小车

ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/mapper/WcsSrgvMapMapper.java

@@ -19,6 +19,10 @@ public interface WcsSrgvMapMapper
      */
     public WcsSrgvMap selectWcsSrgvMapByGuid(String guid);
 
+
+
+    public WcsSrgvMap selectWcsSrgvMapBySiteId(String siteId);
+
     /**
      * 查询小车点位地图表列表
      * 

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

@@ -19,6 +19,10 @@ public interface IWcsSrgvMapService
      */
     public WcsSrgvMap selectWcsSrgvMapByGuid(String guid);
 
+
+
+    public WcsSrgvMap selectWcsSrgvMapBySiteId(String siteId);
+
     /**
      * 查询小车点位地图表列表
      * 

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

@@ -31,6 +31,11 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
         return wcsSrgvMapMapper.selectWcsSrgvMapByGuid(guid);
     }
 
+    @Override
+    public WcsSrgvMap selectWcsSrgvMapBySiteId(String siteId) {
+        return wcsSrgvMapMapper.selectWcsSrgvMapBySiteId(siteId);
+    }
+
     /**
      * 查询小车点位地图表列表
      * 

ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java

@@ -89,4 +89,6 @@ public class MydoJob extends BaseEntity
     private String trayCode;
 
     private String inOut;
+
+    private String theFloor;
 }

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

@@ -23,6 +23,9 @@ public interface WcsSrgvQueueMapper
     public WcsSrgvQueue selectWcsSrgvQueueByTaskNo(String taskNo);
 
 
+    public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
+
+
     /**
      * 查询四向小车任务队列列表
      * 

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

@@ -22,6 +22,8 @@ public interface IWcsSrgvQueueService
 
     public WcsSrgvQueue selectWcsSrgvQueueByTaskNo(String taskNo);
 
+    public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
+
 
     /**
      * 查询四向小车任务队列列表

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

@@ -45,6 +45,11 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
         return wcsSrgvQueueMapper.selectWcsSrgvQueueByTaskNo(taskNo);
     }
 
+    @Override
+    public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId) {
+        return wcsSrgvQueueMapper.selectWcsSrgvQueueByAgvId(agvId);
+    }
+
     /**
      * 查询四向小车任务队列列表
      *

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

@@ -25,6 +25,7 @@ import lombok.extern.slf4j.Slf4j;
 
 import java.text.SimpleDateFormat;
 import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
 import java.util.stream.Collectors;
 
 @Slf4j
@@ -32,7 +33,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     public boolean isRun = true;
 
-    public HashMap<String, List<DeviceSrgv>> sRgvCodeList;
+    public HashMap<String, List<String>> sRgvCodeList;
 
     public HashMap<String, List<String>> ssjCodeList;
 
@@ -51,12 +52,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     public RoadCacheService roadCacheService;
 
 
-
     public void init() {
-        ArrayList<String> ssjCodes1 = new ArrayList<>();
-        ssjCodes1.add("L1004");
-        ssjCodes1.add("L1005");
-        ssjCodeList.put("road", ssjCodes1);
+        sRgvCodeList = new HashMap<>();
+        ArrayList<String> sRgvCodes = new ArrayList<>();
+        sRgvCodes.add("1");
+        sRgvCodes.add("2");
+        sRgvCodes.add("3");
+        sRgvCodeList.put("srgv", sRgvCodes);
     }
 
     @Override
@@ -64,28 +66,33 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         init();
         while (isRun) {
-            for (String code : sRgvCodeList.keySet()) {
 
-                for (DeviceSrgv deviceSrgv : sRgvCodeList.get(code)) {
-                    try {
-                        if (ObjUtil.isNotNull(deviceSrgv)) {
+
+            for (String code : sRgvCodeList.get("srgv")) {
+
+                try {
+                    if (PlcSrgvRead.deviceSrgvMap.containsKey(code)) {
+                        if (ObjUtil.isNotNull(PlcSrgvRead.deviceSrgvMap.get(code))) {
+
+                            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(code);
                             //循环所有楼层
                             for (int i = 1; i <= 8; i++) {
                                 sRgvTask(deviceSrgv, i);
                             }
 
