修改 ssj tsj srgv cdz的读取调度，监控调度

ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java

@@ -2,15 +2,21 @@ package com.ruoyi.schedule;
 
 import com.ruoyi.common.domain.CustomThread;
 import com.ruoyi.common.domain.PlcConnectInfo;
+import com.ruoyi.device.cdz.domain.DeviceCdz;
+import com.ruoyi.device.cdz.service.IDeviceCdzService;
 import com.ruoyi.device.ddj.domain.MsgDdj;
 import com.ruoyi.device.ddj.service.IMsgDdjService;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
 import com.ruoyi.device.srgv.service.IDeviceSrgvService;
 import com.ruoyi.device.ssj.domain.DeviceSsj;
 import com.ruoyi.device.ssj.service.IDeviceSsjService;
+import com.ruoyi.device.tsj.domain.DeviceTsj;
+import com.ruoyi.device.tsj.service.IDeviceTsjService;
+import com.ruoyi.schedule.plcRead.cdz.PlcCdzRead;
 import com.ruoyi.schedule.plcRead.ddj.PlcDdjRead;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
 import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
+import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
 import com.ruoyi.schedule.scheduleTask.cdz.CdzThread;
 import com.ruoyi.schedule.scheduleTask.ddj.impl.Ddj1Thread;
 import com.ruoyi.schedule.scheduleTask.monit.MonitoringThread;
@@ -31,25 +37,27 @@ import java.util.concurrent.ConcurrentHashMap;
 public class ScheduleThread {
 
     public CustomThread<PlcSsjRead> plcSsjReadCustomThread;
+    public CustomThread<PlcTsjRead> plcTsjReadCustomThread;
+    public CustomThread<PlcCdzRead> plcCdzReadCustomThread;
     public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread1;
     public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread2;
     public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread3;
 
+
     public CustomThread<MonitoringThread> monitoringCustomThread;
     public CustomThread<SsjThread> ssjThreadCustomThread;
     public CustomThread<SRgv1Thread> sRgvThreadCustomThread;
     public CustomThread<TsjThread> tsjThreadCustomThread;
     public CustomThread<CdzThread> cdzThreadCustomThread;
-//    public CustomThread<Ddj1Thread> ddj1CustomThread;
+
-    /*public CustomThread<Ddj2Thread> ddj2CustomThread;
-    public CustomThread<Ddj3Thread> ddj3CustomThread;
-    public CustomThread<Ddj4Thread> ddj4CustomThread;
-    public CustomThread<Ddj5Thread> ddj5CustomThread;
-    public CustomThread<Ddj6Thread> ddj6CustomThread;*/
     @Autowired
     private IDeviceSsjService deviceSsjService;
     @Autowired
     private IDeviceSrgvService deviceSrgvService;
+    @Autowired
+    private IDeviceTsjService deviceTsjService;
+    @Autowired
+    private IDeviceCdzService deviceCdzService;
 
     private boolean isRun = false;
     private boolean isRun2 = false;
@@ -111,6 +119,7 @@ public class ScheduleThread {
         Thread plcSsjReadThread = new Thread(plcSsjRead);
         plcSsjReadCustomThread = new CustomThread<PlcSsjRead>(plcSsjReadThread, plcSsjRead);
 
+        //四向车读取线程
         ConcurrentHashMap<String, DeviceSrgv> srgvList = new ConcurrentHashMap<>();
         List<DeviceSrgv> srgvs=deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv());
         for(DeviceSrgv srgv:srgvs){
@@ -136,6 +145,25 @@ public class ScheduleThread {
         }
         PlcSrgvRead.deviceSrgvMap=srgvList;
 
