2026.3.18

ruoyi-admin/src/main/java/com/ruoyi/RuoYiApplication.java

@@ -1,5 +1,6 @@
 package com.ruoyi;
 
+import com.ruoyi.schedule.ScheduleThread;
 import org.mybatis.spring.annotation.MapperScan;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
@@ -7,6 +8,8 @@ import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
 import org.springframework.scheduling.annotation.EnableAsync;
 import org.springframework.scheduling.annotation.EnableScheduling;
 
+import javax.annotation.Resource;
+
 /**
  * 启动程序
  *
@@ -17,6 +20,7 @@ import org.springframework.scheduling.annotation.EnableScheduling;
 @EnableAsync
 public class RuoYiApplication
 {
+
     public static void main(String[] args)
     {
         // System.setProperty("spring.devtools.restart.enabled", "false");

ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java

@@ -2,7 +2,6 @@ package com.ruoyi.queue.srgv.mapper;
 
 import java.util.List;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
-import org.apache.ibatis.annotations.Param;
 
 /**
  * 四向小车任务队列Mapper接口
@@ -10,11 +9,10 @@ import org.apache.ibatis.annotations.Param;
  * @author ruoyi
  * @date 2025-11-21
  */
-public interface WcsSrgvQueueMapper 
+public interface WcsSrgvQueueMapper {
-{
     /**
      * 查询四向小车任务队列
-     * 
+     *
      * @param guid 四向小车任务队列主键
      * @return 四向小车任务队列
      */
@@ -29,12 +27,9 @@ public interface WcsSrgvQueueMapper
     public WcsSrgvQueue selectWcsSrgvQueueByFloor(String theFloor);
 
 
-
-
-
     /**
      * 查询四向小车任务队列列表
-     * 
+     *
      * @param wcsSrgvQueue 四向小车任务队列
      * @return 四向小车任务队列集合
      */
@@ -42,7 +37,7 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 新增四向小车任务队列
-     * 
+     *
      * @param wcsSrgvQueue 四向小车任务队列
      * @return 结果
      */
@@ -50,7 +45,7 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 修改四向小车任务队列
-     * 
+     *
      * @param wcsSrgvQueue 四向小车任务队列
      * @return 结果
      */
@@ -58,7 +53,7 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 删除四向小车任务队列
-     * 
+     *
      * @param guid 四向小车任务队列主键
      * @return 结果
      */
@@ -66,7 +61,7 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 批量删除四向小车任务队列
-     * 
+     *
      * @param guids 需要删除的数据主键集合
      * @return 结果
      */
@@ -77,4 +72,7 @@ public interface WcsSrgvQueueMapper
     Integer selectTsj();
 
     Integer selectByCaogoPlaceSite(String siteId);
+
+    Integer selectByEndSite();
+
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java

@@ -83,4 +83,6 @@ public interface IWcsSrgvQueueService
     Integer selectTsj();
 
     Integer selectByCaogoPlaceSite(String siteId);
+
+    Integer selectByEndSite();
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java

@@ -131,6 +131,28 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
         return wcsSrgvQueueMapper.selectByCaogoPlaceSite(siteId);
     }
 
+    @Override
+    public String selectMinCountJob( List<String> outModelSSJ) {
+        return wcsSrgvQueueMapper.selectMinCountJob(outModelSSJ) ;
+    }
+
+    @Override
+    public Integer selectTsj() {
+
+        return wcsSrgvQueueMapper.selectTsj();
+    }
+
+    @Override
+    public Integer selectByCaogoPlaceSite(String siteId) {
+        return wcsSrgvQueueMapper.selectByCaogoPlaceSite(siteId);
+    }
+
+    @Override
+    public Integer selectByEndSite() {
+        return wcsSrgvQueueMapper.selectByEndSite();
+
+    }
+
     @Override
     public WcsSrgvQueue insertHistory(String taskNo) {
         WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueMapper.selectWcsSrgvQueueByTaskNo(taskNo);

