Merge remote-tracking branch 'origin/main'

# Conflicts:
#	ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java
#	ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java
#	ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
#	ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/RequestLogServiceImpl.java
#	ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java
#	ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java
#	ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java
#	ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java
#	ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java
#	ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java
#	ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java
#	ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/cdz/PlcCdzRead.java
#	ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java
#	ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java
#	ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java
#	ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
#	ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java
#	ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java
#	ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml
#	ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml

pom.xml

@@ -37,7 +37,7 @@
         <spring-framework.version>5.3.39</spring-framework.version>
         <hutool.version>5.8.27</hutool.version>
         <lombok.version>1.18.30</lombok.version>
-        <HslCommunication.version>3.7.0</HslCommunication.version>
+        <HslCommunication.version>2.0.0</HslCommunication.version>
         <mybatis-plus.version>3.5.2</mybatis-plus.version>
 
     </properties>

ruoyi-admin/src/main/java/com/ruoyi/MyStartupRunner.java

@@ -0,0 +1,21 @@
+package com.ruoyi;
+
+import com.ruoyi.schedule.ScheduleThread;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.CommandLineRunner;
+import org.springframework.stereotype.Component;
+
+@Component
+public class MyStartupRunner implements CommandLineRunner {
+
+    @Autowired
+    private ScheduleThread scheduleThread;
+
+    @Override
+    public void run(String... args) throws Exception {
+        // 这里编写项目启动后要执行的方法逻辑
+        //System.out.println("项目启动成功后自动执行此方法");
+//        scheduleThread.startAllThread();
+//        scheduleThread.startAllThread2();
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/algorithm/controller/TidyController.java

@@ -0,0 +1,30 @@
+package com.ruoyi.algorithm.controller;
+
+import java.util.Map;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import com.ruoyi.algorithm.service.ITidyService;
+import com.ruoyi.common.core.domain.AjaxResult;
+
+@RestController
+@RequestMapping("/algorithm/tidy")
+public class TidyController {
+    @Autowired
+    private ITidyService tidyService;
+
+    @PreAuthorize("@ss.hasPermi('algorithm:tidy:query')")
+    @GetMapping("/status")
+    public AjaxResult status() { return AjaxResult.success(tidyService.getStatus()); }
+
+    @PreAuthorize("@ss.hasPermi('algorithm:tidy:edit')")
+    @PutMapping("/mode")
+    public AjaxResult mode(@RequestBody Map<String, String> body) {
+        try { return AjaxResult.success(tidyService.updateMode(body == null ? null : body.get("mode"))); }
+        catch (IllegalArgumentException ex) { return AjaxResult.error(ex.getMessage()); }
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/algorithm/service/ITidyService.java

@@ -0,0 +1,8 @@
+package com.ruoyi.algorithm.service;
+
+import java.util.Map;
+
+public interface ITidyService {
+    Map<String, Object> getStatus();
+    Map<String, Object> updateMode(String mode);
+}

ruoyi-admin/src/main/java/com/ruoyi/algorithm/service/impl/TidyServiceImpl.java

@@ -0,0 +1,29 @@
+package com.ruoyi.algorithm.service.impl;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+import java.util.concurrent.atomic.AtomicReference;
+import org.springframework.stereotype.Service;
+import com.ruoyi.algorithm.service.ITidyService;
+
+@Service
+public class TidyServiceImpl implements ITidyService {
+    private final AtomicReference<String> mode = new AtomicReference<>("AUTO");
+
+    @Override
+    public Map<String, Object> getStatus() {
+        Map<String, Object> result = new LinkedHashMap<>();
+        result.put("mode", mode.get());
+        result.put("enabled", true);
+        return result;
+    }
+
+    @Override
+    public Map<String, Object> updateMode(String requestedMode) {
+        if (requestedMode == null || !("AUTO".equalsIgnoreCase(requestedMode) || "MANUAL".equalsIgnoreCase(requestedMode))) {
+            throw new IllegalArgumentException("mode must be AUTO or MANUAL");
+        }
+        mode.set(requestedMode.toUpperCase());
+        return getStatus();
+    }
+}

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

@@ -1,31 +1,43 @@
 package com.ruoyi.api.controller;
 
+import cn.hutool.json.JSONObject;
+import com.mchange.v2.lang.ObjectUtils;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.controller.BaseController;
 import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.queue.agv.service.impl.AgvQueueServiceImpl;
+import com.ruoyi.system.domain.AgvContainerTask;
+import com.ruoyi.system.mapper.AgvContainerTaskMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.web.bind.annotation.*;
 
+import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
 
 /**
  * Agv操作请求
  */
 @RestController
-@RequestMapping("/agv/api")
+@RequestMapping("/api/agv")
 @Slf4j
 public class AgvController extends BaseController {
 
 
     @Autowired
     private IApiService apiService;
+    @Autowired
+    private AgvQueueServiceImpl agvQueueService;
+    @Autowired
+    private AgvContainerTaskMapper agvContainerTaskMapper;
 
     /**
      * agv执行状态返回接口
+     *
      * @param request
      * @return
      */
@@ -35,11 +47,10 @@ 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
      *               containerCode:容器编号
      *               taskNo:任务号
@@ -47,13 +58,101 @@ public class AgvController extends BaseController {
      * @return
      */
     @PostMapping("/receiveAgvMoveJob")
-    public int receiveAgvMoveJob(@RequestBody Map<String, String> param) {
+    public AjaxResult receiveAgvMoveJob(@RequestBody Map<String, String> param) {
         return apiService.receiveAgvMoveJob(param);
     }
 
