2026.2.4

ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java

@@ -130,4 +130,6 @@ public interface IApiService
     AjaxResult selectMydoJobByTrayCodeAndEntranceId(HashMap<String, Object> paramMap);
 
     AjaxResult allotSpace(JobParam jobParam);
+
+    AjaxResult JobFinish(Map<String, Object> param);
 }

ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java

@@ -138,6 +138,10 @@ public class ApiServiceImpl implements IApiService {
     }
 
 
+
+
+
+
     /**
      * 处理agv状态返回
      *
@@ -332,6 +336,7 @@ public class ApiServiceImpl implements IApiService {
 
     @Override
     public AjaxResult createInMydoJob(Map<String, Object> param) {
+        // 访问请求路径，生成入库作业 ，如果生成返回信息
         RequestLog requestLog = requestLogService.getRequestLog(CREATE_IN_MYDO_JOB_URL, "入库请求生成作业", JSONUtil.toJsonStr(param));
         if ("1".equals(requestLog.getIsSuccessful())) {
             InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
@@ -366,7 +371,23 @@ public class ApiServiceImpl implements IApiService {
 
     @Override
     public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) {
-        return null;
+        MydoJob mydoJob = new MydoJob();
+        mydoJob.setJobId(receiveInJob.getJobId());
+        mydoJob.setTaskNo(receiveInJob.getTaskNo());
+        mydoJob.setCargoSpaceId(receiveInJob.getCargoSpaceId());
+        mydoJob.setExitId(receiveInJob.getExitId());
+        mydoJob.setInOrOut(receiveInJob.getInOrOut());
+        mydoJob.setStatus("1");
+        mydoJob.setTrayCode(receiveInJob.getTrayCode());
+        mydoJob.setRoadwayId(receiveInJob.getRoadwayId());
+        mydoJob.setCreateTime(DateUtils.getNowDate());
+        mydoJob.setExecutionPhase("0");
+        int i = mydoJobService.insertMydoJob(mydoJob);
+        if (i > 0) {
+            return AjaxResult.success();
+        }else{
+            return AjaxResult.error();
+        }
     }
 
     @Override
@@ -396,4 +417,17 @@ public class ApiServiceImpl implements IApiService {
     public AjaxResult allotSpace(JobParam jobParam) {
         return null;
     }
+
+    @Override
+    public AjaxResult JobFinish(Map<String, Object> param) {
+        RequestLog requestLog = requestLogService.getRequestLog(JOB_FINISH_URL, "入库出任务过账", JSONUtil.toJsonStr(param));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
+            return AjaxResult.success(bean.getData());
+        } else {
+            return AjaxResult.error();
+        }
+
+
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java

@@ -41,7 +41,7 @@ public class RoadCacheServiceImpl implements RoadCacheService {
         for (WcsSrgvMap wcsSrgvMap : wcsSrgvMaps) {
             maps.put(wcsSrgvMap.getSiteId(), wcsSrgvMap);
         }
-        param.setAxy("7,7");
+        param.setAxy("11,9");
         List<WcsSrgvMap> tsjMap = wcsSrgvMapMapper.selectWcsSrgvMapList(param);
         for (WcsSrgvMap wcsSrgvMap : tsjMap) {
             maps.put("tsj",wcsSrgvMap);
@@ -59,10 +59,13 @@ public class RoadCacheServiceImpl implements RoadCacheService {
         //3.锁定离线小车当前位置
         lockedOfflineCarCurrSite(maps, deviceSrgv);
 
-        int[][] mapsInt = new int[29][11];
+        int[][] mapsInt = new int[50][50];
         for (String site : maps.keySet()) {
             WcsSrgvMap wcsSrgvMap = maps.get(site);
             mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue();
+            if (wcsSrgvMap.getAxy().equals("11,8")){
+                System.err.println(wcsSrgvMap.getValue());
+            }
         }
         return mapsInt;
     }

ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java

@@ -86,4 +86,8 @@ public class DeviceSsj extends BaseEntity
 
 
 
+
+
+
+
 }

ruoyi-admin/src/main/java/com/ruoyi/job/controller/JobCallBackController.java

@@ -104,7 +104,7 @@ public class JobCallBackController extends BaseController
         return toAjax(jobCallBackService.deleteJobCallBackByIds(ids));
     }
 
-    //@Scheduled(fixedDelay=1500)
+    @Scheduled(fixedDelay=1500)
     public void jobCallBack() {
     	jobCallBackService.jobCallBack();
     }

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

@@ -71,8 +71,13 @@ public class ScheduleThread {
         //读取信息初始化
         plcReadInit();
         //调度初始化
+
+
         scheduleInit();
         log.info("调度服务执行成功");
+//        startAllThread();
+//        startAllThread2();
+
     }
 
     /**
@@ -115,7 +120,7 @@ public class ScheduleThread {
         }
 
 //        plc输送机读取线程
-        PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("127.0.0.1", 102));
+        PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("192.168.200.41", 102));
         Thread plcSsjReadThread = new Thread(plcSsjRead);
         plcSsjReadCustomThread = new CustomThread<PlcSsjRead>(plcSsjReadThread, plcSsjRead);
 
@@ -151,7 +156,7 @@ public class ScheduleThread {
         for (DeviceTsj deviceTsj : deviceTsjs) {
             tsjList.put(deviceTsj.getId().toString(), deviceTsj);
         }
-        PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList,new PlcConnectInfo("127.0.0.1", 102));
+        PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList,new PlcConnectInfo("192.168.200.41", 102));
         Thread plcTsjReadThread = new Thread(plcTsjRead);
         plcTsjReadCustomThread = new CustomThread<>(plcTsjReadThread, plcTsjRead);
 
