小车充电调度初始化
This commit is contained in:
liuhanqing
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package com.ruoyi.job.charg.controller;
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import java.util.List;
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import javax.servlet.http.HttpServletResponse;
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import org.springframework.security.access.prepost.PreAuthorize;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.GetMapping;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.PutMapping;
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import org.springframework.web.bind.annotation.DeleteMapping;
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import org.springframework.web.bind.annotation.PathVariable;
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import org.springframework.web.bind.annotation.RequestBody;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import com.ruoyi.common.annotation.Log;
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import com.ruoyi.common.core.controller.BaseController;
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import com.ruoyi.common.core.domain.AjaxResult;
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import com.ruoyi.common.enums.BusinessType;
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import com.ruoyi.job.charg.domain.SrgvChargingJob;
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import com.ruoyi.job.charg.service.ISrgvChargingJobService;
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import com.ruoyi.common.utils.poi.ExcelUtil;
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import com.ruoyi.common.core.page.TableDataInfo;
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/**
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* 充电任务Controller
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*
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* @author ruoyi
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* @date 2025-11-21
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*/
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@RestController
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@RequestMapping("/job/charging")
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public class SrgvChargingJobController extends BaseController
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{
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@Autowired
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private ISrgvChargingJobService srgvChargingJobService;
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/**
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* 查询充电任务列表
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*/
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@PreAuthorize("@ss.hasPermi('job:charging:list')")
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@GetMapping("/list")
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public TableDataInfo list(SrgvChargingJob srgvChargingJob)
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{
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startPage();
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List<SrgvChargingJob> list = srgvChargingJobService.selectSrgvChargingJobList(srgvChargingJob);
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return getDataTable(list);
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}
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/**
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* 导出充电任务列表
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*/
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@PreAuthorize("@ss.hasPermi('job:charging:export')")
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@Log(title = "充电任务", businessType = BusinessType.EXPORT)
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@PostMapping("/export")
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public void export(HttpServletResponse response, SrgvChargingJob srgvChargingJob)
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{
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List<SrgvChargingJob> list = srgvChargingJobService.selectSrgvChargingJobList(srgvChargingJob);
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ExcelUtil<SrgvChargingJob> util = new ExcelUtil<SrgvChargingJob>(SrgvChargingJob.class);
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util.exportExcel(response, list, "充电任务数据");
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}
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/**
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* 获取充电任务详细信息
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*/
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@PreAuthorize("@ss.hasPermi('job:charging:query')")
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@GetMapping(value = "/{guid}")
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public AjaxResult getInfo(@PathVariable("guid") String guid)
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{
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return success(srgvChargingJobService.selectSrgvChargingJobByGuid(guid));
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}
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/**
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* 新增充电任务
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*/
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@PreAuthorize("@ss.hasPermi('job:charging:add')")
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@Log(title = "充电任务", businessType = BusinessType.INSERT)
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@PostMapping
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public AjaxResult add(@RequestBody SrgvChargingJob srgvChargingJob)
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{
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return toAjax(srgvChargingJobService.insertSrgvChargingJob(srgvChargingJob));
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}
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/**
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* 修改充电任务
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*/
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@PreAuthorize("@ss.hasPermi('job:charging:edit')")
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@Log(title = "充电任务", businessType = BusinessType.UPDATE)
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@PutMapping
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public AjaxResult edit(@RequestBody SrgvChargingJob srgvChargingJob)
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{
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return toAjax(srgvChargingJobService.updateSrgvChargingJob(srgvChargingJob));
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}
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/**
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* 删除充电任务
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*/
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@PreAuthorize("@ss.hasPermi('job:charging:remove')")
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@Log(title = "充电任务", businessType = BusinessType.DELETE)
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@DeleteMapping("/{guids}")
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public AjaxResult remove(@PathVariable String[] guids)
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{
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return toAjax(srgvChargingJobService.deleteSrgvChargingJobByGuids(guids));
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}
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}
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package com.ruoyi.job.charg.domain;
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import org.apache.commons.lang3.builder.ToStringBuilder;
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import org.apache.commons.lang3.builder.ToStringStyle;
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import com.ruoyi.common.annotation.Excel;
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import com.ruoyi.common.core.domain.BaseEntity;
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/**
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* 充电任务对象 srgv_charging_job
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*
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* @author ruoyi
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* @date 2025-11-21
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*/
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public class SrgvChargingJob extends BaseEntity
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{
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private static final long serialVersionUID = 1L;
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/** uuid */
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private String guid;
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/** 充电桩站点 */
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@Excel(name = "充电桩站点")
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private String chargingSite;
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/** 任务状态：1初始；2允许生成四向车；3执行中 */
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@Excel(name = "任务状态：1初始；2允许生成四向车；3执行中")
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private String jobStatus;
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/** 充电状态：1未充电；2充电中 */
