refactor(schedule): 重构调度线程任务初始化逻辑

- 移除BeanUtil等无关注入工具类
- 使用SpringUtils手动获取依赖服务实例
- 调整设备读取逻辑，从连接判断改为直接加载列表
- 注释掉部分冗余或暂时不用的启动线程代码
- 新增对TSJ、CDZ等设备的支持与初始化配置
- 更新XML映射文件中的SQL查询条件及格式化内容
- 优化SRGV任务中断处理逻辑，增加break语句防止空循环
- 暂时注释实际下发指令方法以避免执行真实操作

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

@@ -41,6 +41,11 @@ public class RoadCacheServiceImpl implements RoadCacheService {
         for (WcsSrgvMap wcsSrgvMap : wcsSrgvMaps) {
             maps.put(wcsSrgvMap.getSiteId(), wcsSrgvMap);
         }
+        param.setAxy("7,7");
+        List<WcsSrgvMap> tsjMap = wcsSrgvMapMapper.selectWcsSrgvMapList(param);
+        for (WcsSrgvMap wcsSrgvMap : tsjMap) {
+            maps.put("tsj",wcsSrgvMap);
+        }
         return maps;
     }
 

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

@@ -11,9 +11,12 @@ import com.ruoyi.device.ssj.service.IDeviceSsjService;
 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.scheduleTask.cdz.CdzThread;
 import com.ruoyi.schedule.scheduleTask.ddj.impl.Ddj1Thread;
 import com.ruoyi.schedule.scheduleTask.monit.MonitoringThread;
+import com.ruoyi.schedule.scheduleTask.srgv.impl.SRgv1Thread;
 import com.ruoyi.schedule.scheduleTask.ssj.SsjThread;
+import com.ruoyi.schedule.scheduleTask.tsj.TsjThread;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
@@ -34,6 +37,9 @@ public class ScheduleThread {
 
     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;
@@ -43,8 +49,6 @@ public class ScheduleThread {
     @Autowired
     private IDeviceSsjService deviceSsjService;
     @Autowired
-    private IMsgDdjService msgDdjService;
-    @Autowired
     private IDeviceSrgvService deviceSrgvService;
 
     private boolean isRun = false;
@@ -71,6 +75,12 @@ public class ScheduleThread {
         monitoringCustomThread = new CustomThread<MonitoringThread>(new Thread(monitoringThread), monitoringThread);
         SsjThread ssjThread=new SsjThread();
         ssjThreadCustomThread=new CustomThread<SsjThread>(new Thread(ssjThread),ssjThread);
+        SRgv1Thread srgvThread=new SRgv1Thread();
+        sRgvThreadCustomThread=new CustomThread<>(new Thread(srgvThread),srgvThread);
+        TsjThread tsjThread=new TsjThread();
+        tsjThreadCustomThread=new CustomThread<>(new Thread(tsjThread),tsjThread);
+        CdzThread cdzThread = new CdzThread();
+        cdzThreadCustomThread=new CustomThread<>(new Thread(cdzThread),cdzThread);
         //        Ddj1Thread ddj1Thread = new Ddj1Thread();
 //        ddj1CustomThread = new CustomThread<>(new Thread(ddj1Thread), ddj1Thread);
         /*Ddj2Thread ddj2Thread = new Ddj2Thread();
@@ -135,8 +145,9 @@ public class ScheduleThread {
     public void startAllThread() {
         plcSsjReadCustomThread.getThread().start();
         plcSrgvReadCustomThread1.getThread().start();
-        plcSrgvReadCustomThread2.getThread().start();
+        //plcSrgvReadCustomThread2.getThread().start();
-        plcSrgvReadCustomThread3.getThread().start();
+        //plcSrgvReadCustomThread3.getThread().start();
+
 
         isRun = true;
     }
@@ -147,6 +158,9 @@ public class ScheduleThread {
     public void startAllThread2() {
         monitoringCustomThread.thread.start();
         ssjThreadCustomThread.thread.start();
+        //tsjThreadCustomThread.thread.start();
+        sRgvThreadCustomThread.thread.start();
+        //cdzThreadCustomThread.thread.start();
 //        ddj1CustomThread.thread.start();
         /*ddj2CustomThread.thread.start();
         ddj3CustomThread.thread.start();

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

@@ -9,9 +9,12 @@ 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
@@ -55,17 +58,25 @@ 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);
 
-                        }
+                        }*//*
 
-                    Thread.sleep(1000);
                 } 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
                 Thread.currentThread().interrupt(); // 重新设置中断标志

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

@@ -7,15 +7,18 @@ import HslCommunication.Core.Types.OperateResultExOne;
 import HslCommunication.Profinet.Siemens.SiemensPLCS;
 import HslCommunication.Profinet.Siemens.SiemensS7Net;
 import com.ruoyi.common.domain.SendData;
+import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.ddj.domain.MsgDdj;
 import com.ruoyi.device.ssj.domain.DeviceSsj;
 import com.ruoyi.common.domain.HslRead;
 import com.ruoyi.common.domain.PlcConnectInfo;
+import com.ruoyi.device.ssj.service.impl.DeviceSsjServiceImpl;
 import com.ruoyi.schedule.plcRead.util.ParseUtil;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
 import java.util.Arrays;
+import java.util.List;
 import java.util.concurrent.ConcurrentHashMap;
 