@@ -161,7 +166,7 @@ public class ScheduleThread {
         for (DeviceCdz deviceCdz : deviceCdzs) {
             cdzList.put(deviceCdz.getId().toString(), deviceCdz);
         }
-        PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList,new PlcConnectInfo("127.0.0.1", 102));
+        PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList,new PlcConnectInfo("192.168.200.41", 102));
         Thread plcCdzReadThread = new Thread(plcCdzRead);
         plcCdzReadCustomThread = new CustomThread<>(plcCdzReadThread, plcCdzRead);
 
@@ -187,10 +192,10 @@ public class ScheduleThread {
      */
     public void startAllThread2() {
         monitoringCustomThread.thread.start();
-        //ssjThreadCustomThread.thread.start();
+        ssjThreadCustomThread.thread.start();
-        //tsjThreadCustomThread.thread.start();
+        tsjThreadCustomThread.thread.start();
-        //sRgvThreadCustomThread.thread.start();
+        sRgvThreadCustomThread.thread.start();
-        //cdzThreadCustomThread.thread.start();
+        cdzThreadCustomThread.thread.start();
 
         isRun2 = true;
     }

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

@@ -7,6 +7,7 @@ import HslCommunication.Core.Types.OperateResult;
 import HslCommunication.Core.Types.OperateResultExOne;
 import HslCommunication.ModBus.ModbusTcpNet;
 import cn.hutool.core.convert.Convert;
+import com.alibaba.druid.support.spring.stat.annotation.Stat;
 import com.ruoyi.common.domain.PlcConnectInfo;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
 import lombok.extern.slf4j.Slf4j;
@@ -34,18 +35,18 @@ public class PlcSrgvRead implements Runnable {
         this.station = (byte) 1;
     }
 
-    public static boolean Write(String address, int[] value){
-
-        //OperateResult write = modbusTcpNet.Write(address, value);
-        return true;
 
 
+
+    public  synchronized boolean Write(String address, int[] value) {
+        OperateResult write = modbusTcpNet.Write(address, value);
+        return write.IsSuccess;
     }
 
-    public static boolean Write(String address, short[] value){
+    public  synchronized boolean Write(String address, short[] value) {
 
-        //OperateResult write = modbusTcpNet.Write(address, value);
+        OperateResult write = modbusTcpNet.Write(address, value);
-        return true;
+        return write.IsSuccess;
 
     }
 
@@ -88,19 +89,31 @@ public class PlcSrgvRead implements Runnable {
 
     //单字
     private void setValueByByte1(byte[] content, DeviceSrgv agvData) {
+//        agvData.setTaskType(0);
         agvData.setTaskType(Convert.toInt(byteTransform.TransInt16(content, 0)));
+//        agvData.setBattery(0);
         agvData.setBattery(Convert.toInt(byteTransform.TransInt16(content, 2)));
+//        agvData.setWorkMode(0);
         agvData.setWorkMode(Convert.toInt(byteTransform.TransInt16(content, 4)));
+//        agvData.setAlarm(0);
         agvData.setAlarm(Convert.toInt(byteTransform.TransInt16(content, 6)));
+//        agvData.setStatus(0);
         agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8)));
         //接收完成标志
         //        agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
+//        agvData.setFinish(0);
         agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 12)));
+//        agvData.setChargeFlag(0);
         agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 14)));
+//        agvData.setWorkPhase(0);
         agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 16)));
+//        agvData.setAllowSend(0);
         agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 18)));
+//        agvData.setSsjRequest(0);
         agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 20)));
+//        agvData.setSpare2("0");
         agvData.setSpare2(String.valueOf(Convert.toInt(byteTransform.TransInt16(content, 22))));
+//        agvData.setChangeLayer(0);
         agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 24)));//换层标志
 
     }
@@ -108,12 +121,16 @@ public class PlcSrgvRead implements Runnable {
     private void setValueByByte2(byte[] content, DeviceSrgv agvData) {
         byteTransform.setDataFormat(DataFormat.CDAB);
         // TODO 注意双字反转
+//        agvData.setTaskNo(0);
         agvData.setTaskNo(byteTransform.TransInt32(content, 0));
         //log.info("=====小车{}读取到SRGV任务号:{}=======",agvData.getDeviceId(), agvData.getTaskNo());
+//        agvData.setSrcSite("000000");
         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("000000");
         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("000000");
         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());
 
@@ -124,6 +141,7 @@ public class PlcSrgvRead implements Runnable {
 
     public void ConnectServer() {
         modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象
+        log.info("创建连接对象,IP{}", this.ip);
         try {
             modbusTcpNet.setIpAddress(this.ip);
             modbusTcpNet.setPort(this.port);

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

@@ -57,12 +57,15 @@ public class PlcSsjRead implements Runnable {
                         DeviceSsj ssjDevice = deviceSsjMap.get(ssjCode);
                         switch (ssjDevice.getType()) {
                             case "1":
+                                // 地堆输送机
                                 readPlcRoadWaySsj(ssjDevice);
                                 break;
-                            case "2":
+                            case "3":
+                                // 链条输送机
                                 readPlcInOutSsj(ssjDevice);
                                 break;
-                            case "3":
+                            case "2":
+                                // 线体到位输送机
                                 readPlcOtherSsj(ssjDevice);
                                 break;
                         }
@@ -89,13 +92,13 @@ public class PlcSsjRead implements Runnable {
      * @param ssjDevice
      */
     private void readPlcOtherSsj(DeviceSsj ssjDevice) {
-        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20"));
+        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(0, ddsx1));
+            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
-            ssjDevice.setDw(ParseUtil.optInt(2, ddsx1));
+            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
-            ssjDevice.setTaskNo(ParseUtil.optDInt(6, ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
         }
     }
 