-//@Scheduled(cron = "0/5 * * * * ?")
+
-    public void sendAgvTask(){
+    /**
-        apiService.sendAgvTask();
+     * 获取AGV任务定时器
+     */
+
+    @Scheduled(fixedDelay = 5000)
+    public void queryAgvMoveJob() {
+        apiService.sendContarTask();
+    }
+
+    @Scheduled(fixedDelay = 5000)
+    public void finishAgvMoveJob() {
+       AgvContainerTask agvContainerTask= agvContainerTaskMapper.selectAgvContainerFinishOne();
+       if (agvContainerTask!=null){
+           apiService.finishAgvJob(agvContainerTask.getContainer());
+       }
+
+    }
+
+
+    /**任务下发
+     *
+     */
+    @Scheduled(fixedDelay = 1000)
+    public void sendAgvMoveJob() {
+        AgvContainerTask agvContainerTask = new AgvContainerTask();
+        agvContainerTask.setStatus("0");
+        List<AgvContainerTask> agvContainerTasks = agvContainerTaskMapper.selectAgvContainerTaskList(agvContainerTask);
+        if (agvContainerTasks.size() > 0) {
+            AgvContainerTask agvContainerTask1 = agvContainerTasks.get(0);
+            Map<String, String> param = new HashMap<>();
+            param.put("FromStation", agvContainerTask1.getStartPoint());
+            param.put("ToStation", agvContainerTask1.getEndPoint());
+            param.put("Type", agvContainerTask1.getSpare1());
+            param.put("OrderId", agvContainerTask1.getContainer());
+//            param.put("TaskGuideId", agvContainerTask1.getTaskNo());
+            AjaxResult ajaxResult = apiService.sendAgvCar(param);
+            Integer code = (Integer) ajaxResult.get("code");
+            if (200 == code) {
+                agvContainerTask1.setStatus("1");
+                agvContainerTaskMapper.updateAgvContainerTask(agvContainerTask1);
+            }
+        }
+    }
+
+
+    /***
+     * 请求取货放货接口
+     * @param jsonObject
+     * @return
+     */
+    @RequestMapping("/checkAllow")
+    public AjaxResult checkAllow(@RequestBody JSONObject jsonObject) {
+        // 取放货站点
+        String requestStation = String.valueOf(jsonObject.get("requestStation"));
+        // 表内主键
+        String orderId = String.valueOf(jsonObject.get("orderId"));
+        String Type = String.valueOf(jsonObject.get("type"));
+
+        HashMap<String, Object> map = new HashMap<>();
+        map.put("v_position", requestStation);
+        map.put("v_orderId", orderId);
+        map.put("v_type", Type);
+        agvQueueService.selectKx(map);
+        Integer vResult = (Integer) map.get("v_result");
+        if (vResult == 1) {
+            return new AjaxResult(1, Type.equals("1") ? "允许取货" : "允许放货");
+        } else {
+            return new AjaxResult(0, Type.equals("1") ? "不允许取货，请等待" : "不允许放货，请等待");
+        }
+    }
+
+
+    /**
+     * 取货放货完成返回接口
+     *
+     * @param jsonObject
+     * @return
+     */
+    @RequestMapping("/completionSignal")
+    public AjaxResult completionSignal(@RequestBody JSONObject jsonObject) {
+
+        String orderId = String.valueOf(jsonObject.get("orderId"));
+        String Type = String.valueOf(jsonObject.get("type"));
+
+
+        agvContainerTaskMapper.updateAgvContainerTaskByOrder(orderId);
+//        agvContainerTaskMapper.insertAgvContainerTaskFinish(orderId);
+//        agvContainerTaskMapper.deleteAgvContainerTaskByContainer(orderId);
+
+        return new AjaxResult(1, "返回成功");
     }
 
 

ruoyi-admin/src/main/java/com/ruoyi/api/controller/Wcs2WmsController.java

@@ -1,10 +1,12 @@
 package com.ruoyi.api.controller;
 
+import cn.hutool.json.JSONObject;
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
@@ -51,6 +53,13 @@ public class Wcs2WmsController {
         return apiService.cancelMydoJob(jobParam);
     }
 
+    /** Return a read-only snapshot of all S-RGV vehicles. */
+    @PostMapping("/tidyVehicleSnapshot")
+    public AjaxResult tidyVehicleSnapshot() {
+        return apiService.tidyVehicleSnapshot();
+    }
+
+
 
 
 }

ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/SrgvVehicleSnapshot.java

@@ -0,0 +1,23 @@
+package com.ruoyi.api.domain.wcs2wms;
+
+import lombok.Data;
+
+/** Read-only vehicle status snapshot exposed to WMS. */
+@Data
+public class SrgvVehicleSnapshot {
+    private String guid;
+    private Integer deviceId;
+    private String deviceName;
+    private String agvStatus;
+    private Boolean online;
+    private Boolean healthy;
+    private Boolean idle;
+    private Integer taskNo;
+    private Integer alarm;
+    private Integer errMsg;
+    private Integer chargeFlag;
+    private Integer locked;
+    private Integer battery;
+    private String currSite;
+    private Integer currFloor;
+}

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

@@ -12,7 +12,6 @@ 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;
 
@@ -35,11 +34,11 @@ public interface IApiService
      * @param code1 起点
      * @param code2 终点
      * @param wmsTrayCode 容器码 托盘料箱码/容器码
-     * @param type mydojob 任务
+     * @param wmsTaskNo mydojob 任务
-     * @param jobId 1-入库 2-出库 3-agv搬运
+     * @param wmsTaskType 1-入库 2-出库 3-agv搬运
      * @return
      */
-    public int createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String type,String jobId);
+    public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String wmsTaskType,String traySize,String wmsTaskNo);
 
