小车充电调度初始化

ruoyi-admin/src/main/java/com/ruoyi/job/charg/controller/SrgvChargingJobController.java

@@ -0,0 +1,104 @@
+package com.ruoyi.job.charg.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.job.charg.domain.SrgvChargingJob;
+import com.ruoyi.job.charg.service.ISrgvChargingJobService;
+import com.ruoyi.common.utils.poi.ExcelUtil;
+import com.ruoyi.common.core.page.TableDataInfo;
+
+/**
+ * 充电任务Controller
+ * 
+ * @author ruoyi
+ * @date 2025-11-21
+ */
+@RestController
+@RequestMapping("/job/charging")
+public class SrgvChargingJobController extends BaseController
+{
+    @Autowired
+    private ISrgvChargingJobService srgvChargingJobService;
+
+    /**
+     * 查询充电任务列表
+     */
+    @PreAuthorize("@ss.hasPermi('job:charging:list')")
+    @GetMapping("/list")
+    public TableDataInfo list(SrgvChargingJob srgvChargingJob)
+    {
+        startPage();
+        List<SrgvChargingJob> list = srgvChargingJobService.selectSrgvChargingJobList(srgvChargingJob);
+        return getDataTable(list);
+    }
+
+    /**
+     * 导出充电任务列表
+     */
+    @PreAuthorize("@ss.hasPermi('job:charging:export')")
+    @Log(title = "充电任务", businessType = BusinessType.EXPORT)
+    @PostMapping("/export")
+    public void export(HttpServletResponse response, SrgvChargingJob srgvChargingJob)
+    {
+        List<SrgvChargingJob> list = srgvChargingJobService.selectSrgvChargingJobList(srgvChargingJob);
+        ExcelUtil<SrgvChargingJob> util = new ExcelUtil<SrgvChargingJob>(SrgvChargingJob.class);
+        util.exportExcel(response, list, "充电任务数据");
+    }
+
+    /**
+     * 获取充电任务详细信息
+     */
+    @PreAuthorize("@ss.hasPermi('job:charging:query')")
+    @GetMapping(value = "/{guid}")
+    public AjaxResult getInfo(@PathVariable("guid") String guid)
+    {
+        return success(srgvChargingJobService.selectSrgvChargingJobByGuid(guid));
+    }
+
+    /**
+     * 新增充电任务
+     */
+    @PreAuthorize("@ss.hasPermi('job:charging:add')")
+    @Log(title = "充电任务", businessType = BusinessType.INSERT)
+    @PostMapping
+    public AjaxResult add(@RequestBody SrgvChargingJob srgvChargingJob)
+    {
+        return toAjax(srgvChargingJobService.insertSrgvChargingJob(srgvChargingJob));
+    }
+
+    /**
+     * 修改充电任务
+     */
+    @PreAuthorize("@ss.hasPermi('job:charging:edit')")
+    @Log(title = "充电任务", businessType = BusinessType.UPDATE)
+    @PutMapping
+    public AjaxResult edit(@RequestBody SrgvChargingJob srgvChargingJob)
+    {
+        return toAjax(srgvChargingJobService.updateSrgvChargingJob(srgvChargingJob));
+    }
+
+    /**
+     * 删除充电任务
+     */
+    @PreAuthorize("@ss.hasPermi('job:charging:remove')")
+    @Log(title = "充电任务", businessType = BusinessType.DELETE)
+	@DeleteMapping("/{guids}")
+    public AjaxResult remove(@PathVariable String[] guids)
+    {
+        return toAjax(srgvChargingJobService.deleteSrgvChargingJobByGuids(guids));
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/job/charg/domain/SrgvChargingJob.java