@@ -105,14 +108,16 @@ public class PlcSsjRead implements Runnable {
      * @param ssjDevice
      */
     private void readPlcRoadWaySsj(DeviceSsj ssjDevice) {
-        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20"));
+        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(0, ddsx1));
+//            ssjDevice.setRkqq(ParseUtil.optInt(0, ddsx1));
-            ssjDevice.setDw(ParseUtil.optInt(2, ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
-            ssjDevice.setRkqq(ParseUtil.optInt(4, ddsx1));
+            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
-            ssjDevice.setTaskNo(ParseUtil.optDInt(6, ddsx1));
+            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
+//            ssjDevice.setTrayCode(ParseUtil.optString(14, 12, ddsx1));
+//            ssjDevice.setModel(ParseUtil.optInt(28, ddsx1));
         }
     }
 
@@ -122,15 +127,17 @@ public class PlcSsjRead implements Runnable {
      * @param ssjDevice
      */
     private void readPlcInOutSsj(DeviceSsj ssjDevice) {
-        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20"));
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("22"));
         String ddsx1 = "0";
         if (read2.IsSuccess) {
             ddsx1 = SoftBasic.ByteToHexString(read2.Content);
-            ssjDevice.setKx(ParseUtil.optInt(0, ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(2, ddsx1));
-            ssjDevice.setDw(ParseUtil.optInt(2, ddsx1));
+            ssjDevice.setRkqq(ParseUtil.optInt(0, ddsx1));
-            ssjDevice.setException(ParseUtil.optInt(4, ddsx1));
+
-            ssjDevice.setAllowPut(ParseUtil.optInt(6, ddsx1));
+            ssjDevice.setTrayCode(ParseUtil.optString(8, 8, ddsx1));
-            ssjDevice.setTaskNo(ParseUtil.optDInt(8, ddsx1));
+//            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
+//            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
+
         }
     }
 
@@ -172,7 +179,6 @@ public class PlcSsjRead implements Runnable {
     }
 
 
-
     void ConnectServer() {
         siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500);
         try {
@@ -221,15 +227,13 @@ public class PlcSsjRead implements Runnable {
     public static int writeToSsj(String address, String taskNo, int qx, int completed) {
 
         int jym = Tools.getJYM(Integer.parseInt(taskNo), qx, completed);
-        SendData taskNoSendData = new SendData(Tools.INT, taskNo);
+        SendData taskNoSendData = new SendData(Tools.DINT, taskNo);
         SendData qxSendData = new SendData(Tools.INT, qx);
         SendData completedSendData = new SendData(Tools.INT, completed);
-        SendData jymSendData = new SendData(Tools.INT, jym);
+        SendData jymSendData = new SendData(Tools.DINT, jym);
         byte[] bytes = Tools.sendData(taskNoSendData, qxSendData, completedSendData, jymSendData);
         return PlcSsjRead.WriteToSSJ(address, bytes);
     }
 
 
-
-
 }

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

@@ -68,21 +68,21 @@ public class PlcTsjRead implements Runnable {
     }
 
     private void plcRead(DeviceTsj tsjDevice) {
-        OperateResultExOne<byte[]> read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("48"));
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("22"));
         String ddsx1 = "0";
         if (read2.IsSuccess) {
             ddsx1 = SoftBasic.ByteToHexString(read2.Content);
-            tsjDevice.setCzfs(ParseUtil.optInt(2, ddsx1));
+            tsjDevice.setCzfs(ParseUtil.optInt(8, ddsx1));
-            tsjDevice.setSbzt(ParseUtil.optInt(4, ddsx1));
+            tsjDevice.setSbzt(ParseUtil.optInt(8, ddsx1));
-            tsjDevice.setRwh(Convert.toLong(ParseUtil.optDInt(6, ddsx1)));
+            tsjDevice.setRwh((long) ParseUtil.optDInt(0, ddsx1));
-            tsjDevice.setDqcs(ParseUtil.optInt(10, ddsx1));
+            tsjDevice.setDqcs(ParseUtil.optInt(14, ddsx1));
-            tsjDevice.setJdbz(ParseUtil.optInt(12, ddsx1));
+            tsjDevice.setJdbz(ParseUtil.optInt(4, ddsx1));
-            tsjDevice.setYph(ParseUtil.optInt(14, ddsx1));
+            tsjDevice.setHczt(ParseUtil.optInt(6, ddsx1));
-            tsjDevice.setYch(ParseUtil.optInt(16, ddsx1));
+//            tsjDevice.setYch(ParseUtil.optInt(16, ddsx1));
-            tsjDevice.setMbph(ParseUtil.optInt(18, ddsx1));
+//            tsjDevice.setMbph(ParseUtil.optInt(18, ddsx1));
-            tsjDevice.setMbch(ParseUtil.optInt(20, ddsx1));
+//            tsjDevice.setMbch(ParseUtil.optInt(20, ddsx1));
-            tsjDevice.setYxxf(ParseUtil.optInt(22, ddsx1));
+            tsjDevice.setYxxf(ParseUtil.optInt(16, ddsx1));
-            tsjDevice.setXtxh(ParseUtil.optInt(24, ddsx1));
+            tsjDevice.setSpare1(ParseUtil.optInt(10, ddsx1));
         }
     }
 

