小车

ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java

@@ -81,4 +81,6 @@ public interface MydoJobMapper
     List<MydoJob> selectMydoJobFinishList(MydoJob mydoJob);
 
     MydoJob selectRunningMydoJobByExitList(@Param("exitList") List<String> exitList);
+
+    void selectMydoJobOutside(HashMap<String, Object> map);
 }

ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java

@@ -1,5 +1,6 @@
 package com.ruoyi.job.service;
 
+import java.util.HashMap;
 import java.util.List;
 
 import com.ruoyi.common.core.domain.AjaxResult;
@@ -29,6 +30,8 @@ public interface IMydoJobService
      */
     public List<MydoJob> selectMydoJobList(MydoJob mydoJob);
 
+    public List<MydoJob> selectNotThisFloorMydoJobList(MydoJob mydoJob);
+
     /**
      * 新增作业信息
      *
@@ -80,4 +83,8 @@ public interface IMydoJobService
     MydoJob selectRunningMydoJobByExitList(List<String> strings);
 
     AjaxResult manualCallback(String jobId);
+
+    void selectMydoJobOutside(HashMap<String,Object> map);
+
+
 }

ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java

@@ -49,6 +49,11 @@ public class MydoJobServiceImpl implements IMydoJobService
         return mydoJobMapper.selectMydoJobList(mydoJob);
     }
 
+    @Override
+    public List<MydoJob> selectNotThisFloorMydoJobList(MydoJob mydoJob) {
+        return null;
+    }
+
     /**
      * 新增作业信息
      *
@@ -173,4 +178,9 @@ public class MydoJobServiceImpl implements IMydoJobService
         }
         return AjaxResult.error("手动回调失败");
     }
+
+    @Override
+    public void selectMydoJobOutside(HashMap<String, Object> map) {
+        mydoJobMapper.selectMydoJobOutside(map);
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java

@@ -12,6 +12,8 @@ import com.ruoyi.bas.srgvmap.service.RoadCacheService;
 import com.ruoyi.common.domain.SendData2;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
+import com.ruoyi.device.srgv.service.IDeviceSrgvService;
+import com.ruoyi.device.tsj.domain.DeviceTsj;
 import com.ruoyi.job.charg.domain.SrgvChargingJob;
 import com.ruoyi.job.charg.service.ISrgvChargingJobService;
 import com.ruoyi.job.domain.MydoJob;
@@ -19,8 +21,11 @@ import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
+import com.ruoyi.queue.tsj.domain.TsjDeviceExecutionQueue;
+import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
 import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder;
+import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
 import lombok.extern.slf4j.Slf4j;
 
 import java.text.SimpleDateFormat;
@@ -51,6 +56,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     public RoadCacheService roadCacheService;
 
+    public ITsjDeviceExecutionQueueService tsjDeviceExecutionQueueService;
+
+
+    public IDeviceSrgvService deviceSrgvService;
+
 
     public void init() {
         sRgvCodeList = new HashMap<>();
@@ -86,9 +96,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
                             sRgvTask(deviceSrgv);
 
-                            createCarInQueue();
+                            createCarQueue(deviceSrgv);
 
-                            createCarOutQueue();
 
                             inCharging(deviceSrgv);
 