@@ -0,0 +1,157 @@
+package com.ruoyi.job.charg.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;
+
+/**
+ * 充电任务对象 srgv_charging_job
+ * 
+ * @author ruoyi
+ * @date 2025-11-21
+ */
+public class SrgvChargingJob extends BaseEntity
+{
+    private static final long serialVersionUID = 1L;
+
+    /** uuid */
+    private String guid;
+
+    /** 充电桩站点 */
+    @Excel(name = "充电桩站点")
+    private String chargingSite;
+
+    /** 任务状态：1初始；2允许生成四向车；3执行中 */
+    @Excel(name = "任务状态：1初始；2允许生成四向车；3执行中")
+    private String jobStatus;
+
+    /** 充电状态：1未充电；2充电中 */
+    @Excel(name = "充电状态：1未充电；2充电中")
+    private String chargingStatus;
+
+    /** 开始时间 */
+    @Excel(name = "开始时间")
+    private String startDate;
+
+    /** 充电时间 */
+    @Excel(name = "充电时间")
+    private String chargingDate;
+
+    /** 任务类型：1去充电；2离开充电 */
+    @Excel(name = "任务类型：1去充电；2离开充电")
+    private String jobType;
+
+    /** 执行小车 */
+    @Excel(name = "执行小车")
+    private String agvId;
+
+    /** 充电桩编号 */
+    @Excel(name = "充电桩编号")
+    private String chargingId;
+
+    public void setGuid(String guid) 
+    {
+        this.guid = guid;
+    }
+
+    public String getGuid() 
+    {
+        return guid;
+    }
+
+    public void setChargingSite(String chargingSite) 
+    {
+        this.chargingSite = chargingSite;
+    }
+
+    public String getChargingSite() 
+    {
+        return chargingSite;
+    }
+
+    public void setJobStatus(String jobStatus) 
+    {
+        this.jobStatus = jobStatus;
+    }
+
+    public String getJobStatus() 
+    {
+        return jobStatus;
+    }
+
+    public void setChargingStatus(String chargingStatus) 
+    {
+        this.chargingStatus = chargingStatus;
+    }
+
+    public String getChargingStatus() 
+    {
+        return chargingStatus;
+    }
+
+    public void setStartDate(String startDate) 
+    {
+        this.startDate = startDate;
+    }
+
+    public String getStartDate() 
+    {
+        return startDate;
+    }
+
+    public void setChargingDate(String chargingDate) 
+    {
+        this.chargingDate = chargingDate;
+    }
+
+    public String getChargingDate() 
+    {
+        return chargingDate;
+    }
+
+    public void setJobType(String jobType) 
+    {
+        this.jobType = jobType;
+    }
+
+    public String getJobType() 
+    {
+        return jobType;
+    }
+
+    public void setAgvId(String agvId) 
+    {
+        this.agvId = agvId;
+    }
+
+    public String getAgvId() 
+    {
+        return agvId;
+    }
+
+    public void setChargingId(String chargingId) 
+    {
+        this.chargingId = chargingId;
+    }
+
+    public String getChargingId() 
+    {
+        return chargingId;
+    }
+
+    @Override
+    public String toString() {
+        return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
+            .append("guid", getGuid())
+            .append("chargingSite", getChargingSite())
+            .append("jobStatus", getJobStatus())
+            .append("chargingStatus", getChargingStatus())
+            .append("startDate", getStartDate())
+            .append("chargingDate", getChargingDate())
+            .append("jobType", getJobType())
+            .append("agvId", getAgvId())
+            .append("chargingId", getChargingId())
+            .toString();
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/job/charg/mapper/SrgvChargingJobMapper.java

@@ -0,0 +1,61 @@
+package com.ruoyi.job.charg.mapper;
+
+import java.util.List;
+import com.ruoyi.job.charg.domain.SrgvChargingJob;
+
+/**
+ * 充电任务Mapper接口
+ * 
+ * @author ruoyi
+ * @date 2025-11-21
+ */
+public interface SrgvChargingJobMapper 
+{
+    /**
+     * 查询充电任务
+     * 
+     * @param guid 充电任务主键
+     * @return 充电任务
+     */
+    public SrgvChargingJob selectSrgvChargingJobByGuid(String guid);
+
+    /**
+     * 查询充电任务列表
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 充电任务集合
+     */
+    public List<SrgvChargingJob> selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob);
+
+    /**
+     * 新增充电任务
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 结果
+     */
+    public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob);
+
+    /**
+     * 修改充电任务
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 结果
+     */
+    public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob);
+
+    /**
+     * 删除充电任务
+     * 
+     * @param guid 充电任务主键
+     * @return 结果
+     */
+    public int deleteSrgvChargingJobByGuid(String guid);
+
+    /**
+     * 批量删除充电任务
+     * 
+     * @param guids 需要删除的数据主键集合
+     * @return 结果
+     */
+    public int deleteSrgvChargingJobByGuids(String[] guids);
+}

ruoyi-admin/src/main/java/com/ruoyi/job/charg/service/ISrgvChargingJobService.java

