            .append("taskMode", getTaskMode())
+            .append("priority", getPriority())
+            .append("agvType", getAgvType())
+            .append("request", getRequest())
+            .append("finishTime", getFinishTime())
+            .append("wmsTraycode", getWmsTraycode())
+            .append("wmsTaskNo", getWmsTaskNo())
+            .toString();
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/mapper/AgvQueueFinishMapper.java

@@ -0,0 +1,61 @@
+package com.ruoyi.device.agv.mapper;
+
+import java.util.List;
+import com.ruoyi.device.agv.domain.AgvQueueFinish;
+
+/**
+ * agv历史队列Mapper接口
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+public interface AgvQueueFinishMapper
+{
+    /**
+     * 查询agv历史队列
+     *
+     * @param reqCode agv历史队列主键
+     * @return agv历史队列
+     */
+    public AgvQueueFinish selectAgvQueueFinishByReqCode(String reqCode);
+
+    /**
+     * 查询agv历史队列列表
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return agv历史队列集合
+     */
+    public List<AgvQueueFinish> selectAgvQueueFinishList(AgvQueueFinish agvQueueFinish);
+
+    /**
+     * 新增agv历史队列
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return 结果
+     */
+    public int insertAgvQueueFinish(AgvQueueFinish agvQueueFinish);
+
+    /**
+     * 修改agv历史队列
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return 结果
+     */
+    public int updateAgvQueueFinish(AgvQueueFinish agvQueueFinish);
+
+    /**
+     * 删除agv历史队列
+     *
+     * @param reqCode agv历史队列主键
+     * @return 结果
+     */
+    public int deleteAgvQueueFinishByReqCode(String reqCode);
+
+    /**
+     * 批量删除agv历史队列
+     *
+     * @param reqCodes 需要删除的数据主键集合
+     * @return 结果
+     */
+    public int deleteAgvQueueFinishByReqCodes(String[] reqCodes);
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/mapper/AgvQueueMapper.java

@@ -0,0 +1,68 @@
+package com.ruoyi.device.agv.mapper;
+
+import java.util.List;
+import com.ruoyi.device.agv.domain.AgvQueue;
+
+/**
+ * AGV任务队列Mapper接口
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+public interface AgvQueueMapper
+{
+    /**
+     * 查询AGV任务队列
+     *
+     * @param reqCode AGV任务队列主键
+     * @return AGV任务队列
+     */
+    public AgvQueue selectAgvQueueByReqCode(String reqCode);
+
+    /**
+     * 查询AGV任务队列列表
+     *
+     * @param agvQueue AGV任务队列
+     * @return AGV任务队列集合
+     */
+    public List<AgvQueue> selectAgvQueueList(AgvQueue agvQueue);
+
+    /**
+     * 新增AGV任务队列
+     *
+     * @param agvQueue AGV任务队列
+     * @return 结果
+     */
+    public int insertAgvQueue(AgvQueue agvQueue);
+
+    /**
+     * 修改AGV任务队列
+     *
+     * @param agvQueue AGV任务队列
+     * @return 结果
+     */
+    public int updateAgvQueue(AgvQueue agvQueue);
+
+    /**
+     * 删除AGV任务队列
+     *
+     * @param reqCode AGV任务队列主键
+     * @return 结果
+     */
+    public int deleteAgvQueueByReqCode(String reqCode);
+
+    /**
+     * 批量删除AGV任务队列
+     *
+     * @param reqCodes 需要删除的数据主键集合
+     * @return 结果
+     */
+    public int deleteAgvQueueByReqCodes(String[] reqCodes);
+
+    /**
+     * 根据任务单号获取agv队列
+     * @param taskCode
+     * @return
+     */
+    AgvQueue selectAgvQueueByTaskCode(String taskCode);
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/IAgvQueueFinishService.java

@@ -0,0 +1,61 @@
+package com.ruoyi.device.agv.service;
+
+import java.util.List;
+import com.ruoyi.device.agv.domain.AgvQueueFinish;
+
+/**
+ * agv历史队列Service接口
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+public interface IAgvQueueFinishService
+{
+    /**
+     * 查询agv历史队列
+     *
+     * @param reqCode agv历史队列主键
+     * @return agv历史队列
+     */
+    public AgvQueueFinish selectAgvQueueFinishByReqCode(String reqCode);
+
+    /**
+     * 查询agv历史队列列表
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return agv历史队列集合
+     */
+    public List<AgvQueueFinish> selectAgvQueueFinishList(AgvQueueFinish agvQueueFinish);
+
+    /**
+     * 新增agv历史队列
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return 结果
+     */
+    public int insertAgvQueueFinish(AgvQueueFinish agvQueueFinish);
+
+    /**
+     * 修改agv历史队列
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return 结果
+     */
+    public int updateAgvQueueFinish(AgvQueueFinish agvQueueFinish);
+
+    /**
+     * 批量删除agv历史队列
+     *
+     * @param reqCodes 需要删除的agv历史队列主键集合
+     * @return 结果
+     */
+    public int deleteAgvQueueFinishByReqCodes(String[] reqCodes);
+
+    /**
+     * 删除agv历史队列信息
+     *
+     * @param reqCode agv历史队列主键
+     * @return 结果
+     */
+    public int deleteAgvQueueFinishByReqCode(String reqCode);
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/IAgvQueueService.java

@@ -0,0 +1,68 @@
+package com.ruoyi.device.agv.service;
+
+import java.util.List;
+import com.ruoyi.device.agv.domain.AgvQueue;
+
+/**
+ * AGV任务队列Service接口
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+public interface IAgvQueueService
+{
+    /**
+     * 查询AGV任务队列
+     *
+     * @param reqCode AGV任务队列主键
+     * @return AGV任务队列
+     */
+    public AgvQueue selectAgvQueueByReqCode(String reqCode);
+
+    /**
+     * 查询AGV任务队列列表
+     *
+     * @param agvQueue AGV任务队列
+     * @return AGV任务队列集合
+     */
+    public List<AgvQueue> selectAgvQueueList(AgvQueue agvQueue);
+
+    /**
+     * 新增AGV任务队列
+     *
+     * @param agvQueue AGV任务队列
+     * @return 结果
+     */
+    public int insertAgvQueue(AgvQueue agvQueue);
+
+    /**
+     * 修改AGV任务队列
+     *
+     * @param agvQueue AGV任务队列
+     * @return 结果
+     */
+    public int updateAgvQueue(AgvQueue agvQueue);
+
+    /**
+     * 批量删除AGV任务队列
+     *
+     * @param reqCodes 需要删除的AGV任务队列主键集合
+     * @return 结果
+     */
+    public int deleteAgvQueueByReqCodes(String[] reqCodes);
+
+    /**
+     * 删除AGV任务队列信息
+     *
+     * @param reqCode AGV任务队列主键
+     * @return 结果
+     */
+    public int deleteAgvQueueByReqCode(String reqCode);
+
+    /**
+     * 根据任务单号获取agv队列
+     * @param taskCode
+     * @return
+     */
+    AgvQueue selectAgvQueueByTaskCode(String taskCode);
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/impl/AgvQueueFinishServiceImpl.java

@@ -0,0 +1,93 @@
+package com.ruoyi.device.agv.service.impl;
+
+import java.util.List;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import com.ruoyi.device.agv.mapper.AgvQueueFinishMapper;
+import com.ruoyi.device.agv.domain.AgvQueueFinish;
+import com.ruoyi.device.agv.service.IAgvQueueFinishService;
+
+/**
+ * agv历史队列Service业务层处理
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+@Service
+public class AgvQueueFinishServiceImpl implements IAgvQueueFinishService
+{
+    @Autowired
+    private AgvQueueFinishMapper agvQueueFinishMapper;
+
+    /**
+     * 查询agv历史队列
+     *
+     * @param reqCode agv历史队列主键
+     * @return agv历史队列
+     */
+    @Override
+    public AgvQueueFinish selectAgvQueueFinishByReqCode(String reqCode)
+    {
+        return agvQueueFinishMapper.selectAgvQueueFinishByReqCode(reqCode);
+    }
+
+    /**
+     * 查询agv历史队列列表
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return agv历史队列
+     */
+    @Override
+    public List<AgvQueueFinish> selectAgvQueueFinishList(AgvQueueFinish agvQueueFinish)
+    {
+        return agvQueueFinishMapper.selectAgvQueueFinishList(agvQueueFinish);
+    }
+
+    /**
+     * 新增agv历史队列
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return 结果
+     */
+    @Override
+    public int insertAgvQueueFinish(AgvQueueFinish agvQueueFinish)
+    {
+        return agvQueueFinishMapper.insertAgvQueueFinish(agvQueueFinish);
+    }
+
+    /**
+     * 修改agv历史队列
+     *
+     * @param agvQueueFinish agv历史队列
+     * @return 结果
+     */
+    @Override
+    public int updateAgvQueueFinish(AgvQueueFinish agvQueueFinish)
+    {
+        return agvQueueFinishMapper.updateAgvQueueFinish(agvQueueFinish);
+    }
+
+    /**
+     * 批量删除agv历史队列
+     *
+     * @param reqCodes 需要删除的agv历史队列主键
+     * @return 结果
+     */
+    @Override
+    public int deleteAgvQueueFinishByReqCodes(String[] reqCodes)
+    {
+        return agvQueueFinishMapper.deleteAgvQueueFinishByReqCodes(reqCodes);
+    }
+
+    /**
+     * 删除agv历史队列信息
+     *
+     * @param reqCode agv历史队列主键
+     * @return 结果
+     */
+    @Override
+    public int deleteAgvQueueFinishByReqCode(String reqCode)
+    {
+        return agvQueueFinishMapper.deleteAgvQueueFinishByReqCode(reqCode);
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/impl/AgvQueueServiceImpl.java

@@ -0,0 +1,98 @@
+package com.ruoyi.device.agv.service.impl;
+
+import java.util.List;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import com.ruoyi.device.agv.mapper.AgvQueueMapper;
+import com.ruoyi.device.agv.domain.AgvQueue;
+import com.ruoyi.device.agv.service.IAgvQueueService;
+
+/**
+ * AGV任务队列Service业务层处理
+ *
+ * @author ruoyi
+ * @date 2025-07-03
+ */
+@Service
+public class AgvQueueServiceImpl implements IAgvQueueService
+{
+    @Autowired
+    private AgvQueueMapper agvQueueMapper;
+
+    /**
+     * 查询AGV任务队列
+     *
+     * @param reqCode AGV任务队列主键
+     * @return AGV任务队列
+     */
+    @Override
+    public AgvQueue selectAgvQueueByReqCode(String reqCode)
+    {
+        return agvQueueMapper.selectAgvQueueByReqCode(reqCode);
+    }
+
+    /**
+     * 查询AGV任务队列列表
+     *
+     * @param agvQueue AGV任务队列
+     * @return AGV任务队列
+     */
+    @Override
+    public List<AgvQueue> selectAgvQueueList(AgvQueue agvQueue)
+    {
+        return agvQueueMapper.selectAgvQueueList(agvQueue);
+    }
+
+    /**
+     * 新增AGV任务队列
+     *
+     * @param agvQueue AGV任务队列
+     * @return 结果
+     */
+    @Override
+    public int insertAgvQueue(AgvQueue agvQueue)
+    {
+        return agvQueueMapper.insertAgvQueue(agvQueue);
+    }
+
+    /**
+     * 修改AGV任务队列
+     *
+     * @param agvQueue AGV任务队列
+     * @return 结果
+     */
+    @Override
+    public int updateAgvQueue(AgvQueue agvQueue)
+    {
+        return agvQueueMapper.updateAgvQueue(agvQueue);
+    }
+
+    /**
+     * 批量删除AGV任务队列
+     *
+     * @param reqCodes 需要删除的AGV任务队列主键
+     * @return 结果
+     */
+    @Override
+    public int deleteAgvQueueByReqCodes(String[] reqCodes)
+    {
+        return agvQueueMapper.deleteAgvQueueByReqCodes(reqCodes);
+    }
+
+    /**
+     * 删除AGV任务队列信息
+     *
+     * @param reqCode AGV任务队列主键
+     * @return 结果
+     */
+    @Override
+    public int deleteAgvQueueByReqCode(String reqCode)
+    {
+        return agvQueueMapper.deleteAgvQueueByReqCode(reqCode);
+    }
+
+    @Override
+    public AgvQueue selectAgvQueueByTaskCode(String taskCode) {
+        return agvQueueMapper.selectAgvQueueByTaskCode(taskCode);
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java

@@ -1,11 +1,13 @@
 package com.ruoyi.schedule;
 
-import com.ruoyi.schedule.plc.PlcRead;
-import com.ruoyi.schedule.plc.domain.CustomThread;
-import com.ruoyi.schedule.plc.domain.SsjDevice;
+import com.ruoyi.schedule.plcRead.ssj.domain.PlcConnectInfo;
+import com.ruoyi.schedule.plcRead.ssj.PlcRead;
+import com.ruoyi.schedule.plcRead.ssj.domain.CustomThread;
+import com.ruoyi.schedule.plcRead.ssj.domain.SsjDevice;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.PostConstruct;
+import java.util.List;
 import java.util.concurrent.ConcurrentHashMap;
 
 @Component
@@ -18,8 +20,15 @@ public class ScheduleThread {
      */
     @PostConstruct
     public void init() {
-        ConcurrentHashMap<String, SsjDevice> list = new ConcurrentHashMap<>();
-        PlcRead plcRead = new PlcRead(list);
+        String ip = "192.168.0.1";
+        int port = 80;
+        PlcConnectInfo ssjPlcConnectInfo = new PlcConnectInfo(ip, port);
+        ConcurrentHashMap<String, SsjDevice>list = new ConcurrentHashMap<>();
+        //获取要去取的输送机
+
+
+
+        PlcRead plcRead = new PlcRead(list,ssjPlcConnectInfo);
         Thread plcReadThread = new Thread(plcRead);
         customThread = new CustomThread(plcReadThread, plcRead);
     }

ruoyi-admin/src/main/java/com/ruoyi/schedule/data/ConvConnection.java

@@ -1,146 +0,0 @@
-package com.ruoyi.schedule.data;
-
-
-import com.ruoyi.schedule.plc.domain.ConvPTLInRead;
-import com.ruoyi.schedule.plc.domain.ConvPTLOutRead;
-import lombok.extern.slf4j.Slf4j;
-import org.apache.plc4x.java.PlcDriverManager;
-import org.apache.plc4x.java.api.PlcConnection;
-import org.apache.plc4x.java.api.messages.PlcReadRequest;
-import org.apache.plc4x.java.api.messages.PlcReadResponse;
-import org.apache.plc4x.java.api.types.PlcResponseCode;
-import org.springframework.stereotype.Service;
-
-import javax.annotation.PostConstruct;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.concurrent.TimeUnit;
-
-/**
- * 获取输送机plc连接
- */
-@Slf4j
-@Service
-public class ConvConnection {
-
-    Integer convPortCount = 10;
-
-    String ipConv = "127.0.0.1";
-
-    PlcConnection convConnection;
-
-    /**
-     * 初始化输送机plc连接
-     */
-    @PostConstruct
-    public void initializeConvConnection() {
-        try {
-            convConnection = new PlcDriverManager().getConnection("s7://" + ipConv);
-            log.info("【输送机连接初始化】输送机连接成功！");
-        }catch (Exception e){
-            log.warn("【输送机连接初始化】输送机连接失败:" + e.getMessage());
-        }
-    }
-
-
-
-    /**
-     * 获取所有PTL入口输送机状态参数
-     * @return
-     */
-    public List<ConvPTLInRead> getConvPTLIn() {
-
-        List<ConvPTLInRead> convPTLIn = new ArrayList<>();
-
-        for (int i = 0; i < convPortCount; i++) {
-            try {
-                PlcReadRequest.Builder builder = convConnection.readRequestBuilder();
-
-                builder.addItem("value-test","%M0.0:BOOL");
-                builder.addItem("conv-inPostion","%DB501.DBW" + (0 + i * 30) + ":INT");
-//                builder.addItem("conv-height","%DB501.DBW" + (2 + i * 30) + ":INT");
-                builder.addItem("conv-isException","%DB501.DBD" + (4 + i * 30) + ":DINT");
-                builder.addItem("conv-free","%DB501.DBW" + (6 + i * 30) + ":INT");
-                builder.addItem("conv-taskId","%DB501.DBD" + (8 + i * 30) + ":INT");
-//                builder.addItem("conv-palletId","%DB501.DBD" + (16 + i * 30) + ":STRING");
-
-                PlcReadRequest readRequest = builder.build();
-
-                PlcReadResponse response=readRequest.execute().get(2000, TimeUnit.MILLISECONDS);
-
-                if (response.getResponseCode("value-test") == PlcResponseCode.OK) {
-                    convPTLIn.get(i).setInPostion(response.getInteger("conv-inPostion"));
-//                    convPTLIn.get(i).setHeight(response.getInteger("conv-height"));
-                    convPTLIn.get(i).setIsException(response.getInteger("conv-isException"));
-                    convPTLIn.get(i).setFree(response.getInteger("conv-free"));
-                    convPTLIn.get(i).setTaskId(response.getString("conv-taskId"));
-//                    convPTLIn.get(i).setPalletId(response.getString("conv-palletId"));
-
-                }else{
-                    log.warn("【获取PTL拣选入口输送机状态】获取状态参数失败:" + response.getResponseCode("value-test"));
-                    return null;
-                }
-
-            } catch (Exception e) {
-                log.warn("【获取PTL拣选入口输送机状态】获取状态参数失败:" + e.getMessage());
-                return null;
-            }
-        }
-
-        return convPTLIn;
-
-    }
-
-
-
-    /**
-     * 获取所有PTL出口输送机状态参数
-     * @return
-     */
-    public List<ConvPTLOutRead> getConvPTLOut() {
-
-        List<ConvPTLOutRead> convPTLOut = new ArrayList<>();
-
-        for (int i = 0; i < convPortCount; i++) {
-            try {
-                PlcReadRequest.Builder builder = convConnection.readRequestBuilder();
-
-                builder.addItem("value-test","%M0.0:BOOL");
-                builder.addItem("conv-inPostion","%DB501.DBW" + (0 + i * 30) + ":INT");
-                builder.addItem("conv-height","%DB501.DBW" + (2 + i * 30) + ":INT");
-                builder.addItem("conv-isException","%DB501.DBD" + (4 + i * 30) + ":DINT");
-                builder.addItem("conv-free","%DB501.DBW" + (6 + i * 30) + ":INT");
-                builder.addItem("conv-taskId","%DB501.DBD" + (8 + i * 30) + ":INT");
-                builder.addItem("conv-palletId","%DB501.DBD" + (16 + i * 30) + ":STRING");
-
-                PlcReadRequest readRequest = builder.build();
-
-                PlcReadResponse response=readRequest.execute().get(2000, TimeUnit.MILLISECONDS);
-
-                if (response.getResponseCode("value-test") == PlcResponseCode.OK) {
-                    convPTLOut.get(i).setInPostion(response.getInteger("conv-inPostion"));
-                    convPTLOut.get(i).setHeight(response.getInteger("conv-height"));
-                    convPTLOut.get(i).setIsException(response.getInteger("conv-isException"));
-                    convPTLOut.get(i).setFree(response.getInteger("conv-free"));
-                    convPTLOut.get(i).setTaskId(response.getString("conv-taskId"));
-                    convPTLOut.get(i).setPalletId(response.getString("conv-palletId"));
-
-                }else{
-                    log.warn("【获取PTL拣选出口输送机状态】获取状态参数失败:" + response.getResponseCode("value-test"));
-                    return null;
-                }
-
-            } catch (Exception e) {
-                log.warn("【获取PTL拣选出口输送机状态】获取状态参数失败:" + e.getMessage());
-                return null;
-            }
-        }
-
-        return convPTLOut;
-
-    }
-
-
-
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/job/mydojob/domain/MydoJob.java