         /**
          * 取消AGV任务
@@ -77,9 +76,7 @@ public interface IApiService
      * @param param
      * @return
      */
-    int receiveAgvMoveJob(Map<String, String> param);
+    AjaxResult receiveAgvMoveJob(Map<String, String> param);
-
-    void sendAgvTask();
 
     /**
      * 任务到达拣选口
@@ -140,9 +137,19 @@ public interface IApiService
 
     AjaxResult JobFinish(Map<String, Object> param);
 
-    DeviceSsj getDeviceMsg(String taskNo);
-
-    DeviceSsj getDeviceMsgSsj(String entranceId);
-
     AjaxResult OutMakeSure(HashMap<String, Object> map);
+
+    void updateLed(HashMap<String, Object> objectObjectHashMap);
+
+    void updateLedError(HashMap<String, Object> objectObjectHashMap);
+
+    void sendContarTask();
+
+    AjaxResult sendAgvCar(Map<String, String> param);
+
+    AjaxResult insertAgvQuene(HashMap<String, Object> objectObjectHashMap);
+
+    void finishAgvJob(String container);
+
+    AjaxResult tidyVehicleSnapshot();
 }

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

@@ -77,4 +77,6 @@ public interface IRequestLogService
      * @return
      */
     public RequestLog getRequestLog(String url, String param);
+
+    public RequestLog getRequestLogs(String url, String param, String endPoint);
 }

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

@@ -17,15 +17,18 @@ import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRespons
 import com.ruoyi.api.domain.agv.genAgvSchedulingTask.PositionCodeData;
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
+import com.ruoyi.api.domain.wcs2wms.SrgvVehicleSnapshot;
+import com.ruoyi.device.srgv.domain.DeviceSrgv;
+import com.ruoyi.device.srgv.mapper.DeviceSrgvMapper;
 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;
 import com.ruoyi.queue.agv.service.IAgvQueueService;
+import com.ruoyi.system.domain.AgvContainerTask;
+import com.ruoyi.system.service.IAgvContainerTaskService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -54,8 +57,9 @@ public class ApiServiceImpl implements IApiService {
     @Autowired
     private IMydoJobService mydoJobService;
     @Autowired
-    private IDeviceSsjService deviceSsjService;
+    private IAgvContainerTaskService agvContainerTaskService;
-
+    @Autowired
+    private DeviceSrgvMapper deviceSrgvMapper;
 
 
     /**
@@ -66,22 +70,17 @@ public class ApiServiceImpl implements IApiService {
      */
     @Override
     public GenAgvSchedulingTaskResponse genAgvSchedulingTask(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
-        RequestLog requestLog = requestLogService.getRequestLogAgv(CREATE_AGV_TASK_URL, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
+        RequestLog requestLog = requestLogService.getRequestLog(GEN_AGV_SCHEDULING_TASK, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
         if ("1".equals(requestLog.getIsSuccessful())) {
-            GenAgvSchedulingTaskRequest bean = BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskRequest.class);
+            return BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskResponse.class);
-            GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
-            response.setCode(0);
-            response.setMessage("请求成功");
-            response.setReqCode(genAgvSchedulingTaskRequest.getOrderId());
-            return  response;
         } else {
             //todo 需要调试
             GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
             response.setCode(500);
             response.setMessage("请求失败");
             //todo 需要调试小车请求
-//            response.setCode(0);
+            response.setCode(0);
-//            response.setMessage("模拟测试");
+            response.setMessage("模拟测试");
             return response;
         }
     }
@@ -120,39 +119,18 @@ public class ApiServiceImpl implements IApiService {
      * @return
      */
     @Override
-    public int receiveAgvMoveJob(Map<String, String> param) {
+    public AjaxResult receiveAgvMoveJob(Map<String, String> param) {
         String startPoint = param.get("startPoint");
         String endPoint = param.get("endPoint");
-        String type = param.get("type");
+        String traySize = param.get("traySize");
-        String jobId = param.get("jobId");
+        String wmsTaskNo = param.get("wmsTaskNo");
 
-        int i = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), type,jobId);
+        AgvQueue agvQueue = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), "1", traySize, wmsTaskNo);
-
-        return i;
-//        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
-//        if (genAgvSchedulingTaskResponse.getCode() == 0) {
-//            return AjaxResult.success();
-//        }
-//        return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
-
-    }
-
-    @Override
-    public void sendAgvTask() {
-        AgvQueue agvQueue = agvQueueService.selectAgvQueueByStatus();
-        if (agvQueue != null) {
         GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
-
         if (genAgvSchedulingTaskResponse.getCode() == 0) {
-                agvQueue.setStatus("1");
+            return AjaxResult.success();
-                agvQueueService.updateAgvQueue(agvQueue);
-                agvQueueService.insertHistory(agvQueue.getReqCode());
-
-            }else{
-                agvQueue.setStatus("2");
-                agvQueueService.updateAgvQueue(agvQueue);
-            }
         }
+        return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
 
     }
 
@@ -168,10 +146,6 @@ public class ApiServiceImpl implements IApiService {
     }
 
 
-
-
-
-
     /**
      * 处理agv状态返回
      *
@@ -226,26 +200,24 @@ public class ApiServiceImpl implements IApiService {
     public AjaxResult cancelMydoJob(JobParam jobParam) {
 
         MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(jobParam.getTaskNo()));
-        if(mydoJob==null){
+        if (mydoJob == null) {
             return AjaxResult.error("任务不存在");
         }
-        if("1".equals(mydoJob.getStatus())){
+        if ("1".equals(mydoJob.getStatus())) {
             mydoJob.setStatus("5");
             mydoJobService.insertHistory(mydoJob.getJobId());
             mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
             return AjaxResult.success();
-        }else{
+        } else {
             return AjaxResult.error("任务已开始");
         }
     }
 