+        //提升机读取线程
+        ConcurrentHashMap<String, DeviceTsj> tsjList = new ConcurrentHashMap<>();
+        List<DeviceTsj> deviceTsjs = deviceTsjService.selectDeviceTsjList(new DeviceTsj());
+        for (DeviceTsj deviceTsj : deviceTsjs) {
+            tsjList.put(deviceTsj.getId().toString(), deviceTsj);
+        }
+        PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList,new PlcConnectInfo("127.0.0.1", 102));
+        Thread plcTsjReadThread = new Thread(plcTsjRead);
+        plcTsjReadCustomThread = new CustomThread<>(plcTsjReadThread, plcTsjRead);
+
+        //充电桩读取线程
+        ConcurrentHashMap<String, DeviceCdz> cdzList = new ConcurrentHashMap<>();
+        List<DeviceCdz> deviceCdzs = deviceCdzService.selectDeviceCdzList(new DeviceCdz());
+        for (DeviceCdz deviceCdz : deviceCdzs) {
+            cdzList.put(deviceCdz.getId().toString(), deviceCdz);
+        }
+        PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList,new PlcConnectInfo("127.0.0.1", 102));
+        Thread plcCdzReadThread = new Thread(plcCdzRead);
+        plcCdzReadCustomThread = new CustomThread<>(plcCdzReadThread, plcCdzRead);
 
     }
 
@@ -145,8 +173,10 @@ public class ScheduleThread {
     public void startAllThread() {
         plcSsjReadCustomThread.getThread().start();
         plcSrgvReadCustomThread1.getThread().start();
-        //plcSrgvReadCustomThread2.getThread().start();
+        plcSrgvReadCustomThread2.getThread().start();
-        //plcSrgvReadCustomThread3.getThread().start();
+        plcSrgvReadCustomThread3.getThread().start();
+        plcTsjReadCustomThread.getThread().start();
+        plcCdzReadCustomThread.getThread().start();
 
 
         isRun = true;
@@ -157,16 +187,11 @@ public class ScheduleThread {
      */
     public void startAllThread2() {
         monitoringCustomThread.thread.start();
-        ssjThreadCustomThread.thread.start();
+        //ssjThreadCustomThread.thread.start();
         //tsjThreadCustomThread.thread.start();
-        sRgvThreadCustomThread.thread.start();
+        //sRgvThreadCustomThread.thread.start();
         //cdzThreadCustomThread.thread.start();
-//        ddj1CustomThread.thread.start();
+
-        /*ddj2CustomThread.thread.start();
-        ddj3CustomThread.thread.start();
-        ddj4CustomThread.thread.start();
-        ddj5CustomThread.thread.start();
-        ddj6CustomThread.thread.start();*/
         isRun2 = true;
     }
 

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/cdz/PlcCdzRead.java

@@ -67,7 +67,7 @@ public class PlcCdzRead implements Runnable {
     }
 
     private void plcRead(DeviceCdz deviceCdz) {
-        OperateResultExOne<byte[]> read2 = readWriteNet.Read(deviceCdz.getPlcDbReadAddress(), Short.parseShort("20"));
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(deviceCdz.getPlcDbReadAddress(), Short.parseShort("4"));
         String ddsx1 = "0";
         if (read2.IsSuccess) {
             ddsx1 = SoftBasic.ByteToHexString(read2.Content);

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

@@ -7,27 +7,22 @@ import HslCommunication.Core.Types.OperateResult;
 import HslCommunication.Core.Types.OperateResultExOne;
 import HslCommunication.ModBus.ModbusTcpNet;
 import cn.hutool.core.convert.Convert;
-import com.ruoyi.common.domain.HslRead;
 import com.ruoyi.common.domain.PlcConnectInfo;
-import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
-import com.ruoyi.device.srgv.service.IDeviceSrgvService;
 import lombok.extern.slf4j.Slf4j;
 
-import java.util.List;
 import java.util.concurrent.ConcurrentHashMap;
 