@@ -1,460 +0,0 @@
-package com.ruoyi.schedule.job.mydojob.domain;
-
-import com.ruoyi.common.annotation.Excel;
-import com.ruoyi.common.core.domain.BaseEntity;
-import org.apache.commons.lang3.builder.ToStringBuilder;
-import org.apache.commons.lang3.builder.ToStringStyle;
-
-/**
- * 任务表对象 mydo_job
- */
-public class MydoJob extends BaseEntity
-{
-    private static final long serialVersionUID = 1L;
-
-    /** 任务ID */
-    @Excel(name = "任务ID")
-    private String jobId;
-
-    /** 任务状态 */
-    @Excel(name = "任务状态",dictType = "mydo_job_status")
-    private String status;
-
-    /** 上线类型 */
-    @Excel(name = "上线类型",dictType = "on_line_type")
-    private String onLineType;
-
-    /** 任务号 */
-    @Excel(name = "任务号")
-    private String taskNo;
-
-    /** 供应商ID */
-    @Excel(name = "供应商ID")
-    private String supplierId;
-    @Excel(name = "供应商名称")
-    private String supplierName;
-
-    /** 客户ID */
-    @Excel(name = "客户ID")
-    private String customerId;
-    @Excel(name = "客户名称")
-    private String customerName;
-
-    /** 部门ID */
-    @Excel(name = "部门ID")
-    private String departmentId;
-    @Excel(name = "部门")
-    private String departmentName;
-
-    /** 托盘码 */
-    @Excel(name = "托盘码")
-    private String trayCode;
-
-    /** 巷道ID */
-    @Excel(name = "巷道ID")
-    private String roadwayId;
-
-    /** 货位ID */
-    @Excel(name = "货位ID")
-    private String cargoSpaceId;
-    @Excel(name = "货位名称")
-    private String cargoSpaceName;
-
-    /** 目标巷道ID */
-    @Excel(name = "目标巷道ID")
-    private String targetRoadwayId;
-
-    /** 目标货位ID */
-    @Excel(name = "目标货位ID")
-    private String targetCargoSpaceId;
-    @Excel(name = "目标货位名称")
-    private String targetCargoSpaceName;
-
-    /** 产线ID */
-    @Excel(name = "产线ID")
-    private String lineId;
-
-    /** 车间ID */
-    @Excel(name = "车间ID")
-    private String workshopId;
-
-    /** 优先级 */
-    @Excel(name = "优先级")
-    private Long priority;
-
-    /** 执行阶段 */
-    @Excel(name = "执行阶段",dictType = "execution_phase_type")
-    private String executionPhase;
-
-    /** 任务类型 */
-    @Excel(name = "任务类型",dictType = "in_or_out_type")
-    private String inOrOut;
-
-
-
-    /** 开始时间 */
-    @Excel(name = "开始时间")
-    private String startTime;
-
-    /** 结束时间 */
-    @Excel(name = "结束时间")
-    private String finishTime;
-
-    /** 入口ID */
-    @Excel(name = "入口ID")
-    private String entranceId;
-
-    /** 出口ID */
-    @Excel(name = "出口ID")
-    private String exitId;
-
-    /** 班组ID */
-    @Excel(name = "班组ID")
-    private String classId;
-
-    /** 仓库ID */
-    @Excel(name = "仓库ID")
-    private String warehouseId;
-    @Excel(name = "仓库名称")
-    private String warehouseName;
-
-    /** 重分标记 */
-    @Excel(name = "重分标记")
-    private String faultFlag;
-
-    private String inOut;
-
-
-    public String getDepartmentName() {
-        return departmentName;
-    }
-
-    public void setDepartmentName(String departmentName) {
-        this.departmentName = departmentName;
-    }
-
-    public String getWarehouseName() {
-        return warehouseName;
-    }
-
-    public void setWarehouseName(String warehouseName) {
-        this.warehouseName = warehouseName;
-    }
-
-
-
-
-
-    public String getInOut() {
-        return inOut;
-    }
-
-    public void setInOut(String inOut) {
-        this.inOut = inOut;
-    }
-
-    public void setJobId(String jobId)
-    {
-        this.jobId = jobId;
-    }
-
-    public String getJobId()
-    {
-        return jobId;
-    }
-
-    public void setStatus(String status)
-    {
-        this.status = status;
-    }
-
-    public String getStatus()
-    {
-        return status;
-    }
-
-    public void setOnLineType(String onLineType)
-    {
-        this.onLineType = onLineType;
-    }
-
-    public String getOnLineType()
-    {
-        return onLineType;
-    }
-
-    public void setTaskNo(String taskNo)
-    {
-        this.taskNo = taskNo;
-    }
-
-    public String getTaskNo()
-    {
-        return taskNo;
-    }
-
-    public void setSupplierId(String supplierId)
-    {
-        this.supplierId = supplierId;
-    }
-
-    public String getSupplierId()
-    {
-        return supplierId;
-    }
-
-    public void setCustomerId(String customerId)
-    {
-        this.customerId = customerId;
-    }
-
-    public String getCustomerId()
-    {
-        return customerId;
-    }
-
-    public void setDepartmentId(String departmentId)
-    {
-        this.departmentId = departmentId;
-    }
-
-    public String getDepartmentId()
-    {
-        return departmentId;
-    }
-
-    public void setTrayCode(String trayCode)
-    {
-        this.trayCode = trayCode;
-    }
-
-    public String getTrayCode()
-    {
-        return trayCode;
-    }
-
-    public void setRoadwayId(String roadwayId)
-    {
-        this.roadwayId = roadwayId;
-    }
-
-    public String getRoadwayId()
-    {
-        return roadwayId;
-    }
-
-    public void setCargoSpaceId(String cargoSpaceId)
-    {
-        this.cargoSpaceId = cargoSpaceId;
-    }
-
-    public String getCargoSpaceId()
-    {
-        return cargoSpaceId;
-    }
-
-    public void setTargetRoadwayId(String targetRoadwayId)
-    {
-        this.targetRoadwayId = targetRoadwayId;
-    }
-
-    public String getTargetRoadwayId()
-    {
-        return targetRoadwayId;
-    }
-
-    public void setTargetCargoSpaceId(String targetCargoSpaceId)
-    {
-        this.targetCargoSpaceId = targetCargoSpaceId;
-    }
-
-    public String getTargetCargoSpaceId()
-    {
-        return targetCargoSpaceId;
-    }
-
-    public void setLineId(String lineId)
-    {
-        this.lineId = lineId;
-    }
-
-    public String getLineId()
-    {
-        return lineId;
-    }
-
-    public void setWorkshopId(String workshopId)
-    {
-        this.workshopId = workshopId;
-    }
-
-    public String getWorkshopId()
-    {
-        return workshopId;
-    }
-
-    public void setPriority(Long priority)
-    {
-        this.priority = priority;
-    }
-
-    public Long getPriority()
-    {
-        return priority;
-    }
-
-    public void setExecutionPhase(String executionPhase)
-    {
-        this.executionPhase = executionPhase;
-    }
-
-    public String getExecutionPhase()
-    {
-        return executionPhase;
-    }
-
-    public void setInOrOut(String inOrOut)
-    {
-        this.inOrOut = inOrOut;
-    }
-
-    public String getInOrOut()
-    {
-        return inOrOut;
-    }
-
-    public void setStartTime(String startTime)
-    {
-        this.startTime = startTime;
-    }
-
-    public String getStartTime()
-    {
-        return startTime;
-    }
-
-    public void setFinishTime(String finishTime)
-    {
-        this.finishTime = finishTime;
-    }
-
-    public String getFinishTime()
-    {
-        return finishTime;
-    }
-
-    public void setEntranceId(String entranceId)
-    {
-        this.entranceId = entranceId;
-    }
-
-    public String getEntranceId()
-    {
-        return entranceId;
-    }
-
-    public void setExitId(String exitId)
-    {
-        this.exitId = exitId;
-    }
-
-    public String getExitId()
-    {
-        return exitId;
-    }
-
-    public void setClassId(String classId)
-    {
-        this.classId = classId;
-    }
-
-    public String getClassId()
-    {
-        return classId;
-    }
-
-    public void setWarehouseId(String warehouseId)
-    {
-        this.warehouseId = warehouseId;
-    }
-
-    public String getWarehouseId()
-    {
-        return warehouseId;
-    }
-
-    public void setFaultFlag(String faultFlag)
-    {
-        this.faultFlag = faultFlag;
-    }
-
-    public String getFaultFlag()
-    {
-        return faultFlag;
-    }
-
-    public String getSupplierName() {
-        return supplierName;
-    }
-
-    public void setSupplierName(String supplierName) {
-        this.supplierName = supplierName;
-    }
-
-    public String getCustomerName() {
-        return customerName;
-    }
-
-    public void setCustomerName(String customerName) {
-        this.customerName = customerName;
-    }
-
-    public String getCargoSpaceName() {
-        return cargoSpaceName;
-    }
-
-    public void setCargoSpaceName(String cargoSpaceName) {
-        this.cargoSpaceName = cargoSpaceName;
-    }
-
-    public String getTargetCargoSpaceName() {
-        return targetCargoSpaceName;
-    }
-
-    public void setTargetCargoSpaceName(String targetCargoSpaceName) {
-        this.targetCargoSpaceName = targetCargoSpaceName;
-    }
-
-
-
-    @Override
-    public String toString() {
-        return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
-            .append("jobId", getJobId())
-            .append("status", getStatus())
-            .append("onLineType", getOnLineType())
-            .append("taskNo", getTaskNo())
-            .append("supplierId", getSupplierId())
-            .append("customerId", getCustomerId())
-            .append("departmentId", getDepartmentId())
-            .append("trayCode", getTrayCode())
-            .append("roadwayId", getRoadwayId())
-            .append("cargoSpaceId", getCargoSpaceId())
-            .append("targetRoadwayId", getTargetRoadwayId())
-            .append("targetCargoSpaceId", getTargetCargoSpaceId())
-            .append("lineId", getLineId())
-            .append("workshopId", getWorkshopId())
-            .append("priority", getPriority())
-            .append("executionPhase", getExecutionPhase())
-            .append("inOrOut", getInOrOut())
-            .append("createTime", getCreateTime())
-            .append("startTime", getStartTime())
-            .append("finishTime", getFinishTime())
-            .append("entranceId", getEntranceId())
-            .append("exitId", getExitId())
-            .append("classId", getClassId())
-            .append("warehouseId", getWarehouseId())
-            .append("faultFlag", getFaultFlag())
-            .toString();
-    }
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/PlcRead.java

@@ -1,40 +0,0 @@
-package com.ruoyi.schedule.plc;
-
-import com.ruoyi.schedule.plc.domain.SsjDevice;
-import org.springframework.stereotype.Component;
-
-import java.util.List;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-public class PlcRead implements Runnable{
-
-    private final Map<String, SsjDevice> deviceMap;
-    private volatile boolean running = true;
-
-    public PlcRead(ConcurrentHashMap<String, SsjDevice> deviceMap) {
-        this.deviceMap = deviceMap;
-    }
-
-    @Override
-    public void run() {
-        while (running && !Thread.currentThread().isInterrupted()) {
-            try {
-                // 模拟PLC读取操作
-                Thread.sleep(1000); // 模拟睡眠
-                // TODO: 实际读取PLC设备数据逻辑
-            } catch (InterruptedException e) {
-                // 捕获中断异常，退出循环
-                Thread.currentThread().interrupt(); // 重新设置中断标志
-                break;
-            }
-        }
-    }
-
-
-    public void stopReading() {
-        running = false;
-        Thread.currentThread().interrupt(); // 主动中断线程
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseRead.java

@@ -1,52 +0,0 @@
-package com.ruoyi.schedule.plc.domain;
-
-import lombok.AllArgsConstructor;
-import lombok.Data;
-import lombok.NoArgsConstructor;
-
-@Data
-@AllArgsConstructor
-@NoArgsConstructor
-public class ConvBaseRead {
-
-    /**
-     * 输送机编号
-     */
-    private String convName;
-
-    /**
-     * 任务号
-     */
-    private String taskId;
-
-    /**
-     * 是否空闲
-     * 1-空闲 0-占用
-     */
-    private Integer free;
-
-    /**
-     * 输送到位
-     * 0-未到位 1-到位
-     */
-    private Integer inPostion;
-
-    /**
-     * 入库到位
-     * 0-未到位 1-到位
-     */
-    private Integer inPostionForStockIn;
-
-    /**
-     * 出库到位
-     * 0-未到位 1-到位
-     */
-    private Integer inPostionForStockOut;
-
-    /**
-     * 是否异常
-     * 0-正常 1-异常
-     */
-    private Integer isException;
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseWrite.java

@@ -1,5 +0,0 @@
-package com.ruoyi.schedule.plc.domain;
-
-public class ConvBaseWrite {
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInRead.java

@@ -1,25 +0,0 @@
-package com.ruoyi.schedule.plc.domain;
-
-import lombok.AllArgsConstructor;
-import lombok.Data;
-import lombok.NoArgsConstructor;
-
-/**
- * PTL拣选输送线入口输送机-读plc状态
- */
-@Data
-@AllArgsConstructor
-public class ConvPTLInRead extends ConvBaseRead {
-
-    /**
-     * 外形检测-高度
-     * 1-500mm 2-800mm 3-1000mm
-     */
-//    private Integer height;
-
-    /**
-     * 托盘码
-     */
-//    private String palletId;
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInWrite.java

@@ -1,5 +0,0 @@
-package com.ruoyi.schedule.plc.domain;
-
-public class ConvPTLInWrite extends ConvBaseWrite {
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutRead.java

@@ -1,28 +0,0 @@
-package com.ruoyi.schedule.plc.domain;
-
-
-import lombok.Data;
-
-/**
- * PTL拣选输送线出口输送机
- */
-@Data
-public class ConvPTLOutRead extends ConvBaseRead {
-
-    /**
-     * 是否异常
-     * 0-正常 1-异常
-     */
-    private Integer isException;
-
-    /**
-     * 外形检测-高度
-     * 1-500mm 2-800mm 3-1000mm
-     */
-    private Integer height;
-
-    /**
-     * 托盘码
-     */
-    private String palletId;
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutWrite.java

@@ -1,5 +0,0 @@
-package com.ruoyi.schedule.plc.domain;
-
-
-public class ConvPTLOutWrite extends ConvBaseWrite{
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/SsjDevice.java

@@ -1,4 +0,0 @@
-package com.ruoyi.schedule.plc.domain;
-
-public class SsjDevice {
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcRead.java