 
-
-
     @Override
     public AjaxResult reAssign(JobParam jobParam) {
         RequestLog requestLog = requestLogService.getRequestLog(RE_ASSIGN_URL, "重新分配货位", JSONUtil.toJsonStr(jobParam));
-        if ("1".equals(requestLog.getIsSuccessful())){
+        if ("1".equals(requestLog.getIsSuccessful())) {
             InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
             MydoJob wmsMydoJob = BeanUtil.toBean(bean.getData(), MydoJob.class);
             MydoJob mydoJob = mydoJobService.selectMydoJobByJobId(wmsMydoJob.getJobId());
@@ -259,7 +231,7 @@ public class ApiServiceImpl implements IApiService {
     @Override
     public AjaxResult reMaterial(JobParam jobParam) {
         RequestLog requestLog = requestLogService.getRequestLog(RE_MATERIAL_URL, "重新分配物料", JSONUtil.toJsonStr(jobParam));
-        if ("1".equals(requestLog.getIsSuccessful())){
+        if ("1".equals(requestLog.getIsSuccessful())) {
             return AjaxResult.success();
         }
         return AjaxResult.error();
@@ -272,12 +244,12 @@ public class ApiServiceImpl implements IApiService {
      * @param code1       起点
      * @param code2       终点
      * @param wmsTrayCode 容器码 托盘料箱码/容器码
-     * @param type   mydojob 任务
+     * @param wmsTaskNo   mydojob 任务
-     * @param jobId 1-入库 2-出库 3-agv搬运
+     * @param wmsTaskType 1-入库 2-出库 3-agv搬运
      * @return
      */
     @Override
-    public int createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode,String type,String jobId) {
+    public AgvQueue createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode, String wmsTaskType, String traySize, String wmsTaskNo) {
         //生成ctu执行队列
         AgvQueue agvQueue = new AgvQueue();
         String reqCode = IdUtil.fastSimpleUUID();
@@ -287,21 +259,20 @@ public class ApiServiceImpl implements IApiService {
         agvQueue.setAgvType("AGV");
         agvQueue.setPositionCode1(code1);
         agvQueue.setPositionCode2(code2);
-        agvQueue.setTaskType(type);
+        agvQueue.setTaskType("F01");
-        agvQueue.setCtnrType("0");
+        agvQueue.setCtnrType(traySize);
         agvQueue.setCtnrCode("0");
         agvQueue.setCtnrNum("0");
         agvQueue.setTaskMode("0");
         agvQueue.setPriority("10");
         agvQueue.setRequest("0");
         agvQueue.setWmsTraycode(wmsTrayCode);
-        agvQueue.setWmsTaskNo(taskCode);
+        agvQueue.setWmsTaskNo(wmsTaskNo);
         agvQueue.setStatus("0");
-        agvQueue.setTaskCode(jobId);
+        agvQueue.setTaskCode(taskCode);
-        agvQueue.setWmsTaskType("0");
+        agvQueue.setWmsTaskType(wmsTaskType);
-        int i = agvQueueService.insertAgvQueue(agvQueue);
+        agvQueueService.insertAgvQueue(agvQueue);
-        return i;
+        return agvQueue;
-
     }
 
     /**
@@ -348,15 +319,20 @@ public class ApiServiceImpl implements IApiService {
     public GenAgvSchedulingTaskResponse requestAgvQueue(AgvQueue agvQueue) {
         //todo 请求ctu
         GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
-        genAgvSchedulingTaskRequest.setFromStation(agvQueue.getPositionCode1());
+        genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
-        genAgvSchedulingTaskRequest.setToStation(agvQueue.getPositionCode2());
+        genAgvSchedulingTaskRequest.setTaskMode("0");
-        genAgvSchedulingTaskRequest.setOrderId(agvQueue.getTaskCode());
+        genAgvSchedulingTaskRequest.setPriority("10");
-        genAgvSchedulingTaskRequest.setType(agvQueue.getTaskType());
+        genAgvSchedulingTaskRequest.setTaskTyp("F01");
-        genAgvSchedulingTaskRequest.setTaskGuideId("00000000-0000-0000-0000-000000000000");
+        genAgvSchedulingTaskRequest.setCtnrCode("0");
-        genAgvSchedulingTaskRequest.setTriggerId("00000000-0000-0000-0000-000000000000");
+        genAgvSchedulingTaskRequest.setCtnrNum("0");
-        GenAgvSchedulingTaskRequest.TaskAdditionallInfo taskAdditionallInfo = new GenAgvSchedulingTaskRequest.TaskAdditionallInfo();
+        genAgvSchedulingTaskRequest.setTaskMode("0");
-        genAgvSchedulingTaskRequest.setTaskAdditionallInfo(taskAdditionallInfo);
+        genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode());
-
+        genAgvSchedulingTaskRequest.setAgvTyp("AGV");
+        genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
+        List<PositionCodeData> positionCodePath = new ArrayList<>();
+        positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode1(), "0"));
+        positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode2(), "0"));
+        genAgvSchedulingTaskRequest.setPositionCodePath(positionCodePath);
         return genAgvSchedulingTask(genAgvSchedulingTaskRequest);
     }
 
@@ -386,7 +362,6 @@ public class ApiServiceImpl implements IApiService {
     }
 
 
-
     @Override
     public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) {
         MydoJob mydoJob = new MydoJob();
@@ -406,7 +381,7 @@ public class ApiServiceImpl implements IApiService {
         int i = mydoJobService.insertMydoJob(mydoJob);
         if (i > 0) {
             return AjaxResult.success();
-        }else{
+        } else {
             return AjaxResult.error();
         }
 
