diff --git a/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java b/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java
new file mode 100644
index 0000000..c2a5c85
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java
@@ -0,0 +1,16 @@
+package com.ruoyi.common;
+
+
+public class Constant {
+
+    /**
+     * REST协议接口基础地址
+     */
+    public static final String BASEURL_REST = "http://IP:PORT/rcms/services/rest/hikRpcService/";
+
+    /**
+     * AGV状态协议接口基础地址
+     */
+    public static final String BASEURL_AGV = "http://IP:PORT/rcms-dps/rest/queryAgvStatus/";
+
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/cancelTask/CancelTaskRequest.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/cancelTask/CancelTaskRequest.java
index 1fa386c..20b371c 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/cancelTask/CancelTaskRequest.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/cancelTask/CancelTaskRequest.java
@@ -5,6 +5,9 @@ import lombok.Data;
 import javax.validation.constraints.NotBlank;
 import javax.validation.constraints.Size;
 
+/**
+ * 【取消任务】请求接口
+ */
 @Data
 public class CancelTaskRequest {
 
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/ContinueTaskRequest.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/ContinueTaskRequest.java
index 9770c00..bfefb6b 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/ContinueTaskRequest.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/ContinueTaskRequest.java
@@ -2,6 +2,9 @@ package com.ruoyi.device.agv.domain.continueTask;
 
 import lombok.Data;
 
+/**
+ * 【继续执行任务】请求接口
+ */
 @Data
 public class ContinueTaskRequest {
 
@@ -63,5 +66,5 @@ public class ContinueTaskRequest {
      * 下一个位置信息
      * 在任务类型中配置外部设置时需要传入，否则不需要设置。待现场地图部署、配置完成后可获取。
      */
-    private NextPositionCode nextPositionCode;
+    private NextPositionCodeData nextPositionCode;
 }
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCode.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCodeData.java
similarity index 88%
rename from ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCode.java
rename to ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCodeData.java
index 203bf24..85caf92 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCode.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCodeData.java
@@ -1,6 +1,6 @@
 package com.ruoyi.device.agv.domain.continueTask;
 
-public class NextPositionCode {
+public class NextPositionCodeData {
 
     /**
      * 位置编号
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java
index 856d19c..0e40876 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java
@@ -5,6 +5,9 @@ import lombok.Data;
 import javax.validation.constraints.NotNull;
 import java.util.List;
 
+/**
+ * 【生成AGV任务】请求接口
+ */
 @Data
 public class GenAgvSchedulingTaskRequest {
     /**
@@ -76,7 +79,7 @@ public class GenAgvSchedulingTaskRequest {
      * 位置路径
      * AGV关键路径位置集合，与任务类型中模板配置的位置路径一一对应。待现场地图部署、配置完成后可获取
      */
-    private List<PositionCode> positionCodePath;
+    private List<PositionCodeData> positionCodePath;
     /**
      * 货架编号
      * 不指定货架可以为空
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCode.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCodeData.java
similarity index 96%
rename from ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCode.java
rename to ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCodeData.java
index 83aeac7..3c167cc 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCode.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCodeData.java
@@ -3,7 +3,7 @@ package com.ruoyi.device.agv.domain.genAgvSchedulingTask;
 import lombok.Data;
 