@@ -0,0 +1,61 @@
+package com.ruoyi.job.charg.service;
+
+import java.util.List;
+import com.ruoyi.job.charg.domain.SrgvChargingJob;
+
+/**
+ * 充电任务Service接口
+ * 
+ * @author ruoyi
+ * @date 2025-11-21
+ */
+public interface ISrgvChargingJobService 
+{
+    /**
+     * 查询充电任务
+     * 
+     * @param guid 充电任务主键
+     * @return 充电任务
+     */
+    public SrgvChargingJob selectSrgvChargingJobByGuid(String guid);
+
+    /**
+     * 查询充电任务列表
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 充电任务集合
+     */
+    public List<SrgvChargingJob> selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob);
+
+    /**
+     * 新增充电任务
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 结果
+     */
+    public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob);
+
+    /**
+     * 修改充电任务
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 结果
+     */
+    public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob);
+
+    /**
+     * 批量删除充电任务
+     * 
+     * @param guids 需要删除的充电任务主键集合
+     * @return 结果
+     */
+    public int deleteSrgvChargingJobByGuids(String[] guids);
+
+    /**
+     * 删除充电任务信息
+     * 
+     * @param guid 充电任务主键
+     * @return 结果
+     */
+    public int deleteSrgvChargingJobByGuid(String guid);
+}

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

@@ -0,0 +1,93 @@
+package com.ruoyi.job.charg.service.impl;
+
+import java.util.List;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import com.ruoyi.job.charg.mapper.SrgvChargingJobMapper;
+import com.ruoyi.job.charg.domain.SrgvChargingJob;
+import com.ruoyi.job.charg.service.ISrgvChargingJobService;
+
+/**
+ * 充电任务Service业务层处理
+ * 
+ * @author ruoyi
+ * @date 2025-11-21
+ */
+@Service
+public class SrgvChargingJobServiceImpl implements ISrgvChargingJobService 
+{
+    @Autowired
+    private SrgvChargingJobMapper srgvChargingJobMapper;
+
+    /**
+     * 查询充电任务
+     * 
+     * @param guid 充电任务主键
+     * @return 充电任务
+     */
+    @Override
+    public SrgvChargingJob selectSrgvChargingJobByGuid(String guid)
+    {
+        return srgvChargingJobMapper.selectSrgvChargingJobByGuid(guid);
+    }
+
+    /**
+     * 查询充电任务列表
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 充电任务
+     */
+    @Override
+    public List<SrgvChargingJob> selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob)
+    {
+        return srgvChargingJobMapper.selectSrgvChargingJobList(srgvChargingJob);
+    }
+
+    /**
+     * 新增充电任务
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 结果
+     */
+    @Override
+    public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob)
+    {
+        return srgvChargingJobMapper.insertSrgvChargingJob(srgvChargingJob);
+    }
+
+    /**
+     * 修改充电任务
+     * 
+     * @param srgvChargingJob 充电任务
+     * @return 结果
+     */
+    @Override
+    public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob)
+    {
+        return srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob);
+    }
+
+    /**
+     * 批量删除充电任务
+     * 
+     * @param guids 需要删除的充电任务主键
+     * @return 结果
+     */
+    @Override
+    public int deleteSrgvChargingJobByGuids(String[] guids)
+    {
+        return srgvChargingJobMapper.deleteSrgvChargingJobByGuids(guids);
+    }
+
+    /**
+     * 删除充电任务信息
+     * 
+     * @param guid 充电任务主键
+     * @return 结果
+     */
+    @Override
+    public int deleteSrgvChargingJobByGuid(String guid)
+    {
+        return srgvChargingJobMapper.deleteSrgvChargingJobByGuid(guid);
+    }
+}

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

@@ -4,12 +4,15 @@ import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.ruoyi.bas.port.domain.WcsPort;
 import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.common.domain.SendData2;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
+import com.ruoyi.job.charg.domain.SrgvChargingJob;
+import com.ruoyi.job.charg.service.ISrgvChargingJobService;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
@@ -34,6 +37,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     public IWcsPortService wcsPortService;
 