@@ -428,7 +403,7 @@ public class ApiServiceImpl implements IApiService {
         int i = mydoJobService.insertMydoJob(mydoJob);
         if (i > 0) {
             return AjaxResult.success();
-        }else{
+        } else {
             return AjaxResult.error();
         }
     }
@@ -475,25 +450,8 @@ public class ApiServiceImpl implements IApiService {
     }
 
     @Override
-    public DeviceSsj getDeviceMsg(String taskNo) {
+    public AjaxResult OutMakeSure(HashMap<String, Object> map) {
-        MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(taskNo));
+        RequestLog requestLog = requestLogService.getRequestLog(OUT_MAKE_SURE, "线边直出请求过账", JSONUtil.toJsonStr(map));
-        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);
-    }
-
-    @Override
-    public AjaxResult OutMakeSure(HashMap<String, Object> param) {
-        RequestLog requestLog = requestLogService.getRequestLog(OUT_MAKE_SURE, "线边直出请求过账", JSONUtil.toJsonStr(param));
         if ("1".equals(requestLog.getIsSuccessful())) {
             InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
             return AjaxResult.success(bean.getData());
@@ -501,4 +459,97 @@ public class ApiServiceImpl implements IApiService {
             return AjaxResult.error();
         }
     }
+
+    @Override
+    public void updateLed(HashMap<String, Object> map) {
+        RequestLog requestLog = requestLogService.getRequestLog(UPDATE_LED, "出库到位更新LED", JSONUtil.toJsonStr(map));
+
+
+    }
+
+    @Override
+    public void updateLedError(HashMap<String, Object> map) {
+        RequestLog requestLog = requestLogService.getRequestLog(UPDATE_LED_ERROR, "更新线体报错信息", JSONUtil.toJsonStr(map));
+
+
+    }
+
+    @Override
+    public void sendContarTask() {
+        RequestLog requestLog = requestLogService.getRequestLog(QUERY_AGV_QUENE, "请求获取AGV执行队列", JSONUtil.toJsonStr(""));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
+            AgvContainerTask bean1 = BeanUtil.toBean(bean.getData(), AgvContainerTask.class);
+            bean1.setStatus("0");
+            agvContainerTaskService.insertAgvContainerTask(bean1);
+        }
+    }
+
+    @Override
+    public AjaxResult sendAgvCar(Map<String, String> param) {
+        RequestLog requestLog = requestLogService.getRequestLogs(SEND_AGV_CAR, "下发AGV执行对列", JSONUtil.toJsonStr(param));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            return AjaxResult.success();
+        }
+        {
+            return AjaxResult.error();
+        }
+    }
+
+    @Override
+    public AjaxResult insertAgvQuene(HashMap<String, Object> param) {
+        RequestLog requestLog = requestLogService.getRequestLog(INSERT_AGV_QUENE, "请求自动生成AGV执行队列", JSONUtil.toJsonStr(param));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            return AjaxResult.success();
+        }
+        {
+            return AjaxResult.error();
+        }
+    }
+
+    @Override
+    public void finishAgvJob(String container) {
+        HashMap<Object, Object> objectObjectHashMap = new HashMap<>();
+        objectObjectHashMap.put("order", container);
+        RequestLog requestLog = requestLogService.getRequestLog(FINISH_AGV_QUENE, "完成AGV执行队列", JSONUtil.toJsonStr(objectObjectHashMap));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+
+            agvContainerTaskService.deleteAgvContainerTaskByOrderId(container);
+        }
+    }
+
+    @Override
+    public AjaxResult tidyVehicleSnapshot() {
+        List<DeviceSrgv> vehicles = deviceSrgvMapper.selectDeviceSrgvList(new DeviceSrgv());
+        List<SrgvVehicleSnapshot> snapshots = new ArrayList<>();
+        for (DeviceSrgv vehicle : vehicles) {
+            boolean online = "1".equals(vehicle.getAgvStatus());
+            boolean healthy = online && value(vehicle.getAlarm()) <= 1 && value(vehicle.getErrMsg()) == 0;
+            boolean idle = healthy && value(vehicle.getTaskNo()) == 0
+                    && value(vehicle.getLocked()) == 0 && value(vehicle.getChargeFlag()) == 0;
+            SrgvVehicleSnapshot snapshot = new SrgvVehicleSnapshot();
+            snapshot.setGuid(vehicle.getGuid());
+            snapshot.setDeviceId(vehicle.getDeviceId());
+            snapshot.setDeviceName(vehicle.getDeviceName());
+            snapshot.setAgvStatus(vehicle.getAgvStatus());
+            snapshot.setOnline(online);
+            snapshot.setHealthy(healthy);
+            snapshot.setIdle(idle);
+            snapshot.setTaskNo(vehicle.getTaskNo());
+            snapshot.setAlarm(vehicle.getAlarm());
+            snapshot.setErrMsg(vehicle.getErrMsg());
+            snapshot.setChargeFlag(vehicle.getChargeFlag());
+            snapshot.setLocked(vehicle.getLocked());
+            snapshot.setBattery(vehicle.getBattery());
+            snapshot.setCurrSite(vehicle.getCurrSite());
+            snapshot.setCurrFloor(vehicle.getCurrFloor());
+            snapshots.add(snapshot);
+        }
+        return AjaxResult.success(snapshots);
+    }
+
+    private int value(Integer number) {
+        return number == null ? 0 : number;
+    }
+
 }