@@ -0,0 +1,568 @@
+package com.ruoyi.schedule.plcRead.ssj;
+
+import HslCommunication.BasicFramework.SoftBasic;
+import HslCommunication.Core.Net.IReadWriteNet;
+import HslCommunication.Core.Types.OperateResult;
+import HslCommunication.Core.Types.OperateResultExOne;
+import HslCommunication.Profinet.Siemens.SiemensPLCS;
+import HslCommunication.Profinet.Siemens.SiemensS7Net;
+import cn.hutool.core.collection.CollUtil;
+import com.ruoyi.schedule.plcRead.ssj.domain.PlcConnectInfo;
+import com.ruoyi.schedule.plcRead.ssj.domain.SsjDevice;
+import com.ruoyi.schedule.plcRead.util.ParseUtil;
+import lombok.extern.slf4j.Slf4j;
+
+import java.util.List;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Slf4j
+public class PlcRead implements Runnable {
+
+    public static ConcurrentHashMap<String, SsjDevice> deviceMap;
+    private volatile boolean running = true;
+
+    public SiemensS7Net siemensS7Net = null;
+    public static IReadWriteNet readWriteNet = null;
+    private String ip;
+    private int port;
+    private boolean success = false;
+
+    public PlcRead(ConcurrentHashMap<String, SsjDevice> deviceMap, PlcConnectInfo plcConnectInfo) {
+        this.deviceMap = deviceMap;
+        this.ip = plcConnectInfo.getIp();
+        this.port = plcConnectInfo.getPort();
+    }
+
+    @Override
+    public void run() {
+        while (running && !Thread.currentThread().isInterrupted()) {
+            try {
+                if (IsConnect()) {
+
+                    for (String ssjCode : deviceMap.keySet()) {
+                        SsjDevice ssjDevice = deviceMap.get(ssjCode);
+                        String readAddress = "";
+                        String writeAddress = "";
+
+                        switch (ssjDevice.getDeviceCode()){
+                            case "G5011":
+                                // 处理 G5011
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5012":
+                                // 处理 G5012
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5016":
+                                // 处理 G5016
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5017":
+                                // 处理 G5017
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5002":
+                                // 处理 G5002
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5003":
+                                // 处理 G5003
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5007":
+                                // 处理 G5007
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5008":
+                                // 处理 G5008
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3011":
+                                // 处理 G3011
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3012":
+                                // 处理 G3012
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4007":
+                                // 处理 G4007
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4008":
+                                // 处理 G4008
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4016":
+                                // 处理 G4016
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4017":
+                                // 处理 G4017
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4011":
+                                // 处理 G4011
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4012":
+                                // 处理 G4012
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4002":
+                                // 处理 G4002
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4003":
+                                // 处理 G4003
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3002":
+                                // 处理 G3002
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3003":
+                                // 处理 G3003
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2002":
+                                // 处理 G2002
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2003":
+                                // 处理 G2003
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1011":
+                                // 处理 G1011
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3016":
+                                // 处理 G3016
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3017":
+                                // 处理 G3017
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3007":
+                                // 处理 G3007
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3008":
+                                // 处理 G3008
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1007":
+                                // 处理 G1007
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1008":
+                                // 处理 G1008
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1005":
+                                // 处理 G1005
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1001":
+                                // 处理 G1001
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1002":
+                                // 处理 G1002
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2010":
+                                // 处理 G2010
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2011":
+                                // 处理 G2011
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1003":
+                                // 处理 G1003
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1009":
+                                // 处理 G1009
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2012":
+                                // 处理 G2012
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3009":
+                                // 处理 G3009
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3018":
+                                // 处理 G3018
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4009":
+                                // 处理 G4009
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4018":
+                                // 处理 G4018
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5009":
+                                // 处理 G5009
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5018":
+                                // 处理 G5018
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5013":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5014":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5015":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5004":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5005":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5006":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4013":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4014":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4015":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4004":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4005":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4006":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1012":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3004":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3005":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3006":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3013":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3014":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3015":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1006":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2004":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2005":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2006":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2007":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2008":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2009":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1004":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G1010":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G2001":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3001":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G3010":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4001":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G4010":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5001":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            case "G5010":
+                                readAddress = "";
+                                writeAddress = "";
+                                break;
+                            default:
+                                continue;
+                        }
+
+                        switch (ssjDevice.getType()) {
+                            case "1":
+                                readPlcOutSsj(ssjDevice);
+                                break;
+                            case "2":
+                                readPlcPickSsj(ssjDevice);
+                                break;
+                            case "3":
+                                readPlcInSsj(ssjDevice);
+                                break;
+                            case "4":
+                                readPlcOtherSsj(ssjDevice);
+                                break;
+                        }
+                    }
+                    Thread.sleep(1000);
+                } else {
+                    reConnect();
+                }
+            } catch (InterruptedException e) {
+                // 捕获中断异常，退出循环
+                Thread.currentThread().interrupt(); // 重新设置中断标志
+                break;
+            } catch (Exception e) {
+                log.info("********IP:" + this.ip + " port:" + this.port + "读取数据异常 " + e.getMessage());
+            }
+
+        }
+    }
+
+    /**
+     * 其他输送机
+     *
+     * @param ssjDevice
+     */
+    private void readPlcOtherSsj(SsjDevice ssjDevice) {
+        ssjDevice.setPlcReadAddress(ssjDevice.getPlcReadAddress());
+        ssjDevice.setPlcWriteAddress(ssjDevice.getPlcWriteAddress());
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcReadAddress(), Short.parseShort("18"));
+        String ddsx1 = "0";
+        if (read2.IsSuccess) {
+            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
+            ssjDevice.setEmpty(ParseUtil.optInt(0,ddsx1));
+            ssjDevice.setInPlace(ParseUtil.optInt(1,ddsx1));
+            ssjDevice.setEntryRequest(ParseUtil.optInt(2,ddsx1));
+            ssjDevice.setTrayCode(ParseUtil.optString(3,ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(4,ddsx1));
+        }
+    }
+
+    /**
+     * 入库输送机
+     *
+     * @param ssjDevice
+     */
+    private void readPlcInSsj(SsjDevice ssjDevice) {
+        ssjDevice.setPlcReadAddress(ssjDevice.getPlcReadAddress());
+        ssjDevice.setPlcWriteAddress(ssjDevice.getPlcWriteAddress());
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcReadAddress(), Short.parseShort("18"));
+        String ddsx1 = "0";
+        if (read2.IsSuccess) {
+            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
+            ssjDevice.setEmpty(ParseUtil.optInt(0,ddsx1));
+            ssjDevice.setInPlace(ParseUtil.optInt(1,ddsx1));
+            ssjDevice.setEntryRequest(ParseUtil.optInt(2,ddsx1));
+            ssjDevice.setTrayCode(ParseUtil.optString(3,ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(4,ddsx1));
+        }
+    }
+
+    /**
+     * 拣选口输送机
+     *
+     * @param ssjDevice
+     */
+    private void readPlcPickSsj(SsjDevice ssjDevice) {
+        ssjDevice.setPlcReadAddress(ssjDevice.getPlcReadAddress());
+        ssjDevice.setPlcWriteAddress(ssjDevice.getPlcWriteAddress());
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcReadAddress(), Short.parseShort("18"));
+        String ddsx1 = "0";
+        if (read2.IsSuccess) {
+            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
+            ssjDevice.setEmpty(ParseUtil.optInt(0,ddsx1));
+            ssjDevice.setInPlace(ParseUtil.optInt(1,ddsx1));
+            ssjDevice.setEntryRequest(ParseUtil.optInt(2,ddsx1));
+            ssjDevice.setTrayCode(ParseUtil.optString(3,ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(4,ddsx1));
+        }
+    }
+
+    /**
+     * 出库输送机
+     * @param ssjDevice
+     */
+    private void readPlcOutSsj(SsjDevice ssjDevice) {
+        ssjDevice.setPlcReadAddress(ssjDevice.getPlcReadAddress());
+        ssjDevice.setPlcWriteAddress(ssjDevice.getPlcWriteAddress());
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcReadAddress(), Short.parseShort("18"));
+        String ddsx1 = "0";
+        if (read2.IsSuccess) {
+            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
+            ssjDevice.setEmpty(ParseUtil.optInt(0,ddsx1));
+            ssjDevice.setInPlace(ParseUtil.optInt(1,ddsx1));
+            ssjDevice.setEntryRequest(ParseUtil.optInt(2,ddsx1));
+            ssjDevice.setTrayCode(ParseUtil.optString(3,ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(4,ddsx1));
+        }
+    }
+
+
+    public void stopReading() {
+        running = false;
+        Thread.currentThread().interrupt(); // 主动中断线程
+    }
+
+
+    void ConnectServer() {
+        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500);
+        try {
+            siemensS7Net.setIpAddress(this.ip);
+            siemensS7Net.setPort(this.port);
+            siemensS7Net.setRack((byte) 0);
+            siemensS7Net.setSlot((byte) 1);
+
+            OperateResult connect = siemensS7Net.ConnectServer();
+            if (connect.IsSuccess) {
+                setIsConnect(true);
+                readWriteNet = siemensS7Net;
+            }
+        } catch (Exception ex) {
+            log.info("********IP:" + this.ip + " port:" + this.port + "连接失败 " + ex.getMessage());
+        }
+
+    }
+
+    public void setIsConnect(boolean bflag) {
+        if (!success) {
+            success = bflag;
+        }
+    }
+
+    public boolean IsConnect() {
+        if (success) {
+            return success;
+        }
+        return false;
+    }
+
+    void reConnect() {
+        closeServer();
+        ConnectServer();
+        log.info("重新连接  SSJ-PLC");
+    }
+
+    void closeServer() {
+        if (readWriteNet != null) {
+            siemensS7Net.ConnectClose();
+        }
+        setIsConnect(false);
+    }
+
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/CustomThread.java

@@ -1,6 +1,5 @@
-package com.ruoyi.schedule.plc.domain;
+package com.ruoyi.schedule.plcRead.ssj.domain;
 
-import com.ruoyi.schedule.plc.PlcRead;
 import lombok.AllArgsConstructor;
 import lombok.Data;
 import lombok.NoArgsConstructor;

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/PlcConnectInfo.java

@@ -0,0 +1,14 @@
+package com.ruoyi.schedule.plcRead.ssj.domain;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@AllArgsConstructor
+@NoArgsConstructor
+@Data
+public class PlcConnectInfo {
+
+    private String ip;
+    private Integer port;
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/SsjDevice.java

@@ -0,0 +1,30 @@
+package com.ruoyi.schedule.plcRead.ssj.domain;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class SsjDevice {
+    private String deviceCode;
+
+    private String plcReadAddress;
+
+    private String plcWriteAddress;
+    //输送机类型：1-出库 2-拣选 3-入库 4-其他
+    private String type;
+
+    //空闲 0-否 1-是
+    private Integer empty;
+    //到位 0-否 1-是
+    private Integer inPlace;
+    //入库请求 0-否 1-是
+    private Integer entryRequest;
+    //条码
+    private String trayCode;
+    //任务号
+    private Integer taskNo;
+
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/util/ParseUtil.java

@@ -0,0 +1,57 @@
+package com.ruoyi.schedule.plcRead.util;
+
+
+import HslCommunication.BasicFramework.SoftBasic;
+
+/**
+ * @author zn kai
+ * @create 2021-06-28 14:04
+ */
+public class ParseUtil {
+
+
+
+    /**
+     * short 16λתint
+     * @param start
+     * @param data
+     * @return
+     */
+    public static int optInt(int start, String data) {
+        return Integer.parseInt(data.substring(start * 2, (start + 2) * 2), 16);
+    }
+    /**
+     * int 16λתint
+     * @param start
+     * @param data
+     * @return
+     */
+    public static int optDInt(int start, String data) {
+        return Integer.parseInt(data.substring(start * 2, (start + 4) * 2), 16);
+    }
+    /**
+     * long 16λתlong
+     * @param start
+     * @param data
+     * @return
+     */
+    public static Long optLong(int start, String data) {
+        return Long.parseLong(data.substring(start * 2, (start + 8) * 2), 16);
+    }
+    /**
+     * string 16λתstring
+     * @param start
+     * @param data
+     * @return
+     */
+
+    public static String optString(int start, String data) {
+        byte[] bytes = SoftBasic.HexStringToBytes(data.substring(start * 2, (start + 12) * 2));
+        return Tools.bytetostringtool(bytes);
+    }
+
+
+
+
+
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/util/Tools.java

@@ -0,0 +1,378 @@
+package com.ruoyi.schedule.plcRead.util;
+
+import HslCommunication.BasicFramework.SoftBasic;
+
+import java.io.Serializable;
+import java.nio.charset.StandardCharsets;
+import java.text.SimpleDateFormat;
+import java.util.Arrays;
+import java.util.Date;
+
+/**
+ * <20><><EFBFBD><EFBFBD>:cyc16У<36><D0A3><EFBFBD><EFBFBD>
+ *
+ * @author zhu
+ */
+public class Tools implements Serializable {
+    public static int Debug = 0x20;
+    public final static int DEBUG_CONVERSIONS = 0x1000;
+    public static final int DINT = 4;
+
+    public static final int INT = 2;
+
+    public static void main(String[] arg) {
+        int jym = getJYM(1, 2, 3);
+        System.out.println(jym);
+    }
+
+	/*4<><34>CRC-16У<36><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㷽<EFBFBD><E3B7BD><EFBFBD><EFBFBD>
+	  <20><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>ͼ<EFBFBD><CDBC>㷨<EFBFBD><E3B7A8><EFBFBD><EFBFBD><EFBFBD>㷽<EFBFBD><E3B7BD>һ<EFBFBD>㶼<EFBFBD>ǣ<EFBFBD>
+	  <20><>1<EFBFBD><31><EFBFBD><EFBFBD>Ԥ<EFBFBD><D4A4>1<EFBFBD><31>16λ<36>ļĴ<C4BC><C4B4><EFBFBD>Ϊʮ<CEAA><CAAE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FFFF<46><46><EFBFBD><EFBFBD>ȫΪ1<CEAA><31><EFBFBD><EFBFBD><EFBFBD>ƴ˼Ĵ<CBBC><C4B4><EFBFBD>ΪCRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>
+	  <20><>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD>ѵ<EFBFBD>һ<EFBFBD><D2BB>8λ<38><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>ͨѶ<CDA8><D1B6>Ϣ֡<CFA2>ĵ<EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ֽڣ<D6BD><DAA3><EFBFBD>16λ<36><CEBB>CRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ĵ<EFBFBD>
+	         8λ<38><CEBB><EFBFBD><EFBFBD>򣬰ѽ<F2A3ACB0><D1BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߰<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ݲ<EFBFBD><DDB2>䣻
+	  <20><>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һλ<D2BB><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EEB2B9><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺ<EFBFBD><C6BA><EFBFBD>Ƴ<EFBFBD>λ<EFBFBD><CEBB>
+	  <20><>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD>λΪ0<CEAA><30><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD>ٴ<EFBFBD><D9B4><EFBFBD><EFBFBD><EFBFBD>һλ<D2BB><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD>λΪ1<CEAA><31>CRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	      <20><>ʽA001<30><31>1010 0000 0000 0001<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	  <20><>5<EFBFBD><35><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><33>4<EFBFBD><34>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8<EFBFBD>Σ<EFBFBD><CEA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<38><CEBB><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˴<EFBFBD><CBB4><EFBFBD>
+	  <20><>6<EFBFBD><36><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ<CDA8><D1B6>Ϣ֡<CFA2><D6A1>һ<EFBFBD><D2BB><EFBFBD>ֽڵĴ<DAB5><C4B4><EFBFBD>
+	  <20><>7<EFBFBD><37><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ<CDA8><D1B6>Ϣ֡<CFA2><D6A1><EFBFBD><EFBFBD><EFBFBD>ֽڰ<D6BD><DAB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ󣬵õ<F3A3ACB5><C3B5><EFBFBD>16λCRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ĸߡ<C4B8><DFA1><EFBFBD>
+	         <20>ֽڽ<D6BD><DABD>н<EFBFBD><D0BD><EFBFBD><EFBFBD><EFBFBD>
+	  <20><>8<EFBFBD><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD>CRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݼ<EFBFBD>Ϊ<EFBFBD><CEAA>CRC<52>롣
+	  <20><><EFBFBD>ϼ<EFBFBD><CFBC>㲽<EFBFBD><E3B2BD><EFBFBD>еĶ<D0B5><C4B6><EFBFBD>ʽA001<30><31>8005<30><35>λ<EFBFBD>ߵ<EFBFBD><DFB5><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD>
+	  <20><><EFBFBD><EFBFBD>ǽ<EFBFBD><C7BD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǽ<EFBFBD>0~256<35><36><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ16λ<36>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD>еĵͰ<C4B5>λ<EFBFBD><CEBB><EFBFBD>߰<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>0<EFBFBD><30>Ȼ<EFBFBD>󽫸üĴ<C3BC><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ0XA001<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><33>4<EFBFBD><34><EFBFBD>裬ֱ<E8A3AC><D6B1><EFBFBD><EFBFBD>λȫ<CEBB><C8AB><EFBFBD>Ƴ<EFBFBD><C6B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3>߰<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>Ͱ<EFBFBD>λ<EFBFBD>ֱ𵥶<D6B1>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>*/
+
+
+    /**
+     * ȫ<><C8AB>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
+     *
+     * @param ints <20><><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD>
+     * @return <20><><EFBFBD>ص<EFBFBD>int
+     */
+    public static int getJYM(int... ints) {
+        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪ32λ<32><CEBB><EFBFBD>ܺ<EFBFBD>תΪ<D7AA>ĸ<EFBFBD><C4B8>ֽڣ<D6BD><DAA3><EFBFBD><EFBFBD>תΪ<D7AA><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>4
+        int[] ints1 = new int[ints.length * 4];
+        for (int i = 0; i < ints.length; i++) {
+            int[] son;
+            son = binaryTints(printBits(ints[i]));
+            for (int j = 0; j < 4; j++) {
+                int s = j + i * 4;
+                ints1[s] = son[j];
+                System.out.println(Arrays.toString(ints1));
+            }
+        }
+        int a = 0;
+        for (int j : ints1) {
+            a = a + j;
+        }
+        return a;
+    }
+
+    /**
+     * @param hex <20>ַ<EFBFBD><D6B7><EFBFBD>
+     * @return a <20><><EFBFBD><EFBFBD>
+     */
+    public static int[] binaryTints(String hex) {
+        int[] a = new int[4];
+        String hexString = change32(hex);
+        a[0] = Integer.parseInt(hexString.substring(0, 8), 2);//<2F><>
+        a[1] = Integer.parseInt(hexString.substring(8, 16), 2);
+        a[2] = Integer.parseInt(hexString.substring(16, 24), 2);
+        a[3] = Integer.parseInt(hexString.substring(24, 32), 2);
+        return a;
+    }
+
+    public static int[] binaryTints16(String hex) {
+        int[] a = new int[2];
+        String hexString = change16(hex);
+        a[0] = Integer.parseInt(hexString.substring(0, 8), 2);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD>תΪ<D7AA><CEAA><EFBFBD><EFBFBD>
+        a[1] = Integer.parseInt(hexString.substring(8, 16), 2);
+        return a;
+    }
+
+    public static int binaryTints8(String hex) {
+        int a;
+        String hexString = change8(hex);
+        a = Integer.parseInt(hexString.substring(0, 8), 2);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD>תΪ<D7AA><CEAA><EFBFBD><EFBFBD>
+        return a;
+    }
+
+    public static int BytesToInt(int[] ss) {
+        if (ss != null) {
+            StringBuilder lString = new StringBuilder();
+            for (int s : ss) {
+                lString.append(change8(printBits(s)));
+            }
+            return Integer.parseInt(lString.toString(), 2);
+        } else {
+            return 0;
+        }
+    }
+
+    /**
+     * <20><><EFBFBD>ַ<EFBFBD>תΪ<D7AA><CEAA><EFBFBD><EFBFBD>
+     **/
+    public static int showAscii(char x) {
+        return x;
+    }
+
+    /**
+     * <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪ<D7AA>ַ<EFBFBD>
+     **/
+    public static char showChar(int x) {
+        return (char) x;
+    }
+
+    /**
+     * <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+     **/
+    public static String byteToStringTool(byte[] aaa) {
+        StringBuilder builder = new StringBuilder();
+        for (byte b : aaa) {
+            String x = Character.toString(showChar(b));
+            builder.append(x);
+        }
+        return builder.toString();
+    }
+
+    /**
+     * <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪ<D7AA><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD>
+     */
+    public static String printBits(int n) {
+        return Integer.toBinaryString(n);
+    }
+
+    /**
+     * <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪ<D7AA><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+     */
+    public static Float printFloat(int n) {
+        return Float.intBitsToFloat(n);
+    }
+
+    /**
+     * <20><><EFBFBD><EFBFBD>8λ<38>Ӹ<EFBFBD>λ<EFBFBD><CEBB>0
+     **/
+    public static String change8(String value) {
+        if (value != null && !value.equals("")) {
+            StringBuilder ss = new StringBuilder(value);
+            for (int i = 0; i < 8 - value.length(); i++) {
+                ss.insert(0, "0");
+            }
+            return ss.toString();
+        } else {
+            return "00000000";
+        }
+    }
+
+    /**
+     * <20><><EFBFBD><EFBFBD>32λ<32>Ӹ<EFBFBD>λ<EFBFBD><CEBB>0 4<><34><EFBFBD>ֽ<EFBFBD>
+     **/
+    public static String change32(String value) {
+        if (value != null && !value.equals("")) {
+            StringBuilder ss = new StringBuilder(value);
+            for (int i = 0; i < 32 - value.length(); i++) {
+                ss.insert(0, "0");
+            }
+            return ss.toString();
+        } else {
+            return "00000000000000000000000000000000";
+        }
+    }
+
+    /**
+     * <20><><EFBFBD><EFBFBD>16λ<36>Ӹ<EFBFBD>λ<EFBFBD><CEBB>0 4<><34><EFBFBD>ֽ<EFBFBD>
+     **/
+    public static String change16(String value) {
+        if (value != null && !value.equals("")) {
+            StringBuilder ss = new StringBuilder(value);
+            for (int i = 0; i < 16 - value.length(); i++) {
+                ss.insert(0, "0");
+            }
+            return ss.toString();
+        } else {
+            return "0000000000000000";
+        }
+    }
+
+
+    ///<2F>ֽ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
+    public static int get(byte a1, byte a2, byte a3, byte a4, byte a5, byte a6, byte a7, byte a8,
+                          byte a9, byte a10, byte a11, byte a12, byte a13, byte a14, byte a15, byte a16,
+                          byte a17, byte a18, byte a19, byte a20, byte a21, byte a22, byte a23, byte a24, byte a25) {
+        int[] ints = new int[25];
+        ints[0] = binaryTints8(printBits(a1));
+        ints[1] = binaryTints8(printBits(a2));
+        ints[2] = binaryTints8(printBits(a3));
+        ints[3] = binaryTints8(printBits(a4));
+        ints[4] = binaryTints8(printBits(a5));
+        ints[5] = binaryTints8(printBits(a6));
+        ints[6] = binaryTints8(printBits(a7));
+        ints[7] = binaryTints8(printBits(a8));
+        ints[8] = binaryTints8(printBits(a9));
+        ints[9] = binaryTints8(printBits(a10));
+        ints[10] = binaryTints8(printBits(a11));
+        ints[11] = binaryTints8(printBits(a12));
+        ints[12] = binaryTints8(printBits(a13));
+        ints[13] = binaryTints8(printBits(a14));
+        ints[14] = binaryTints8(printBits(a15));
+        ints[15] = binaryTints8(printBits(a16));
+        ints[16] = binaryTints8(printBits(a17));
+        ints[17] = binaryTints8(printBits(a18));
+        ints[18] = binaryTints8(printBits(a19));
+        ints[19] = binaryTints8(printBits(a20));
+        ints[20] = binaryTints8(printBits(a21));
+        ints[21] = binaryTints8(printBits(a22));
+        ints[22] = binaryTints8(printBits(a23));
+        ints[23] = binaryTints8(printBits(a24));
+        ints[24] = binaryTints8(printBits(a25));
+        for (int anInt : ints) System.out.print(anInt + " ");
+        System.out.println();
+        return BytesToInt(ints);
+    }
+
+
+
+    //
+    public static byte[] int2byte(int res) {///Java<76><61>10<31><30><EFBFBD><EFBFBD>תbyte[]
+        byte[] targets = new byte[4];
+
+        targets[3] = (byte) (res & 0xff);// <20><><EFBFBD>λ
+        targets[2] = (byte) ((res >> 8) & 0xff);// <20>ε<EFBFBD>λ
+        targets[1] = (byte) ((res >> 16) & 0xff);// <20>θ<EFBFBD>λ
+        targets[0] = (byte) (res >>> 24);// <20><><EFBFBD>λ,<2C>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ơ<EFBFBD>
+        return targets;
+    }
+
+    /**
+     * <20><><EFBFBD>byte <20>ϲ<EFBFBD><CFB2><EFBFBD>һ<EFBFBD><D2BB>byte
+     */
+    public static byte[] byteMerge(byte[]... values) {
+        int length_byte = 0;
+        for (byte[] value : values) {
+            length_byte += value.length;
+        }
+        byte[] all_byte = new byte[length_byte];
+        int countLength = 0;
+        for (byte[] b : values) {
+            System.arraycopy(b, 0, all_byte, countLength, b.length);
+            countLength += b.length;
+        }
+        return all_byte;
+    }
+
+    /** ???????????**/
+    public static String bytetostringtool(byte[] aaa) {
+        String tptm = "";
+        for(int i=0;i<aaa.length;i++){
+            //System.out.println("??????:for:"+aaa[i]);
+            String x = Character.toString(showChar(aaa[i]));
+            char ddd=showChar(aaa[i]);
+            tptm=tptm+x;
+            //System.out.println(tptm);
+        }
+        if(tptm.length() == 0 || tptm.equals("")){
+            return "00000000";
+        }else {
+            return tptm;
+        }
+    }
+    /**
+     * int תbyte
+     */
+    public static byte[] intToBytes(int value, int len) {
+        byte[] b = new byte[len];
+        for (int i = 0; i < len; i++) {
+            b[len - i - 1] = (byte) ((value >> 8 * i) & 0xff);
+        }
+        return b;
+    }
+
+
+
+    //<2F>·<EFBFBD><C2B7>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD>
+    public static byte[] sendDataToDevice(long taskNo,String trayCode, int...ints){
+        int length = 0;
+        byte[] xfData = null;
+        if (trayCode == null){
+            length = 4 + (ints.length * 2);
+            xfData = new byte[length];
+            byte[] RWH = new byte[4];
+            RWH = Tools.int2byte((int) taskNo);
+            for (int i = 0; i < length; i++){
+                if (i < 4){
+                    xfData[i] = RWH[i];
+                } else {
+                    if (i % 2 == 0){
+                        byte[] param = new byte[2];
+                        param = intbyte(ints[(i - 4) / 2]);
+                        xfData[i] = param[0];
+                        xfData[i + 1] = param[1];
+                    }
+                }
+            }
+        } else {
+            length = 12 + (ints.length * 2);
+            xfData = new byte[length];
+            byte[] RWH = new byte[4];
+            RWH = Tools.int2byte((int) taskNo);
+            byte[] tCode = new byte[8];
+            if ("".equals(trayCode)){
+                for (int i = 0;i < tCode.length;i++){
+                    tCode[i] = 0;
+                }
+            }else {
+                byte[] code = trayCode.getBytes();
+                for (int i = 0; i < tCode.length; i++) {
+                    tCode[i] = code[i];
+                }
+            }
+            for (int i = 0; i< length; i++){
+                if (i < 4){
+                    xfData[i] = RWH[i];
+                } else if (i > 3 && i< 12) {
+                    xfData[i] = tCode[i - 4];
+                } else {
+                    if (i % 2 == 0){
+                        byte[] param = new byte[2];
+                        param = intbyte(ints[(i - 12) / 2]);
+                        xfData[i] = param[0];
+                        xfData[i + 1] = param[1];
+                    }
+                }
+            }
+        }
+        return xfData;
+    }
+
+    /**
+     * <20>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD>ַ<EFBFBD><D6B7><EFBFBD>
+     */
+    public static String byteToString(String substring) {
+        return new String(SoftBasic.HexStringToBytes(substring), StandardCharsets.UTF_8);
+    }
+
+
+
+    public static String getDate() {
+        Date t = new Date();
+        SimpleDateFormat df = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+        return df.format(t);
+    }
+
+    //int ת2<D7AA>ֽ<EFBFBD>
+    public static byte[] intbyte(int res) {///Java<76><61>10<31><30><EFBFBD><EFBFBD>תbyte[]
+        byte[] targets = new byte[2];
+        targets[1] = (byte) ((res >> 0) & 0xff);// <20>θ<EFBFBD>λ
+        targets[0] = (byte) (res >>> 8);// <20><><EFBFBD>λ,<2C>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ơ<EFBFBD>
+        return targets;
+    }
+
+    public static int[] binarysToints(String hex){
+        int[] a = new int[4];
+        String hexString = change32(hex);
+        a[0] = Integer.parseInt(hexString.substring(0,8),2);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD>תΪ<D7AA><CEAA><EFBFBD><EFBFBD>
+        a[1] = Integer.parseInt(hexString.substring(8,16),2);
+        a[2] = Integer.parseInt(hexString.substring(16,24),2);
+        a[3] = Integer.parseInt(hexString.substring(24,32),2);
+        return a;
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/Execution.java