-                            createCarInQueue(deviceSrgv);
+                            createCarInQueue();
 
                             createCarOutQueue();
 
                         } else {
                             log.error("堆垛机设备为空");
                         }
-                    } catch (RuntimeException e) {
-                        log.error(e.getMessage(), e);
                     }
-
+                } catch (RuntimeException e) {
+                    log.error(e.getMessage(), e);
                 }
+
+
             }
 
 
@@ -100,12 +107,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     /**
      * 四向小车任务处理
      */
-    private void sRgvTask(DeviceSrgv deviceSrgv,int floor) {
+    private void sRgvTask(DeviceSrgv deviceSrgv, int floor) {
         //处理队列下发
-        resQueue(deviceSrgv,floor);
+        resQueue(deviceSrgv, floor);
 
         //小车完成队列
-        completeCarTask(deviceSrgv,floor);
+        completeCarTask(deviceSrgv, floor);
 
         //小车发送任务
         sendTask(deviceSrgv, floor);
@@ -121,72 +128,83 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     }
 
 
-
     /**
      * 生成入库小车队列
      */
-    private void createCarInQueue(DeviceSrgv deviceSrgv) {
+    private void createCarInQueue() {
         MydoJob mydoJob = new MydoJob();
         mydoJob.setExecutionPhase("2");
-        List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob);
-        if(!mydoJobs.isEmpty()){
+        mydoJob.setInOut("1");
+        List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
+        if (!mydoJobs.isEmpty()) {
             MydoJob mydoJob1 = mydoJobs.get(0);
             // 查询是否有已下发的该任务号队列
-
             WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
-            if(wcsSrgvQueue1==null){
+            if (wcsSrgvQueue1 == null) {
+                ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
+                List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream().filter(deviceSrgv -> deviceSrgv.getStatus() == 1 && deviceSrgv.getWorkMode() == 4).collect(Collectors.toList());
+                if (!deviceSrgvList.isEmpty()) {
+                    DeviceSrgv deviceSrgv =null;
+                    for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
+                        WcsSrgvQueue wcsSrgvQueue = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
+                        if (wcsSrgvQueue == null) {
+                            //如果有currFloor等于mydoJob1的theFloor的就选择，如果没有选择deviceSrgvList中currFloor最小的
+                            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()) {
+                                deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
+                            }
 
-            //查询1楼是否有空闲联机自动的小车,且1楼小车不在入库站点
-            String endSite="";
-            String xfType="";
+                        }else{
+                            return;
+                        }
+                    }
 
-            WcsPort wcsPort = new WcsPort();
-            wcsPort.setPortType("4");
-            wcsPort.setPortRegion("1");
-            wcsPort.setPortCode(mydoJob1.getEntranceId());
-            List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPort);
-            //取货地址
-            String cargoPickSite=wcsPorts.get(0).getSpare4();
 
-            if(deviceSrgv.getCurrFloor()==1 && deviceSrgv.getWorkMode()==4 && deviceSrgv.getStatus()==1 && !cargoPickSite.equals(deviceSrgv.getCurrSite())){
-                //终点是巷道口到位输送线
-                endSite=cargoPickSite;
-                xfType="4";
-            }else if(deviceSrgv.getCurrFloor()!=1 && deviceSrgv.getWorkMode()==4 && deviceSrgv.getStatus()==1){
-                //终点是提升机口
-                WcsPort wcsPort1 = new WcsPort();
-                wcsPort1.setPortType("1");
-                wcsPort1.setPortRegion(deviceSrgv.getCurrFloor().toString());
-                List<WcsPort> wcsPorts1 = wcsPortService.selectWcsPortList(wcsPort1);
-                endSite=wcsPorts1.get(0).getSpare4();
-                xfType="8";
-            }else{
-                return;
-            }
+                    //查询1楼是否有空闲联机自动的小车,且1楼小车不在入库站点
+                    String endSite = "";
+                    WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+                    wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
+                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
+                    //取货地址
+                    String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
 