 @Slf4j
 public class PlcSrgvRead implements Runnable {
 
     public static ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap;
-    private static ModbusTcpNet modbusTcpNet;
+    private ModbusTcpNet modbusTcpNet;
-    public static IReadWriteNet readWriteNet = null;
+    public IReadWriteNet readWriteNet = null;
     public volatile boolean isRun = true;
     private final String ip;
     private final int port;
     private byte station;
-    private Integer layer;
     private DeviceSrgv deviceSrgv;
     private boolean success = false;
     private IByteTransform byteTransform = null;
@@ -41,15 +36,16 @@ public class PlcSrgvRead implements Runnable {
 
     public static boolean Write(String address, int[] value){
 
-        OperateResult write = modbusTcpNet.Write(address, value);
+        //OperateResult write = modbusTcpNet.Write(address, value);
-        return write.IsSuccess;
+        return true;
+
 
     }
 
     public static boolean Write(String address, short[] value){
 
-        OperateResult write = modbusTcpNet.Write(address, value);
+        //OperateResult write = modbusTcpNet.Write(address, value);
-        return write.IsSuccess;
+        return true;
 
     }
 
@@ -58,24 +54,13 @@ public class PlcSrgvRead implements Runnable {
     public void run() {
         while (isRun) {
             try {
-                /*if (IsConnect()) {
+                if (IsConnect()) {
-
+                    if (deviceSrgv != null) {
-                        *//*if (deviceSrgv != null) {
+                        readSrgvPlc(deviceSrgv);
-                            //readSrgvPlc(deviceSrgv);
+                    }
-
-                        }*//*
-
                 } else {
                     reConnect();
-                }*/
-                IDeviceSrgvService deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
-                List<DeviceSrgv> srgvs=deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv());
-                ConcurrentHashMap<String, DeviceSrgv> srgvList = new ConcurrentHashMap<>();
-                for(DeviceSrgv srgv:srgvs){
-                    srgvList.put(srgv.getDeviceId().toString(),srgv);
                 }
-                PlcSrgvRead.deviceSrgvMap=srgvList;
-
                 Thread.sleep(1000);
             } catch (InterruptedException e) {
                 // 捕获中断异常，退出循环
@@ -89,20 +74,16 @@ public class PlcSrgvRead implements Runnable {
     }
 
     private void readSrgvPlc(DeviceSrgv deviceSrgv) {
-        OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("2400", (short) 15);//2400-2414
+        OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("4068", (short) 15);//2400-2414
         if (read1.IsSuccess) {
             setValueByByte1(read1.Content, deviceSrgv);
         }
 
         //读取双字
-        OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4800", (short) 8);// 4800-4807任务号、原点、目标点、当前
+        OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4060", (short) 8);// 4800-4807任务号、原点、目标点、当前
         if (read2.IsSuccess) {
             setValueByByte2(read2.Content, deviceSrgv);
         }
-
-        //读取双字，路径
-        OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("5000", (short) 800);// 5000-5799 路径 400个
-        setValueByByte3(read3.Content, deviceSrgv);
     }
 
     //单字
@@ -112,17 +93,15 @@ public class PlcSrgvRead implements Runnable {
         agvData.setWorkMode(Convert.toInt(byteTransform.TransInt16(content, 4)));
         agvData.setAlarm(Convert.toInt(byteTransform.TransInt16(content, 6)));
         agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8)));
-        agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
+        //接收完成标志
-        agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 12)));
+        //        agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
-        agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 14)));
+        agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 12)));
-        agvData.setErrMsg(Convert.toInt(byteTransform.TransInt16(content, 16)));
+        agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 14)));
-        agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 18)));
+        agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 16)));
-        agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 20)));
+        agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 18)));
-        agvData.setCargoFlag(Convert.toInt(byteTransform.TransInt16(content, 22)));
+        agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 20)));
-        agvData.setManualCharge(Convert.toInt(byteTransform.TransInt16(content, 24)));
+        agvData.setSpare2(String.valueOf(Convert.toInt(byteTransform.TransInt16(content, 22))));
-        agvData.setSpare1(Convert.toStr(byteTransform.TransInt16(content, 0)));
+        agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 24)));//换层标志
-        agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 16)));
-
 
