2026.3.18 晚

新增agv获取输送机接口

ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java

@@ -1,14 +1,22 @@
 package com.ruoyi.api.controller;
 
+import cn.hutool.json.JSONUtil;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
+import com.ruoyi.api.mapper.RequestLogMapper;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.api.service.impl.RequestLogServiceImpl;
+import com.ruoyi.common.annotation.RequestLog;
 import com.ruoyi.common.core.controller.BaseController;
 import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.device.ssj.domain.DeviceSsj;
+import com.ruoyi.job.domain.MydoJob;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
 
+import java.text.SimpleDateFormat;
+import java.util.Date;
 import java.util.Map;
 
 /**
@@ -18,13 +26,15 @@ import java.util.Map;
 @RequestMapping("/agv/api")
 @Slf4j
 public class AgvController extends BaseController {
-
+    @Autowired
+    private RequestLogServiceImpl requestLogService;
 
     @Autowired
     private IApiService apiService;
 
     /**
      * agv执行状态返回接口
+     *
      * @param request
      * @return
      */
@@ -34,15 +44,14 @@ public class AgvController extends BaseController {
     }
 
 
-
     /**
      * agv搬运作业
-     * @param param{
+     *
-     *             startPoint:起始点
+     * @param param{ startPoint:起始点
-     *             endPoint:结束点
+     *               endPoint:结束点
-     *             containerCode:容器编号
+     *               containerCode:容器编号
-     *             taskNo:任务号
+     *               taskNo:任务号
-     * }
+     *               }
      * @return
      */
     @PostMapping("/receiveAgvMoveJob")
@@ -50,4 +59,26 @@ public class AgvController extends BaseController {
         return apiService.receiveAgvMoveJob(param);
     }
 
+    // agv 获取请求获取输送机空闲信号
+    @PostMapping("/getDeviceMsg")
+    @RequestLog
+    public AjaxResult getDeviceMsg(@RequestBody Map<String, String> param) {
+        DeviceSsj ssj = apiService.getDeviceMsg(param.get("taskNo"));
+        com.ruoyi.api.domain.RequestLog requestLog = new com.ruoyi.api.domain.RequestLog();
+        requestLog.setRequestBody(JSONUtil.toJsonStr(param));
+        requestLog.setRequestMethod("getDeviceMsg");
+        requestLog.setIsSuccessful("1");
+        requestLog.setRequestTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+        requestLog.setRequestUrl("http://192.168.188.236:8081/agv/api/getDeviceMsg");
+        requestLog.setRequestMethod("post");
+        requestLog.setSourceSystem("agv");
+        requestLog.setTargetSystem("wcs");
+        requestLog.setEndpoint("获取输送机信号");
+        requestLog.setResponseBody(JSONUtil.toJsonStr(AjaxResult.success(ssj)));
+        requestLog.setResponseStatus("1");
+        requestLogService.insertRequestLog(requestLog);
+        return AjaxResult.success(ssj);
+    }
+
+
 }

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

@@ -12,6 +12,7 @@ import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRespons
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.device.ssj.domain.DeviceSsj;
 import com.ruoyi.job.domain.MydoJob;
 import com.ruoyi.queue.agv.domain.AgvQueue;
 
@@ -136,4 +137,8 @@ public interface IApiService
     AjaxResult allotSpace(JobParam jobParam);
 
     AjaxResult JobFinish(Map<String, Object> param);
+
+    DeviceSsj getDeviceMsg(String taskNo);
+
+    DeviceSsj getDeviceMsgSsj(String entranceId);
 }

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

@@ -20,6 +20,8 @@ import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.utils.DateUtils;
+import com.ruoyi.device.ssj.domain.DeviceSsj;
+import com.ruoyi.device.ssj.service.IDeviceSsjService;
 import com.ruoyi.job.domain.MydoJob;
 import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.agv.domain.AgvQueue;
@@ -51,6 +53,8 @@ public class ApiServiceImpl implements IApiService {
     private IAgvQueueService agvQueueService;
     @Autowired
     private IMydoJobService mydoJobService;
+    @Autowired
+    private IDeviceSsjService deviceSsjService;
 