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java

@@ -79,6 +79,12 @@ public class PlcSrgvRead implements Runnable {
         if (read1.IsSuccess) {
             setValueByByte1(read1.Content, deviceSrgv);
         }
+
+        OperateResultExOne<byte[]> read5 = modbusTcpNet.Read("4081", (short) 2);//2400-2414
+        if (read5.IsSuccess) {
+            setValueByByte5(read1.Content, deviceSrgv);
+        }
+
         //读取二段任务 小车是否接收完成1段作业
         OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("1000", (short) 2);//2400-2414
         if (read3.IsSuccess) {
@@ -111,7 +117,7 @@ public class PlcSrgvRead implements Runnable {
 //        agvData.setStatus(0);
         agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8)));
         //载货标志
-        agvData.setCargoFlag(Convert.toInt(byteTransform.TransInt16(content, 13)));
+//        agvData.setCargoFlag(Convert.toInt(byteTransform.TransInt32(content[1], 13)));
         //接收完成标志
         //        agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
 //        agvData.setFinish(0);
@@ -131,6 +137,15 @@ public class PlcSrgvRead implements Runnable {
 
     }
 
+
+    private void setValueByByte5(byte[] content, DeviceSrgv agvData) {
+        int cargoFlag = content[27] & 0xFF;
+        agvData.setCargoFlag(cargoFlag);
+
+    }
+
+
+
     //单字
     private void setValueByByte3(byte[] content, DeviceSrgv agvData) {
 //        agvData.setTaskType(0);

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

@@ -68,6 +68,10 @@ public class PlcSsjRead implements Runnable {
                                 // 线体到位输送机
                                 readPlcOtherSsj(ssjDevice);
                                 break;
+                            case "4":
+                                // 线体到位输送机
+                                readPlcInDwSsj(ssjDevice);
+                                break;
                         }
                     }
 
@@ -86,6 +90,18 @@ public class PlcSsjRead implements Runnable {
         }
     }
 
+    private void readPlcInDwSsj(DeviceSsj ssjDevice) {
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("10"));
+        String ddsx1 = "0";
+        if (read2.IsSuccess) {
+            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
+            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
+            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
+
+        }
+    }
+
     /**
      * 其他输送机
      *

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java

@@ -37,6 +37,7 @@ public class CdzThread implements Runnable {
     private final Integer LITTLE_BETTERY = 40;
     private final Integer MIDDLE_BETTERY = 70;
     private final Integer MAX_BETTERY = 90;
+    private final Integer JOB_BETTERY=50;
     private ISrgvChargingJobService chargingJobService;
     private IDeviceCdzService deviceCdzService;
     private IDeviceSrgvService deviceSrgvService;
@@ -139,7 +140,7 @@ public class CdzThread implements Runnable {
         List<DeviceCdz> deviceCdzdd = deviceCdzService.selectDeviceCdzHasSRgvList();
         for (DeviceCdz deviceCdz : deviceCdzdd) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
-            if (((deviceSrgv.getBattery() >= MIDDLE_BETTERY && count > 0) || deviceSrgv.getBattery() >= MAX_BETTERY)
+            if (((deviceSrgv.getBattery() >= JOB_BETTERY && count > 0) || deviceSrgv.getBattery() >= MAX_BETTERY)
                     && deviceSrgv.getWorkMode() == 5
                     && deviceSrgv.getChargeFlag() == 2 && deviceCdz.getStatus() == 1) {
                 createChargingOutJob(PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()), deviceCdz);

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

@@ -338,9 +338,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         }
                         if (deviceSrgv != null) {
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
-                            WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
+//                            WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
 
-                            if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1 && wcsSrgvQueue4 == null) {
+                            if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1
+//                                    && wcsSrgvQueue4 == null
+                            ) {
                                 //查询小车是否为取货楼层
                                 String endSite = "";
                                 String issued = "0";
@@ -1416,13 +1418,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             //不同层，终点为提升机
                             endSite = "tsj";
                         }
-                        // 如果终点是提升机需要判断是否有其他任务也是提升机的  这个时候先停一下
+
-//                        if (endSite.equals("tsj")) {
-//                            Integer count = wcsSagvQueueMapper.selectTsj();
-//                            if (count > 0) {
-//                                return;
-//                            }
-//                        }
 
                         if ("L1004".equals(wcsSrgvMapq.getRemark()) || "L1005".equals(wcsSrgvMapq.getRemark())) {
                             xfType = "1";//入库
@@ -1517,7 +1513,26 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 {
                     wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                 }
-
+              // 如果是空车且 任务是点到点并且目标点是“070301”
+            }else if ("1".equals(taskType)&&wcsSrgvQueue.getDefault02().equals("4")&&wcsSrgvQueue.getEndSite().equals("070301")){
+                String endSite = "";
+                String xfType = "";
+                WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
+                WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
+                // 取货点地图和放货点地图不为空
+                if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
+                        //如果是同层，终点为取货点
+                        endSite = cargoPickSite;
+                    // 更新目标点，修改执行队列
+                    wcsSrgvQueue.setEndSite(endSite);
+                    wcsSrgvQueue.setDefault02("4");
+                    wcsSrgvQueue.setIssued("0");
+                    wcsSrgvQueue.setExecutionStatus("1");
+                    wcsSrgvQueue.setTaskType("1");
+                }
+                wcsSrgvQueue.setStartSite(currSite);
+                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
             }
 