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

@@ -5,20 +5,27 @@ 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.api.domain.RequestLog;
+import com.ruoyi.api.service.IApiService;
 import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
 import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
 import com.ruoyi.bas.srgvmap.service.RoadCacheService;
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.common.domain.CustomThread;
 import com.ruoyi.common.domain.SendData2;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
 import com.ruoyi.job.charg.domain.SrgvChargingJob;
 import com.ruoyi.job.charg.service.ISrgvChargingJobService;
+import com.ruoyi.job.domain.JobCallBack;
 import com.ruoyi.job.domain.MydoJob;
 import com.ruoyi.job.service.IMydoJobService;
+import com.ruoyi.job.service.impl.JobCallBackServiceImpl;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
+import com.ruoyi.schedule.ScheduleThread;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
 import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder;
 import lombok.extern.slf4j.Slf4j;
@@ -50,7 +57,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     public IWcsSrgvMapService wcsSrgvMapService;
 
     public RoadCacheService roadCacheService;
-
+    private IApiService apiService;
+    private JobCallBackServiceImpl jobCallBackService;
 
     public void init() {
         sRgvCodeList = new HashMap<>();
@@ -67,6 +75,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         mydoJobService = SpringUtils.getBean(IMydoJobService.class);
         wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);
         roadCacheService = SpringUtils.getBean(RoadCacheService.class);
+        apiService = SpringUtils.getBean(IApiService.class);
+        jobCallBackService = SpringUtils.getBean(JobCallBackServiceImpl.class);
     }
 
     @Override
@@ -83,15 +93,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         if (ObjUtil.isNotNull(PlcSrgvRead.deviceSrgvMap.get(code))) {
 
                             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(code);
-
+                            // 小车任务下发 完成
                             sRgvTask(deviceSrgv);
-
+                            // 入库队列
                             createCarInQueue();
-
+                            // 出库队列
                             createCarOutQueue();
-
+                            // 充电任务
                             inCharging(deviceSrgv);
-
+                            // 充电完成调离
                             outCharging(deviceSrgv);
 
                         } else {
@@ -202,7 +212,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             if (wcsSrgvQueue1 == null) {
                 ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
                 List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
-                        .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
+                        .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
                         .sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
                                 - Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
                         .collect(Collectors.toList());
@@ -233,8 +243,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
                             //取货地址
                             String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
-
+                            Integer currFloor = deviceSrgv.getCurrFloor();
-                            if (deviceSrgv.getCurrFloor().equals(wcsSrgvMaps.get(0).getTheLayer())) {
+                            Integer theLayer = wcsSrgvMaps.get(0).getPlcLayer();
+                            if (Objects.equals(deviceSrgv.getCurrFloor(), wcsSrgvMaps.get(0).getPlcLayer())) {
                                 //终点是巷道口到位输送线
                                 endSite = cargoPickSite;
                                 if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
@@ -251,7 +262,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             String cargoPlaceSite = wcsSrgvMaps1.get(0).getSiteId();
 
                             List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
-                                    .filter(d -> d.getWorkMode() == 4
+                                    .filter(d -> d.getWorkMode() == 5
                                             && d.getStatus() == 1
                                             && d.getCurrSite().equals(cargoPlaceSite))
                                     .collect(Collectors.toList());
@@ -343,7 +354,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
 
                 List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
-                        .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
+                        .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
+                        .filter(deviceSrgv -> deviceSrgv.getCurrFloor() > 0)
                         .sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
                         .collect(Collectors.toList());
                 if (!deviceSrgvList.isEmpty()) {
@@ -394,7 +406,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             //筛选出deviceSrgvMap中deviceSrgv.getWorkMode() == 4并且deviceSrgv.getStatus() == 1并且deviceSrgv.getCurrSite() == cargoPickSite得对象，并排除掉其中deviceId与deviceSrgv.getDeviceId()相同的对象
 
                             List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
-                                    .filter(d -> d.getWorkMode() == 4
+                                    .filter(d -> d.getWorkMode() == 5
                                             && d.getStatus() == 1
                                             && d.getCurrSite().equals(cargoPickSite))
                                     .collect(Collectors.toList());
@@ -438,8 +450,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             }
 
 
-
-
                             //生成小车取货队列
                             WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
                             wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
@@ -484,7 +494,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         }
         for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) {
             String agvId = wcsSrgvQueue.getAgvId();
-            if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) {
+            if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getAllowSend() == 1) {
                 String startSite = wcsSrgvQueue.getStartSite();
                 String endSite = wcsSrgvQueue.getEndSite();
                 String currSite = deviceSrgv.getCurrSite();
@@ -511,7 +521,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         Integer floor = deviceSrgv.getCurrFloor();
         //获取当前地图
         Map<String, WcsSrgvMap> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-
+        if ((wcsSrgvQueue.getDefault02().equals("1") || wcsSrgvQueue.getDefault02().equals("2") || wcsSrgvQueue.getDefault02().equals("4")) && wcsSrgvQueue.getTheFloor().equals("1") && !wcsSrgvQueue.getEndSite().equals("tsj")) {
+            //如果是1层 锁定提升机站点
+            if (CollUtil.isNotEmpty(arrByRoadSite) && arrByRoadSite.values().iterator().next().getZ() == 1) {
+                if (arrByRoadSite.containsKey("080501")) {
+                    arrByRoadSite.get("080501").setValue(0);
+                }
+            }
+        }
         //处理地图
         int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv);
 
@@ -522,6 +539,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         if (shortestPath == null || shortestPath.isEmpty()) {
             //判断是否是1层 空车取货 或者 满车放货
             if (floor == 1) {
+
                 if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) {
                     //1层满车放货
                     //修改终点到出库缓存点
@@ -571,10 +589,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 break;
                             }
                         }
-
                     }
                 }
-
             }
             return false;
         }
@@ -617,17 +633,22 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 }
             }
         }
-
+        if (("tsj").equals(endSite)) {
+            endSite = "09050" + wcsSrgvQueue.getTheFloor();
+        }
+//        if (("tsj").equals(startSite)) {
+//            endSite = "09050" + wcsSrgvQueue.getTheFloor();
+//        }
         List<SendData2> sendDataList = new ArrayList<>();
         if (!trun.isEmpty()) {
             SendData2 path = new SendData2();
-            path.setAddress("4000");//地址
+            path.setAddress("4004");//地址
             path.setData(startSite + "," + endSite + "," + turnBuilder);
             path.setType(2);
             sendDataList.add(path);
         } else {
             SendData2 path = new SendData2();
-            path.setAddress("4000");//地址
+            path.setAddress("4004");//地址
             path.setData(startSite + "," + endSite);
             path.setType(2);
             sendDataList.add(path);
@@ -635,33 +656,40 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
 