@@ -186,289 +195,208 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     }
 
-    /**
-     * 生成出库小车队列
-     */
-    private void createCarOutQueue() {
-        MydoJob mydoJob = new MydoJob();
-        mydoJob.setInOut("2");
-        mydoJob.setExecutionPhase("0");
-        mydoJob.setStatus("1");
-        List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
-        if (!mydoJobs.isEmpty()) {
-            MydoJob mydoJob1 = mydoJobs.get(0);
-            // 查询是否有已下发的该任务号队列
-            WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
-            if (wcsSrgvQueue1 == null) {
-                ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
-                List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
-                        .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
-                        .sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
-                                - Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
-                        .collect(Collectors.toList());
-                if (!deviceSrgvList.isEmpty()) {
-                    DeviceSrgv deviceSrgv = null;
-                    for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
-                        //优先出库层，如果没有优先邻近层
-                        if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
-                            deviceSrgv = deviceSrgv1;
-                            break;
-                        } else if (deviceSrgv == null || (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv1.getCurrFloor())) < (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv.getCurrFloor()))) {
-                            WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
-                            if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
-                                deviceSrgv = deviceSrgv1;
-                                break;
-                            }
-                        }
-                    }
-                    if (deviceSrgv != null) {
-                        WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
-                        if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
-                            //查询小车是否为取货楼层
-                            String endSite = "";
-                            String issued = "0";
-                            String executionStatus = "1";
-                            WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
-                            wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
-                            List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-                            //取货地址
-                            String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
-
-                            if (deviceSrgv.getCurrFloor().equals(wcsSrgvMaps.get(0).getTheLayer())) {
-                                //终点是巷道口到位输送线
-                                endSite = cargoPickSite;
-                                if(cargoPickSite.equals(deviceSrgv.getCurrSite())){
-                                    issued="1";
-                                    executionStatus="3";
-                                }
-                            } else{
-                                //终点是提升机
-                                endSite = "tsj";
-                            }
-                            WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
-                            wcsSrgvMap1.setRemark(mydoJob1.getExitId());
-                            List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
-                            String cargoPlaceSite = wcsSrgvMaps1.get(0).getSiteId();
-
-                            List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
-                                    .filter(d -> d.getWorkMode() == 4
-                                            && d.getStatus() == 1
-                                            && d.getCurrSite().equals(cargoPlaceSite))
-                                    .collect(Collectors.toList());
-                            if(!sameSiteDevices.isEmpty() &&!Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())){
-                                WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
-                                wcsSrgvMap3.setRemark("cache");
-                                List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
-                                for(WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3){
-                                    //deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
-                                    if(deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
-                                        //生成小车到缓存点队列
-                                        WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-                                        WcsSrgvQueue wcsSrgvQueue=new WcsSrgvQueue();
-                                        wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                        List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
-                                        if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
-                                            WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
-                                            wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
-                                            wcsSrgvQueue3.setTaskNo("9999");
-                                            wcsSrgvQueue3.setTaskType("1");
-                                            wcsSrgvQueue3.setPriority(Long.parseLong("2"));
-                                            wcsSrgvQueue3.setCargo("1");
-                                            wcsSrgvQueue3.setIssued(issued);
-                                            wcsSrgvQueue3.setExecutionStatus(executionStatus);
-                                            wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
-                                            wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
-                                            wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                            wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-                                            wcsSrgvQueue3.setDefault02("4");
-                                            wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
-                                        }
-                                    }
-
-
-                                }
-                            }
-
-
-                          //生成小车取货队列
-                            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
-                            wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
-                            wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
-                            wcsSrgvQueue.setTaskType("1");
-                            wcsSrgvQueue.setPriority(Long.parseLong("2"));
-                            wcsSrgvQueue.setCargo("1");
-                            wcsSrgvQueue.setIssued(issued);
-                            wcsSrgvQueue.setExecutionStatus(executionStatus);
-                            wcsSrgvQueue.setCargoPickSite(cargoPickSite);
-
-                            wcsSrgvQueue.setCargoPlaceSite(cargoPlaceSite);
-                            wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
-                            wcsSrgvQueue.setEndSite(endSite);
-                            wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
-                            wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                            wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
-                            wcsSrgvQueue.setDefault02("4");
-                            wcsSrgvQueue.setDefault07("1");
-                            wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
-
-                        }
-                    }
-
-                }
-
-
-            }
-        }
-    }
 