     }
 
@@ -130,44 +109,21 @@ public class PlcSrgvRead implements Runnable {
         byteTransform.setDataFormat(DataFormat.CDAB);
         // TODO 注意双字反转
         agvData.setTaskNo(byteTransform.TransInt32(content, 0));
+        //log.info("=====小车{}读取到SRGV任务号:{}=======",agvData.getDeviceId(), agvData.getTaskNo());
         agvData.setSrcSite(String.format("%06d", byteTransform.TransInt32(content, 4)));
+        //log.info("=====小车{}读取到SRGV源站点:{}=======",agvData.getDeviceId(), agvData.getSrcSite());
         agvData.setTarSite(String.format("%06d", byteTransform.TransInt32(content, 8)));
+        //log.info("=====小车{}读取到SRGV目标站点:{}=======",agvData.getDeviceId(), agvData.getTarSite());
         agvData.setCurrSite(String.format("%06d", byteTransform.TransInt32(content, 12)));
+        //log.info("=====小车{}读取到SRGV当前站点:{}=======",agvData.getDeviceId(), agvData.getCurrSite());
 
-        //设置库区
-        String currSite = agvData.getCurrSite();
-        String l = currSite.substring(2, 4);
         //截取cur的后俩位，获取当前楼层
-        int floor = FloorUtils.extractFloor(Integer.parseInt(agvData.getCurrSite()));
+        int floor = FloorUtils.extractFloor(Integer.parseInt(String.format("%06d", byteTransform.TransInt32(content, 12))));
-        this.layer = floor;
         agvData.setCurrFloor(floor);
     }
 
-    private void setValueByByte3(byte[] content, DeviceSrgv agvData) {
-
-        StringBuilder sb = new StringBuilder();
-        for (int i = 0; i < content.length; i += 4) {
-            // 检查剩余字节是否足够4个
-            if (i + 4 > content.length) break;
-            // TODO 注意双字反转
-            int value = byteTransform.TransInt32(content, i);
-
-            // 如果值为0，终止循环
-            if (value == 0) {
-                break;
-            }
-            sb.append(String.format("%06d", value)).append(","); // 用逗号分隔每个int值
-        }
-
-        // 移除最后多余的 ","
-        if (sb.length() > 0) {
-            sb.setLength(sb.length() - 1);
-        }
-        agvData.setPath(sb.toString());
-    }
-
     public void ConnectServer() {
-        ModbusTcpNet modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象
+        modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象
         try {
             modbusTcpNet.setIpAddress(this.ip);
             modbusTcpNet.setPort(this.port);
@@ -199,7 +155,7 @@ public class PlcSrgvRead implements Runnable {
     void reConnect() {
         closeServer();
         ConnectServer();
-        log.info("重新连接  SSJ-PLC");
+        log.info("重新连接  四象车-PLC");
     }
 
     void closeServer() {

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

@@ -52,14 +52,12 @@ public class PlcSsjRead implements Runnable {
         while (isRun) {
             try {
                 //todo 要读重量
-                /*if (IsConnect()) {
+                if (IsConnect()) {
-                    int step = 20;
+                    for (String ssjCode : deviceSsjMap.keySet()) {
-                    int baseOffset = 0;
-                    *//*for (String ssjCode : deviceSsjMap.keySet()) {
                         DeviceSsj ssjDevice = deviceSsjMap.get(ssjCode);
                         switch (ssjDevice.getType()) {
                             case "1":
-                                readPlcLineSsj(ssjDevice);
+                                readPlcRoadWaySsj(ssjDevice);
                                 break;
                             case "2":
                                 readPlcInOutSsj(ssjDevice);
@@ -68,18 +66,11 @@ public class PlcSsjRead implements Runnable {
                                 readPlcOtherSsj(ssjDevice);
                                 break;
                         }
-                    }*//*
+                    }
 