         //任务号、原、目标数据转换
-        String siteId = wcsSrgvQueue.getTaskNo() + "1";//+ "," + startSite + "," + endSite;
+        String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite;
         SendData2 site = new SendData2();
-        site.setAddress("4400");
+        site.setAddress("4000");
         site.setData(siteId);
         site.setType(2);
         sendDataList.add(site);
 
         //任务类型转换
         SendData2 taskType = new SendData2();
-        taskType.setAddress("2200");
+        taskType.setAddress("4002");
-        taskType.setData(wcsSrgvQueue.getTaskType());
+        taskType.setData(wcsSrgvQueue.getDefault02());
         taskType.setType(1);
         sendDataList.add(taskType);
 
         //下发标志转换
         SendData2 flag = new SendData2();
-        flag.setAddress("2202");
+        flag.setAddress("4021");
         flag.setData("1");
         flag.setType(1);
         sendDataList.add(flag);
 
         //下发数据
-        boolean b = true;// sendCarTask(sendDataList, deviceSrgv);
+        boolean b = sendCarTask(sendDataList, deviceSrgv);
         if (b) {
             wcsSrgvQueue.setPathInfo(pathBuilder.toString());
             wcsSrgvQueue.setTrunPath(turnBuilder.toString());
+            wcsSrgvQueue.setIssued("1");
+            wcsSrgvQueue.setExecutionStatus("3");
             wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+            MydoJob mydoJob = new MydoJob();
+            mydoJob.setTaskNo(wcsSrgvQueue.getTaskNo());
+            mydoJob.setExecutionPhase("3");
+            mydoJob.setStatus("3");
+            mydoJobService.updateMydoJob(mydoJob);
             return true;
         } else {
             log.error("小车下发失败 taskNo:{}", wcsSrgvQueue.getTaskNo());
@@ -698,7 +726,28 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     private boolean sendCarTask(List<SendData2> sendDataList, DeviceSrgv deviceSrgv) {
 
         boolean b = true;
-
+        ScheduleThread scheduleThread = SpringUtils.getBean(ScheduleThread.class);
+        CustomThread<?> ct = null;
+        Integer deviceId = deviceSrgv.getDeviceId();
+        if (deviceId != null) {
+            switch (deviceId) {
+                case 1:
+                    ct = scheduleThread.plcSrgvReadCustomThread1;
+                    break;
+                case 2:
+                    ct = scheduleThread.plcSrgvReadCustomThread2;
+                    break;
+                case 3:
+                    ct = scheduleThread.plcSrgvReadCustomThread3;
+                    break;
+                default:
+                    break;
+            }
+        }
+        PlcSrgvRead plcReader = ct != null ? (PlcSrgvRead) ct.getRunnable() : null;
+        if (plcReader == null) {
+            return false;
+        }
         for (SendData2 sendData : sendDataList) {
             String address = sendData.getAddress();
             String data = sendData.getData();//
@@ -713,7 +762,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         .map(String::trim)
                         .mapToInt(Integer::parseInt)
                         .toArray();
-                boolean write = PlcSrgvRead.Write(address, intData);
+                boolean write = plcReader.Write(address, intData);
 
                 if (!write) {
                     b = false;
@@ -735,7 +784,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     }
                 }
 
-                boolean write = PlcSrgvRead.Write(address, shortData);
+                boolean write = plcReader.Write(address, shortData);
 
                 if (!write) {
                     b = false;
@@ -757,7 +806,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      */
     private void completeCarTask(DeviceSrgv deviceSrgv) {
         //联机自动
-        if (deviceSrgv.getWorkMode() == 4) {
+        if (deviceSrgv.getWorkMode() == 5) {
             if (deviceSrgv.getStatus() == 1) {
                 WcsSrgvQueue param = new WcsSrgvQueue();
                 param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
@@ -767,14 +816,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(param);//查询到达目标的
                 if (CollUtil.isNotEmpty(wcsSagvQueues)) {
                     WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0);
-
-                    /*
-                     * 1、不处理终点是提升机站点的四向车
-                     * 2、处理终点不是提升机站点的
-                     * */
-
                     finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
-
                 }
             }
         }
@@ -790,47 +832,43 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
 
 
-        //当前在终点
+        // 如果当前在终点
         if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) {
             String taskType = wcsSrgvQueue.getTaskType();
             String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
             String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
             WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+
             wcsSrgvMap.setRemark("outCache");
             List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-
+            //当前路径地图map中如果存在小车的站点，返回true
             if (wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))) {
                 //生成小车从避让点到放货/取货位置，如果是空车就到取货位置，如果是满车就到放货位置
-                wcsSrgvQueue.setExecutionStatus("4");
+//                wcsSrgvQueue.setExecutionStatus("4");
-                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+//                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                wcsSrgvQueue.setIssued("0");
+//                wcsSrgvQueue.setIssued("0");
-                wcsSrgvQueue.setExecutionStatus("1");
+//                wcsSrgvQueue.setExecutionStatus("1");
-                wcsSrgvQueue.setStartSite(currSite);
+//                wcsSrgvQueue.setStartSite(currSite);
-                if("1".equals(taskType)){
+//                if ("1".equals(taskType)) {
-                    wcsSrgvQueue.setEndSite(cargoPickSite);
+//                    wcsSrgvQueue.setEndSite(cargoPickSite);
-                }else if("2".equals(taskType)){
+//                } else if ("2".equals(taskType)) {
-                    wcsSrgvQueue.setEndSite(cargoPlaceSite);
+//                    wcsSrgvQueue.setEndSite(cargoPlaceSite);
+//                }
+//                wcsSrgvQueue.setTheFloor("1");
+//                wcsSrgvQueue.setDefault07("1");
+//                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+//                return;
             }
-                wcsSrgvQueue.setTheFloor("1");
+            //空车任务  且当前车的位置和取货位置相同
-                wcsSrgvQueue.setDefault07("1");
-                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-                return;
-
-            }
-
-
-            //空车现在位置是取货位置（移库取货，入库取货，出库取货），满车现在是放货位置
             if ("1".equals(taskType) && cargoPickSite.equals(currSite)) {
-                //修改队列起终点，下发类型，重新下发。怎么区分重新下发的类型是移库还是入库,还有可能是出库取货--》判断取货位置是否为入库点
 