@@ -1,219 +0,0 @@
-package com.ruoyi.schedule.scheduleTask;
-
-import cn.hutool.Hutool;
-import cn.hutool.http.HttpRequest;
-import cn.hutool.http.HttpResponse;
-import com.alibaba.fastjson2.JSON;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.ruoyi.common.Constant;
-import com.ruoyi.common.TaskStatusCode;
-import com.ruoyi.common.TaskType;
-import com.ruoyi.common.utils.StringUtils;
-import com.ruoyi.common.utils.uuid.UUID;
-import com.ruoyi.device.agv.domain.ResponseBase;
-import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
-import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
-import com.ruoyi.device.agv.domain.genAgvSchedulingTask.PositionCodeData;
-import com.ruoyi.device.agv.domain.queryTaskStatus.TaskStatusData;
-import com.ruoyi.schedule.job.mydojob.domain.MydoJob;
-import com.ruoyi.schedule.task.domain.WcsTask;
-import com.ruoyi.schedule.task.mapper.WcsTaskMapper;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import javax.annotation.PostConstruct;
-import java.util.ArrayList;
-import java.util.List;
-
-/**
- * 向AGV/CTU下发指令
- */
-@Component
-@Slf4j
-public class Execution {
-
-    @Autowired
-    WcsTaskMapper wcsTaskMapper;
-
-    /**
-     * 查询是否有wcs任务
-     */
-//    @PostConstruct
-    public List<MydoJob> getmydoJob(){
-
-        String url = Constant.BASEURL +  "/job/inmydoJob/listAll";
-
-        HttpResponse response = HttpRequest.get(url).execute();
-
-        List<MydoJob> mydoJobs = JSON.parseArray(response.body(), MydoJob.class);
-
-        return mydoJobs;
-
-    }
-
-    /**
-     * 获取所有wcs任务并请求下发
-     */
-    public void executeTask(){
-
-        //查询实时任务表获取所有【待执行】任务
-        LambdaQueryWrapper<WcsTask> queryWrapper = new LambdaQueryWrapper<>();
-        queryWrapper.eq(WcsTask::getTaskStatus, TaskStatusCode.TASK_READY);
-        List<WcsTask> tasks = wcsTaskMapper.selectList(queryWrapper);
-
-        //无【待执行】任务
-        if (tasks.size() == 0) return;
-
-        //请求agv/ctu下发指令
-        GenAgvSchedulingTaskRequest request = new GenAgvSchedulingTaskRequest();
-
-        for (int i = 0; i < tasks.size(); i++) {
-
-            //判断任务类型
-            switch (tasks.get(i).getTaskType()) {
-                case TaskType.CONV_STOCKIN:
-                    //todo 是否要处理输送线取货工位有多个料箱的情况
-                    //todo 是否要处理输送线取货工位有多个料箱的情况
-
-
-                    request.setReqCode(UUID.randomUUID().toString().replace("-", ""));
-
-                    //设备执行任务内置任务类型初始化
-                    switch (tasks.get(i).getTaskType()) {
-                        case "1":
-                            request.setTaskTyp("F12");
-                            break;
-                        case "2":
-                            request.setTaskTyp("F11");
-                            break;
-                        default:
-                            log.warn("【向设备下发任务请求】TaskTyp:{}，生成任务的请求参数错误，异常的任务类型！", request.getTaskTyp());
-                            return;
-                    }
-
-                    //todo 了解CTU货架与工作台输送过程中是否需要另外下发取放料箱的任务
-                    //todo 了解CTU货架与工作台输送过程中是否需要另外下发取放料箱的任务
-
-                    //添加路径（未测试）
-                    //todo 了解AGV/CTU路径的格式/规则
-                    //todo 了解AGV/CTU路径的格式/规则
-                    List<PositionCodeData> path = new ArrayList<>();
-                    path.add(new PositionCodeData(tasks.get(i).getSourceLocation(),"05"));
-                    path.add(new PositionCodeData(tasks.get(i).getTargetLocation(),"05"));
-                    request.setPositionCodePath(path);
-
-                    //wcs任务号---设备任务编号
-                    request.setTaskCode(tasks.get(i).getTaskId());
-
-
-                    //todo 上层平台是否有【校验料箱是否可入库】接口可用
-                    //todo 上层平台是否有【校验料箱是否可入库】接口可用
-
-
-                    //todo 是否需要单独请求取放料箱接口
-                    //todo 是否需要单独请求取放料箱接口
-
-                    break;
-                case TaskType.CONV_STOCKOUT_SINGLE_GROUP:
-
-                    break;
-                case TaskType.CONV_STOCKOUT_SEQUENCE:
-
-                    break;
-                case TaskType.AGV_MOVE:
-
-                    break;
-            }
-
-
-            //下发成功---更新【任务状态】为下发成功
-            if (sendCommand(request)){
-                tasks.get(i).setTaskStatus(TaskStatusCode.TASK_SEND_SUCCESS);
-                wcsTaskMapper.updateWcsTask(tasks.get(i));
-            }
-
-        }
-
-    }
-
-
-    /**
-     * 向AGV/CTU请求下发指令
-     * @param request 请求对象
-     * @return
-     */
-    public boolean sendCommand(GenAgvSchedulingTaskRequest request) {
-
-        //下发校验
-        if (checkForSendCommand(request)) return false;
-
-        String jsonString = JSON.toJSONString(request);
-
-        //请求源数据输出日志
-        log.info("【下发设备指令】" + jsonString);
-
-        //请求接口
-        HttpResponse response =  HttpRequest.post(Constant.BASEURL_REST + "genAgvSchedulingTask")
-                .body(jsonString)
-                .header("Content-Type", "application/json")
-                .execute();
-
-        //获取响应对象
-        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = JSON.parseObject(response.body(), GenAgvSchedulingTaskResponse.class);
-
-        //返回请求编号校验
-        if (genAgvSchedulingTaskResponse.getReqCode() != request.getReqCode()) {
-            log.error("【下发设备任务】下发任务失败，请求编号错误不一致！");
-            return false;
-        }
-
-        //返回码错误
-        if (genAgvSchedulingTaskResponse.getCode() != 0 ) {
-            if (genAgvSchedulingTaskResponse.getMessage() == ""){
-                log.error("【下发设备任务】下发任务失败，发生了未知错误");
-            }else{
-                log.error("【下发设备任务】下发任务失败，{}", genAgvSchedulingTaskResponse.getMessage());
-            }
-
-            return false;
-        }
-
-        return true;
-    }
-
-
-    /**
-     * 下发指令校验
-     * @param request
-     * @return
-     */
-    public boolean checkForSendCommand(GenAgvSchedulingTaskRequest request){
-        //todo：请求信息校验
-        //1.reqCode空
-        if (StringUtils.isBlank(request.getReqCode())){
-            log.warn("【生成AGV任务请求接口】---请求异常，reqCode为空！---");
-            return false;
-        }
-
-        //2.wbCode和positionCodePath至少填写其中一项，以确定任务中的位置信息。若任务中需要指定多个位置信息，如起点和终点信息等，请使用positionCodePath
-        if (StringUtils.isBlank(request.getWbCode()) && request.getPositionCodePath().size() < 1){
-            log.warn("【生成AGV任务请求接口】---请求异常，wbCode和positionCodePath至少填写其中一项！---");
-            return false;
-        }
-
-        //3.当前区域AGV/CTU是否已存在任务
-        //todo 请求获取设备状态
-        if (true){
-            log.warn("【生成AGV任务请求接口】---当前设备已存在执行中的任务！---");
-            return false;
-        }
-
-
-        return true;
-
-    }
-
-
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/Generation.java

@@ -1,119 +0,0 @@
-package com.ruoyi.schedule.scheduleTask;
-
-import cn.hutool.http.HttpRequest;
-import cn.hutool.http.HttpResponse;
-import com.alibaba.fastjson2.JSON;
-import com.ruoyi.common.Constant;
-import com.ruoyi.common.utils.StringUtils;
-import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
-import com.ruoyi.device.agv.domain.genAgvSchedulingTask.PositionCodeData;
-import com.ruoyi.schedule.data.ConvConnection;
-import com.ruoyi.schedule.plc.domain.ConvPTLInRead;
-import com.ruoyi.schedule.plc.domain.ConvPTLOutRead;
-import com.ruoyi.schedule.task.domain.WcsTask;
-import com.ruoyi.schedule.task.service.IWcsTaskService;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import java.util.ArrayList;
-import java.util.List;
-
-/**
- * 获取任务生成AGV指令
- */
-@Component
-@Slf4j
-public class Generation {
-
-    @Autowired
-    ConvConnection conv;
-
-    @Autowired
-    Execution execution;
-
-    @Autowired
-    IWcsTaskService iWcsTaskService;
-
-    public void generateTask() {
-
-        //=========================CTU入库（PTL拣选出口到位）=========================
-        List<ConvPTLOutRead> convPTLOutReads=conv.getConvPTLOut();
-
-        //轮询输送机状态
-        for (int i = 0; i < convPTLOutReads.size(); i++) {
-
-            //PTL出口输送机到位
-            //条码不为空 && 存在任务号 && 设备占用（非空闲）
-            if (StringUtils.isBlank(convPTLOutReads.get(i).getPalletId()) &&
-                    StringUtils.isBlank(convPTLOutReads.get(i).getTaskId()) &&
-                    convPTLOutReads.get(i).getFree() == 0) {
-
-
-                //todo 请求wms获取调度任务 或 wms推送调度任务（请求wcs接口）
-                //todo 有无其他任务字段校验
-
-//                HttpResponse response = HttpRequest.get(Constant.BASEURL + "/job/inmydoJob/getTaskCount").execute();
-//                Integer count = JSON.parseObject(response.body(), Integer.class);
-//
-//                WcsTask task = new WcsTask();
-//
-//                iWcsTaskService.insertWcsTask(task);
-
-
-            }
-        }
-
-
-
-
-        //=========================CTU出库（PTL拣选入口空）=========================
-        List<ConvPTLInRead> convPTLInReads=conv.getConvPTLIn();
-
-        for (int i = 0; i < convPTLInReads.size(); i++) {
-
-            //PTL入口输送机空位
-            //设备空闲 && 输送机任务号空
-            if (convPTLInReads.get(i).getFree() == 1 && StringUtils.isBlank(convPTLInReads.get(i).getTaskId())){
-                //todo 请求wms获取调度任务 或 wms推送调度任务（请求wcs接口）
-
-            }
-
-        }
-
-    }
-
-
-
-
-
-
-    //=========================获取PTL拣选工位出口状态---【CTU入库】=========================
-    public List<ConvPTLOutRead> getConvPTLOutRead() {
-
-        List<ConvPTLOutRead> convPTLOutReads = conv.getConvPTLOut();
-
-        //轮询输送机状态
-        for (int i = 0; i < convPTLOutReads.size(); i++) {
-
-            //条码不为空 && 存在任务号 && 设备占用（非空闲）
-            if (StringUtils.isBlank(convPTLOutReads.get(i).getPalletId()) && StringUtils.isBlank(convPTLOutReads.get(i).getTaskId()) && convPTLOutReads.get(i).getFree() == 0) {
-
-                //查找mydoJob是否存在该条码的任务
-                //todo 有无其他任务字段校验
-                HttpResponse response = HttpRequest.get(Constant.BASEURL + "/job/inmydoJob/getTaskCount").execute();
-                Integer count = JSON.parseObject(response.body(), Integer.class);
-
-                WcsTask task = new WcsTask();
-
-                iWcsTaskService.insertWcsTask(task);
-
-
-
-            }
-        }
-
-        return convPTLOutReads;
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/StatusUpdate.java