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

@@ -6,7 +6,7 @@ import java.util.List;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
-import cn.hutool.http.HttpRequest;
+import cn.hutool.http.ContentType;
 import cn.hutool.http.HttpResponse;
 import cn.hutool.http.HttpUtil;
 import cn.hutool.json.JSONUtil;
@@ -26,8 +26,7 @@ import com.ruoyi.api.service.IRequestLogService;
  */
 @Service
 @Slf4j
-public class RequestLogServiceImpl implements IRequestLogService
+public class RequestLogServiceImpl implements IRequestLogService {
-{
     @Autowired
     private RequestLogMapper requestLogMapper;
 
@@ -38,8 +37,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 接口记录
      */
     @Override
-    public RequestLog selectRequestLogByRequestId(Long requestId)
+    public RequestLog selectRequestLogByRequestId(Long requestId) {
-    {
         return requestLogMapper.selectRequestLogByRequestId(requestId);
     }
 
@@ -50,8 +48,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 接口记录
      */
     @Override
-    public List<RequestLog> selectRequestLogList(RequestLog requestLog)
+    public List<RequestLog> selectRequestLogList(RequestLog requestLog) {
-    {
         return requestLogMapper.selectRequestLogList(requestLog);
     }
 
@@ -62,11 +59,10 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int insertRequestLog(RequestLog requestLog)
+    public int insertRequestLog(RequestLog requestLog) {
-    {
+        if ("1".equals(requestLog.getIsSuccessful())) {
-        if ("1".equals(requestLog.getIsSuccessful())){
             return requestLogMapper.insertRequestLog(requestLog);
-        }else {
+        } else {
             //log.error("请求失败：" + requestLog.getErrorDetails());
             return 0;
         }
@@ -79,8 +75,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int updateRequestLog(RequestLog requestLog)
+    public int updateRequestLog(RequestLog requestLog) {
-    {
         return requestLogMapper.updateRequestLog(requestLog);
     }
 
@@ -91,8 +86,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int deleteRequestLogByRequestIds(Long[] requestIds)
+    public int deleteRequestLogByRequestIds(Long[] requestIds) {
-    {
         return requestLogMapper.deleteRequestLogByRequestIds(requestIds);
     }
 
@@ -103,8 +97,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int deleteRequestLogByRequestId(Long requestId)
+    public int deleteRequestLogByRequestId(Long requestId) {
-    {
         return requestLogMapper.deleteRequestLogByRequestId(requestId);
     }
 
@@ -117,7 +110,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return requestLog
      */
     @Override
-    public RequestLog getRequestLog(String url,  String endPoint,String param) {
+    public RequestLog getRequestLog(String url, String endPoint, String param) {
         RequestLog requestLog = new RequestLog();
         Date requestTime = new Date();
         requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
@@ -130,16 +123,17 @@ public class RequestLogServiceImpl implements IRequestLogService
         requestLog.setRequestUrl(url);
         try {
             String resStr = HttpUtil.post(url, param);
+
             requestLog.setResponseBody(resStr);
+
             InterfaceReceive bean = JSONUtil.toBean(resStr, InterfaceReceive.class);
-            Date responseTime =new Date();
+            Date responseTime = new Date();
             if (bean.getCode() == 200) {
                 requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
                 requestLog.setResponseStatus("1");
                 requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
                 requestLog.setIsSuccessful("1");
-            }else {
+            } else {
-                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
                 requestLog.setResponseStatus("0");
                 requestLog.setErrorDetails(bean.getMsg());
                 requestLog.setIsSuccessful("0");
@@ -155,56 +149,6 @@ public class RequestLogServiceImpl implements IRequestLogService
         return requestLog;
     }
 
-    @Override
-    public RequestLog getRequestLogAgv(String url, String endPoint, String param) {
-        RequestLog requestLog = new RequestLog();
-        Date requestTime = new Date();
-        requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
-        requestLog.setSourceSystem("wms");
-        requestLog.setTargetSystem("agv");
-        requestLog.setEndpoint(endPoint);
-        requestLog.setRequestMethod("post");
-        requestLog.setRequestHeaders(null);
-        requestLog.setRequestBody(param);
-        requestLog.setRequestUrl(url);
-        try {
-            // 使用HttpRequest获取HTTP状态码
-            HttpResponse response = HttpRequest.post(url)
-                    .body(param)
-                    .timeout(5000)
-                    .execute();
-
-            int httpStatusCode = response.getStatus();
-            String resStr = response.body();
-
-            requestLog.setResponseBody(resStr);
-            Date responseTime = new Date();
-
-            // 判断HTTP状态码是否成功(200-299都算成功)
-            if (httpStatusCode == 200) {
-                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
-                requestLog.setResponseStatus(String.valueOf(httpStatusCode));
-                requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
-                requestLog.setIsSuccessful("1");
-
-
-            } else {
-                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
-                requestLog.setResponseStatus(String.valueOf(httpStatusCode));
-                requestLog.setErrorDetails("HTTP请求失败，状态码: " + httpStatusCode);
-                requestLog.setIsSuccessful("0");
-            }
-
-        } catch (Exception e) {
-            requestLog.setErrorDetails(e.getMessage());
-            requestLog.setIsSuccessful("0");
-            requestLog.setResponseStatus("0");
-        } finally {
-            insertRequestLog(requestLog);
-        }
-        return requestLog;
-    }
-
     /**
      * 插入请求日志
      *
@@ -224,4 +168,46 @@ public class RequestLogServiceImpl implements IRequestLogService
         requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, requestTime, DateUnit.MS)));
         return requestLog;
     }
+
+    @Override
+    public RequestLog getRequestLogs(String url, String param, String endPoint) {
+        RequestLog requestLog = new RequestLog();
+        Date requestTime = new Date();
+        requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
+        requestLog.setSourceSystem("wcs");
+        requestLog.setTargetSystem("wms");
+        requestLog.setEndpoint(param);
+        requestLog.setRequestMethod("post");
+        requestLog.setRequestHeaders(null);
+        requestLog.setRequestBody(endPoint);
+        requestLog.setRequestUrl(url);
+        try {
+            // 链式创建POST请求，获取完整响应对象
+            HttpResponse response = HttpUtil.createPost(url)
+                    .body(endPoint, "application/json") // 传入表单参数
+                    .execute();
+            String body = response.body();
+            int status = response.getStatus();
+            InterfaceReceive bean = JSONUtil.toBean(body, InterfaceReceive.class);
+            Date responseTime = new Date();
+            if (status == 200) {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
+                requestLog.setResponseStatus("1");
+                requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
+                requestLog.setIsSuccessful("1");
+            } else {
+                requestLog.setResponseStatus("0");
+                requestLog.setErrorDetails(bean.getMsg());
+                requestLog.setIsSuccessful("0");
+            }
+
+        } catch (Exception e) {
+            requestLog.setErrorDetails(e.getMessage());
+            requestLog.setIsSuccessful("0");
+            requestLog.setResponseStatus("0");
+        } finally {
+            insertRequestLog(requestLog);
+        }
+        return requestLog;
+    }
 }