             //更新小车待机时间

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java

@@ -27,7 +27,9 @@ import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
 import java.util.Date;
+import java.util.Iterator;
 import java.util.List;
+import java.util.stream.Collectors;
 
 @Slf4j
 public class TsjThread implements Runnable {
@@ -212,8 +214,16 @@ public class TsjThread implements Runnable {
                             WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
                             WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
                             if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
+                                Integer count = wcsSrgvQueueService.selectByEndSite();
+                                List<DeviceSrgv> collect = PlcSrgvRead.deviceSrgvMap.values().stream().filter(d ->
+                                                d.getCurrSite().equals(cargoPickSite))
+                                        .collect(Collectors.toList());
+                                if (count > 0 || !collect.isEmpty()) {
+                                    wcsSrgvQueue.setEndSite("070301");
+                                } else {
+                                    wcsSrgvQueue.setEndSite(cargoPickSite);
+                                }
 
-                                wcsSrgvQueue.setEndSite(cargoPickSite);
                                 wcsSrgvQueue.setDefault02("4");
                                 wcsSrgvQueue.setTheFloor(wcsSrgvMapq.getTheLayer().toString());
                                 wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());

ruoyi-admin/src/main/java/com/ruoyi/tcp/GetDeviceSrgvMap.java

@@ -80,7 +80,7 @@ public class GetDeviceSrgvMap {
                 AgvDto dto = new AgvDto();
                 dto.setId(d.getDeviceId() == null ? "" : String.format("%04d", d.getDeviceId()));
                 dto.setTaskNo(d.getTaskNo() == null ? "" : String.valueOf(d.getTaskNo()));
-                dto.setIsThere((d.getWorkPhase() >= 3 && d.getWorkPhase() < 6 ? "1" : "0"));
+                dto.setIsThere(d.getCargoFlag()==256?"1":"0");
                 Integer wp = d.getWorkPhase();
                 String status = "0";
                 if (wp != null) {

ruoyi-admin/src/main/java/com/ruoyi/tcp/GetDeviceSsjMap.java

@@ -101,14 +101,10 @@ public class GetDeviceSsjMap {
             dto.setAlarmMsg(DictUtils.getDictLabel("ssj_ex", String.valueOf(d.getException())));
             dto.setKX(String.valueOf(d.getKx()));
             if (!dto.getTaskNo().equals("0")){
-                if (dto.getRotationDirection().equals("1")){
+                if (dto.getKX().equals("0")){
-                    dto.setDW(String.valueOf(d.getDw()));
+                    dto.setDW("1");
                 }else {
-                    if (dto.getKX().equals("0")){
+                    dto.setDW("0");
-                        dto.setDW("1");
-                    }else {
-                        dto.setDW("0");
-                    }
                 }
             }else {
                 dto.setDW("0");

ruoyi-admin/src/main/java/com/ruoyi/tcp/Wcs2wmsgetEmptyCargoSpace.java

@@ -96,6 +96,7 @@ public class Wcs2wmsgetEmptyCargoSpace {
         dto.setTrayCode(getText(node, "trayCode"));
         dto.setProductCode(getText(node, "productCode"));
         dto.setProductName(getText(node, "productName"));
+        dto.setCargoSpaceId(getText(node, "cargoSpaceId"));
         return dto;
     }
 
@@ -125,5 +126,6 @@ public class Wcs2wmsgetEmptyCargoSpace {
         private String trayCode;
         private String productCode;
         private String productName;
+        private String cargoSpaceId;
     }
 }

ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml

@@ -222,4 +222,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         select   count(1)  from   wcs_srgv_queue where cargo_place_site=#{siteId}
     </select>
 
+    <select id="selectByEndSite" resultType="java.lang.Integer" >
+        select   count(1)  from   wcs_srgv_queue where end_site='070101' or end_site ='050101'
+    </select>
+
+
+
 </mapper>