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@Excel(name = "充电状态：1未充电；2充电中")
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private String chargingStatus;
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/** 开始时间 */
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@Excel(name = "开始时间")
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private String startDate;
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/** 充电时间 */
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@Excel(name = "充电时间")
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private String chargingDate;
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/** 任务类型：1去充电；2离开充电 */
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@Excel(name = "任务类型：1去充电；2离开充电")
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private String jobType;
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/** 执行小车 */
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@Excel(name = "执行小车")
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private String agvId;
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/** 充电桩编号 */
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@Excel(name = "充电桩编号")
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private String chargingId;
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public void setGuid(String guid)
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{
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this.guid = guid;
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}
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public String getGuid()
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{
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return guid;
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}
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public void setChargingSite(String chargingSite)
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{
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this.chargingSite = chargingSite;
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}
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public String getChargingSite()
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{
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return chargingSite;
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}
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public void setJobStatus(String jobStatus)
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{
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this.jobStatus = jobStatus;
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}
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public String getJobStatus()
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{
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return jobStatus;
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}
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public void setChargingStatus(String chargingStatus)
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{
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this.chargingStatus = chargingStatus;
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}
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public String getChargingStatus()
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{
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return chargingStatus;
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}
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public void setStartDate(String startDate)
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{
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this.startDate = startDate;
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}
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public String getStartDate()
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{
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return startDate;
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}
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public void setChargingDate(String chargingDate)
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{
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this.chargingDate = chargingDate;
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}
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public String getChargingDate()
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{
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return chargingDate;
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}
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public void setJobType(String jobType)
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{
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this.jobType = jobType;
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}
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public String getJobType()
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{
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return jobType;
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}
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public void setAgvId(String agvId)
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{
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this.agvId = agvId;
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}
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public String getAgvId()
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{
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return agvId;
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}
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public void setChargingId(String chargingId)
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{
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this.chargingId = chargingId;
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}
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public String getChargingId()
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{
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return chargingId;
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}
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@Override
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public String toString() {
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return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
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.append("guid", getGuid())
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.append("chargingSite", getChargingSite())
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.append("jobStatus", getJobStatus())
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.append("chargingStatus", getChargingStatus())
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.append("startDate", getStartDate())
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.append("chargingDate", getChargingDate())
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.append("jobType", getJobType())
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.append("agvId", getAgvId())
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.append("chargingId", getChargingId())
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.toString();
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}
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}
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@@ -0,0 +1,61 @@
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package com.ruoyi.job.charg.mapper;
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import java.util.List;
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import com.ruoyi.job.charg.domain.SrgvChargingJob;
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/**
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* 充电任务Mapper接口
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*
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* @author ruoyi
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* @date 2025-11-21
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*/
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public interface SrgvChargingJobMapper
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{
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/**
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* 查询充电任务
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*
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* @param guid 充电任务主键
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* @return 充电任务
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*/
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public SrgvChargingJob selectSrgvChargingJobByGuid(String guid);
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/**
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* 查询充电任务列表
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*
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* @param srgvChargingJob 充电任务
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* @return 充电任务集合
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*/
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public List<SrgvChargingJob> selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob);
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/**
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* 新增充电任务
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*
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* @param srgvChargingJob 充电任务