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

@@ -141,7 +141,7 @@ public class RoadCacheServiceImpl implements RoadCacheService {
                 HashSet<String> otherCarSiteList = new HashSet<>();
                 for (WcsSrgvQueue wcsSrgvQueue : otherCarQueue) {
                     if (wcsSrgvQueue.getPathInfo() != null) {
-                        //根据小车当前点位去除已走路径
+                        //根据小车当前点位去除已走路径 除了当前点和上一个点之外都解锁
                         DeviceSrgv otherCarCurrStatus = deviceSrgvService.selectDeviceSrgvByGuid(wcsSrgvQueue.getAgvId());
                         String currSite = otherCarCurrStatus.getCurrSite();
                         List<String> allSiteList = Arrays.asList(wcsSrgvQueue.getPathInfo().split(","));

ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java

@@ -1,13 +1,10 @@
 package com.ruoyi.common;
 
 
-import org.springframework.security.access.method.P;
-
 public class Constant {
 
     public static final String WMS_BASE_URL = "http://localhost:8080/api2wms/";
-    public static final String RCS_BASE_URL = "http://127.0.0.1:8081/rcms-dps/rest/";
+    public static final String RCS_BASE_URL = "http://192.168.188.251:9501/";
-    public static final String AGV_BASE_URL = "http://127.0.0.1:9501/api/app/agvs-task";
     public static final String WMS_BASE_PDA_URL = "http://localhost:8080/pda/";
 
     public static final String JOB_FINISH_URL = WMS_BASE_URL+"jobFinish";
@@ -20,10 +17,13 @@ public class Constant {
     public static final String RE_ASSIGN_URL = WMS_BASE_URL+"reAssign";
     public static final String RE_MATERIAL_URL = WMS_BASE_URL+"reMaterial";
     public static final String REQUEST_ENTER_URL = WMS_BASE_URL+"requestEnterByTrayCodeAndEntranceId";
-    public static final String CREATE_AGV_TASK_URL = AGV_BASE_URL+"agvs-task";
     public static final String OUT_MAKE_SURE=WMS_BASE_PDA_URL+"outMakeSure";
-
+    public static final String UPDATE_LED=WMS_BASE_URL+"updateLed";
-
+    public static final String QUERY_AGV_QUENE=WMS_BASE_URL+"queryAgvQuene";
+    public static final String FINISH_AGV_QUENE=WMS_BASE_URL+"finishAgvQuene";
+    public static final String SEND_AGV_CAR=RCS_BASE_URL+"api/app/agvs-task";
+    public static final String INSERT_AGV_QUENE=WMS_BASE_URL+"insertAgvQuene";
+    public static final String UPDATE_LED_ERROR=WMS_BASE_URL+"updateLedError";
     public static final String WAREHOUSE_01 = "01";
     public static final String WAREHOUSE_02 = "02";
 

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

@@ -83,6 +83,8 @@ public class DeviceSsj extends BaseEntity
 
     @Excel(name="输送线模式 1-入库 2-出库")
     private int model;
+    // 报警信息
+    private int errorCode;
 
 
 

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

@@ -2,6 +2,7 @@ package com.ruoyi.job.controller;
 
 import java.util.List;
 import javax.servlet.http.HttpServletResponse;
+
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
@@ -29,8 +30,7 @@ import com.ruoyi.common.core.page.TableDataInfo;
  */
 @RestController
 @RequestMapping("/job/mydoJob")
-public class MydoJobController extends BaseController
+public class MydoJobController extends BaseController {
-{
     @Autowired
     private IMydoJobService mydoJobService;
 
@@ -39,8 +39,7 @@ public class MydoJobController extends BaseController
      */
     @PreAuthorize("@ss.hasPermi('job:mydoJob:list')")
     @GetMapping("/list")
-    public TableDataInfo list(MydoJob mydoJob)
+    public TableDataInfo list(MydoJob mydoJob) {
-    {
         startPage();
         List<MydoJob> list = mydoJobService.selectMydoJobList(mydoJob);
         return getDataTable(list);
@@ -51,10 +50,11 @@ public class MydoJobController extends BaseController
      */
     @PreAuthorize("@ss.hasPermi('job:mydoJob:list')")
     @GetMapping("/listFinish")
-    public TableDataInfo listFinish(MydoJob mydoJob)
+    public TableDataInfo listFinish(MydoJob mydoJob) {
-    {
         startPage();
+//        mydoJob.setStatus("3");
         List<MydoJob> list = mydoJobService.selectMydoJobFinishList(mydoJob);
+
         return getDataTable(list);
     }
 