 @Data
-public class PositionCode {
+public class PositionCodeData {
     /**
      * 位置编号 - 单个编号不超过64位
      */
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/AgvStatusData.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/AgvStatusData.java
new file mode 100644
index 0000000..1794023
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/AgvStatusData.java
@@ -0,0 +1,82 @@
+package com.ruoyi.device.agv.domain.queryAgvStatus;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class AgvStatusData {
+
+    /**
+     * 机器人编号
+     */
+    private String robotCode;
+
+    /**
+     * 机器人方向 (范围 -180~360度)
+     */
+    private String robotDir;
+
+    /**
+     * 机器人IP
+     */
+    private String robotIp;
+
+    /**
+     * 机器人电量, 范围: 0-100
+     */
+    private String battery;
+
+    /**
+     * 机器人 x 坐标,单位:毫米
+     */
+    private String posX;
+
+    /**
+     * 机器人 y 坐标,单位:毫米
+     */
+    private String posY;
+
+    /**
+     * 机器人所在地图
+     */
+    private String mapCode;
+
+    /**
+     * 机器人当前速度, 单位: mm/s
+     */
+    private String speed;
+
+    /**
+     * 机器人状态
+     * AGV常见状态编号和描述见附件6.1
+     */
+    private String status;
+
+    /**
+     * 是否已被排除，被排除后不接受新任务（1-排除，0-正常）
+     */
+    private String exclType;
+
+    /**
+     * 是否暂停 0-否 1-是
+     */
+    private String stop;
+
+    /**
+     * 背货架的编号
+     */
+    private String podCode;
+
+    /**
+     * 背货架的方向
+     */
+    private String podDir;
+
+    /**
+     * 执行路径,单位是毫米, 格式[x,y,dir]
+     * 示例:["[x,y,dir]","[x,y,dir]"]
+     */
+    private List<String> path;
+
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusRequest.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusRequest.java
new file mode 100644
index 0000000..1ae20d0
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusRequest.java
@@ -0,0 +1,38 @@
+package com.ruoyi.device.agv.domain.queryAgvStatus;
+
+import lombok.Data;
+
+/**
+ * 通过请求参数, 查询 AGV 状态信息，包括电池电量。
+ * 调用频次： 100车以下：5秒， 100~200车：10秒， 200 ~300车：15秒
+ * 调用路径： http://IP:8182/rcms-dps/rest/queryAgvStatus
+ */
+@Data
+public class QueryAgvStatusRequest {
+
+    /**
+     * 请求编号，每个请求都要一个唯一编号，同一个请求重复提交，使用同一编号。
+     */
+    private String reqCode;
+
+    /**
+     * 请求时间戳，格式: "yyyy-MM-dd HH:mm:ss"
+     */
+    private String reqTime;
+
+    /**
+     * 客户端编号，如PDA，HCWMS等。
+     */
+    private String clientCode;
+
+    /**
+     * 令牌号,由调度系统颁发。
+     */
+    private String tokenCode;
+
+    /**
+     * 地图编号
+     */
+    private String mapCode;
+
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusResponse.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusResponse.java
new file mode 100644
index 0000000..9e28187
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusResponse.java
@@ -0,0 +1,15 @@
+package com.ruoyi.device.agv.domain.queryAgvStatus;
+
+import com.ruoyi.device.agv.domain.ResponseBase;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class QueryAgvStatusResponse extends ResponseBase {
+
+    /**
+     * 数据列表
+     */
+    private List<AgvStatusData> data;
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusRequest.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusRequest.java
new file mode 100644
index 0000000..9c6a9c5
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusRequest.java
@@ -0,0 +1,43 @@
+package com.ruoyi.device.agv.domain.queryTaskStatus;
+
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 通过任务编号查询任务当前执行状态，支持批量查询。
+ * 参数错误或者任务单未找到返回均为成功。
+ */
+@Data
+public class QueryTaskStatusRequest {
+
+    /**
+     * 请求编号，每个请求都要一个唯一编号，同一个请求重复提交，使用同一编号。
+     */
+    private String reqCode;
+
+    /**
+     * 请求时间戳，格式: "yyyy-MM-dd HH:mm:ss"
+     */
+    private String reqTime;
+
+    /**
+     * 客户端编号，如PDA，HCWMS等。
+     */
+    private String clientCode;
+
+    /**
+     * 令牌号,由调度系统颁发。
+     */
+    private String tokenCode;
+
+    /**
+     * AGV编号
+     */
+    private String agvCode;
+
+    /**
+     * 任务单编号数组，任务单编号与AGV编号只能传其中之一
+     */
+    private List<String> taskCodes;
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusResponse.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusResponse.java
new file mode 100644
index 0000000..107542c
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusResponse.java
@@ -0,0 +1,14 @@
+package com.ruoyi.device.agv.domain.queryTaskStatus;
+
+import com.ruoyi.device.agv.domain.ResponseBase;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class QueryTaskStatusResponse extends ResponseBase {
+    /**
+     * 数据列表
+     */
+    private List<TaskStatusData> data;
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/TaskStatusData.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/TaskStatusData.java
new file mode 100644
index 0000000..3936d6c
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/TaskStatusData.java
@@ -0,0 +1,26 @@
+package com.ruoyi.device.agv.domain.queryTaskStatus;
+
+import lombok.Data;
+
+@Data
+public class TaskStatusData {
+    /**
+     * 任务单编号
+     */
+    private String taskCode;
+
+    /**
+     * 任务类型
+     */
+    private String taskTyp;
+
+    /**
+     * 任务状态：1-已创建，2-正在执行，5-取消完成，9-已结束, 10-被打断
+     */
+    private String taskStatus;
+
+    /**
+     * AGV编号, 任务分配车后有值
+     */
+    private String agvCode;
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/data/ConvConnection.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/data/ConvConnection.java
index d8599a2..c8e7eb2 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/data/ConvConnection.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/data/ConvConnection.java
@@ -1,7 +1,8 @@
 package com.ruoyi.schedule.data;
 