-                //判断放货位置是否同一层，修改队列原层目标层，起终点
-                //查询放货位置层数
                 WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
                 WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
                 String endSite = "";
                 String xfType = "";
-
+                // 取货点地图和放货点地图不为空
                 if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
+
                     if (Objects.equals(wcsSrgvMapq.getTheLayer(), wcsSrgvMapf.getTheLayer())) {
                         //如果是同层，终点为放货点
                         endSite = cargoPlaceSite;
@@ -848,6 +886,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             xfType = "7";//移库
                         }
                     }
+                    // 更新目标点，修改执行队列
                     wcsSrgvQueue.setExecutionStatus("4");
                     wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
                     wcsSrgvQueue.setStartSite(currSite);
@@ -857,17 +896,36 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
                     wcsSrgvQueue.setIssued("0");
                     wcsSrgvQueue.setExecutionStatus("1");
+                    wcsSrgvQueue.setTaskType("2");
                     wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
 
                 }
-
+                // 入库任务  原地址和目标地址不同，且小车当前地址和放货地址相同处理入库任务执行队列
             } else if ("2".equals(taskType) && cargoPlaceSite.equals(currSite)) {
-                //判断对列的任务类型
+                //判断对列的任务类型  当前只限于处理出库任务执行队列
                 switch (wcsSrgvQueue.getDefault02()) {
                     case "1"://入库，插库存，
-                        //请求wms生成库存
+                        //请求wms生成库存 插入回传表
-
+                        MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
+                        if (mydoJob != null) {
+                            JobCallBack jobCallBack = new JobCallBack();
+                            jobCallBack.setType(wcsSrgvQueue.getDefault02());
+                            jobCallBack.setMydojobId(mydoJob.getJobId());
+                            jobCallBack.setStatus("0");
+                            jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo()));
+                            jobCallBack.setCreateTime(new Date());
+                            jobCallBackService.insertJobCallBack(jobCallBack);
+                            mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
+                        }
                         break;
+
+                    case "2":
+                        MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
+                        if (mydoJobOut != null) {
+                            mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
+                        }
+
+
                     case "7"://移库，变动库存
 
                         break;

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java

@@ -124,7 +124,7 @@ public class SsjThread implements Runnable {
     }
 
     void inDispatch1(DeviceSsj deviceSsj) {
-        if (deviceSsj.getDw() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) {
+        if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) {
             //todo 查是否为入库模式，不是退回，是否超重
             HashMap<String, Object> map = new HashMap<>();
             map.put("trayCode", deviceSsj.getTrayCode());
@@ -141,7 +141,13 @@ public class SsjThread implements Runnable {
                 } else {
                     mydoJob.setEntranceId("L1005");
                 }
-
+                // 插入入库作业，并且根据作业直接下发 ，下发完毕直接修改执行阶段
+                MydoJob mydoJob1 = new MydoJob();
+                mydoJob1.setTrayCode(mydoJob.getTaskNo());
+                List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
+                if (mydoJobs.size() > 0) {
+                    return;
+                }
                 mydoJobService.insertMydoJob(mydoJob);
                 int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
                 if (i == 1) {

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

@@ -23,6 +23,7 @@ import com.ruoyi.queue.tsj.domain.TsjDeviceExecutionQueueFinish;
 import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueFinishService;
 import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService;
 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.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
@@ -88,8 +89,13 @@ public class TsjThread implements Runnable {
          *
          * */
         if (czfs == 2 && sbzt == 2 && jdbz == 4 && rwh > 999) {
-            createSRgvQueue(rwh);
+            createSRgvQueue(rwh, tsj);
         }
+        // 提升机取货中 说明对齐当前要取货层 开始给小车下发
+        if (czfs == 2 && sbzt == 2 && jdbz == 2 && rwh > 999) {
+            createSRgvQueueTsjQd(rwh, tsj);
+        }
+
         /*
          * 2、任务完成
          *
@@ -111,9 +117,39 @@ public class TsjThread implements Runnable {
 