-            //生成小车取货队列
-            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
-            wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
-            wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
-            wcsSrgvQueue.setTaskType("1");
-            wcsSrgvQueue.setPriority(Long.parseLong("2"));
-            wcsSrgvQueue.setCargo("1");
-            wcsSrgvQueue.setIssued("0");
-            wcsSrgvQueue.setExecutionStatus("1");
-            wcsSrgvQueue.setCargoPickSite(cargoPickSite);
-            WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
-            wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
-            List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps.get(0).getSiteId());
-            wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
-            wcsSrgvQueue.setEndSite(endSite);
-            wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
-            wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-            wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
-            wcsSrgvQueue.setDefault02(xfType);
-            wcsSrgvQueue.setDefault07("1");
-            wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
+                    if (deviceSrgv.getCurrFloor() == 1 && !cargoPickSite.equals(deviceSrgv.getCurrSite())) {
+                        //终点是巷道口到位输送线
+                        endSite = cargoPickSite;
 
+                    } else if (deviceSrgv.getCurrFloor() != 1 ) {
+                        //终点是提升机
+                        endSite = "tsj";
+                    } else {
+                        return;
+                    }
+
+                    //生成小车取货队列
+                    WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
+                    wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
+                    wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
+                    wcsSrgvQueue.setTaskType("1");
+                    wcsSrgvQueue.setPriority(Long.parseLong("2"));
+                    wcsSrgvQueue.setCargo("1");
+                    wcsSrgvQueue.setIssued("0");
+                    wcsSrgvQueue.setExecutionStatus("1");
+                    wcsSrgvQueue.setCargoPickSite(cargoPickSite);
+                    WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
+                    wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
+                    List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
+                    wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
+                    wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
+                    wcsSrgvQueue.setEndSite(endSite);
+                    wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
+                    wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                    wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
+                    wcsSrgvQueue.setDefault02("4");
+                    wcsSrgvQueue.setDefault07("1");
+                    wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
+
+                }
             }
         }
 
@@ -205,7 +223,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         }
         for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) {
             String agvId = wcsSrgvQueue.getAgvId();
-            if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getAllowSend() == 1) {
+            if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) {
                 String startSite = wcsSrgvQueue.getStartSite();
                 String endSite = wcsSrgvQueue.getEndSite();
                 String currSite = deviceSrgv.getCurrSite();
@@ -679,21 +697,22 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     /**
      * 小车完成队列
      */
-    private void completeCarTask(DeviceSrgv deviceSrgv,int floor) {
-        if (deviceSrgv.getWorkMode()==5){
+    private void completeCarTask(DeviceSrgv deviceSrgv, int floor) {
+        //联机自动
+        if (deviceSrgv.getWorkMode() == 4) {
             //22到达充电位置 23到达换层目标
-            if (deviceSrgv.getStatus() == 1 || (deviceSrgv.getStatus() == 2 && (deviceSrgv.getWorkPhase() == 22 || deviceSrgv.getWorkPhase() == 23))) {
+            if (deviceSrgv.getStatus() == 1) {
                 WcsSrgvQueue param = new WcsSrgvQueue();
                 param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
                 param.setEndSite(deviceSrgv.getCurrSite());//目标点
                 param.setIssued("1");
-                param.setExecutionStatus("1");//
+                param.setExecutionStatus("3");
                 List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(param);//查询到达目标的
                 if (CollUtil.isNotEmpty(wcsSagvQueues)) {
                     WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0);
 
                     /*
-                     * 1、处理终点是提升机站点的四向车
+                     * 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
                      * */
                     boolean taskFinishFlag = finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue, floor);
@@ -719,56 +738,91 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     /**
      * 队列完成
+     *
      * @param currSite
      * @param wcsSrgvQueue
      * @param floor
      * @return
      */
     private boolean finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue, int floor) {
-        int result = 0;
+
 
         //当前在放货站点
-        if(Objects.equals(currSite,wcsSrgvQueue.getEndSite())){
-            //如果，放货站点是提升机，记录提升机中转点
-            WcsPort wcsPort=new WcsPort();
-            wcsPort.setSpare4(currSite);
-            List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPort);
-            if(!wcsPorts.isEmpty()){
-               for(WcsPort wcsPort1:wcsPorts){
-                   //出库任务、移库出库任务
-                   WcsPort wcsPort2 = new WcsPort();
-                   wcsPort2.setId(wcsPort1.getId());
-                   wcsPort2.setStatus("1");//占用
-                   wcsPort2.setSpare1(wcsSrgvQueue.getTaskNo());//任务号
+        if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) {
+            String taskType = wcsSrgvQueue.getTaskType();
+            String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
+            String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
 