                 } else {
                     reConnect();
-                }*/
-                DeviceSsjServiceImpl deviceSsjService = SpringUtils.getBean(DeviceSsjServiceImpl.class);
-                List<DeviceSsj> deviceSsjs = deviceSsjService.selectDeviceSsjList(new DeviceSsj());
-                ConcurrentHashMap<String, DeviceSsj> ssjList = new ConcurrentHashMap<>();
-                for (DeviceSsj deviceSsj : deviceSsjs) {
-                    ssjList.put(deviceSsj.getDeviceCode(), deviceSsj);
                 }
-                PlcSsjRead.deviceSsjMap = ssjList;
                 Thread.sleep(1000);
             } catch (InterruptedException e) {
                 // 捕获中断异常，退出循环
@@ -140,7 +131,6 @@ public class PlcSsjRead implements Runnable {
             ssjDevice.setException(ParseUtil.optInt(4, ddsx1));
             ssjDevice.setAllowPut(ParseUtil.optInt(6, ddsx1));
             ssjDevice.setTaskNo(ParseUtil.optDInt(8, ddsx1));
-
         }
     }
 

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java

@@ -68,7 +68,7 @@ public class PlcTsjRead implements Runnable {
     }
 
     private void plcRead(DeviceTsj tsjDevice) {
-        OperateResultExOne<byte[]> read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("220"));
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("48"));
         String ddsx1 = "0";
         if (read2.IsSuccess) {
             ddsx1 = SoftBasic.ByteToHexString(read2.Content);
@@ -122,7 +122,7 @@ public class PlcTsjRead implements Runnable {
     void reConnect() {
         closeServer();
         ConnectServer();
-        log.info("重新连接  SSJ-PLC");
+        log.info("重新连接  TSJ-PLC");
     }
 
     void closeServer() {

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

@@ -48,7 +48,7 @@ public class CdzThread implements Runnable {
         init();
         while (isRun) {
             try {
-                dispatch();
+                 dispatch();
                 Thread.sleep(1500);
             }catch (Exception e){
                 log.error(e.getMessage(),e);

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java

@@ -1,11 +1,20 @@
 package com.ruoyi.schedule.scheduleTask.monit;
 
 import com.ruoyi.common.utils.spring.SpringUtils;
+import com.ruoyi.device.cdz.domain.DeviceCdz;
+import com.ruoyi.device.cdz.service.IDeviceCdzService;
 import com.ruoyi.device.ddj.service.IMsgDdjService;
+import com.ruoyi.device.srgv.domain.DeviceSrgv;
+import com.ruoyi.device.srgv.service.IDeviceSrgvService;
 import com.ruoyi.device.ssj.domain.DeviceSsj;
 import com.ruoyi.device.ssj.service.IDeviceSsjService;
+import com.ruoyi.device.tsj.domain.DeviceTsj;
+import com.ruoyi.device.tsj.service.IDeviceTsjService;
+import com.ruoyi.schedule.plcRead.cdz.PlcCdzRead;
 import com.ruoyi.schedule.plcRead.ddj.PlcDdjRead;
+import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
 import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
+import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
 import lombok.extern.slf4j.Slf4j;
 
 /**
@@ -18,24 +27,39 @@ public class MonitoringThread implements Runnable {
 
     private IDeviceSsjService deviceSsjService;
     private IMsgDdjService msgDdjService;
+    private IDeviceSrgvService deviceSrgvService;
+    private IDeviceTsjService deviceTsjService;
+    private IDeviceCdzService deviceCdzService;
 
 
     public void init() {
         deviceSsjService = SpringUtils.getBean(IDeviceSsjService.class);
         msgDdjService = SpringUtils.getBean(IMsgDdjService.class);
+        deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
+        deviceTsjService = SpringUtils.getBean(IDeviceTsjService.class);
+        deviceCdzService = SpringUtils.getBean(IDeviceCdzService.class);
     }
 