     }
 
-    private void createSRgvQueue(Long rwh) {
+    // 下发提升机启动
+    private void createSRgvQueueTsjQd(Long rwh, DeviceTsj tsj) {
+        for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
+            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
+            if (deviceSrgv.getCurrSite().equals("09050" + deviceSrgv.getCurrFloor()) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 2 && tsj.getHczt() == 1) {
+
+                SendData rwlxSendData = new SendData(Tools.INT, 1);
+                DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(1));
+                byte[] bytes = Tools.sendData(rwlxSendData);
+                int i = PlcTsjRead.WriteToTSJ("DB602.56", bytes);
+            }
+        }
+
+    }
+    // 下发提升机完成
+    private void createSRgvQueueTsjFinish(Long rwh, DeviceTsj tsj) {
+        for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
+            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
+            if (deviceSrgv.getCurrSite().equals("09050" + deviceSrgv.getCurrFloor()) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 2 && tsj.getHczt() == 1) {
+
+                SendData rwlxSendData = new SendData(Tools.INT, 1);
+                DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(1));
+                byte[] bytes = Tools.sendData(rwlxSendData);
+                int i = PlcTsjRead.WriteToTSJ("DB602.58", bytes);
+            }
+        }
+
+    }
+
+    private void createSRgvQueue(Long rwh, DeviceTsj tsj) {
         WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
         sRgvQueueParam.setTaskNo(Convert.toStr(rwh));
+        sRgvQueueParam.setEndSite(Convert.toStr("tsj"));
         List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(sRgvQueueParam);
         if (CollUtil.isEmpty(wcsSrgvQueues)) {
             return;
@@ -131,12 +167,14 @@ public class TsjThread implements Runnable {
                 case "1":
                     //入库
                     //满车
-                    startSite = "tsj";
+//                    startSite="tsj";
+                    startSite = "09050" + tsj.getDqcs();
                     endSite = wcsSrgvQueue.getCargoPlaceSite();
                     break;
                 case "2":
                     //出库
-                    startSite = "tsj";
+//                    startSite="tsj";
+                    startSite = "09050" + tsj.getDqcs();
                     endSite = wcsSrgvQueue.getCargoPlaceSite();
                     break;
                 case "3":
@@ -174,7 +212,7 @@ public class TsjThread implements Runnable {
     private void createQueue(DeviceTsj tsj) {
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
-            if (deviceSrgv.getSsjRequest()==1 && deviceSrgv.getTaskNo()>0){
+            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0) {
                 //请求进入输送机
                 WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
                 sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
@@ -186,7 +224,7 @@ public class TsjThread implements Runnable {
                         WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
                         String strFloor = wcsSrgvQueue.getTheFloor();
                         String tarFloor = wcsSrgvQueue.getDefault07();
-                        if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) {
+//                        if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) {
                         //提升机层数和取车任务层数不一致
                         //todo 判断目标楼层存在不存在其他小车
                         TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue();
@@ -202,9 +240,10 @@ public class TsjThread implements Runnable {
                         tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date()));
                         tsjDeviceExecutionQueue.setSpare1(Convert.toStr(deviceSrgv.getDeviceId()));
                         tsjDeviceExecutionQueue.setTaskType("1");
+                        tsjDeviceExecutionQueue.setSendFlag("0");
                         tsjDeviceExecutionQueue.setRwlx("1");
                         tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
-                        }
+//                        }
 
                     }
                 }
@@ -213,32 +252,34 @@ public class TsjThread implements Runnable {
     }
 
     private void sendTsj() {
-        List<TsjDeviceExecutionQueue> tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(new TsjDeviceExecutionQueue());
+        TsjDeviceExecutionQueue tsjDeviceExecutionQueue1 = new TsjDeviceExecutionQueue();
+        tsjDeviceExecutionQueue1.setSendFlag("0");
+        List<TsjDeviceExecutionQueue> tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(tsjDeviceExecutionQueue1);
         if (CollUtil.isNotEmpty(tsjDeviceExecutionQueues)) {
             TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueues.get(0);
 
-            //提升机移动到小车楼层 需要判断目标楼层入库点位小车是否到位
+//            //提升机移动到小车楼层 需要判断目标楼层入库点位小车是否到位
-            WcsPort param = new WcsPort();
+//            WcsPort param = new WcsPort();
-            param.setPortType("1");
+//            param.setPortType("1");
-            param.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
+//            param.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
-            param.setStatus("1");
+//            param.setStatus("1");
-            param.setSpare2("1");
+//            param.setSpare2("1");
-            List<WcsPort> wcsInPorts = wcsPortService.selectWcsPortList(param);
+//            List<WcsPort> wcsInPorts = wcsPortService.selectWcsPortList(param);
-            if (CollUtil.isEmpty(wcsInPorts)) {
+//            if (CollUtil.isEmpty(wcsInPorts)) {
-                log.info("提升机任务[{}]下发 目标楼层[{}]入库点位空闲 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
+//                log.info("提升机任务[{}]下发 目标楼层[{}]入库点位空闲 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
-                return;
+//                return;
-            }
+//            }
-            //提升机承载小车到目标楼层  需要判断目标楼层出库点位是否空闲
+//            //提升机承载小车到目标楼层  需要判断目标楼层出库点位是否空闲
-            WcsPort param1 = new WcsPort();
+//            WcsPort param1 = new WcsPort();
-            param1.setPortType("1");
+//            param1.setPortType("1");
-            param1.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
+//            param1.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
-            param1.setStatus("0");
+//            param1.setStatus("0");
-            param1.setSpare2("1");
+//            param1.setSpare2("1");
-            List<WcsPort> wcsOutPorts = wcsPortService.selectWcsPortList(param1);
+//            List<WcsPort> wcsOutPorts = wcsPortService.selectWcsPortList(param1);
-            if (CollUtil.isEmpty(wcsOutPorts)) {
+//            if (CollUtil.isEmpty(wcsOutPorts)) {
-                log.info("提升机任务[{}]下发 目标楼层[{}]出库点位占用 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
+//                log.info("提升机任务[{}]下发 目标楼层[{}]出库点位占用 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
-                return;
+//                return;
-            }
+//            }
 