+    public ISrgvChargingJobService srgvChargingJobMapper;
+
 
 
     public void init() {
@@ -93,13 +98,161 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * 小车离开充电桩
      */
     private void outCharging(DeviceSrgv deviceSrgv, int floor) {
+        SrgvChargingJob wcsChargingJob = new SrgvChargingJob();
+        wcsChargingJob.setJobType("2");//离开充电
+        //wcsChargingJob.setChargingStatus("0");//未接通
+        List<SrgvChargingJob> wcsChargingJobs = wcsChargingJobMapper.selectWcsChargingJobList(wcsChargingJob);
 
+        for (SrgvChargingJob chargingJob : wcsChargingJobs) {
+            String chargingStatus = chargingJob.getChargingStatus();
+
+            String agvId = chargingJob.getAgvId();
+            String chargingSite = chargingJob.getChargingSite();//充电桩站点
+
+            String startDate = chargingJob.getStartDate();
+
+            List<SRGVPlc> rgvs = srgvPlcs.stream().filter(srgv -> Objects.equals(srgv.getAgvData().getAgvId(), agvId) && srgv.getAgvData().getStatus() != 3).collect(Collectors.toList());
+            if ("1".equals(chargingStatus)) {
+                if (rgvs.size() > 0) {
+                    SRGVPlc srgvPlc = rgvs.get(0);
+                    String currSite = srgvPlc.getAgvData().getCurrSite();
+                    if (!Objects.equals(currSite, chargingSite)) {
+                        wcsChargingJobMapper.deleteWcsChargingJobByGuid(chargingJob.getGuid());//删除任务
+                    }
+
+                } else {
+                    //删除
+                }
+                continue;
+            }
+
+
+            //是否已经有任务
+            WcsSrgvQueue wcsSagvQueue = new WcsSrgvQueue();
+            wcsSagvQueue.setAgvId(agvId);
+            List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSagvQueue);
+            if (wcsSagvQueues.size() > 0) {
+
+                //时间大于30分钟，可以删除
+                boolean overHalfHour = TimeCompareUtil.isOverHalfHour(startDate, 30);
+                if (overHalfHour) {
+                    wcsChargingJobMapper.deleteWcsChargingJobByGuid(chargingJob.getGuid());//删除任务
+                }
+
+
+                continue;
+            }
+
+
+
+            String currSite = deviceSrgv.getCurrSite();
+
+            String endSite = null;
+
+            if (!Objects.equals(currSite, chargingSite)) {
+                //已经在等待点
+                srgvChargingJobMapper.deleteSrgvChargingJobByGuid(chargingJob.getGuid());//删除任务
+            }
+
+
+
+
+            //获取所有待机点
+            List<String> collect = waitManager.listWcsFreeWait(floor).stream().map(wf -> wf.getSiteAddress()).collect(Collectors.toList());
+
+            //agv不在当前站点,不在待机点添加
+            if (endSite != null && !Objects.equals(currSite, endSite) && !collect.contains(currSite)) {
+
+                //生成去充电的任务
+                WcsSrgvQueue wsq = new WcsSrgvQueue();
+                wsq.setGuid(IdUtil.fastSimpleUUID());
+
+               /* HashMap<String, String> map = new HashMap<>();
+                map.put("type", "10");
+                wcsIdMapper.getTask(map);
+                String taskNo = map.get("result");*/
+
+                wsq.setTaskNo("");
+                wsq.setTaskType("1");
+                wsq.setPriority(10L);
+                wsq.setCargo("2");
+                wsq.setIssued("0");
+                wsq.setPathInfo(null);
+                wsq.setExecutionStatus("1");
+                wsq.setCargoPickSite(currSite);
+                wsq.setCargoPlaceSite(endSite);
+                wsq.setStartSite(currSite);
+                wsq.setEndSite(endSite);
+                wsq.setTheFloor(floor + "");
+                wsq.setTrunPath(null);
+                wsq.setUpDownSite(currSite);
+                wsq.setCreateDate(DateUtil.now());
+                wsq.setDefault06(chargingJob.getGuid());
+
+                wsq.setAgvId(agvId);
+                wsq.setDefault02("4");//点到点任务
+
+                wcsSagvQueueMapper.insertWcsSrgvQueue(wsq);
+
+
+            } 
+
+        }
     }
     /**
      * 小车充电任务
      */
     private void inCharging(DeviceSrgv deviceSrgv, int floor) {
+        SrgvChargingJob wcsChargingJob = new SrgvChargingJob();
+        wcsChargingJob.setJobType("1");//去充电任务
+        wcsChargingJob.setJobStatus("1");
+        //wcsChargingJob.setChargingStatus("1");//未接通
+        List<SrgvChargingJob> wcsChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(wcsChargingJob);
+        for (SrgvChargingJob chargingJob : wcsChargingJobs) {
+            String agvId = chargingJob.getAgvId();
+            String chargingSite = chargingJob.getChargingSite();//充电桩站点
 