 
     /**
      * 生成入库小车队列
      */
-    private void createCarInQueue() {
+    private void createCarQueue(DeviceSrgv deviceSrgv) {
-        MydoJob mydoJob = new MydoJob();
+
-        mydoJob.setExecutionPhase("2");
+        if(deviceSrgv.getWorkMode()==4 && deviceSrgv.getStatus()==1) {
-        mydoJob.setInOut("1");
+            WcsSrgvQueue wcsSrgvQueue = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
-        List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
+
+            if (wcsSrgvQueue == null) {
+
+                //找小车当前层作业，生成队列
+                //如果没有当前层作业，就找最近层换层作业，生成队列
+                MydoJob mydoJob1 = new MydoJob();
+                mydoJob1.setTheFloor(deviceSrgv.getCurrFloor().toString());
+                mydoJob1.setInOut("1");
+                mydoJob1.setStatus("3");
+                // todo 定提升机到达阶段
+                mydoJob1.setExecutionPhase("3");
+                List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
                 if (!mydoJobs.isEmpty()) {
-            MydoJob mydoJob1 = mydoJobs.get(0);
+                    //生成了从小车现在位置到提升机接货的队列
-            // 查询是否有已下发的该任务号队列
+                    createCarQueue(mydoJobs.get(0), deviceSrgv, "4","0");
-            WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
-
-            if (wcsSrgvQueue1 == null) {
-                ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
-
-                List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
-                        .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
-                        .sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
-                        .collect(Collectors.toList());
-                if (!deviceSrgvList.isEmpty()) {
-                    DeviceSrgv deviceSrgv = null;
-                    for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
-                        if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
-                            deviceSrgv = deviceSrgv1;
-                            break; // 找到了相同楼层的直接选它
                 } else {
-                            WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
+                    MydoJob mydoJob = new MydoJob();
-                            if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
+                    mydoJob.setInOut("2");
-                                deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
+                    mydoJob.setStatus("1");
-                                break;
+                    mydoJob.setTheFloor(deviceSrgv.getCurrFloor().toString());
-                            }
+                    List<MydoJob> mydoJobs1 = mydoJobService.selectMydoJobList(mydoJob);
-                        }
+                    //当前层出库作业
-                    }
+                    if (!mydoJobs1.isEmpty()) {
-
+                        //找最外层作业存储过程
-                    if (deviceSrgv != null) {
+                        HashMap<String, Object> map = new HashMap<>();
-
+                        map.put("v_layer",deviceSrgv.getCurrFloor());
-                        WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
+                        mydoJobService.selectMydoJobOutside(map);
-                        if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
+                        String jobId = map.get("v_job_ids").toString();
-
+                        MydoJob mydoJob2 = mydoJobService.selectMydoJobByJobId(jobId);
-                            //查询小车是否为1楼,且1楼小车不在入库站点
+                        //判断小车当前点是否是出库作业货位点，如果不是，就生成队列{},如果是生成已下发队列
-                            String endSite = "";
-                            String issued = "0";
-                            String executionStatus = "1";
                         WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
-                            wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
+                        wcsSrgvMap.setCargoSpaceId(mydoJob2.getCargoSpaceId());
-                            if (StrUtil.isEmpty(wcsSrgvMap.getRemark())) {
-                                log.error("入库任务号：{} 入库入口ID为空" , mydoJob1.getTaskNo());
-                                return;
-                            }
                         List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-                            //取货地址
+                        if(!deviceSrgv.getCurrSite().equals(wcsSrgvMaps.get(0).getSiteId())){
-                            String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
+                            createCarQueue(mydoJob2, deviceSrgv, "4","0");
-
+                        }else{
-                            if (deviceSrgv.getCurrFloor() == 1) {
+                            createCarQueue(mydoJob2, deviceSrgv, "4","1");
-                                endSite = cargoPickSite;
-                                if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
-                                    // 小车已在取货点
-                                    issued = "1";
-                                    executionStatus = "3";
                         }
+
                     } else {
-                                // 小车不在1楼
+                        //别的层的出库作业和入库作业
-                                endSite = "tsj";
-                            }
-                            //筛选出deviceSrgvMap中deviceSrgv.getWorkMode() == 4并且deviceSrgv.getStatus() == 1并且deviceSrgv.getCurrSite() == cargoPickSite得对象，并排除掉其中deviceId与deviceSrgv.getDeviceId()相同的对象
 