-                   wcsPort2.setSpare5("2");//出库 默认
-                   //换层移库的货
+            //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
 
-                    if("21".equals(wcsSrgvQueue.getDefault05())){
-                        //12代表换层移库的托盘
-                        wcsPort2.setSpare5("4");//换层
-//                        wcsTransitPoint1.setProductType("2");
+                //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 = "";
+
+                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;
+                    } else {
+                        //不同层，终点为提升机
+                        endSite = "tsj";
                     }
-                    int i=wcsPortService.updateWcsPort(wcsPort2);
+
+                    if ("L1004".equals(wcsSrgvMapq.getRemark()) || "L1005".equals(wcsSrgvMapq.getRemark())) {
+                        xfType = "1";//入库
+                    } else {
+                        if ("L1004".equals(wcsSrgvMapf.getRemark()) || "L1005".equals(wcsSrgvMapf.getRemark())) {
+                            xfType = "2";//出库
+                        } else {
+                            xfType = "7";//移库
+                        }
+                    }
+                    wcsSrgvQueue.setExecutionStatus("4");
+                    wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                    wcsSrgvQueue.setStartSite(currSite);
+                    wcsSrgvQueue.setEndSite(endSite);
+                    wcsSrgvQueue.setDefault02(xfType);
+                    wcsSrgvQueue.setTheFloor(wcsSrgvMapq.getTheLayer().toString());
+                    wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
+                    wcsSrgvQueue.setIssued("0");
+                    wcsSrgvQueue.setExecutionStatus("1");
+                    wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+
+                }
+
+            } else if ("2".equals(taskType) && cargoPlaceSite.equals(currSite)) {
+                //判断对列的任务类型
+                switch (wcsSrgvQueue.getDefault02()) {
+                    case "1"://入库，插库存，
+                        //请求wms生成库存
+
+                        break;
+                    case "7"://移库，变动库存，删除队列，插入历史表
 
 
-               }
-
-            }else if(Objects.equals(currSite,wcsSrgvQueue.getEndSite()) && "2".equals(wcsSrgvQueue.getDefault02())){
-                //同层移库
-                String default02 = wcsSrgvQueue.getDefault02();
-                if(Objects.equals(default02,"4")){
-               //todo 完成队列，处理货位
+                        break;
+                    default:
+                        break;
                 }
 
 
+            } else {
+
             }
+
+
         }
         return false;
     }
 
     /**
      * 队列处理
+     *
      * @param deviceSrgv
      */
     private void resQueue(DeviceSrgv deviceSrgv, int floor) {
@@ -776,7 +830,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         String currSite = deviceSrgv.getCurrSite();
         Integer deviceId = deviceSrgv.getDeviceId();
 
-        if (taskNo>999 && !"000000".equals(currSite)){
+        if (taskNo > 999 && !"000000".equals(currSite)) {
             WcsSrgvQueue param = new WcsSrgvQueue();
             param.setTheFloor(Convert.toStr(floor));
             param.setTaskNo(Convert.toStr(taskNo));
@@ -789,7 +843,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
                 String startSite = wcsSrgvQueue.getStartSite();
 
-                if (!startSite.equals(currSite)){
+                if (!startSite.equals(currSite)) {
                     wcsSrgvQueue.setIssued("1");
                     wcsSrgvQueue.setStartDate(DateUtil.now());
                     wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);

ruoyi-admin/src/main/resources/mapper/bas/WcsSrgvMapMapper.xml

@@ -65,6 +65,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where guid = #{guid}
     </select>
 
+    <select id="selectWcsSrgvMapBySiteId" parameterType="String" resultMap="WcsSrgvMapResult">
+        <include refid="selectWcsSrgvMapVo"/>
+        where site_id = #{siteId}
+    </select>
+
     <insert id="insertWcsSrgvMap" parameterType="WcsSrgvMap">
         insert into wcs_srgv_map
         <trim prefix="(" suffix=")" suffixOverrides=",">