+
+            String currSite = deviceSrgv.getCurrSite();
+            if (!Objects.equals(currSite, chargingSite)) {
+                //是否已经有任务
+                WcsSrgvQueue wcsSagvQueue = new WcsSrgvQueue();
+                wcsSagvQueue.setAgvId(agvId);
+                List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSagvQueue);
+                if (wcsSagvQueues.size() == 0) {
+                    //生成去充电的任务
+                    WcsSrgvQueue wsq = new WcsSrgvQueue();
+                    wsq.setGuid(IdUtil.fastSimpleUUID());
+
+                        /*HashMap<String, String> map = new HashMap<>();
+                        map.put("type", "6");
+                        wcsIdMapper.getTask(map);
+                        String taskNo = map.get("result");*/
+
+                    wsq.setTaskNo("");
+                    wsq.setTaskType("1");
+                    wsq.setPriority(10L);
+                    wsq.setCargo("2");
+                    wsq.setIssued("0");
+                    wsq.setPathInfo(null);
+                    wsq.setExecutionStatus("1");
+                    wsq.setCargoPickSite(currSite);
+                    wsq.setCargoPlaceSite(chargingSite);
+                    wsq.setStartSite(currSite);
+                    wsq.setEndSite(chargingSite);
+                    wsq.setTheFloor(floor + "");
+                    wsq.setTrunPath(null);
+                    wsq.setUpDownSite(currSite);
+                    wsq.setCreateDate(DateUtil.now());
+                    wsq.setDefault06(chargingJob.getGuid());
+
+                    wsq.setAgvId(agvId);
+                    wsq.setDefault02("3");//3充电
+
+                    wcsSagvQueueMapper.insertWcsSrgvQueue(wsq);
+                }
+            }
+        }
     }
     /**
      * 小车发送任务
@@ -162,7 +315,96 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     /**
      * 小车发送点对点任务
      */
-    private void sendPointToPointTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String currSite, String startSite, int floor) {
+    private void sendPointToPointTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String startSite, String endSite, int floor) {
+        //获取当前地图
+        Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
+
+        //获取空载地图
+        int[][] emptyMap = roadCacheService.findEmptyMap(floor, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1], splc);
+        //计算最短路径
+        List<int[]> shortestPath = PathFinder.findShortestPath(emptyMap, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1]);
+
+        //判断是否能规划出最短路径
+        if (shortestPath == null || shortestPath.isEmpty()) {
+            return;
+        }
+
+        //获取拐点路径
+        List<int[]> trun = PathFinder.extractInflectionPoints2(shortestPath, emptyMap);
+
+        // 路径点拼接
+        StringBuilder pathBuilder = new StringBuilder();
+        Map<String, String> roadSiteByArr = roadCacheService.getRoadSiteByArr(floor);
+        for (int[] point : shortestPath) {
+            String site = roadSiteByArr.get(point[0] + "," + point[1]);
+            if (!"000".equals(site)) {
+                pathBuilder.append(site).append(",");
+            }
+
+        }
+        if (pathBuilder.length() > 0) {
+            pathBuilder.setLength(pathBuilder.length() - 1); // 移除最后一个逗号
+        }
+
+        // 拐点拼接
+        StringBuilder inflectionBuilder = new StringBuilder();
+        if (!trun.isEmpty()) {
+            for (int[] ints : trun) {
+                String site = roadSiteByArr.get(ints[0] + "," + ints[1]);//获取站点
+                inflectionBuilder.append(site).append(",");
+            }
+            if (inflectionBuilder.length() > 0) {
+                inflectionBuilder.setLength(inflectionBuilder.length() - 1);
+            }
+            // 当trun长度小于6时，后面用0拼接
+            if (trun.size() < 6) {
+                for (int i = trun.size(); i < 6; i++) {
+                    inflectionBuilder.append(",0");
+                }
+            }
+        }
+
+        List<SendData2> sendDataList = new ArrayList<>();
+        if (!trun.isEmpty()) {
+            SendData2 path = new SendData2();
+            path.setAddress("4000");//地址
+            path.setData(startSite + "," + endSite + "," + inflectionBuilder.toString());
+            path.setType(2);
+            sendDataList.add(path);
+        } else {
+            SendData2 path = new SendData2();
+            path.setAddress("4000");//地址
+            path.setData(startSite + "," + endSite);
+            path.setType(2);
+            sendDataList.add(path);
+        }
+
+
+        //任务号、原、目标数据转换
+        String siteId = wcsSrgvQueue.getTaskNo() + "1";//+ "," + startSite + "," + endSite;
+        SendData2 site = new SendData2();
+        site.setAddress("4400");
+        site.setData(siteId);
+        site.setType(2);
+        sendDataList.add(site);
+
+        //任务类型转换
+        SendData2 taskType = new SendData2();
+        taskType.setAddress("2200");
+        taskType.setData(wcsSrgvQueue.getTaskType());
+        taskType.setType(1);
+        sendDataList.add(taskType);
+
+        //下发标志转换
+        SendData2 flag = new SendData2();
+        flag.setAddress("2202");
+        flag.setData("1");
+        flag.setType(1);
+        sendDataList.add(flag);
+
+        //下发数据
+        boolean b = sendCarTask(sendDataList, deviceSrgv);
+
     }
 