 
 
@@ -447,4 +451,21 @@ public class ApiServiceImpl implements IApiService {
 
 
     }
+
+    @Override
+    public DeviceSsj getDeviceMsg(String taskNo) {
+        MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(taskNo));
+        DeviceSsj ssj = new DeviceSsj();
+        ssj.setDeviceCode(mydoJob.getEntranceId());
+        List<DeviceSsj> deviceSsjs = deviceSsjService.selectDeviceSsjList(ssj);
+        return deviceSsjs.get(0);
+    }
+
+    @Override
+    public DeviceSsj getDeviceMsgSsj(String entranceId) {
+        DeviceSsj ssj = new DeviceSsj();
+        ssj.setDeviceCode(entranceId);
+        List<DeviceSsj> deviceSsjs = deviceSsjService.selectDeviceSsjList(ssj);
+        return deviceSsjs.get(0);
+    }
 }

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

@@ -2,6 +2,7 @@ package com.ruoyi.queue.srgv.mapper;
 
 import java.util.List;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 四向小车任务队列Mapper接口

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

@@ -309,7 +309,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 minXDistance = currentXDistance;
                                 bestSrgv = srgv;
                                 log.info("楼层相等，找到更近小车(Y轴更优) Y距离{} X距离{} srgv:{}", currentYDistance, currentXDistance, srgv);
-                            } else if (currentYDistance == minYDistance) {
+                            }
+                            if (currentYDistance == minYDistance) {
                                 // 情况2：Y轴距离相同，比较X轴距离
                                 if (currentXDistance < minXDistance) {
                                     minXDistance = currentXDistance;
@@ -569,7 +570,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 minXDistance = currentXDistance;
                                 bestSrgv = srgv;
                                 log.info("楼层相等，找到更近小车(Y轴更优) Y距离{} X距离{} srgv:{}", currentYDistance, currentXDistance, srgv);
-                            } else if (currentYDistance == minYDistance) {
+                            }
+                            if (currentYDistance == minYDistance) {
                                 // 情况2：Y轴距离相同，比较X轴距离
                                 if (currentXDistance < minXDistance) {
                                     minXDistance = currentXDistance;
@@ -1465,7 +1467,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     case "2":
                         MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
                         if (mydoJobOut != null && (cargoPlaceSite.equals(currSite))) {
-                            log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]",wcsSrgvQueue.getTaskNo(),currSite,cargoPlaceSite);
+                            log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]", wcsSrgvQueue.getTaskNo(), currSite, cargoPlaceSite);
                             JobCallBack jobCallBack = new JobCallBack();
                             jobCallBack.setType(wcsSrgvQueue.getDefault02());
                             jobCallBack.setMydojobId(mydoJobOut.getJobId());
@@ -1513,16 +1515,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 {
                     wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                 }
-              // 如果是空车且 任务是点到点并且目标点是“070301”
+                // 如果是空车且 任务是点到点并且目标点是“070301”
-            }else if ("1".equals(taskType)&&wcsSrgvQueue.getDefault02().equals("4")&&wcsSrgvQueue.getEndSite().equals("070301")){
+            } else if ("1".equals(taskType) && wcsSrgvQueue.getDefault02().equals("4") && wcsSrgvQueue.getEndSite().equals("070301")) {
                 String endSite = "";
                 String xfType = "";
                 WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
                 WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
                 // 取货点地图和放货点地图不为空
                 if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
-                        //如果是同层，终点为取货点
+                    //如果是同层，终点为取货点
-                        endSite = cargoPickSite;
+                    endSite = cargoPickSite;
                     // 更新目标点，修改执行队列
                     wcsSrgvQueue.setEndSite(endSite);
                     wcsSrgvQueue.setDefault02("4");