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

@@ -22,13 +22,14 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="exitId"    column="exit_id"    />
         <result property="warehouseId"    column="warehouse_id"    />
         <result property="faultFlag"    column="fault_flag"    />
+        <result property="theFloor"    column="the_floor"    />
     </resultMap>
 
     <sql id="selectMydoJobVo">
-        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag from mydo_job_wcs
+        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor from mydo_job_wcs
     </sql>
     <sql id="selectMydoJobFinishVo">
-        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag from mydo_job_wcs_finish
+        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor from mydo_job_wcs_finish
     </sql>
 
     <select id="selectMydoJobList" parameterType="MydoJob" resultMap="MydoJobResult">
@@ -49,6 +50,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
             <if test="faultFlag != null  and faultFlag != ''"> and fault_flag = #{faultFlag}</if>
+            <if test="theFloor != null  and theFloor != ''"> and the_floor = #{theFloor}</if>
+
         </where>
     </select>
 
@@ -79,7 +82,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
               )}
     </select>
     <select id="selectMydoJobByExitList" resultMap="MydoJobResult">
-        select TOP 1 job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag from mydo_job_wcs
+        select TOP 1 job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor from mydo_job_wcs
         where exit_id in
         <foreach item="item" index="index" collection="exitList" separator="," open="(" close=")">
             #{item}
@@ -109,6 +112,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="exitId != null">exit_id,</if>
             <if test="warehouseId != null">warehouse_id,</if>
             <if test="faultFlag != null">fault_flag,</if>
+            <if test="theFloor != null">the_floor,</if>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
             <if test="jobId != null">#{jobId},</if>
@@ -128,6 +132,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="exitId != null">#{exitId},</if>
             <if test="warehouseId != null">#{warehouseId},</if>
             <if test="faultFlag != null">#{faultFlag},</if>
+            <if test="theFloor != null">#{theFloor},</if>
          </trim>
     </insert>
     <insert id="insertHistory">
@@ -154,6 +159,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="exitId != null">exit_id = #{exitId},</if>
             <if test="warehouseId != null">warehouse_id = #{warehouseId},</if>
             <if test="faultFlag != null">fault_flag = #{faultFlag},</if>
+            <if test="theFloor != null">the_floor = #{theFloor},</if>
         </trim>
         where job_id = #{jobId}
     </update>
@@ -190,10 +196,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
             <if test="faultFlag != null  and faultFlag != ''"> and fault_flag = #{faultFlag}</if>
              <if test="jobId != null  and jobId != ''"> and job_id = #{jobId}</if>
+             <if test="theFloor != null  and theFloor != ''"> and the_floor = #{theFloor}</if>
         </where>
     </select>
     <select id="selectMydoJobByEntranceList"  resultMap="MydoJobResult">
-        select TOP 1 job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag from mydo_job_wcs
+        select TOP 1 job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor from mydo_job_wcs
         where entrance_id in
         <foreach item="item" index="index" collection="entranceList" separator="," open="(" close=")">
             #{item}
@@ -219,10 +226,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
             <if test="faultFlag != null  and faultFlag != ''"> and fault_flag = #{faultFlag}</if>
+            <if test="theFloor != null  and theFloor != ''"> and the_floor = #{theFloor}</if>
         </where>
     </select>
     <select id="selectRunningMydoJobByExitList" resultMap="MydoJobResult">
-        select TOP 1 job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag from mydo_job_wcs
+        select TOP 1 job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor from mydo_job_wcs
         where exit_id in
         <foreach item="item" index="index" collection="exitList" separator="," open="(" close=")">
             #{item}

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

@@ -78,6 +78,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where task_no = #{taskNo}
     </select>
 
+    <select id="selectWcsSrgvQueueByAgvId" parameterType="String" resultMap="WcsSrgvQueueResult">
+        <include refid="selectWcsSrgvQueueVo"/>
+        where agv_id = #{AgvId}
+    </select>
+
     <insert id="insertWcsSrgvQueue" parameterType="WcsSrgvQueue">
         insert into wcs_srgv_queue
         <trim prefix="(" suffix=")" suffixOverrides=",">