     /**
@@ -190,10 +432,157 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     /**
      * 小车发送载货任务
      */
-    private boolean sendFullCarTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String currSite, String endSite) {
+    private boolean sendFullCarTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String startSite, String endSite, int floor) {
+
+        //0 待机   1去向原站  2 到达原站托盘定位  3 上升至中位顶取货物  4生成去向目标站路径
+        // 5去向目标站  6下降至低位放货,工作完成，将阶段设置为0.  20：执行点到点命令运行中 21：到达点到目标位置  22：小车充电中
+        int workPhase = deviceSrgv.getWorkPhase();
+        int status = deviceSrgv.getStatus();// 0：未知 1：待机  2：运行  3：报警
+        int workMode = deviceSrgv.getWorkMode();
+
+
+        //取货规划路径和下发，在货底下，并且待机，任务未被下发
+        if ((workPhase == 0) && status == 1 && workMode == 5) {
+            //查找载货路径
+            Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
+            //获取空载地图(剔除不包含自己的障碍)(250919,排除其他站点)
+
+            String noTar0 = null;
+            String noTar1 = null;
+
+            if ("3".equals(wcsSrgvQueue.getCargo())) {
+                noTar0 = getNoTar(startSite);
+                noTar1 = getNoTar(endSite);
+            } else if ("1".equals(wcsSrgvQueue.getCargo())) {
+                noTar1 = getNoTar(endSite);
+            } else if ("2".equals(wcsSrgvQueue.getCargo())) {
+                noTar0 = getNoTar(startSite);
+            }
+
+
+            int[][] fullMap = null;
+            if (noTar0 == null && noTar1 == null) {
+                fullMap = roadCacheService.findFullMap(floor, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1], splc);
+            } else {
+                List<String> strings = new ArrayList<>();//排除站点
+                if (noTar0 != null) {
+                    strings.add(noTar0);
+                }
+                if (noTar1 != null) {
+                    strings.add(noTar1);
+                }
+
+                fullMap = roadCacheService.findFullMap(floor, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1], splc, strings);
+            }
+
+            //计算最短路径
+            List<int[]> shortestPath = PathFinder.findShortestPathFrom2To2Or1(fullMap, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1]);
+            //判断是否能规划出最短路径
+            if (shortestPath == null || shortestPath.isEmpty()) {
+                //空车从当前点去目标点没有可以路径，校验是否是同层其他车影响，要上次其他车避让任务
+                return false;
+            }
+
+            //获取拐点路径
+            List<int[]> trun = PathFinder.extractInflectionPoints2(shortestPath, fullMap);
+
+            // 路径点拼接
+            StringBuilder pathBuilder = new StringBuilder();
+            Map<String, String> roadSiteByArr = roadCacheService.getRoadSiteByArr(Integer.parseInt(wcsSrgvQueue.getTheFloor()));
+            for (int[] point : shortestPath) {
+                String site = roadSiteByArr.get(point[0] + "," + point[1]);
+                if (!"000".equals(site)) {
+                    pathBuilder.append(site).append(",");
+                }
+            }
+            if (pathBuilder.length() > 0) {
+                pathBuilder.setLength(pathBuilder.length() - 1); // 移除最后一个逗号
+            }
+
+            // 拐点拼接
+            StringBuilder inflectionBuilder = new StringBuilder();
+            if (!trun.isEmpty()) {
+                for (int[] ints : trun) {
+                    String site = roadSiteByArr.get(ints[0] + "," + ints[1]);//获取站点
+                    inflectionBuilder.append(site).append(",");
+                }
+                if (inflectionBuilder.length() > 0) {
+                    inflectionBuilder.setLength(inflectionBuilder.length() - 1);
+                }
+                // 当trun长度小于6时，后面用0拼接
+                if (trun.size() < 6) {
+                    for (int i = trun.size(); i < 6; i++) {
+                        inflectionBuilder.append(",0");
+                    }
+                }
+            }
+
+            List<SendData2> sendDataList = new ArrayList<>();
+
+
+            if (!trun.isEmpty()) {
+                SendData2 path = new SendData2();
+                path.setAddress("4000");//地址
+                path.setData(startSite + "," + endSite + "," + inflectionBuilder);
+                path.setType(2);
+                sendDataList.add(path);
+            } else {
+                SendData2 path = new SendData2();
+                path.setAddress("4000");//地址
+                path.setData(startSite + "," + endSite);
+                path.setType(2);
+                sendDataList.add(path);
+            }
+
+
+            String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite;
+            SendData2 site = new SendData2();
+            site.setAddress("4400");
+            site.setData(siteId);
+            site.setType(2);
+            sendDataList.add(site);
+            //下发类型
+            SendData2 taskType = new SendData2();
+            taskType.setAddress("2200");
+            taskType.setData(wcsSrgvQueue.getTaskType());
+            taskType.setType(1);
+            sendDataList.add(taskType);
+            //下发标志转换
+            SendData2 flag = new SendData2();
+            flag.setAddress("2202");
+            flag.setData("1");
+            flag.setType(1);
+            sendDataList.add(flag);
+
+            //boolean write = true;
+            return sendCarTask(sendDataList, deviceSrgv);
+        }
         return false;
     }
 