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* @return 结果
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*/
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public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob);
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/**
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* 修改充电任务
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*
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* @param srgvChargingJob 充电任务
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* @return 结果
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*/
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public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob);
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/**
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* 删除充电任务
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*
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* @param guid 充电任务主键
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* @return 结果
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*/
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public int deleteSrgvChargingJobByGuid(String guid);
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/**
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* 批量删除充电任务
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*
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* @param guids 需要删除的数据主键集合
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* @return 结果
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*/
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public int deleteSrgvChargingJobByGuids(String[] guids);
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}
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@@ -0,0 +1,61 @@
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package com.ruoyi.job.charg.service;
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import java.util.List;
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import com.ruoyi.job.charg.domain.SrgvChargingJob;
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/**
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* 充电任务Service接口
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*
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* @author ruoyi
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* @date 2025-11-21
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*/
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public interface ISrgvChargingJobService
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{
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/**
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* 查询充电任务
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*
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* @param guid 充电任务主键
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* @return 充电任务
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*/
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public SrgvChargingJob selectSrgvChargingJobByGuid(String guid);
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/**
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* 查询充电任务列表
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*
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* @param srgvChargingJob 充电任务
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* @return 充电任务集合
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*/
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public List<SrgvChargingJob> selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob);
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/**
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* 新增充电任务
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*
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* @param srgvChargingJob 充电任务
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* @return 结果
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*/
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public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob);
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/**
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* 修改充电任务
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*
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* @param srgvChargingJob 充电任务
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* @return 结果
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*/
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public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob);
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/**
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* 批量删除充电任务
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*
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* @param guids 需要删除的充电任务主键集合
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* @return 结果
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*/
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public int deleteSrgvChargingJobByGuids(String[] guids);
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/**
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* 删除充电任务信息
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*
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* @param guid 充电任务主键
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* @return 结果
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*/
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public int deleteSrgvChargingJobByGuid(String guid);
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}
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@@ -0,0 +1,93 @@
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package com.ruoyi.job.charg.service.impl;
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import java.util.List;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import com.ruoyi.job.charg.mapper.SrgvChargingJobMapper;
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import com.ruoyi.job.charg.domain.SrgvChargingJob;
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import com.ruoyi.job.charg.service.ISrgvChargingJobService;
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|
/**
|
||||||
|
* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -4,12 +4,15 @@ import cn.hutool.core.bean.BeanUtil;
|
|||||||
import cn.hutool.core.collection.CollUtil;
|
import cn.hutool.core.collection.CollUtil;
|
||||||
import cn.hutool.core.convert.Convert;
|
import cn.hutool.core.convert.Convert;
|
||||||
import cn.hutool.core.date.DateUtil;
|
import cn.hutool.core.date.DateUtil;
|
||||||
|
import cn.hutool.core.util.IdUtil;
|
||||||
import cn.hutool.core.util.ObjUtil;
|
import cn.hutool.core.util.ObjUtil;
|
||||||
import cn.hutool.core.util.StrUtil;
|
import cn.hutool.core.util.StrUtil;
|
||||||
import com.ruoyi.bas.port.domain.WcsPort;
|
import com.ruoyi.bas.port.domain.WcsPort;
|
||||||
import com.ruoyi.bas.port.service.IWcsPortService;
|
import com.ruoyi.bas.port.service.IWcsPortService;
|
||||||
import com.ruoyi.common.domain.SendData2;
|
import com.ruoyi.common.domain.SendData2;
|
||||||
import com.ruoyi.device.srgv.domain.DeviceSrgv;
|
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.WcsSrgvQueue;
|
||||||
import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish;
|
import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish;
|
||||||
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
|
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
|
||||||
@@ -34,6 +37,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
|
|||||||
|
|
||||||
public IWcsPortService wcsPortService;
|
public IWcsPortService wcsPortService;
|
||||||
|
|
||||||
|
public ISrgvChargingJobService srgvChargingJobMapper;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
public void init() {
|
public void init() {
|
||||||
@@ -93,13 +98,161 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
|
|||||||
* 小车离开充电桩
|
* 小车离开充电桩
|
||||||
*/
|
*/
|
||||||
private void outCharging(DeviceSrgv deviceSrgv, int floor) {
|
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
|
* 小车充电任务
|
||||||
*/
|
*/
|
||||||
private void inCharging(DeviceSrgv deviceSrgv, int floor) {
|
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
|
* 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
|
* 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
|
* 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;
|
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
|
* 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
|
//判断是否能规划出最短路径
|
||||||
if (shortestPath == null || shortestPath.isEmpty()) {
|
if (shortestPath == null || shortestPath.isEmpty()) {
|
||||||
|
|
||||||
return;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
//获取拐点路径
|
//获取拐点路径
|
||||||
@@ -216,7 +605,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
|
|||||||
|
|
||||||
// 路径点拼接
|
// 路径点拼接
|
||||||
StringBuilder pathBuilder = new StringBuilder();
|
StringBuilder pathBuilder = new StringBuilder();
|
||||||
Map<String, String> roadSiteByArr = roadCacheService.getRoadSiteByArr(Integer.parseInt(floor));
|
Map<String, String> roadSiteByArr = roadCacheService.getRoadSiteByArr(floor);
|
||||||
for (int[] point : shortestPath) {
|
for (int[] point : shortestPath) {
|
||||||
String site = roadSiteByArr.get(point[0] + "," + point[1]);
|
String site = roadSiteByArr.get(point[0] + "," + point[1]);
|
||||||
if (!"000".equals(site)) {
|
if (!"000".equals(site)) {
|
||||||
|
|||||||
@@ -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>
|
||||||
Reference in New Issue
Block a user