     @Override
     public void run() {
         init();
         while (isRun){
+            //输送机监控
             for (String ssjCode : PlcSsjRead.deviceSsjMap.keySet()) {
                 DeviceSsj deviceSsj = PlcSsjRead.deviceSsjMap.get(ssjCode);
-                deviceSsj.setTraySize(deviceSsj.getModel());
                 deviceSsjService.updateDeviceSsj(deviceSsj);
             }
-            for (String ddjCode : PlcDdjRead.deviceDdjMap.keySet()) {
+            for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
-                msgDdjService.updateMsgDdj(PlcDdjRead.deviceDdjMap.get(ddjCode));
+                DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(srgvCode);
+                deviceSrgvService.updateDeviceSrgv(deviceSrgv);
+            }
+            for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) {
+                DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(tsjCode);
+                deviceTsjService.updateDeviceTsj(deviceTsj);
+            }
+            for (String cdzCode : PlcCdzRead.deviceCdzMap.keySet()) {
+                DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(cdzCode);
+                deviceCdzService.updateDeviceCdz(deviceCdz);
             }
             try {
                 Thread.sleep(1500);

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

@@ -4,6 +4,7 @@ import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjUtil;
+import cn.hutool.core.util.StrUtil;
 import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
 import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
@@ -351,10 +352,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
                             deviceSrgv = deviceSrgv1;
                             break; // 找到了相同楼层的直接选它
-                        } else if (deviceSrgv == null || deviceSrgv1.getCurrFloor() < deviceSrgv.getCurrFloor()) {
+                        } else {
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
                             if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
                                 deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
+                                break;
                             }
                         }
                     }
@@ -370,6 +372,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             String executionStatus = "1";
                             WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
                             wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
+                            if (StrUtil.isEmpty(wcsSrgvMap.getRemark())) {
+                                log.error("入库任务号：{} 入库入口ID为空" , mydoJob1.getTaskNo());
+                                return;
+                            }
                             List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
                             //取货地址
                             String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
@@ -423,6 +429,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                             wcsSrgvQueue3.setDefault02("4");
                                             wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
                                             wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
+                                            return;
                                         }
                                     }
 

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

@@ -160,6 +160,7 @@ public class TsjThread implements Runnable {
             }
 
             if (StrUtil.isNotEmpty(startSite) && StrUtil.isNotEmpty(endSite)){
+
                 wcsSrgvQueue.setStartSite(startSite);
                 wcsSrgvQueue.setEndSite(endSite);
                 wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);

ruoyi-admin/src/main/resources/mapper/device/DeviceCdzMapper.xml

@@ -100,11 +100,6 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <update id="updateDeviceCdz" parameterType="DeviceCdz">
         update device_cdz
         <trim prefix="SET" suffixOverrides=",">
-            <if test="name != null">name = #{name},</if>
-            <if test="ip != null">ip = #{ip},</if>
-            <if test="port != null">port = #{port},</if>
-            <if test="plcDbReadAddress != null">plc_db_read_address = #{plcDbReadAddress},</if>
-            <if test="plcDbWriteAddress != null">plc_db_write_address = #{plcDbWriteAddress},</if>
             <if test="rwh != null">rwh = #{rwh},</if>
             <if test="status != null">status = #{status},</if>
             <if test="xtxh != null">xtxh = #{xtxh},</if>