+    /*
+     * 获取特俗区域的母通道排除站点
+     *
+     * */
+    private String getNoTar(String site) {
+
+        String s = site.substring(site.length() - 4);
+
+        String p = site.substring(0, 2);
+        int pi = Integer.parseInt(p);
+
+        String l = site.substring(2, 4);
+        int li = Integer.parseInt(l);//排
+
+        String tarSite = null;
+        if (pi > 4 && pi < 15 && li > 30) {
+            tarSite = "16" + s;
+        } else {
+
+        }
+        return tarSite;
+    }
+
     /**
      * 小车发送空车任务
      */
@@ -208,7 +597,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         //判断是否能规划出最短路径
         if (shortestPath == null || shortestPath.isEmpty()) {
 
-            return;
+            return false;
         }
 
         //获取拐点路径
@@ -216,7 +605,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         // 路径点拼接
         StringBuilder pathBuilder = new StringBuilder();
-        Map<String, String> roadSiteByArr = roadCacheService.getRoadSiteByArr(Integer.parseInt(floor));
+        Map<String, String> roadSiteByArr = roadCacheService.getRoadSiteByArr(floor);
         for (int[] point : shortestPath) {
             String site = roadSiteByArr.get(point[0] + "," + point[1]);
             if (!"000".equals(site)) {