@@ -1,104 +0,0 @@
-package com.ruoyi.schedule.scheduleTask;
-
-import cn.hutool.http.HttpRequest;
-import cn.hutool.http.HttpResponse;
-import com.alibaba.fastjson2.JSON;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.ruoyi.common.Constant;
-import com.ruoyi.common.TaskStatusCode;
-import com.ruoyi.device.agv.domain.queryTaskStatus.QueryTaskStatusRequest;
-import com.ruoyi.device.agv.domain.queryTaskStatus.QueryTaskStatusResponse;
-import com.ruoyi.device.agv.domain.queryTaskStatus.TaskStatusData;
-import com.ruoyi.schedule.task.domain.WcsTask;
-import com.ruoyi.schedule.task.mapper.WcsTaskMapper;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import java.time.LocalDateTime;
-import java.util.List;
-
-/**
- * 通过【查询任务状态】接口获取当前任务的任务状态（待执行/执行中/结束...）
- */
-@Component
-@Slf4j
-public class StatusUpdate {
-
-    @Autowired
-    WcsTaskMapper wcsTaskMapper;
-
-
-    public void statusUpdate() {
-
-        //查询实时任务表获取所有【下发成功】任务
-        LambdaQueryWrapper<WcsTask> queryWrapper = new LambdaQueryWrapper<>();
-        queryWrapper.ne(WcsTask::getTaskStatus, TaskStatusCode.TASK_READY);
-        List<WcsTask> tasks = wcsTaskMapper.selectList(queryWrapper);
-
-        if (tasks.size() == 0 || tasks == null) return;
-
-        //wcs本地任务轮询
-        for (int i = 0; i < tasks.size(); i++) {
-            //查询【设备任务状态】接口是否已有该任务号
-            HttpResponse response = HttpRequest.post(Constant.BASEURL + "/queryTaskStatus")
-                    .body(JSON.toJSONString(new QueryTaskStatusRequest()))
-                    .execute();
-            QueryTaskStatusResponse queryTaskStatusResponse = JSON.parseObject(response.body(), QueryTaskStatusResponse.class);
-            List<TaskStatusData> deviceTasks = queryTaskStatusResponse.getData();
-
-            if (deviceTasks.size() == 0 || deviceTasks == null) return;
-
-            //接口查询的AGV/CTU设备任务轮询
-            for (int j = 0; j < deviceTasks.size(); j++) {
-
-                //wcs任务记录的任务号与接口查询的任务号匹配
-                if (tasks.get(i).getTaskId() != deviceTasks.get(j).getTaskCode()) continue;
-
-                switch (deviceTasks.get(j).getTaskStatus()) {
-                    case "1":
-                        //【任务状态】更新为已创建
-                        if (tasks.get(j).getTaskStatus() == TaskStatusCode.TASK_SEND_SUCCESS && tasks.get(j).getTaskStatus() != TaskStatusCode.TASK_CREATED) {
-                            tasks.get(j).setTaskStatus(TaskStatusCode.TASK_CREATED);
-                            wcsTaskMapper.updateWcsTask(tasks.get(i));
-                        }
-                        break;
-                    case "2"://【任务状态】更新为执行中
-                        if (tasks.get(j).getTaskStatus() == TaskStatusCode.TASK_CREATED && tasks.get(j).getTaskStatus() != TaskStatusCode.TASK_RUNNING) {
-                            tasks.get(j).setTaskStatus(TaskStatusCode.TASK_RUNNING);
-                            //更新【调度时间】
-                            tasks.get(j).setScheduleTime(LocalDateTime.now());
-                            wcsTaskMapper.updateWcsTask(tasks.get(i));
-                        }
-                        break;
-                    case "5"://【任务状态】更新为已取消
-                        if ((tasks.get(j).getTaskStatus() == TaskStatusCode.TASK_CREATED ||
-                                tasks.get(j).getTaskStatus() == TaskStatusCode.TASK_RUNNING) &&
-                                tasks.get(j).getTaskStatus() != TaskStatusCode.TASK_CANCEL) {
-                            tasks.get(j).setTaskStatus(TaskStatusCode.TASK_CANCEL);
-                            wcsTaskMapper.updateWcsTask(tasks.get(i));
-                        }
-                        break;
-                    case "9"://【任务状态】更新为已结束
-                        if (tasks.get(j).getTaskStatus() != TaskStatusCode.TASK_FINISH) {
-                            tasks.get(j).setTaskStatus(TaskStatusCode.TASK_FINISH);
-                            wcsTaskMapper.updateWcsTask(tasks.get(j));
-                        }
-                        break;
-                    case "10"://【任务状态】更新为被中断
-                        if (tasks.get(j).getTaskStatus() != TaskStatusCode.TASK_INTERUPTED) {
-                            tasks.get(j).setTaskStatus(TaskStatusCode.TASK_INTERUPTED);
-                            wcsTaskMapper.updateWcsTask(tasks.get(j));
-                        }
-                        break;
-                }
-            }
-
-        }
-
-
-
-
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/TaskFinish.java

@@ -1,64 +0,0 @@
-package com.ruoyi.schedule.scheduleTask;
-
-import com.alibaba.fastjson2.JSON;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.ruoyi.common.TaskStatusCode;
-import com.ruoyi.schedule.task.domain.WcsTask;
-import com.ruoyi.schedule.task.mapper.WcsTaskMapper;
-import com.ruoyi.schedule.taskHistory.domain.WcsTaskHistory;
-import com.ruoyi.schedule.taskHistory.mapper.WcsTaskHistoryMapper;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.BeanUtils;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import java.time.LocalDateTime;
-import java.util.List;
-
-@Component
-@Slf4j
-public class TaskFinish {
-
-    @Autowired
-    WcsTaskMapper wcsTaskMapper;
-
-    @Autowired
-    WcsTaskHistoryMapper wcsTaskHistoryMapper;
-
-    public void taskFinish() {
-
-        //查询实时任务表获取所有【已结束】，【已取消】和手动处理的任务任务
-        LambdaQueryWrapper<WcsTask> queryWrapper = new LambdaQueryWrapper<>();
-        queryWrapper.eq(WcsTask::getTaskStatus, TaskStatusCode.TASK_FINISH)
-                .or()
-                .eq(WcsTask::getTaskStatus, TaskStatusCode.TASK_CANCEL)
-                .or()
-                .eq(WcsTask::getTaskStatus, TaskStatusCode.TASK_FINISH_MANUAL)
-                .or()
-                .eq(WcsTask::getTaskStatus, TaskStatusCode.TASK_CANCEL_MANUAL);;
-        List<WcsTask> tasks = wcsTaskMapper.selectList(queryWrapper);
-
-        for (int i = 0; i < tasks.size(); i++) {
-
-            //todo 任务完成/取消请求wms
-            //todo 任务完成/取消请求wms
-            //todo 任务完成/取消请求wms
-
-
-
-            WcsTaskHistory wcsTaskHistory = new WcsTaskHistory();
-            BeanUtils.copyProperties(tasks.get(i), wcsTaskHistory);
-            wcsTaskHistory.setFinishTime(LocalDateTime.now());
-
-            //向历史记录添加任务数据
-            wcsTaskHistoryMapper.insertWcsTaskHistory(wcsTaskHistory);
-            log.info("【添加到历任务记录】{}", JSON.toJSONString(wcsTaskHistory));
-
-            //移除实时任务表数据
-            wcsTaskMapper.deleteWcsTaskByTaskId(tasks.get(i).getTaskId());
-            log.info("【实时任务已完成】{}", JSON.toJSONString(tasks.get(i)));
-        }
-
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/TaskHandler.java

@@ -1,16 +0,0 @@
-package com.ruoyi.schedule.scheduleTask;
-
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-
-/**
- * 用于处理没有正常执行或完成/取消的任务
- */
-@Component
-@Slf4j
-public class TaskHandler {
-
-
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/Timer.java

@@ -1,51 +0,0 @@
-package com.ruoyi.schedule.scheduleTask;
-
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.scheduling.annotation.Async;
-import org.springframework.scheduling.annotation.EnableAsync;
-import org.springframework.scheduling.annotation.Scheduled;
-import org.springframework.stereotype.Component;
-
-@Slf4j
-@Component
-public class Timer {
-
-    @Autowired
-    Generation generation;
-
-    @Autowired
-    Execution execution;
-
-    @Autowired
-    StatusUpdate statusUpdate;
-
-    @Autowired
-    TaskFinish taskFinish;
-
-    @Autowired
-    TaskHandler taskHandler;
-
-    @Async
-    @Scheduled(cron = "*/2 * * * * *")
-    public void timerTask() {
-
-        try {
-            execution.executeTask();
-            Thread.sleep(200);
-
-            //statusUpdate.statusUpdate();
-            //Thread.sleep(200);
-
-            taskFinish.taskFinish();
-            Thread.sleep(200);
-
-//            generation.
-
-        } catch (Exception e) {
-            log.error("【调度任务异常】" + e.getMessage());
-        }
-
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/agv/AgvDispatch.java

@@ -0,0 +1,150 @@
+package com.ruoyi.schedule.scheduleTask.agv;
+
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.http.HttpUtil;
+
+import java.io.IOException;
+import java.util.HashMap;
+import java.util.Map;
+
+public class AgvDispatch {
+
+    // 基础URL
+    private final String baseUrl;
+
+    // 客户端编号
+    private String clientCode;
+
+    // 令牌号
+    private String tokenCode;
+
+    public AgvDispatch(String ip, int port) {
+        this.baseUrl = String.format("http://%s:%d/rcms/services/rest", ip, port);
+    }
+
+    public AgvDispatch(String baseUrl) {
+        this.baseUrl = baseUrl;
+    }
+
+    /**
+     * 生成唯一请求编号
+     */
+    private String generateReqCode() {
+        return IdUtil.fastSimpleUUID();
+    }
+
+    // ------------------------------ 常用接口 ------------------------------
+
+    /**
+     * 2.1.1 生成任务单
+     * @param taskTyp 任务类型
+     * @param wbCode 工作位
+     * @param positionCodePath 位置路径
+     * @param podCode 货架编号
+     * @return 接口返回结果
+     */
+    public String genAgvSchedulingTask(String taskTyp, String wbCode,
+                                       Object[] positionCodePath, String podCode) throws IOException {
+        String url = baseUrl + "/hikRpcService/genAgvSchedulingTask";
+        Map<String, Object> params = new HashMap<>();
+        params.put("taskTyp", taskTyp);
+        params.put("wbCode", wbCode);
+        params.put("positionCodePath", positionCodePath);
+        params.put("podCode", podCode);
+        return HttpUtil.post(url, params);
+    }
+
+    /**
+     * 2.1.2 继续执行任务
+     * @param taskCode 任务单号
+     * @return 接口返回结果
+     */
+    public String continueTask(String taskCode) throws IOException {
+        String url = baseUrl + "/hikRpcService/continueTask";
+        Map<String, Object> params = new HashMap<>();
+        params.put("taskCode", taskCode);
+        return HttpUtil.post(url, params);
+    }
+
+    /**
+     * 2.1.3 取消任务
+     * @param taskCode 任务单号
+     * @param forceCancel 取消类型（0-直接放地上，1-软取消）
+     * @return 接口返回结果
+     */
+    public String cancelTask(String taskCode, String forceCancel) throws IOException {
+        String url = baseUrl + "/hikRpcService/cancelTask";
+        Map<String, Object> params = new HashMap<>();
+        params.put("taskCode", taskCode);
+        params.put("forceCancel", forceCancel);
+        return HttpUtil.post(url, params);
+    }
+
+    // ------------------------------ 可选接口 ------------------------------
+
+    /**
+     * 3.1.1 任务优先级设置
+     * @param priorities 优先级列表
+     * @return 接口返回结果
+     */
+    public String setTaskPriority(Object[] priorities) throws IOException {
+        String url = baseUrl + "/hikRpcService/setTaskPriority";
+        Map<String, Object> params = new HashMap<>();
+        params.put("priorities", priorities);
+        return HttpUtil.post(url, params);
+    }
+
+    /**
+     * 3.1.2 货架与位置绑定、解绑
+     * @param podCode 货架编号
+     * @param positionCode 位置编号
+     * @param indBind 1-绑定，0-解绑
+     * @return 接口返回结果
+     */
+    public String bindPodAndBerth(String podCode, String positionCode, String indBind) throws IOException {
+        String url = baseUrl + "/hikRpcService/bindPodAndBerth";
+        Map<String, Object> params = new HashMap<>();
+        params.put("podCode", podCode);
+        params.put("positionCode", positionCode);
+        params.put("indBind", indBind);
+        return HttpUtil.post(url, params);
+    }
+
+    /**
+     * 3.1.9 查询任务状态
+     * @param taskCodes 任务单编号数组
+     * @return 接口返回结果
+     */
+    public String queryTaskStatus(String[] taskCodes) throws IOException {
+        String url = baseUrl + "/hikRpcService/queryTaskStatus";
+        Map<String, Object> params = new HashMap<>();
+        params.put("taskCodes", taskCodes);
+        return HttpUtil.post(url, params);
+    }
+
+    /**
+     * 3.1.10 查询AGV状态
+     * @param mapCode 地图编号
+     * @return 接口返回结果
+     */
+    public String queryAgvStatus(String mapCode) throws IOException {
+        String url = "http://" + baseUrl.split("//")[1].split("/")[0] + "/rcms-dps/rest/queryAgvStatus";
+        Map<String, Object> params = new HashMap<>();
+        params.put("mapCode", mapCode);
+        return HttpUtil.post(url, params);
+    }
+
+    /**
+     * 3.1.16 料箱出库TPS（CTU+分拨墙）
+     * @param taskTyp 任务类型（传1）
+     * @param data 任务数据列表
+     * @return 接口返回结果
+     */
+    public String getOutPod(String taskTyp, Object[] data) throws IOException {
+        String url = baseUrl + "/hikTpsService/getOutPod";
+        Map<String, Object> params = new HashMap<>();
+        params.put("taskTyp", taskTyp);
+        params.put("data", data);
+        return HttpUtil.post(url, params);
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/InSsjThread.java

@@ -0,0 +1,151 @@
+package com.ruoyi.schedule.scheduleTask.ssj;
+
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.StrUtil;
+import com.ruoyi.device.agv.domain.AgvQueue;
+import com.ruoyi.device.agv.service.IAgvQueueService;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
+import com.ruoyi.api.domain.wcs2wms.MydoJob;
+import com.ruoyi.api.service.IApiService;
+import com.ruoyi.schedule.plcRead.ssj.domain.SsjDevice;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.concurrent.ConcurrentHashMap;
+
+
+@Slf4j
+@Component
+public class InSsjThread {
+
+    public ConcurrentHashMap<String, SsjDevice> deviceMap;
+
+    @Resource
+    private IApiService apiService;
+    @Resource
+    private IAgvQueueService agvQueueService;
+
+
+    public void inDispatch(SsjDevice inSsjDevice) {
+        //如果入库请求1 并且 托盘码不为空
+        if (inSsjDevice.getEntryRequest() == 1 && StrUtil.isNotEmpty(inSsjDevice.getTrayCode())) {
+            //根据入口，查询对应的入库作业
+            MydoJob mydoJobParam = new MydoJob();
+            //mydoJobParam.setEntranceId(inSsjDevice.getDeviceCode());
+            mydoJobParam.setStatus("1");
+            mydoJobParam.setTrayCode(inSsjDevice.getTrayCode());
+            List<MydoJob> mydoJobs = apiService.getMydoJobList(mydoJobParam);
+            if (CollUtil.isNotEmpty(mydoJobs)) {
+                MydoJob mydoJob = mydoJobs.get(0);
+                //修改mydojob入口
+                mydoJob.setEntranceId(inSsjDevice.getDeviceCode());
+                apiService.updateMydoJob(mydoJob);
+
+                //判断是否生成队列
+                AgvQueue agvQueueParam = new AgvQueue();
+                agvQueueParam.setWmsTaskNo(mydoJob.getTaskNo());
+                agvQueueParam.setPositionCode1(inSsjDevice.getDeviceCode());
+                agvQueueParam.setStatus("0");
+                List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueueParam);
+                if (CollUtil.isEmpty(agvQueues)) {
+                    //生成agv队列
+                    AgvQueue agvQueue = createAgvQueue(inSsjDevice, mydoJob);
+                    //请求任务生成
+                    GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(mydoJob, agvQueue);
+                    //修改wms任务状态
+                    if (genAgvSchedulingTaskResponse.getCode() == 0) {
+                        //修改ctu执行状态
+                        agvQueue.setStatus("1");
+                        agvQueueService.updateAgvQueue(agvQueue);
+                        log.info("向CTU下入库库作业");
+                        //修改mydoJob执行阶段
+                        mydoJob.setExecutionPhase("6");
+                        apiService.updateMydoJob(mydoJob);
+                    }
+                } else {
+                    AgvQueue agvQueue = agvQueues.get(0);
+                    //请求任务生成
+                    GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(mydoJob, agvQueue);
+                    //修改wms任务状态
+                    if (genAgvSchedulingTaskResponse.getCode() == 0) {
+                        //修改ctu执行状态
+                        agvQueue.setStatus("1");
+                        agvQueueService.updateAgvQueue(agvQueue);
+                        log.info("向CTU下入库库作业");
+                        //修改mydoJob执行阶段
+                        mydoJob.setExecutionPhase("6");
+                        apiService.updateMydoJob(mydoJob);
+                    }
+                }
+            } else {
+                mydoJobParam.setEntranceId(inSsjDevice.getDeviceCode());
+                mydoJobParam.setStatus("3");
+                mydoJobParam.setTrayCode(inSsjDevice.getTrayCode());
+                mydoJobs = apiService.getMydoJobList(mydoJobParam);
+                if (CollUtil.isNotEmpty(mydoJobs)) {
+                    log.info("trayCode:{} 入库作业正在执行中", inSsjDevice.getTrayCode());
+                } else {
+                    log.info("trayCode:{} 无入库作业", inSsjDevice.getTrayCode());
+                }
+            }
+        }
+    }
+
+    /**
+     * 生成入库AGV队列
+     *
+     * @param ssjDevice
+     * @param mydoJob
+     * @return
+     */
+    private AgvQueue createAgvQueue(SsjDevice ssjDevice, MydoJob mydoJob) {
+        //生成ctu执行队列
+        AgvQueue agvQueue = new AgvQueue();
+        String reqCode = IdUtil.fastSimpleUUID();
+        agvQueue.setReqCode(reqCode);
+        agvQueue.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
+        agvQueue.setAgvType("CTU");
+        agvQueue.setPositionCode1(mydoJob.getCargoSpaceId());
+        agvQueue.setPositionCode2(ssjDevice.getDeviceCode());
+        agvQueue.setTaskType("F01");
+        agvQueue.setCtnrType("0");
+        agvQueue.setCtnrCode("0");
+        agvQueue.setCtnrNum("0");
+        agvQueue.setTaskMode("0");
+        agvQueue.setPriority("10");
+        agvQueue.setRequest("0");
+        agvQueue.setWmsTraycode(mydoJob.getTrayCode());
+        agvQueue.setWmsTaskNo(mydoJob.getTaskNo());
+        agvQueue.setStatus("0");
+        agvQueueService.insertAgvQueue(agvQueue);
+        return agvQueue;
+    }
+
+    /**
+     * 请求海康生成agv任务,并修改wms任务状态
+     *
+     * @param mydoJob
+     * @param agvQueue
+     */
+    private GenAgvSchedulingTaskResponse requestAgvQueue(MydoJob mydoJob, AgvQueue agvQueue) {
+        //请求ctu
+        GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
+        genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
+        genAgvSchedulingTaskRequest.setTaskMode("0");
+        genAgvSchedulingTaskRequest.setPriority("10");
+        genAgvSchedulingTaskRequest.setTaskTyp("F01");
+        genAgvSchedulingTaskRequest.setCtnrCode("0");
+        genAgvSchedulingTaskRequest.setCtnrNum("0");
+        genAgvSchedulingTaskRequest.setTaskMode("0");
+        genAgvSchedulingTaskRequest.setTaskCode(mydoJob.getTaskNo());
+        genAgvSchedulingTaskRequest.setGroupId(mydoJob.getTaskNo());
+        genAgvSchedulingTaskRequest.setAgvTyp("CTU");
+        genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
+        return apiService.genAgvSchedulingTask(genAgvSchedulingTaskRequest);
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/OutSsjThread.java