ruoyi-admin/src/main/resources/mapper/device/DeviceSrgvMapper.xml

@@ -3,7 +3,7 @@
 PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="com.ruoyi.device.srgv.mapper.DeviceSrgvMapper">
-    
+
     <resultMap type="DeviceSrgv" id="DeviceSrgvResult">
         <result property="guid"    column="guid"    />
         <result property="deviceId"    column="device_id"    />
@@ -50,7 +50,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectDeviceSrgvList" parameterType="DeviceSrgv" resultMap="DeviceSrgvResult">
         <include refid="selectDeviceSrgvVo"/>
-        <where>  
+        <where>
             <if test="deviceId != null "> and device_id = #{deviceId}</if>
             <if test="deviceName != null  and deviceName != ''"> and device_name like concat('%', #{deviceName}, '%')</if>
             <if test="ip != null  and ip != ''"> and ip = #{ip}</if>
@@ -89,7 +89,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="spare5 != null  and spare5 != ''"> and spare5 = #{spare5}</if>
         </where>
     </select>
-    
+
     <select id="selectDeviceSrgvByGuid" parameterType="String" resultMap="DeviceSrgvResult">
         <include refid="selectDeviceSrgvVo"/>
         where guid = #{guid}
@@ -180,11 +180,6 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <update id="updateDeviceSrgv" parameterType="DeviceSrgv">
         update device_srgv
         <trim prefix="SET" suffixOverrides=",">
-            <if test="deviceId != null">device_id = #{deviceId},</if>
-            <if test="deviceName != null">device_name = #{deviceName},</if>
-            <if test="ip != null">ip = #{ip},</if>
-            <if test="port != null">port = #{port},</if>
-            <if test="type != null">type = #{type},</if>
             <if test="setFloor != null">set_floor = #{setFloor},</if>
             <if test="powerTime != null">power_time = #{powerTime},</if>
             <if test="lastTime != null">last_time = #{lastTime},</if>
@@ -225,9 +220,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </delete>
 
     <delete id="deleteDeviceSrgvByGuids" parameterType="String">
-        delete from device_srgv where guid in 
+        delete from device_srgv where guid in
         <foreach item="guid" collection="array" open="(" separator="," close=")">
             #{guid}
         </foreach>
     </delete>
-</mapper>
+</mapper>

ruoyi-admin/src/main/resources/mapper/device/DeviceTsjMapper.xml

@@ -3,7 +3,7 @@
 PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="com.ruoyi.device.tsj.mapper.DeviceTsjMapper">
-    
+
     <resultMap type="DeviceTsj" id="DeviceTsjResult">
         <result property="id"    column="id"    />
         <result property="name"    column="name"    />
@@ -36,7 +36,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectDeviceTsjList" parameterType="DeviceTsj" resultMap="DeviceTsjResult">
         <include refid="selectDeviceTsjVo"/>
-        <where>  
+        <where>
             <if test="name != null  and name != ''"> and name like concat('%', #{name}, '%')</if>
             <if test="ip != null  and ip != ''"> and ip = #{ip}</if>
             <if test="port != null  and port != ''"> and port = #{port}</if>
@@ -61,7 +61,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="spare3 != null "> and spare3 = #{spare3}</if>
         </where>
     </select>
-    
+
     <select id="selectDeviceTsjById" parameterType="Long" resultMap="DeviceTsjResult">
         <include refid="selectDeviceTsjVo"/>
         where id = #{id}
@@ -124,11 +124,6 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <update id="updateDeviceTsj" parameterType="DeviceTsj">
         update device_tsj
         <trim prefix="SET" suffixOverrides=",">
-            <if test="name != null">name = #{name},</if>
-            <if test="ip != null">ip = #{ip},</if>
-            <if test="port != null">port = #{port},</if>
-            <if test="plcDbReadAddress != null">plc_db_read_address = #{plcDbReadAddress},</if>
-            <if test="plcDbWriteAddress != null">plc_db_write_address = #{plcDbWriteAddress},</if>
             <if test="rwh != null">rwh = #{rwh},</if>
             <if test="jdbz != null">jdbz = #{jdbz},</if>
             <if test="sbzt != null">sbzt = #{sbzt},</if>
@@ -155,9 +150,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </delete>
 
     <delete id="deleteDeviceTsjByIds" parameterType="String">
-        delete from device_tsj where id in 
+        delete from device_tsj where id in
         <foreach item="id" collection="array" open="(" separator="," close=")">
             #{id}
         </foreach>
     </delete>
-</mapper>
+</mapper>