             writeToTsj(tsjDeviceExecutionQueues.get(0));
             log.info("提升机任务下发 taskNo{}  任务类型:{}", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getRwlx());
@@ -251,22 +292,58 @@ public class TsjThread implements Runnable {
      * @param tsjDeviceExecutionQueue
      */
     private void writeToTsj(TsjDeviceExecutionQueue tsjDeviceExecutionQueue) {
-        SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo()));
+//        SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo()));
-        SendData srcRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcRow()));
+//        SendData rwlxSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getRwlx()));
-        SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer()));
+//        SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer()));
-        SendData tarRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarRow()));
+//        SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer()));
-        SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer()));
+//        SendData completedSendData = new SendData(Tools.INT, 1);
-        SendData sendType = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSendType()));
+//        int jym = Tools.getJYM(taskNoSendData.getNum2(), srcLayer.getNum2(), tarLayer.getNum2(), completedSendData.getNum2(), rwlxSendData.getNum2());
+//        SendData jymSendData = new SendData(Tools.INT, jym);
+//        byte[] bytes = Tools.sendData(taskNoSendData, srcLayer, tarLayer, completedSendData, jymSendData);
+//        DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId()));
+//        if (ObjUtil.isNotNull(deviceTsj)) {
+//            PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes);
+//        }
+
+
+        int jym = Tools.getJYM(Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTaskNo())), Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getRwlx())), Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getSrcLayer())), Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTarLayer())), 1);
+        SendData taskNoSendData = new SendData(Tools.DINT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTaskNo())));
+        SendData rwlxSendData = new SendData(Tools.INT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getRwlx())));
+        SendData srcLayer = new SendData(Tools.INT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getSrcLayer())));
+        SendData tarLayer = new SendData(Tools.INT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTarLayer())));
+
         SendData completedSendData = new SendData(Tools.INT, 1);
-        int jym = Tools.getJYM(taskNoSendData.getNum2(), srcRow.getNum2(), srcLayer.getNum2(), tarRow.getNum2(), tarLayer.getNum2(), sendType.getNum2(), completedSendData.getNum2());
         SendData jymSendData = new SendData(Tools.INT, jym);
-        byte[] bytes = Tools.sendData(taskNoSendData, srcRow, srcLayer, tarRow, tarLayer, sendType, completedSendData, jymSendData);
+        byte[] bytes = Tools.sendData(taskNoSendData, rwlxSendData, srcLayer, tarLayer, completedSendData, jymSendData);
+        DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId()));
+        int i = PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes);
+        if (i > 0) {
+            tsjDeviceExecutionQueue.setSendFlag("1");
+            tsjDeviceExecutionQueueService.updateTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
+        }
+
+    }
+
+
+    private void writeToTsjWC(TsjDeviceExecutionQueue tsjDeviceExecutionQueue) {
+        SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo()));
+        SendData rwlxSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getRwlx()));
+//        SendData srcRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcRow()));
+        SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer()));
+//        SendData tarRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarRow()));
+        SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer()));
+
+        SendData completedSendData = new SendData(Tools.INT, 1);
+        int jym = Tools.getJYM(taskNoSendData.getNum2(), srcLayer.getNum2(), tarLayer.getNum2(), completedSendData.getNum2(), rwlxSendData.getNum2());
+        SendData jymSendData = new SendData(Tools.INT, jym);
+        byte[] bytes = Tools.sendData(taskNoSendData, srcLayer, tarLayer, completedSendData, jymSendData);
         DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId()));
         if (ObjUtil.isNotNull(deviceTsj)) {
             PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes);
         }
     }
 
+
     private void finishTask(Long taskNo) {
 
         //根据任务号查询队列 修改执行状态

ruoyi-admin/src/main/resources/application-druid.yml

@@ -6,9 +6,9 @@ spring:
         druid:
             #主数据信息
             master:
-                url: jdbc:sqlserver://172.16.2.170:1433;databaseName=FT546-wcs;
+                url: jdbc:sqlserver://127.0.0.1:1433;databaseName=FT546-WCS;
                 username: sa
-                password: Flrd0914.
+                password: 123456
             # 从库数据源
             slave:
                 # 从数据源开关/默认关闭

ruoyi-admin/src/main/resources/application.yml

@@ -68,7 +68,7 @@ spring:
   # redis 配置
   redis:
     # 地址
-    host: 172.16.2.170
+    host: 127.0.0.1
     # 端口，默认为6379
     port: 6379
     # 数据库索引

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

@@ -67,6 +67,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <select id="selectMydoJobByTaskNo" parameterType="String" resultMap="MydoJobResult">
             <include refid="selectMydoJobVo"/>
             where task_no = #{taskNo}
+        and execution_phase != '2'
     </select>
     <select id="ddjTaskFinish" parameterType="java.util.Map" statementType="CALLABLE">
         {call proc_mydojob_finish(

ruoyi-quartz/src/main/resources/mapper/quartz/SysJobLogMapper.xml

@@ -71,7 +71,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
  	<insert id="insertJobLog" parameterType="SysJobLog">
  		insert into sys_job_log(
- 			<if test="jobLogId != null and jobLogId != 0">job_log_id,</if>
+<!-- 			<if test="jobLogId != null and jobLogId != 0">job_log_id,</if>-->
  			<if test="jobName != null and jobName != ''">job_name,</if>
  			<if test="jobGroup != null and jobGroup != ''">job_group,</if>
  			<if test="invokeTarget != null and invokeTarget != ''">invoke_target,</if>
@@ -80,7 +80,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
  			<if test="exceptionInfo != null and exceptionInfo != ''">exception_info,</if>
  			create_time
  		)values(
- 			<if test="jobLogId != null and jobLogId != 0">#{jobLogId},</if>
+<!-- 			<if test="jobLogId != null and jobLogId != 0">#{jobLogId},</if>-->
  			<if test="jobName != null and jobName != ''">#{jobName},</if>
  			<if test="jobGroup != null and jobGroup != ''">#{jobGroup},</if>
  			<if test="invokeTarget != null and invokeTarget != ''">#{invokeTarget},</if>