@@ -0,0 +1,91 @@
+package com.ruoyi.schedule.scheduleTask.ssj;
+
+import cn.hutool.core.collection.CollUtil;
+import com.ruoyi.device.agv.domain.AgvQueue;
+import com.ruoyi.device.agv.service.IAgvQueueService;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
+import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
+import com.ruoyi.api.domain.wcs2wms.MydoJob;
+import com.ruoyi.api.service.IApiService;
+import com.ruoyi.schedule.plcRead.ssj.domain.SsjDevice;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.concurrent.ConcurrentHashMap;
+
+
+@Slf4j
+@Component
+public class OutSsjThread {
+
+    public ConcurrentHashMap<String, List<SsjDevice>> deviceMap;
+
+    @Resource
+    private IApiService apiService;
+    @Resource
+    private IAgvQueueService agvQueueService;
+
+
+    public void outDispatch(SsjDevice outSsjDevice) {
+        //输送线出库
+        if (outSsjDevice.getEmpty()==1){
+            //查询对应的作业
+            AgvQueue agvQueue = new AgvQueue();
+            agvQueue.setPositionCode2(outSsjDevice.getDeviceCode());
+            agvQueue.setStatus("0");
+            List<AgvQueue> agvQueueList = agvQueueService.selectAgvQueueList(agvQueue);
+            if (CollUtil.isNotEmpty(agvQueueList)){
+                for (AgvQueue queue : agvQueueList) {
+                    MydoJob mydoJobParam = new MydoJob();
+                    mydoJobParam.setTaskNo(queue.getWmsTaskNo());
+                    mydoJobParam.setTrayCode(queue.getWmsTraycode());
+                    mydoJobParam.setCargoSpaceId(queue.getPositionCode1());
+                    List<MydoJob> mydoJobList = apiService.getMydoJobList(mydoJobParam);
+                    if (CollUtil.isNotEmpty(mydoJobList)){
+                        MydoJob mydoJob = mydoJobList.get(0);
+                        requestAgvQueue(mydoJob, queue);
+                    }else {
+                        log.info("队列 agvCode {},无对应出库作业", agvQueue.getReqCode());
+                    }
+                }
+            }else {
+                log.info("ssjCode:{},没有待下发的出库任务", outSsjDevice.getDeviceCode());
+            }
+        }
+
+
+    }
+
+    /**
+     * 请求海康生成agv任务,并修改wms任务状态
+     * @param mydoJob
+     * @param agvQueue
+     */
+    private void requestAgvQueue(MydoJob mydoJob, AgvQueue agvQueue) {
+        //请求ctu
+        GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
+        genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
+        genAgvSchedulingTaskRequest.setTaskMode("0");
+        genAgvSchedulingTaskRequest.setPriority("10");
+        genAgvSchedulingTaskRequest.setTaskTyp("F01");
+        genAgvSchedulingTaskRequest.setCtnrCode("0");
+        genAgvSchedulingTaskRequest.setCtnrNum("0");
+        genAgvSchedulingTaskRequest.setTaskMode("0");
+        genAgvSchedulingTaskRequest.setTaskCode(mydoJob.getTaskNo());
+        genAgvSchedulingTaskRequest.setGroupId(mydoJob.getTaskNo());
+        genAgvSchedulingTaskRequest.setAgvTyp("CTU");
+        genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
+        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.genAgvSchedulingTask(genAgvSchedulingTaskRequest);
+        if (genAgvSchedulingTaskResponse.getCode() == 0){
+            //修改ctu执行状态
+            agvQueue.setStatus("1");
+            agvQueueService.updateAgvQueue(agvQueue);
+            log.info("向CTU下入库库作业");
+            //修改mydoJob执行阶段
+            mydoJob.setExecutionPhase("6");
+            apiService.updateMydoJob(mydoJob);
+        }
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/PickSsjTread.java

@@ -0,0 +1,48 @@
+package com.ruoyi.schedule.scheduleTask.ssj;
+
+import cn.hutool.core.collection.CollUtil;
+import com.ruoyi.device.agv.service.IAgvQueueService;
+import com.ruoyi.common.core.text.Convert;
+import com.ruoyi.api.domain.wcs2wms.MydoJob;
+import com.ruoyi.api.service.IApiService;
+import com.ruoyi.schedule.plcRead.ssj.domain.SsjDevice;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.concurrent.ConcurrentHashMap;
+
+
+@Slf4j
+@Component
+public class PickSsjTread {
+
+    public ConcurrentHashMap<String, List<SsjDevice>> deviceMap;
+
+    @Resource
+    private IApiService apiService;
+    @Resource
+    private IAgvQueueService agvQueueService;
+
+
+    public void pickDispatch(SsjDevice pickSsjDevice) {
+        if (pickSsjDevice.getInPlace() == 1 && pickSsjDevice.getTaskNo() > 0){
+            Integer taskNo = pickSsjDevice.getTaskNo();
+            MydoJob mydoJobParam = new MydoJob();
+            mydoJobParam.setStatus("3");
+            mydoJobParam.setTaskNo(Convert.toStr(taskNo));
+            mydoJobParam.setExitId(pickSsjDevice.getDeviceCode());
+            List<MydoJob> mydoJobList = apiService.getMydoJobList(mydoJobParam);
+            if (CollUtil.isNotEmpty(mydoJobList)){
+                MydoJob mydoJob = mydoJobList.get(0);
+                if ("4".equals(mydoJob.getExecutionPhase())){
+                    mydoJob.setExecutionPhase("5");
+                    apiService.updateMydoJob(mydoJob);
+                }
+            }
+        }
+    }
+
+
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Generation.java

@@ -1,43 +0,0 @@
-package com.ruoyi.schedule.task;
-
-import com.ruoyi.schedule.data.ConvConnection;
-import com.ruoyi.schedule.plc.domain.ConvPTLInRead;
-import com.ruoyi.schedule.plc.domain.ConvPTLOutRead;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import java.util.List;
-
-/**
- * 获取任务生成AGV指令
- */
-@Component
-public class Generation {
-
-    @Autowired
-    ConvConnection conv;
-
-    //获取PTL拣选工位入口状态
-    public List<ConvPTLInRead> getConvPTLInRead() {
-
-        List<ConvPTLInRead> convPTLInReads=conv.getConvPTLIn();
-
-        for (int i = 0; i < convPTLInReads.size(); i++) {
-
-        }
-
-
-        return convPTLInReads;
-    }
-
-
-    //获取PTL拣选工位出口状态
-    public List<ConvPTLOutRead> getConvPTLOutRead() {
-
-        List<ConvPTLOutRead> convPTLOutReads=conv.getConvPTLOut();
-
-
-        return convPTLOutReads;
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/task/controller/WcsTaskController.java

@@ -1,190 +0,0 @@
-package com.ruoyi.schedule.task.controller;
-
-import java.time.LocalDateTime;
-import java.time.format.DateTimeFormatter;
-import java.util.List;
-import javax.servlet.http.HttpServletResponse;
-
-import com.alibaba.fastjson2.JSON;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.ruoyi.common.TaskStatusCode;
-import com.ruoyi.device.agv.domain.ResponseBase;
-import com.ruoyi.schedule.task.mapper.WcsTaskMapper;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.security.access.prepost.PreAuthorize;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.PutMapping;
-import org.springframework.web.bind.annotation.DeleteMapping;
-import org.springframework.web.bind.annotation.PathVariable;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
-import com.ruoyi.common.annotation.Log;
-import com.ruoyi.common.core.controller.BaseController;
-import com.ruoyi.common.core.domain.AjaxResult;
-import com.ruoyi.common.enums.BusinessType;
-import com.ruoyi.schedule.task.domain.WcsTask;
-import com.ruoyi.schedule.task.service.IWcsTaskService;
-import com.ruoyi.common.utils.poi.ExcelUtil;
-import com.ruoyi.common.core.page.TableDataInfo;
-
-/**
- * 实时任务Controller
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-@RestController
-@RequestMapping("/schedule/task")
-@Slf4j
-public class WcsTaskController extends BaseController
-{
-    @Autowired
-    private IWcsTaskService wcsTaskService;
-
-    @Autowired
-    WcsTaskMapper wcsTaskMapper;
-
-    /**
-     * 查询实时任务列表
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:task:list')")
-    @GetMapping("/list")
-    public TableDataInfo list(WcsTask wcsTask)
-    {
-        startPage();
-        List<WcsTask> list = wcsTaskService.selectWcsTaskList(wcsTask);
-        return getDataTable(list);
-    }
-
-    /**
-     * 导出实时任务列表
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:task:export')")
-    @Log(title = "实时任务", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, WcsTask wcsTask)
-    {
-        List<WcsTask> list = wcsTaskService.selectWcsTaskList(wcsTask);
-        ExcelUtil<WcsTask> util = new ExcelUtil<WcsTask>(WcsTask.class);
-        util.exportExcel(response, list, "实时任务数据");
-    }
-
-    /**
-     * 获取实时任务详细信息
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:task:query')")
-    @GetMapping(value = "/{taskId}")
-    public AjaxResult getInfo(@PathVariable("taskId") String taskId)
-    {
-        return success(wcsTaskService.selectWcsTaskByTaskId(taskId));
-    }
-
-    /**
-     * 新增实时任务
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:task:add')")
-    @Log(title = "实时任务", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody WcsTask wcsTask)
-    {
-        return toAjax(wcsTaskService.insertWcsTask(wcsTask));
-    }
-
-    /**
-     * 修改实时任务
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:task:edit')")
-    @Log(title = "实时任务", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody WcsTask wcsTask)
-    {
-        return toAjax(wcsTaskService.updateWcsTask(wcsTask));
-    }
-
-    /**
-     * 删除实时任务
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:task:remove')")
-    @Log(title = "实时任务", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{taskIds}")
-    public AjaxResult remove(@PathVariable String[] taskIds)
-    {
-        return toAjax(wcsTaskService.deleteWcsTaskByTaskIds(taskIds));
-    }
-
-
-
-    /**
-     * PTL拣选入口空---wms推送请求出库---生成wcs本地任务
-     * @param task
-     * @return
-     */
-    @PostMapping("/stockOut")
-    public ResponseBase stockOut(@RequestBody WcsTask task) {
-
-        log.info("【获取出库请求】" + JSON.toJSONString(task));
-
-        ResponseBase response = new ResponseBase();
-        response.setCode(0);
-        response.setMessage("success");
-        response.setData(JSON.toJSONString(task));
-
-        //todo 有无信息校验
-        //查询是否已经有该作业号的任务
-        LambdaQueryWrapper<WcsTask> wrapper = new LambdaQueryWrapper<>();
-        wrapper.eq(WcsTask::getJobId, task.getJobId());
-        Long count= wcsTaskMapper.selectCount(wrapper);
-        //任务已存在---返回失败
-        if (count > 0) {
-            response.setCode(1);
-            response.setMessage("failed");
-            return response;
-        }
-
-        //初始化任务状态---待执行
-        task.setTaskStatus(TaskStatusCode.TASK_READY);
-
-        wcsTaskService.insertWcsTask(task);
-
-        return response;
-    }
-
-    /**
-     * PTL拣选出口扫描到到位料箱---wms推送请求入库---生成wcs本地任务
-     * @param task
-     * @return
-     */
-    @PostMapping("/stockIn")
-    public ResponseBase stockIn(@RequestBody WcsTask task) {
-
-        log.info("【获取入库请求】" + JSON.toJSONString(task));
-
-        ResponseBase response = new ResponseBase();
-        response.setCode(0);
-        response.setMessage("success");
-        response.setData(JSON.toJSONString(task));
-
-        //todo 有无信息校验
-        //查询是否已经有该作业号的任务
-        LambdaQueryWrapper<WcsTask> wrapper = new LambdaQueryWrapper<>();
-        wrapper.eq(WcsTask::getJobId, task.getJobId());
-        Long count= wcsTaskMapper.selectCount(wrapper);
-        //任务已存在---返回失败
-        if (count > 0) {
-            response.setCode(1);
-            response.setMessage("failed");
-            return response;
-        }
-
-        //初始化任务状态---待执行
-        task.setTaskStatus(TaskStatusCode.TASK_READY);
-
-        wcsTaskService.insertWcsTask(task);
-
-        return response;
-    }
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/task/domain/WcsTask.java

@@ -1,66 +0,0 @@
-package com.ruoyi.schedule.task.domain;
-
-import lombok.Data;
-import com.ruoyi.common.annotation.Excel;
-import org.springframework.data.annotation.Id;
-import org.springframework.format.annotation.DateTimeFormat;
-
-import java.time.LocalDateTime;
-
-/**
- * 实时任务对象 wcs_task
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-@Data
-public class WcsTask
-{
-    private static final long serialVersionUID = 1L;
-
-    /** 作业号 */
-    @Excel(name = "作业号")
-    private String jobId;
-
-    /** wcs任务号 */
-    @Excel(name = "任务号")
-    private String taskId;
-
-    /** 任务类型 */
-    @Excel(name = "任务类型")
-    private String taskType;
-
-    /** 源站点 */
-    @Excel(name = "源站点")
-    private String sourceLocation;
-
-    /** 目标站点 */
-    @Excel(name = "目标站点")
-    private String targetLocation;
-
-    /** 任务状态 */
-    @Excel(name = "任务状态")
-    private String taskStatus;
-
-    /** 生成时间 */
-    @Excel(name = "生成时间")
-    @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
-    private LocalDateTime createTime = LocalDateTime.now();
-
-    /**
-     * 调度时间
-     * 设备开始运行的时间
-     */
-    @Excel(name = "调度时间")
-    private LocalDateTime  scheduleTime;
-
-    /** 设备编号 */
-    @Excel(name = "设备编号")
-    private String deviceId;
-
-    /** 库区代码 */
-    @Excel(name = "库区代码")
-    private String areaId;
-
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/task/mapper/WcsTaskMapper.java

@@ -1,71 +0,0 @@
-package com.ruoyi.schedule.task.mapper;
-
-import java.util.List;
-
-import com.baomidou.mybatisplus.core.mapper.BaseMapper;
-import com.ruoyi.schedule.task.domain.WcsTask;
-
-/**
- * 实时任务Mapper接口
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-public interface WcsTaskMapper extends BaseMapper<WcsTask>
-{
-    /**
-     * 查询实时任务
-     * 
-     * @param taskId 实时任务主键
-     * @return 实时任务
-     */
-    public WcsTask selectWcsTaskByTaskId(String taskId);
-
-    /**
-     * 查询实时任务
-     *
-     * @param jobId wms作业号
-     * @return 实时任务
-     */
-    public WcsTask selectWcsTaskByJobId(String jobId);
-
-    /**
-     * 查询实时任务列表
-     * 
-     * @param wcsTask 实时任务
-     * @return 实时任务集合
-     */
-    public List<WcsTask> selectWcsTaskList(WcsTask wcsTask);
-
-    /**
-     * 新增实时任务
-     * 
-     * @param wcsTask 实时任务
-     * @return 结果
-     */
-    public int insertWcsTask(WcsTask wcsTask);
-
-    /**
-     * 修改实时任务
-     * 
-     * @param wcsTask 实时任务
-     * @return 结果
-     */
-    public int updateWcsTask(WcsTask wcsTask);
-
-    /**
-     * 删除实时任务
-     * 
-     * @param taskId 实时任务主键
-     * @return 结果
-     */
-    public int deleteWcsTaskByTaskId(String taskId);
-
-    /**
-     * 批量删除实时任务
-     * 
-     * @param taskIds 需要删除的数据主键集合
-     * @return 结果
-     */
-    public int deleteWcsTaskByTaskIds(String[] taskIds);
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/task/service/IWcsTaskService.java

@@ -1,70 +0,0 @@
-package com.ruoyi.schedule.task.service;
-
-import java.util.List;
-import com.ruoyi.schedule.task.domain.WcsTask;
-
-/**
- * 实时任务Service接口
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-public interface IWcsTaskService 
-{
-    /**
-     * 查询实时任务
-     * 
-     * @param taskId 实时任务主键
-     * @return 实时任务
-     */
-    public WcsTask selectWcsTaskByTaskId(String taskId);
-
-
-    /**
-     * 查询实时任务
-     *
-     * @param jobId wms作业号
-     * @return 实时任务
-     */
-    public WcsTask selectWcsTaskByJobId(String jobId);
-
-    /**
-     * 查询实时任务列表
-     * 
-     * @param wcsTask 实时任务
-     * @return 实时任务集合
-     */
-    public List<WcsTask> selectWcsTaskList(WcsTask wcsTask);
-
-    /**
-     * 新增实时任务
-     * 
-     * @param wcsTask 实时任务
-     * @return 结果
-     */
-    public int insertWcsTask(WcsTask wcsTask);
-
-    /**
-     * 修改实时任务
-     * 
-     * @param wcsTask 实时任务
-     * @return 结果
-     */
-    public int updateWcsTask(WcsTask wcsTask);
-
-    /**
-     * 批量删除实时任务
-     * 
-     * @param taskIds 需要删除的实时任务主键集合
-     * @return 结果
-     */
-    public int deleteWcsTaskByTaskIds(String[] taskIds);
-
-    /**
-     * 删除实时任务信息
-     * 
-     * @param taskId 实时任务主键
-     * @return 结果
-     */
-    public int deleteWcsTaskByTaskId(String taskId);
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/task/service/impl/WcsTaskServiceImpl.java