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

@@ -0,0 +1,93 @@
+<?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.job.charg.mapper.SrgvChargingJobMapper">
+    
+    <resultMap type="SrgvChargingJob" id="SrgvChargingJobResult">
+        <result property="guid"    column="guid"    />
+        <result property="chargingSite"    column="charging_site"    />
+        <result property="jobStatus"    column="job_status"    />
+        <result property="chargingStatus"    column="charging_status"    />
+        <result property="startDate"    column="start_date"    />
+        <result property="chargingDate"    column="charging_date"    />
+        <result property="jobType"    column="job_type"    />
+        <result property="agvId"    column="agv_id"    />
+        <result property="chargingId"    column="charging_id"    />
+    </resultMap>
+
+    <sql id="selectSrgvChargingJobVo">
+        select guid, charging_site, job_status, charging_status, start_date, charging_date, job_type, agv_id, charging_id from srgv_charging_job
+    </sql>
+
+    <select id="selectSrgvChargingJobList" parameterType="SrgvChargingJob" resultMap="SrgvChargingJobResult">
+        <include refid="selectSrgvChargingJobVo"/>
+        <where>  
+            <if test="chargingSite != null  and chargingSite != ''"> and charging_site = #{chargingSite}</if>
+            <if test="jobStatus != null  and jobStatus != ''"> and job_status = #{jobStatus}</if>
+            <if test="chargingStatus != null  and chargingStatus != ''"> and charging_status = #{chargingStatus}</if>
+            <if test="startDate != null  and startDate != ''"> and start_date = #{startDate}</if>
+            <if test="chargingDate != null  and chargingDate != ''"> and charging_date = #{chargingDate}</if>
+            <if test="jobType != null  and jobType != ''"> and job_type = #{jobType}</if>
+            <if test="agvId != null  and agvId != ''"> and agv_id = #{agvId}</if>
+            <if test="chargingId != null  and chargingId != ''"> and charging_id = #{chargingId}</if>
+        </where>
+    </select>
+    
+    <select id="selectSrgvChargingJobByGuid" parameterType="String" resultMap="SrgvChargingJobResult">
+        <include refid="selectSrgvChargingJobVo"/>
+        where guid = #{guid}
+    </select>
+
+    <insert id="insertSrgvChargingJob" parameterType="SrgvChargingJob">
+        insert into srgv_charging_job
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="guid != null">guid,</if>
+            <if test="chargingSite != null">charging_site,</if>
+            <if test="jobStatus != null">job_status,</if>
+            <if test="chargingStatus != null">charging_status,</if>
+            <if test="startDate != null">start_date,</if>
+            <if test="chargingDate != null">charging_date,</if>
+            <if test="jobType != null">job_type,</if>
+            <if test="agvId != null">agv_id,</if>
+            <if test="chargingId != null">charging_id,</if>
+         </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="guid != null">#{guid},</if>
+            <if test="chargingSite != null">#{chargingSite},</if>
+            <if test="jobStatus != null">#{jobStatus},</if>
+            <if test="chargingStatus != null">#{chargingStatus},</if>
+            <if test="startDate != null">#{startDate},</if>
+            <if test="chargingDate != null">#{chargingDate},</if>
+            <if test="jobType != null">#{jobType},</if>
+            <if test="agvId != null">#{agvId},</if>
+            <if test="chargingId != null">#{chargingId},</if>
+         </trim>
+    </insert>
+
+    <update id="updateSrgvChargingJob" parameterType="SrgvChargingJob">
+        update srgv_charging_job
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="chargingSite != null">charging_site = #{chargingSite},</if>
+            <if test="jobStatus != null">job_status = #{jobStatus},</if>
+            <if test="chargingStatus != null">charging_status = #{chargingStatus},</if>
+            <if test="startDate != null">start_date = #{startDate},</if>
+            <if test="chargingDate != null">charging_date = #{chargingDate},</if>
+            <if test="jobType != null">job_type = #{jobType},</if>
+            <if test="agvId != null">agv_id = #{agvId},</if>
+            <if test="chargingId != null">charging_id = #{chargingId},</if>
+        </trim>
+        where guid = #{guid}
+    </update>
+
+    <delete id="deleteSrgvChargingJobByGuid" parameterType="String">
+        delete from srgv_charging_job where guid = #{guid}
+    </delete>
+
+    <delete id="deleteSrgvChargingJobByGuids" parameterType="String">
+        delete from srgv_charging_job where guid in 
+        <foreach item="guid" collection="array" open="(" separator="," close=")">
+            #{guid}
+        </foreach>
+    </delete>
+</mapper>