 
-import com.ruoyi.schedule.plc.domain.ConvPortRead;
+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;
@@ -42,13 +43,63 @@ public class ConvConnection {
     }
 
 
+
     /**
-     * 获取所有输送机状态参数
+     * 获取所有PTL入口输送机状态参数
      * @return
      */
-    public List<ConvPortRead> getConvPortStatus() {
+    public List<ConvPTLInRead> getConvPTLIn() {
 
-        List<ConvPortRead> convPorts = new ArrayList<>();
+        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 {
@@ -67,25 +118,25 @@ public class ConvConnection {
                 PlcReadResponse response=readRequest.execute().get(2000, TimeUnit.MILLISECONDS);
 
                 if (response.getResponseCode("value-test") == PlcResponseCode.OK) {
-                    convPorts.get(i).setInPostion(response.getInteger("conv-inPostion"));
-                    convPorts.get(i).setHeight(response.getInteger("conv-height"));
-                    convPorts.get(i).setIsException(response.getInteger("conv-isException"));
-                    convPorts.get(i).setFree(response.getInteger("conv-free"));
-                    convPorts.get(i).setTaskId(response.getString("conv-taskId"));
-                    convPorts.get(i).setPalletId(response.getString("conv-palletId"));
+                    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("【获取出入口输送机状态】获取状态参数失败:" + response.getResponseCode("value-test"));
+                    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("【获取出入口输送机状态】获取状态参数失败:" + e.getMessage());
+                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 convPorts;
+        return convPTLOut;
 
     }
 
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseRead.java
index 145d750..ad23444 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseRead.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseRead.java
@@ -43,4 +43,10 @@ public class ConvBaseRead {
      */
     private Integer inPostionForStockOut;
 
+    /**
+     * 是否异常
+     * 0-正常 1-异常
+     */
+    private Integer isException;
+
 }
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseWrite.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseWrite.java
new file mode 100644
index 0000000..b33c9d8
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseWrite.java
@@ -0,0 +1,5 @@
+package com.ruoyi.schedule.plc.domain;
+
+public class ConvBaseWrite {
+
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInRead.java
new file mode 100644
index 0000000..a032895
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInRead.java
@@ -0,0 +1,25 @@
+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;
+
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInWrite.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInWrite.java
new file mode 100644
index 0000000..3cc0c7d
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInWrite.java
@@ -0,0 +1,5 @@
+package com.ruoyi.schedule.plc.domain;
+
+public class ConvPTLInWrite extends ConvBaseWrite {
+
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutRead.java
new file mode 100644
index 0000000..cdd6254
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutRead.java
@@ -0,0 +1,28 @@
+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;
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutWrite.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutWrite.java
new file mode 100644
index 0000000..dd48d3f
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutWrite.java
@@ -0,0 +1,5 @@
+package com.ruoyi.schedule.plc.domain;
+
+
+public class ConvPTLOutWrite extends ConvBaseWrite{
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Execution.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Execution.java
new file mode 100644
index 0000000..793ff70
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Execution.java
@@ -0,0 +1,119 @@
+package com.ruoyi.schedule.task;
+
+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.GenAgvSchedulingTaskResponse;
+import com.ruoyi.device.agv.domain.queryAgvStatus.QueryAgvStatusRequest;
+import com.ruoyi.device.agv.domain.queryAgvStatus.QueryAgvStatusResponse;
+import com.ruoyi.schedule.job.mydojob.domain.MydoJob;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import java.util.List;
+
+/**
+ * 向AGV/CTU下发指令
+ */
+@Component
+@Slf4j
+public class Execution {
+
+
+    /**
+     * 查询是否有wcs任务
+     */
+    @PostConstruct
+    public List<MydoJob> getmydoJob(){
+
+        String url = "http://127.0.0.1:8080/job/inmydoJob/listAll";
+
+        HttpResponse response = HttpRequest.get(url).execute();
+
+        List<MydoJob> mydoJobs = JSON.parseArray(response.body(), MydoJob.class);
+
+        return mydoJobs;
+
+    }
+
+
+    /**
+     * 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(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
+        if (genAgvSchedulingTaskResponse.getCode() == 0 ) {
+            return true;
+        }else {
+            log.error("【下发设备任务】下发任务失败，" + genAgvSchedulingTaskResponse.getMessage() + "!");
+            return false;
+        }
+    }
+
+
+    /**
+     * 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;
+        }
+
+        //4.请求编号一致时避免重复下发
+
+
+        return true;
+
+    }
+
+
+
+}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Generation.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Generation.java
new file mode 100644
index 0000000..c26bb86
--- /dev/null
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Generation.java
@@ -0,0 +1,43 @@
+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;
+    }
+
+}