@@ -1,108 +0,0 @@
-package com.ruoyi.schedule.task.service.impl;
-
-import java.time.LocalDateTime;
-import java.util.List;
-import com.ruoyi.common.utils.DateUtils;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-import com.ruoyi.schedule.task.mapper.WcsTaskMapper;
-import com.ruoyi.schedule.task.domain.WcsTask;
-import com.ruoyi.schedule.task.service.IWcsTaskService;
-
-/**
- * 实时任务Service业务层处理
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-@Service
-public class WcsTaskServiceImpl implements IWcsTaskService 
-{
-    @Autowired
-    private WcsTaskMapper wcsTaskMapper;
-
-    /**
-     * 查询实时任务
-     * 
-     * @param taskId 实时任务主键
-     * @return 实时任务
-     */
-    @Override
-    public WcsTask selectWcsTaskByTaskId(String taskId)
-    {
-        return wcsTaskMapper.selectWcsTaskByTaskId(taskId);
-    }
-
-    /**
-     * 查询实时任务
-     *
-     * @param jobId 实时任务主键
-     * @return 实时任务
-     */
-    @Override
-    public WcsTask selectWcsTaskByJobId(String jobId)
-    {
-        return wcsTaskMapper.selectWcsTaskByJobId(jobId);
-    }
-
-    /**
-     * 查询实时任务列表
-     * 
-     * @param wcsTask 实时任务
-     * @return 实时任务
-     */
-    @Override
-    public List<WcsTask> selectWcsTaskList(WcsTask wcsTask)
-    {
-        return wcsTaskMapper.selectWcsTaskList(wcsTask);
-    }
-
-    /**
-     * 新增实时任务
-     * 
-     * @param wcsTask 实时任务
-     * @return 结果
-     */
-    @Override
-    public int insertWcsTask(WcsTask wcsTask)
-    {
-        wcsTask.setCreateTime(LocalDateTime.now());
-        return wcsTaskMapper.insertWcsTask(wcsTask);
-    }
-
-    /**
-     * 修改实时任务
-     * 
-     * @param wcsTask 实时任务
-     * @return 结果
-     */
-    @Override
-    public int updateWcsTask(WcsTask wcsTask)
-    {
-        return wcsTaskMapper.updateWcsTask(wcsTask);
-    }
-
-    /**
-     * 批量删除实时任务
-     * 
-     * @param taskIds 需要删除的实时任务主键
-     * @return 结果
-     */
-    @Override
-    public int deleteWcsTaskByTaskIds(String[] taskIds)
-    {
-        return wcsTaskMapper.deleteWcsTaskByTaskIds(taskIds);
-    }
-
-    /**
-     * 删除实时任务信息
-     * 
-     * @param taskId 实时任务主键
-     * @return 结果
-     */
-    @Override
-    public int deleteWcsTaskByTaskId(String taskId)
-    {
-        return wcsTaskMapper.deleteWcsTaskByTaskId(taskId);
-    }
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/taskHistory/controller/WcsTaskHistoryController.java

@@ -1,104 +0,0 @@
-package com.ruoyi.schedule.taskHistory.controller;
-
-import java.util.List;
-import javax.servlet.http.HttpServletResponse;
-import org.springframework.security.access.prepost.PreAuthorize;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.PutMapping;
-import org.springframework.web.bind.annotation.DeleteMapping;
-import org.springframework.web.bind.annotation.PathVariable;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
-import com.ruoyi.common.annotation.Log;
-import com.ruoyi.common.core.controller.BaseController;
-import com.ruoyi.common.core.domain.AjaxResult;
-import com.ruoyi.common.enums.BusinessType;
-import com.ruoyi.schedule.taskHistory.domain.WcsTaskHistory;
-import com.ruoyi.schedule.taskHistory.service.IWcsTaskHistoryService;
-import com.ruoyi.common.utils.poi.ExcelUtil;
-import com.ruoyi.common.core.page.TableDataInfo;
-
-/**
- * 任务历史记录Controller
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-@RestController
-@RequestMapping("/schedule/history")
-public class WcsTaskHistoryController extends BaseController
-{
-    @Autowired
-    private IWcsTaskHistoryService wcsTaskHistoryService;
-
-    /**
-     * 查询任务历史记录列表
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:history:list')")
-    @GetMapping("/list")
-    public TableDataInfo list(WcsTaskHistory wcsTaskHistory)
-    {
-        startPage();
-        List<WcsTaskHistory> list = wcsTaskHistoryService.selectWcsTaskHistoryList(wcsTaskHistory);
-        return getDataTable(list);
-    }
-
-    /**
-     * 导出任务历史记录列表
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:history:export')")
-    @Log(title = "任务历史记录", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, WcsTaskHistory wcsTaskHistory)
-    {
-        List<WcsTaskHistory> list = wcsTaskHistoryService.selectWcsTaskHistoryList(wcsTaskHistory);
-        ExcelUtil<WcsTaskHistory> util = new ExcelUtil<WcsTaskHistory>(WcsTaskHistory.class);
-        util.exportExcel(response, list, "任务历史记录数据");
-    }
-
-    /**
-     * 获取任务历史记录详细信息
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:history:query')")
-    @GetMapping(value = "/{taskId}")
-    public AjaxResult getInfo(@PathVariable("taskId") String taskId)
-    {
-        return success(wcsTaskHistoryService.selectWcsTaskHistoryByTaskId(taskId));
-    }
-
-    /**
-     * 新增任务历史记录
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:history:add')")
-    @Log(title = "任务历史记录", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody WcsTaskHistory wcsTaskHistory)
-    {
-        return toAjax(wcsTaskHistoryService.insertWcsTaskHistory(wcsTaskHistory));
-    }
-
-    /**
-     * 修改任务历史记录
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:history:edit')")
-    @Log(title = "任务历史记录", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody WcsTaskHistory wcsTaskHistory)
-    {
-        return toAjax(wcsTaskHistoryService.updateWcsTaskHistory(wcsTaskHistory));
-    }
-
-    /**
-     * 删除任务历史记录
-     */
-    @PreAuthorize("@ss.hasPermi('schedule:history:remove')")
-    @Log(title = "任务历史记录", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{taskIds}")
-    public AjaxResult remove(@PathVariable String[] taskIds)
-    {
-        return toAjax(wcsTaskHistoryService.deleteWcsTaskHistoryByTaskIds(taskIds));
-    }
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/taskHistory/domain/WcsTaskHistory.java

@@ -1,63 +0,0 @@
-package com.ruoyi.schedule.taskHistory.domain;
-
-import lombok.Data;
-import org.apache.commons.lang3.builder.ToStringBuilder;
-import org.apache.commons.lang3.builder.ToStringStyle;
-import com.ruoyi.common.annotation.Excel;
-import com.ruoyi.common.core.domain.BaseEntity;
-
-import java.time.LocalDateTime;
-
-/**
- * 任务历史记录对象 wcs_task_history
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-@Data
-public class WcsTaskHistory extends BaseEntity
-{
-    private static final long serialVersionUID = 1L;
-
-    /** 作业号 */
-    @Excel(name = "作业号")
-    private String jobId;
-
-    /** wcs任务号 */
-    @Excel(name = "wcs任务号")
-    private String taskId;
-
-    /** 任务类型 */
-    @Excel(name = "任务类型")
-    private String taskType;
-
-    /** 源站点 */
-    @Excel(name = "源站点")
-    private String sourceLocation;
-
-    /** 目标站点 */
-    @Excel(name = "目标站点")
-    private String targetLocation;
-
-    /** 任务状态 */
-    @Excel(name = "任务状态")
-    private String taskStatus;
-
-    /** 调度时间 */
-    @Excel(name = "调度时间")
-    private LocalDateTime scheduleTime;
-
-    /** 结束时间 */
-    @Excel(name = "结束时间")
-    private LocalDateTime finishTime;
-
-    /** 设备编号 */
-    @Excel(name = "设备编号")
-    private String deviceId;
-
-    /** 库区代码 */
-    @Excel(name = "库区代码")
-    private String areaId;
-
-
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/taskHistory/mapper/WcsTaskHistoryMapper.java

@@ -1,61 +0,0 @@
-package com.ruoyi.schedule.taskHistory.mapper;
-
-import java.util.List;
-import com.ruoyi.schedule.taskHistory.domain.WcsTaskHistory;
-
-/**
- * 任务历史记录Mapper接口
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-public interface WcsTaskHistoryMapper 
-{
-    /**
-     * 查询任务历史记录
-     * 
-     * @param taskId 任务历史记录主键
-     * @return 任务历史记录
-     */
-    public WcsTaskHistory selectWcsTaskHistoryByTaskId(String taskId);
-
-    /**
-     * 查询任务历史记录列表
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 任务历史记录集合
-     */
-    public List<WcsTaskHistory> selectWcsTaskHistoryList(WcsTaskHistory wcsTaskHistory);
-
-    /**
-     * 新增任务历史记录
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 结果
-     */
-    public int insertWcsTaskHistory(WcsTaskHistory wcsTaskHistory);
-
-    /**
-     * 修改任务历史记录
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 结果
-     */
-    public int updateWcsTaskHistory(WcsTaskHistory wcsTaskHistory);
-
-    /**
-     * 删除任务历史记录
-     * 
-     * @param taskId 任务历史记录主键
-     * @return 结果
-     */
-    public int deleteWcsTaskHistoryByTaskId(String taskId);
-
-    /**
-     * 批量删除任务历史记录
-     * 
-     * @param taskIds 需要删除的数据主键集合
-     * @return 结果
-     */
-    public int deleteWcsTaskHistoryByTaskIds(String[] taskIds);
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/taskHistory/service/IWcsTaskHistoryService.java

@@ -1,61 +0,0 @@
-package com.ruoyi.schedule.taskHistory.service;
-
-import java.util.List;
-import com.ruoyi.schedule.taskHistory.domain.WcsTaskHistory;
-
-/**
- * 任务历史记录Service接口
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-public interface IWcsTaskHistoryService 
-{
-    /**
-     * 查询任务历史记录
-     * 
-     * @param taskId 任务历史记录主键
-     * @return 任务历史记录
-     */
-    public WcsTaskHistory selectWcsTaskHistoryByTaskId(String taskId);
-
-    /**
-     * 查询任务历史记录列表
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 任务历史记录集合
-     */
-    public List<WcsTaskHistory> selectWcsTaskHistoryList(WcsTaskHistory wcsTaskHistory);
-
-    /**
-     * 新增任务历史记录
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 结果
-     */
-    public int insertWcsTaskHistory(WcsTaskHistory wcsTaskHistory);
-
-    /**
-     * 修改任务历史记录
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 结果
-     */
-    public int updateWcsTaskHistory(WcsTaskHistory wcsTaskHistory);
-
-    /**
-     * 批量删除任务历史记录
-     * 
-     * @param taskIds 需要删除的任务历史记录主键集合
-     * @return 结果
-     */
-    public int deleteWcsTaskHistoryByTaskIds(String[] taskIds);
-
-    /**
-     * 删除任务历史记录信息
-     * 
-     * @param taskId 任务历史记录主键
-     * @return 结果
-     */
-    public int deleteWcsTaskHistoryByTaskId(String taskId);
-}

ruoyi-admin/src/main/java/com/ruoyi/schedule/taskHistory/service/impl/WcsTaskHistoryServiceImpl.java

@@ -1,95 +0,0 @@
-package com.ruoyi.schedule.taskHistory.service.impl;
-
-import java.util.List;
-import com.ruoyi.common.utils.DateUtils;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-import com.ruoyi.schedule.taskHistory.mapper.WcsTaskHistoryMapper;
-import com.ruoyi.schedule.taskHistory.domain.WcsTaskHistory;
-import com.ruoyi.schedule.taskHistory.service.IWcsTaskHistoryService;
-
-/**
- * 任务历史记录Service业务层处理
- * 
- * @author ruoyi
- * @date 2025-06-27
- */
-@Service
-public class WcsTaskHistoryServiceImpl implements IWcsTaskHistoryService 
-{
-    @Autowired
-    private WcsTaskHistoryMapper wcsTaskHistoryMapper;
-
-    /**
-     * 查询任务历史记录
-     * 
-     * @param taskId 任务历史记录主键
-     * @return 任务历史记录
-     */
-    @Override
-    public WcsTaskHistory selectWcsTaskHistoryByTaskId(String taskId)
-    {
-        return wcsTaskHistoryMapper.selectWcsTaskHistoryByTaskId(taskId);
-    }
-
-    /**
-     * 查询任务历史记录列表
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 任务历史记录
-     */
-    @Override
-    public List<WcsTaskHistory> selectWcsTaskHistoryList(WcsTaskHistory wcsTaskHistory)
-    {
-        return wcsTaskHistoryMapper.selectWcsTaskHistoryList(wcsTaskHistory);
-    }
-
-    /**
-     * 新增任务历史记录
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 结果
-     */
-    @Override
-    public int insertWcsTaskHistory(WcsTaskHistory wcsTaskHistory)
-    {
-        wcsTaskHistory.setCreateTime(DateUtils.getNowDate());
-        return wcsTaskHistoryMapper.insertWcsTaskHistory(wcsTaskHistory);
-    }
-
-    /**
-     * 修改任务历史记录
-     * 
-     * @param wcsTaskHistory 任务历史记录
-     * @return 结果
-     */
-    @Override
-    public int updateWcsTaskHistory(WcsTaskHistory wcsTaskHistory)
-    {
-        return wcsTaskHistoryMapper.updateWcsTaskHistory(wcsTaskHistory);
-    }
-
-    /**
-     * 批量删除任务历史记录
-     * 
-     * @param taskIds 需要删除的任务历史记录主键
-     * @return 结果
-     */
-    @Override
-    public int deleteWcsTaskHistoryByTaskIds(String[] taskIds)
-    {
-        return wcsTaskHistoryMapper.deleteWcsTaskHistoryByTaskIds(taskIds);
-    }
-
-    /**
-     * 删除任务历史记录信息
-     * 
-     * @param taskId 任务历史记录主键
-     * @return 结果
-     */
-    @Override
-    public int deleteWcsTaskHistoryByTaskId(String taskId)
-    {
-        return wcsTaskHistoryMapper.deleteWcsTaskHistoryByTaskId(taskId);
-    }
-}

ruoyi-admin/src/main/resources/mapper/device/AgvQueueFinishMapper.xml

@@ -0,0 +1,123 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.ruoyi.device.agv.mapper.AgvQueueFinishMapper">
+
+    <resultMap type="AgvQueueFinish" id="AgvQueueFinishResult">
+        <result property="reqCode"    column="req_code"    />
+        <result property="reqTime"    column="req_time"    />
+        <result property="positionCode1"    column="position_code_1"    />
+        <result property="positionCode2"    column="position_code_2"    />
+        <result property="taskType"    column="task_type"    />
+        <result property="ctnrType"    column="ctnr_type"    />
+        <result property="ctnrCode"    column="ctnr_code"    />
+        <result property="ctnrNum"    column="ctnr_num"    />
+        <result property="taskMode"    column="task_mode"    />
+        <result property="priority"    column="priority"    />
+        <result property="agvType"    column="agv_type"    />
+        <result property="request"    column="request"    />
+        <result property="finishTime"    column="finish_time"    />
+        <result property="wmsTraycode"    column="wms_traycode"    />
+        <result property="wmsTaskNo"    column="wms_task_no"    />
+    </resultMap>
+
+    <sql id="selectAgvQueueFinishVo">
+        select req_code, req_time, position_code_1, position_code_2, task_type, ctnr_type, ctnr_code, ctnr_num, task_mode, priority, agv_type, request, finish_time, wms_traycode, wms_task_no from agv_queue_finish
+    </sql>
+
+    <select id="selectAgvQueueFinishList" parameterType="AgvQueueFinish" resultMap="AgvQueueFinishResult">
+        <include refid="selectAgvQueueFinishVo"/>
+        <where>
+            <if test="reqTime != null  and reqTime != ''"> and req_time = #{reqTime}</if>
+            <if test="positionCode1 != null  and positionCode1 != ''"> and position_code_1 = #{positionCode1}</if>
+            <if test="positionCode2 != null  and positionCode2 != ''"> and position_code_2 = #{positionCode2}</if>
+            <if test="taskType != null  and taskType != ''"> and task_type = #{taskType}</if>
+            <if test="ctnrType != null  and ctnrType != ''"> and ctnr_type = #{ctnrType}</if>
+            <if test="ctnrCode != null  and ctnrCode != ''"> and ctnr_code = #{ctnrCode}</if>
+            <if test="ctnrNum != null  and ctnrNum != ''"> and ctnr_num = #{ctnrNum}</if>
+            <if test="taskMode != null  and taskMode != ''"> and task_mode = #{taskMode}</if>
+            <if test="priority != null  and priority != ''"> and priority = #{priority}</if>
+            <if test="agvType != null  and agvType != ''"> and agv_type = #{agvType}</if>
+            <if test="request != null  and request != ''"> and request = #{request}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
+            <if test="wmsTraycode != null  and wmsTraycode != ''"> and wms_traycode = #{wmsTraycode}</if>
+            <if test="wmsTaskNo != null  and wmsTaskNo != ''"> and wms_task_no = #{wmsTaskNo}</if>
+        </where>
+    </select>
+
+    <select id="selectAgvQueueFinishByReqCode" parameterType="String" resultMap="AgvQueueFinishResult">
+        <include refid="selectAgvQueueFinishVo"/>
+        where req_code = #{reqCode}
+    </select>
+
+    <insert id="insertAgvQueueFinish" parameterType="AgvQueueFinish">
+        insert into agv_queue_finish
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="reqCode != null">req_code,</if>
+            <if test="reqTime != null">req_time,</if>
+            <if test="positionCode1 != null">position_code_1,</if>
+            <if test="positionCode2 != null">position_code_2,</if>
+            <if test="taskType != null">task_type,</if>
+            <if test="ctnrType != null">ctnr_type,</if>
+            <if test="ctnrCode != null">ctnr_code,</if>
+            <if test="ctnrNum != null">ctnr_num,</if>
+            <if test="taskMode != null">task_mode,</if>
+            <if test="priority != null">priority,</if>
+            <if test="agvType != null">agv_type,</if>
+            <if test="request != null">request,</if>
+            <if test="finishTime != null">finish_time,</if>
+            <if test="wmsTraycode != null">wms_traycode,</if>
+            <if test="wmsTaskNo != null">wms_task_no,</if>
+         </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="reqCode != null">#{reqCode},</if>
+            <if test="reqTime != null">#{reqTime},</if>
+            <if test="positionCode1 != null">#{positionCode1},</if>
+            <if test="positionCode2 != null">#{positionCode2},</if>
+            <if test="taskType != null">#{taskType},</if>
+            <if test="ctnrType != null">#{ctnrType},</if>
+            <if test="ctnrCode != null">#{ctnrCode},</if>
+            <if test="ctnrNum != null">#{ctnrNum},</if>
+            <if test="taskMode != null">#{taskMode},</if>
+            <if test="priority != null">#{priority},</if>
+            <if test="agvType != null">#{agvType},</if>
+            <if test="request != null">#{request},</if>
+            <if test="finishTime != null">#{finishTime},</if>
+            <if test="wmsTraycode != null">#{wmsTraycode},</if>
+            <if test="wmsTaskNo != null">#{wmsTaskNo},</if>
+         </trim>
+    </insert>
+
+    <update id="updateAgvQueueFinish" parameterType="AgvQueueFinish">
+        update agv_queue_finish
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="reqTime != null">req_time = #{reqTime},</if>
+            <if test="positionCode1 != null">position_code_1 = #{positionCode1},</if>
+            <if test="positionCode2 != null">position_code_2 = #{positionCode2},</if>
+            <if test="taskType != null">task_type = #{taskType},</if>
+            <if test="ctnrType != null">ctnr_type = #{ctnrType},</if>
+            <if test="ctnrCode != null">ctnr_code = #{ctnrCode},</if>
+            <if test="ctnrNum != null">ctnr_num = #{ctnrNum},</if>
+            <if test="taskMode != null">task_mode = #{taskMode},</if>
+            <if test="priority != null">priority = #{priority},</if>
+            <if test="agvType != null">agv_type = #{agvType},</if>
+            <if test="request != null">request = #{request},</if>
+            <if test="finishTime != null">finish_time = #{finishTime},</if>
+            <if test="wmsTraycode != null">wms_traycode = #{wmsTraycode},</if>
+            <if test="wmsTaskNo != null">wms_task_no = #{wmsTaskNo},</if>
+        </trim>
+        where req_code = #{reqCode}
+    </update>
+
+    <delete id="deleteAgvQueueFinishByReqCode" parameterType="String">
+        delete from agv_queue_finish where req_code = #{reqCode}
+    </delete>
+
+    <delete id="deleteAgvQueueFinishByReqCodes" parameterType="String">
+        delete from agv_queue_finish where req_code in
+        <foreach item="reqCode" collection="array" open="(" separator="," close=")">
+            #{reqCode}
+        </foreach>
+    </delete>
+</mapper>

ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml

@@ -0,0 +1,138 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.ruoyi.device.agv.mapper.AgvQueueMapper">
+
+    <resultMap type="AgvQueue" id="AgvQueueResult">
+        <result property="reqCode"    column="req_code"    />
+        <result property="reqTime"    column="req_time"    />
+        <result property="positionCode1"    column="position_code_1"    />
+        <result property="positionCode2"    column="position_code_2"    />
+        <result property="taskType"    column="task_type"    />
+        <result property="ctnrType"    column="ctnr_type"    />
+        <result property="ctnrCode"    column="ctnr_code"    />
+        <result property="ctnrNum"    column="ctnr_num"    />
+        <result property="taskMode"    column="task_mode"    />
+        <result property="priority"    column="priority"    />
+        <result property="agvType"    column="agv_type"    />
+        <result property="request"    column="request"    />
+        <result property="finishTime"    column="finish_time"    />
+        <result property="wmsTraycode"    column="wms_traycode"    />
+        <result property="wmsTaskNo"    column="wms_task_no"    />
+        <result property="status"    column="status"    />
+        <result property="taskCode"    column="task_code"    />
+        <result property="wmsTaskType"    column="wms_task_type"    />
+    </resultMap>
+
+    <sql id="selectAgvQueueVo">
+        select req_code, req_time, position_code_1, position_code_2, task_type, ctnr_type, ctnr_code, ctnr_num, task_mode, priority, agv_type, request, finish_time, wms_traycode, wms_task_no,status,task_code,wms_task_type from agv_queue
+    </sql>
+
+    <select id="selectAgvQueueList" parameterType="AgvQueue" resultMap="AgvQueueResult">
+        <include refid="selectAgvQueueVo"/>
+        <where>
+            <if test="reqTime != null  and reqTime != ''"> and req_time = #{reqTime}</if>
+            <if test="positionCode1 != null  and positionCode1 != ''"> and position_code_1 = #{positionCode1}</if>
+            <if test="positionCode2 != null  and positionCode2 != ''"> and position_code_2 = #{positionCode2}</if>
+            <if test="taskType != null  and taskType != ''"> and task_type = #{taskType}</if>
+            <if test="ctnrType != null  and ctnrType != ''"> and ctnr_type = #{ctnrType}</if>
+            <if test="ctnrCode != null  and ctnrCode != ''"> and ctnr_code = #{ctnrCode}</if>
+            <if test="ctnrNum != null  and ctnrNum != ''"> and ctnr_num = #{ctnrNum}</if>
+            <if test="taskMode != null  and taskMode != ''"> and task_mode = #{taskMode}</if>
+            <if test="priority != null  and priority != ''"> and priority = #{priority}</if>
+            <if test="agvType != null  and agvType != ''"> and agv_type = #{agvType}</if>
+            <if test="request != null  and request != ''"> and request = #{request}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
+            <if test="wmsTraycode != null  and wmsTraycode != ''"> and wms_traycode = #{wmsTraycode}</if>
+            <if test="wmsTaskNo != null  and wmsTaskNo != ''"> and wms_task_no = #{wmsTaskNo}</if>
+            <if test="status != null  and status != ''"> and status = #{status}</if>
+            <if test="taskCode != null  and taskCode != ''"> and task_code = #{taskCode}</if>
+            <if test="wmsTaskType != null  and wmsTaskType != ''"> and wms_task_type = #{wmsTaskType}</if>
+        </where>
+    </select>
+
+    <select id="selectAgvQueueByReqCode" parameterType="String" resultMap="AgvQueueResult">
+        <include refid="selectAgvQueueVo"/>
+        where req_code = #{reqCode}
+    </select>
+    <select id="selectAgvQueueByTaskCode" parameterType="String"  resultMap="AgvQueueResult">
+        <include refid="selectAgvQueueVo"/>
+        where task_code = #{taskCode}
+    </select>
+
+    <insert id="insertAgvQueue" parameterType="AgvQueue">
+        insert into agv_queue
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="reqCode != null">req_code,</if>
+            <if test="reqTime != null">req_time,</if>
+            <if test="positionCode1 != null">position_code_1,</if>
+            <if test="positionCode2 != null">position_code_2,</if>
+            <if test="taskType != null">task_type,</if>
+            <if test="ctnrType != null">ctnr_type,</if>
+            <if test="ctnrCode != null">ctnr_code,</if>
+            <if test="ctnrNum != null">ctnr_num,</if>
+            <if test="taskMode != null">task_mode,</if>
+            <if test="priority != null">priority,</if>
+            <if test="agvType != null">agv_type,</if>
+            <if test="request != null">request,</if>
+            <if test="finishTime != null">finish_time,</if>
+            <if test="wmsTraycode != null">wms_traycode,</if>
+            <if test="wmsTaskNo != null">wms_task_no,</if>
+            <if test="status != null">status,</if>
+            <if test="taskCode != null">task_code,</if>
+         </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="reqCode != null">#{reqCode},</if>
+            <if test="reqTime != null">#{reqTime},</if>
+            <if test="positionCode1 != null">#{positionCode1},</if>
+            <if test="positionCode2 != null">#{positionCode2},</if>
+            <if test="taskType != null">#{taskType},</if>
+            <if test="ctnrType != null">#{ctnrType},</if>
+            <if test="ctnrCode != null">#{ctnrCode},</if>
+            <if test="ctnrNum != null">#{ctnrNum},</if>
+            <if test="taskMode != null">#{taskMode},</if>
+            <if test="priority != null">#{priority},</if>
+            <if test="agvType != null">#{agvType},</if>
+            <if test="request != null">#{request},</if>
+            <if test="finishTime != null">#{finishTime},</if>
+            <if test="wmsTraycode != null">#{wmsTraycode},</if>
+            <if test="wmsTaskNo != null">#{wmsTaskNo},</if>
+            <if test="status != null">#{status},</if>
+            <if test="taskCode != null">#{taskCode},</if>
+         </trim>
+    </insert>
+
+    <update id="updateAgvQueue" parameterType="AgvQueue">
+        update agv_queue
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="reqTime != null">req_time = #{reqTime},</if>
+            <if test="positionCode1 != null">position_code_1 = #{positionCode1},</if>
+            <if test="positionCode2 != null">position_code_2 = #{positionCode2},</if>
+            <if test="taskType != null">task_type = #{taskType},</if>
+            <if test="ctnrType != null">ctnr_type = #{ctnrType},</if>
+            <if test="ctnrCode != null">ctnr_code = #{ctnrCode},</if>
+            <if test="ctnrNum != null">ctnr_num = #{ctnrNum},</if>
+            <if test="taskMode != null">task_mode = #{taskMode},</if>
+            <if test="priority != null">priority = #{priority},</if>
+            <if test="agvType != null">agv_type = #{agvType},</if>
+            <if test="request != null">request = #{request},</if>
+            <if test="finishTime != null">finish_time = #{finishTime},</if>
+            <if test="wmsTraycode != null">wms_traycode = #{wmsTraycode},</if>
+            <if test="wmsTaskNo != null">wms_task_no = #{wmsTaskNo},</if>
+            <if test="status != null">status = #{status},</if>
+        </trim>
+        where req_code = #{reqCode}
+    </update>
+
+    <delete id="deleteAgvQueueByReqCode" parameterType="String">
+        delete from agv_queue where req_code = #{reqCode}
+    </delete>
+
+    <delete id="deleteAgvQueueByReqCodes" parameterType="String">
+        delete from agv_queue where req_code in
+        <foreach item="reqCode" collection="array" open="(" separator="," close=")">
+            #{reqCode}
+        </foreach>
+    </delete>
+</mapper>

ruoyi-admin/src/main/resources/mapper/device/RequestLogMapper.xml

@@ -2,7 +2,7 @@
 <!DOCTYPE mapper
 PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.ruoyi.device.api.mapper.RequestLogMapper">
+<mapper namespace="com.ruoyi.api.mapper.RequestLogMapper">
 
     <resultMap type="RequestLog" id="RequestLogResult">
         <result property="requestId"    column="request_id"    />

ruoyi-admin/src/main/resources/mapper/schedule/WcsTaskHistoryMapper.xml

@@ -1,100 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE mapper
-PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
-"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.ruoyi.schedule.taskHistory.mapper.WcsTaskHistoryMapper">
-    
-    <resultMap type="WcsTaskHistory" id="WcsTaskHistoryResult">
-        <result property="jobId"    column="job_id"    />
-        <result property="taskId"    column="task_id"    />
-        <result property="taskType"    column="task_type"    />
-        <result property="sourceLocation"    column="source_location"    />
-        <result property="targetLocation"    column="target_location"    />
-        <result property="taskStatus"    column="task_status"    />
-        <result property="createTime"    column="create_time"    />
-        <result property="scheduleTime"    column="schedule_time"    />
-        <result property="finishTime"    column="finish_time"    />
-        <result property="deviceId"    column="device_id"    />
-        <result property="areaId"    column="area_id"    />
-    </resultMap>
-
-    <sql id="selectWcsTaskHistoryVo">
-        select job_id, task_id, task_type, source_location, target_location, task_status, create_time, schedule_time, finish_time, device_id, area_id from wcs_task_history
-    </sql>
-
-    <select id="selectWcsTaskHistoryList" parameterType="WcsTaskHistory" resultMap="WcsTaskHistoryResult">
-        <include refid="selectWcsTaskHistoryVo"/>
-        <where>  
-            <if test="jobId != null  and jobId != ''"> and job_id = #{jobId}</if>
-            <if test="taskId != null  and taskId != ''"> and task_id = #{taskId}</if>
-            <if test="sourceLocation != null  and sourceLocation != ''"> and source_location = #{sourceLocation}</if>
-            <if test="targetLocation != null  and targetLocation != ''"> and target_location = #{targetLocation}</if>
-            <if test="taskStatus != null  and taskStatus != ''"> and task_status = #{taskStatus}</if>
-            <if test="createTime != null  and createTime != ''"> and create_time = #{createTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
-        </where>
-    </select>
-    
-    <select id="selectWcsTaskHistoryByTaskId" parameterType="String" resultMap="WcsTaskHistoryResult">
-        <include refid="selectWcsTaskHistoryVo"/>
-        where task_id = #{taskId}
-    </select>
-
-    <insert id="insertWcsTaskHistory" parameterType="WcsTaskHistory">
-        insert into wcs_task_history
-        <trim prefix="(" suffix=")" suffixOverrides=",">
-            <if test="jobId != null">job_id,</if>
-            <if test="taskId != null">task_id,</if>
-            <if test="taskType != null">task_type,</if>
-            <if test="sourceLocation != null">source_location,</if>
-            <if test="targetLocation != null">target_location,</if>
-            <if test="taskStatus != null">task_status,</if>
-            <if test="createTime != null">create_time,</if>
-            <if test="scheduleTime != null">schedule_time,</if>
-            <if test="finishTime != null">finish_time,</if>
-            <if test="deviceId != null">device_id,</if>
-            <if test="areaId != null">area_id,</if>
-         </trim>
-        <trim prefix="values (" suffix=")" suffixOverrides=",">
-            <if test="jobId != null">#{jobId},</if>
-            <if test="taskId != null">#{taskId},</if>
-            <if test="taskType != null">#{taskType},</if>
-            <if test="sourceLocation != null">#{sourceLocation},</if>
-            <if test="targetLocation != null">#{targetLocation},</if>
-            <if test="taskStatus != null">#{taskStatus},</if>
-            <if test="createTime != null">#{createTime},</if>
-            <if test="scheduleTime != null">#{scheduleTime},</if>
-            <if test="finishTime != null">#{finishTime},</if>
-            <if test="deviceId != null">#{deviceId},</if>
-            <if test="areaId != null">#{areaId},</if>
-         </trim>
-    </insert>
-
-    <update id="updateWcsTaskHistory" parameterType="WcsTaskHistory">
-        update wcs_task_history
-        <trim prefix="SET" suffixOverrides=",">
-            <if test="jobId != null">job_id = #{jobId},</if>
-            <if test="taskType != null">task_type = #{taskType},</if>
-            <if test="sourceLocation != null">source_location = #{sourceLocation},</if>
-            <if test="targetLocation != null">target_location = #{targetLocation},</if>
-            <if test="taskStatus != null">task_status = #{taskStatus},</if>
-            <if test="createTime != null">create_time = #{createTime},</if>
-            <if test="scheduleTime != null">schedule_time = #{scheduleTime},</if>
-            <if test="finishTime != null">finish_time = #{finishTime},</if>
-            <if test="deviceId != null">device_id = #{deviceId},</if>
-            <if test="areaId != null">area_id = #{areaId},</if>
-        </trim>
-        where task_id = #{taskId}
-    </update>
-
-    <delete id="deleteWcsTaskHistoryByTaskId" parameterType="String">
-        delete from wcs_task_history where task_id = #{taskId}
-    </delete>
-
-    <delete id="deleteWcsTaskHistoryByTaskIds" parameterType="String">
-        delete from wcs_task_history where task_id in 
-        <foreach item="taskId" collection="array" open="(" separator="," close=")">
-            #{taskId}
-        </foreach>
-    </delete>
-</mapper>

ruoyi-admin/src/main/resources/mapper/schedule/WcsTaskMapper.xml

@@ -1,100 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE mapper
-PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
-"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.ruoyi.schedule.task.mapper.WcsTaskMapper">
-    
-    <resultMap type="WcsTask" id="WcsTaskResult">
-        <result property="jobId"    column="job_id"    />
-        <result property="taskId"    column="task_id"    />
-        <result property="taskType"    column="task_type"    />
-        <result property="sourceLocation"    column="source_location"    />
-        <result property="targetLocation"    column="target_location"    />
-        <result property="taskStatus"    column="task_status"    />
-        <result property="createTime"    column="create_time"    />
-        <result property="scheduleTime"    column="schedule_time"    />
-        <result property="deviceId"    column="device_id"    />
-        <result property="areaId"    column="area_id"    />
-    </resultMap>
-
-    <sql id="selectWcsTaskVo">
-        select job_id, task_id, task_type, source_location, target_location, task_status, create_time, schedule_time, device_id, area_id from wcs_task
-    </sql>
-
-    <select id="selectWcsTaskList" parameterType="WcsTask" resultMap="WcsTaskResult">
-        <include refid="selectWcsTaskVo"/>
-        <where>  
-            <if test="jobId != null  and jobId != ''"> and job_id = #{jobId}</if>
-            <if test="taskId != null  and taskId != ''"> and task_id = #{taskId}</if>
-            <if test="sourceLocation != null  and sourceLocation != ''"> and source_location = #{sourceLocation}</if>
-            <if test="targetLocation != null  and targetLocation != ''"> and target_location = #{targetLocation}</if>
-            <if test="taskStatus != null  and taskStatus != ''"> and task_status = #{taskStatus}</if>
-            <if test="scheduleTime != null  and scheduleTime != ''"> and schedule_time = #{scheduleTime}</if>
-        </where>
-    </select>
-    
-    <select id="selectWcsTaskByTaskId" parameterType="String" resultMap="WcsTaskResult">
-        <include refid="selectWcsTaskVo"/>
-        where task_id = #{taskId}
-    </select>
-
-    <select id="selectWcsTaskByJobId" parameterType="String" resultMap="WcsTaskResult">
-        <include refid="selectWcsTaskVo"/>
-        where job_id = #{jobId}
-    </select>
-
-    <insert id="insertWcsTask" parameterType="WcsTask">
-        insert into wcs_task
-        <trim prefix="(" suffix=")" suffixOverrides=",">
-            <if test="jobId != null">job_id,</if>
-            <if test="taskId != null">task_id,</if>
-            <if test="taskType != null">task_type,</if>
-            <if test="sourceLocation != null">source_location,</if>
-            <if test="targetLocation != null">target_location,</if>
-            <if test="taskStatus != null">task_status,</if>
-            <if test="createTime != null">create_time,</if>
-            <if test="scheduleTime != null">schedule_time,</if>
-            <if test="deviceId != null">device_id,</if>
-            <if test="areaId != null">area_id,</if>
-         </trim>
-        <trim prefix="values (" suffix=")" suffixOverrides=",">
-            <if test="jobId != null">#{jobId},</if>
-            <if test="taskId != null">#{taskId},</if>
-            <if test="taskType != null">#{taskType},</if>
-            <if test="sourceLocation != null">#{sourceLocation},</if>
-            <if test="targetLocation != null">#{targetLocation},</if>
-            <if test="taskStatus != null">#{taskStatus},</if>
-            <if test="createTime != null">#{createTime},</if>
-            <if test="scheduleTime != null">#{scheduleTime},</if>
-            <if test="deviceId != null">#{deviceId},</if>
-            <if test="areaId != null">#{areaId},</if>
-         </trim>
-    </insert>
-
-    <update id="updateWcsTask" parameterType="WcsTask">
-        update wcs_task
-        <trim prefix="SET" suffixOverrides=",">
-            <if test="jobId != null">job_id = #{jobId},</if>
-            <if test="taskType != null">task_type = #{taskType},</if>
-            <if test="sourceLocation != null">source_location = #{sourceLocation},</if>
-            <if test="targetLocation != null">target_location = #{targetLocation},</if>
-            <if test="taskStatus != null">task_status = #{taskStatus},</if>
-            <if test="createTime != null">create_time = #{createTime},</if>
-            <if test="scheduleTime != null">schedule_time = #{scheduleTime},</if>
-            <if test="deviceId != null">device_id = #{deviceId},</if>
-            <if test="areaId != null">area_id = #{areaId},</if>
-        </trim>
-        where task_id = #{taskId}
-    </update>
-
-    <delete id="deleteWcsTaskByTaskId" parameterType="String">
-        delete from wcs_task where task_id = #{taskId}
-    </delete>
-
-    <delete id="deleteWcsTaskByTaskIds" parameterType="String">
-        delete from wcs_task where task_id in 
-        <foreach item="taskId" collection="array" open="(" separator="," close=")">
-            #{taskId}
-        </foreach>
-    </delete>
-</mapper>