-                            List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
+                        ArrayList<MydoJob> mydoJobs2 = new ArrayList<>();
-                                    .filter(d -> d.getWorkMode() == 4
+                        MydoJob mydoJob2 = new MydoJob();
-                                            && d.getStatus() == 1
+                        mydoJob2.setInOut("2");
-                                            && d.getCurrSite().equals(cargoPickSite))
+                        mydoJob2.setStatus("1");
-                                    .collect(Collectors.toList());
+                        List<MydoJob> mydoJobs3 = mydoJobService.selectMydoJobList(mydoJob2);
-                            if(!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())){
+                        MydoJob mydoJob3 = new MydoJob();
-                                WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
+                        mydoJob3.setStatus("3");
-                                wcsSrgvMap3.setRemark("cache");
+                        mydoJob3.setInOut("1");
-                                List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
+                        //todo 输送机阶段
-                                for(WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3){
+                        mydoJob3.setExecutionPhase("1");
-                                    //deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
+                        List<MydoJob> mydoJobs4 = mydoJobService.selectMydoJobList(mydoJob3);
-                                    if(deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
+                        mydoJobs2.addAll(mydoJobs3);
-                                        WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+                        mydoJobs2.addAll(mydoJobs4);
-                                        WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
-                                        wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                        List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
-                                        if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
-                                            //生成占位小车到缓存点队列
-                                            WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
-                                            wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
-                                            wcsSrgvQueue3.setTaskNo(mydoJob1.getTaskNo());
-                                            wcsSrgvQueue3.setTaskType("1");
-                                            wcsSrgvQueue3.setPriority(Long.parseLong("2"));
-                                            wcsSrgvQueue3.setCargo("1");
-                                            wcsSrgvQueue3.setIssued(issued);
-                                            wcsSrgvQueue3.setExecutionStatus(executionStatus);
-                                            wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
-                                            wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
-                                            wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                            wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-                                            wcsSrgvQueue3.setDefault02("4");
-                                            wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
-                                            return;
-                                        }
-                                    }
 
+                        //判断那层没有小车，并且没有要去那层的小车队列,查监控表
+                        //生成换层任务
+                        MydoJob job = mydoJobs2.get(0);
 
+                        DeviceSrgv deviceSrgv1 = new DeviceSrgv();
+                            deviceSrgv1.setCurrFloor(Convert.toInt(job.getTheFloor()));
+                            List<DeviceSrgv> srgvs = deviceSrgvService.selectDeviceSrgvList(deviceSrgv1);
+                        //这个作业的目标层没有小车
+                            if (srgvs.isEmpty()) {
+
+                                WcsSrgvQueue wcsSrgvQueue1 = new WcsSrgvQueue();
+                                wcsSrgvQueue1.setDefault07(job.getTheFloor());
+//                                wcsSrgvQueue1.setTaskType("3");
+                                List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue1);
+                                if (wcsSrgvQueues.isEmpty()) {
+                                    //生成换层任务
+                                    createCarQueue(mydoJob2, deviceSrgv, "8","0");
                                 }
                             }
 
 
 