 @Slf4j
@@ -48,10 +51,10 @@ public class PlcSsjRead implements Runnable {
     public void run() {
         while (isRun) {
             try {
-                if (IsConnect()) {
+                /*if (IsConnect()) {
                     int step = 20;
                     int baseOffset = 0;
-                    for (String ssjCode : deviceSsjMap.keySet()) {
+                    *//*for (String ssjCode : deviceSsjMap.keySet()) {
                         DeviceSsj ssjDevice = deviceSsjMap.get(ssjCode);
                         switch (ssjDevice.getType()) {
                             case "1":
@@ -64,11 +67,19 @@ public class PlcSsjRead implements Runnable {
                                 readPlcOtherSsj(ssjDevice);
                                 break;
                         }
-                    }
+                    }*//*
-                    Thread.sleep(1000);
+
                 } 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
                 Thread.currentThread().interrupt(); // 重新设置中断标志

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

@@ -5,6 +5,7 @@ import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjUtil;
+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.srgv.domain.DeviceSrgv;
@@ -36,7 +37,10 @@ public class CdzThread implements Runnable {
     private IWcsSrgvQueueService wcsSrgvQueueService;
 
     public void init() {
-
+        chargingJobService = SpringUtils.getBean(ISrgvChargingJobService.class);
+        deviceCdzService = SpringUtils.getBean(IDeviceCdzService.class);
+        deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
+        wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
     }
 
     @Override

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

@@ -1,6 +1,5 @@
 package com.ruoyi.schedule.scheduleTask.srgv;
 
-import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
@@ -10,13 +9,13 @@ 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.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.MydoJob;
 import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
-import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
@@ -59,6 +58,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         sRgvCodes.add("2");
         sRgvCodes.add("3");
         sRgvCodeList.put("srgv", sRgvCodes);
+
+        wcsSagvQueueMapper = SpringUtils.getBean(IWcsSrgvQueueService.class);
+        wcsSagvQueueFinishMapper = SpringUtils.getBean(IWcsSrgvQueueFinishService.class);
+        wcsPortService = SpringUtils.getBean(IWcsPortService.class);
+        srgvChargingJobMapper = SpringUtils.getBean(ISrgvChargingJobService.class);
+        mydoJobService = SpringUtils.getBean(IMydoJobService.class);
+        wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);
+        roadCacheService = SpringUtils.getBean(RoadCacheService.class);
     }
 
     @Override
@@ -209,6 +216,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
                             if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
                                 deviceSrgv = deviceSrgv1;
+                                break;
                             }
                         }
                     }
@@ -380,8 +388,8 @@ 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() == 4
-                                            && d.getStatus() == 1 
+                                            && d.getStatus() == 1
                                             && d.getCurrSite().equals(cargoPickSite))
                                     .collect(Collectors.toList());
                             if(!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())){
@@ -642,7 +650,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         sendDataList.add(flag);
 
         //下发数据
-        boolean b = sendCarTask(sendDataList, deviceSrgv);
+        boolean b = true;// sendCarTask(sendDataList, deviceSrgv);
         if (b) {
             wcsSrgvQueue.setPathInfo(pathBuilder.toString());
             wcsSrgvQueue.setTrunPath(turnBuilder.toString());

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

@@ -11,6 +11,7 @@ import com.ruoyi.bas.cargospace.service.IBasCargoSpaceService;
 import com.ruoyi.bas.port.domain.WcsPort;
 import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.common.domain.SendData;
+import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
 import com.ruoyi.device.tsj.domain.DeviceTsj;
 import com.ruoyi.device.tsj.service.IDeviceTsjService;
@@ -35,17 +36,15 @@ public class TsjThread implements Runnable {
 
     private ITsjDeviceExecutionQueueService tsjDeviceExecutionQueueService;
     private ITsjDeviceExecutionQueueFinishService tsjDeviceExecutionQueueFinishService;
-    private IDeviceTsjService deviceTsjService;
-
-    private IMydoJobService mydoJobService;
-
     private IWcsPortService wcsPortService;
-    private IBasCargoSpaceService basCargoSpaceService;
-
     private IWcsSrgvQueueService wcsSrgvQueueService;
 
 
     public void init() {
+        tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class);
+        tsjDeviceExecutionQueueFinishService = SpringUtils.getBean(ITsjDeviceExecutionQueueFinishService.class);
+        wcsPortService = SpringUtils.getBean(IWcsPortService.class);
+        wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
     }
 
     @Override

ruoyi-admin/src/main/resources/mapper/bas/WcsSrgvMapMapper.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.bas.srgvmap.mapper.WcsSrgvMapMapper">
-    
+
     <resultMap type="WcsSrgvMap" id="WcsSrgvMapResult">
         <result property="guid"    column="guid"    />
         <result property="x"    column="x"    />
@@ -35,7 +35,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectWcsSrgvMapList" parameterType="WcsSrgvMap" resultMap="WcsSrgvMapResult">
         <include refid="selectWcsSrgvMapVo"/>
-        <where>  
+        <where>
             <if test="guid != null  and guid != ''"> and guid = #{guid}</if>
             <if test="x != null "> and x = #{x}</if>
             <if test="y != null "> and y = #{y}</if>
@@ -57,9 +57,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="plcLayer != null "> and plc_layer = #{plcLayer}</if>
             <if test="warehouse != null  and warehouse != ''"> and warehouse = #{warehouse}</if>
             <if test="spaceArea != null  and spaceArea != ''"> and space_area = #{spaceArea}</if>
+            <if test="remark != null  and remark != ''"> and remark = #{remark}</if>
         </where>
     </select>
-    
+
     <select id="selectWcsSrgvMapByGuid" parameterType="String" resultMap="WcsSrgvMapResult">
         <include refid="selectWcsSrgvMapVo"/>
         where guid = #{guid}
@@ -155,9 +156,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </delete>
 
     <delete id="deleteWcsSrgvMapByGuids" parameterType="String">
-        delete from wcs_srgv_map where guid in 
+        delete from wcs_srgv_map where guid in
         <foreach item="guid" collection="array" open="(" separator="," close=")">
             #{guid}
         </foreach>
     </delete>
-</mapper>
+</mapper>