+                    }
 
-                            //生成小车取货队列
+
+                }
+
+
+            } else{
+                if ( "1".equals(wcsSrgvQueue.getIssued())) {
+                    MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(wcsSrgvQueue.getTaskNo()));
+                    if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && wcsSrgvQueue.getTaskType().equals("1")) {
+                        // todo 通知wms入库完成  完成队列  完成作业
+                        wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                        wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+
+                        mydoJobService.insertHistory(mydoJob.getJobId());
+                        mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
+
+                    } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && wcsSrgvQueue.getTaskType().equals("2")) {
+                        //完成队列  更新作业阶段
+                        wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                        wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+                        //提升机修改阶段
+//                        mydoJob.setExecutionPhase("");
+//                        mydoJobService.updateMydoJob(mydoJob);
+                    } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && wcsSrgvQueue.getTaskType().equals("4")) {
+                        //根据任务类型 ，生成队列
+                        if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
+                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+
+                            createCarQueue(mydoJob, deviceSrgv, "1","0");
+                        } else {
+                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+                            createCarQueue(mydoJob, deviceSrgv, "2","0");
+                        }
+                    }else if(deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && wcsSrgvQueue.getTaskType().equals("8")){
+                        wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                        wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+
+                    }else if ( deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && wcsSrgvQueue.getTaskType().equals("3")) {
+                        //充电任务
+                        wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                        wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+                    }
+                }
+
+            }
+
+//        }
+
+        }
+
+
+    }
+
+    private void createCarQueue(MydoJob mydoJob1, DeviceSrgv deviceSrgv,String taskType,String issued) {
         WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
         wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
         wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
-                            wcsSrgvQueue.setTaskType("1");
+        wcsSrgvQueue.setTaskType(taskType);
         wcsSrgvQueue.setPriority(Long.parseLong("2"));
-                            wcsSrgvQueue.setCargo("1");
+//        wcsSrgvQueue.setCargo("1");
         wcsSrgvQueue.setIssued(issued);
-                            wcsSrgvQueue.setExecutionStatus(executionStatus);
+        wcsSrgvQueue.setExecutionStatus("1");
-                            wcsSrgvQueue.setCargoPickSite(cargoPickSite);
+//        wcsSrgvQueue.setCargoPlaceSite("tsj");
         WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
-                            wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
+        wcsSrgvMap1.setTheRow(4);
+        wcsSrgvMap1.setTheColumn(5);
+        wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor()));
         List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
-                            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
+
+        if(Integer.parseInt(mydoJob1.getInOrOut())<20 && "4".equals(taskType)){
             wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
-                            wcsSrgvQueue.setEndSite(endSite);
+            wcsSrgvQueue.setEndSite("tsj");
+            //每一层的停靠点
+            wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
+        }
+        else if(Integer.parseInt(mydoJob1.getInOrOut())<20 && "1".equals(taskType)){
+            wcsSrgvQueue.setStartSite("tsj");
+            WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+            wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
+            List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
+            wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId());
+            //每一层的停靠点
+            wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
+        }
+        else if(Integer.parseInt(mydoJob1.getInOrOut())>=20 && "4".equals(taskType)){
+            wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
+            WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+            wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
+            List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
+            wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId());
+            //每一层的停靠点
+            wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
+        }
+        else if(Integer.parseInt(mydoJob1.getInOrOut())>=20 && "2".equals(taskType)){
+            wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
+            wcsSrgvQueue.setEndSite("tsj");
+            //每一层的停靠点
+            wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
+        }
+        else if("8".equals(taskType)){
+            wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
+            wcsSrgvQueue.setEndSite("tsj");
+            wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
+        }
+
+
         wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
         wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
         wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
-                            wcsSrgvQueue.setDefault02("4");
+        wcsSrgvQueue.setDefault02(taskType);
-                            wcsSrgvQueue.setDefault07("1");
+        wcsSrgvQueue.setDefault07(mydoJob1.getTheFloor());
         wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
-
-                        }
-                    }
-                }
-            }
-        }
-
     }
 
     /**

ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml

@@ -239,4 +239,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         and status = 3
         order by priority desc,create_time
     </select>
+
+
+    <select id="selectMydoJobOutside" parameterType="java.util.Map" statementType="CALLABLE">
+        {call proc_find_outside(
+                #{v_layer,jdbcType=INTEGER,mode=IN},
+                #{v_job_ids,jdbcType=VARCHAR,mode=OUT}
+              )}
+    </select>
 </mapper>