@@ -64,9 +64,15 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:export')")
     @Log(title = "作业信息", businessType = BusinessType.EXPORT)
     @PostMapping("/export")
-    public void export(HttpServletResponse response, MydoJob mydoJob)
+    public void export(HttpServletResponse response, MydoJob mydoJob) {
-    {
+        List<MydoJob> list = null;
-        List<MydoJob> list = mydoJobService.selectMydoJobList(mydoJob);
+        if (mydoJob.getStatus().equals("3")) {
+            list = mydoJobService.selectMydoJobList(mydoJob);
+        } else {
+
+            list = mydoJobService.selectMydoJobFinishList(mydoJob);
+        }
+
         ExcelUtil<MydoJob> util = new ExcelUtil<MydoJob>(MydoJob.class);
         util.exportExcel(response, list, "作业信息数据");
     }
@@ -76,8 +82,7 @@ public class MydoJobController extends BaseController
      */
     @PreAuthorize("@ss.hasPermi('job:mydoJob:query')")
     @GetMapping(value = "/{jobId}")
-    public AjaxResult getInfo(@PathVariable("jobId") String jobId)
+    public AjaxResult getInfo(@PathVariable("jobId") String jobId) {
-    {
         return success(mydoJobService.selectMydoJobByJobId(jobId));
     }
 
@@ -87,8 +92,7 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:add')")
     @Log(title = "作业信息", businessType = BusinessType.INSERT)
     @PostMapping
-    public AjaxResult add(@RequestBody MydoJob mydoJob)
+    public AjaxResult add(@RequestBody MydoJob mydoJob) {
-    {
         return toAjax(mydoJobService.insertMydoJob(mydoJob));
     }
 
@@ -98,8 +102,7 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:edit')")
     @Log(title = "作业信息", businessType = BusinessType.UPDATE)
     @PutMapping
-    public AjaxResult edit(@RequestBody MydoJob mydoJob)
+    public AjaxResult edit(@RequestBody MydoJob mydoJob) {
-    {
         return toAjax(mydoJobService.updateMydoJob(mydoJob));
     }
 
@@ -109,8 +112,7 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:remove')")
     @Log(title = "作业信息", businessType = BusinessType.DELETE)
     @DeleteMapping("/{jobIds}")
-    public AjaxResult remove(@PathVariable String[] jobIds)
+    public AjaxResult remove(@PathVariable String[] jobIds) {
-    {
         return toAjax(mydoJobService.deleteMydoJobByJobIds(jobIds));
     }
 
@@ -118,8 +120,7 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:manualCallback')")
     @Log(title = "作业信息", businessType = BusinessType.UPDATE)
     @GetMapping("/manualCallback/{jobId}")
-    public AjaxResult manualCallback(@PathVariable("jobId") String jobId)
+    public AjaxResult manualCallback(@PathVariable("jobId") String jobId) {
-    {
         return mydoJobService.manualCallback(jobId);
     }
 }

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

@@ -24,10 +24,11 @@ public class MydoJob extends BaseEntity
     private static final long serialVersionUID = 1L;
 
     /** 任务ID */
+    @Excel(name = "任务ID")
     private String jobId;
 
     /** 任务状态 */
-    @Excel(name = "任务状态")
+    @Excel(name = "任务状态",dictType = "job_status")
     private String status;
 
     /** 任务号 */
@@ -35,7 +36,7 @@ public class MydoJob extends BaseEntity
     private String taskNo;
 
     /** 巷道ID */
-    @Excel(name = "巷道ID")
+//    @Excel(name = "巷道ID")
     private String roadwayId;
 
     /** 货位ID */
@@ -55,11 +56,11 @@ public class MydoJob extends BaseEntity
     private Long priority;
 
     /** 执行阶段 */
-    @Excel(name = "执行阶段")
+//    @Excel(name = "执行阶段")
     private String executionPhase;
 
     /** 任务类型 */
-    @Excel(name = "任务类型")
+    @Excel(name = "任务类型",dictType = "job_type")
     private String inOrOut;
 
     /** 开始时间 */
@@ -83,9 +84,9 @@ public class MydoJob extends BaseEntity
     private String warehouseId;
 
     /** 重分标志 */
-    @Excel(name = "重分标志")
+//    @Excel(name = "重分标志")
     private String faultFlag;
-
+    @Excel(name = "托盘条码")
     private String trayCode;
 
     private String inOut;

ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java

@@ -89,4 +89,18 @@ public interface MydoJobMapper
     Integer selectExit(String ssj);
 
     Integer selectMydoJobCount();
+
+    Integer selectMydoJobIn();
+
+    Integer selectMydoJobCountOut();
+
+    Integer selectByJobOut(Integer currFloor);
+
+    Integer selectByJobOutIsOne(Integer currFloor);
+
+    Integer selectMydoJobExit(String exit);
+
+    Integer selectTheFloorYk(String theFloor);
+
+    void deleteMydoJobByTaskNos(List<String> validTaskNos);
 }

ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java

@@ -88,4 +88,16 @@ public interface IMydoJobService
     Integer selectExit(String ssj);
 
     Integer selectMydoJobCount();
+
+    Integer selectMydoJobIn();
+
+    Integer selectMydoJobCountOut();
+
+    Integer selectByJobOut(Integer currFloor);
+
+    Integer selectByJobOutIsOne(Integer currFloor);
+
+    Integer selectMydoJobExit(String exit);
+
+    Integer selectTheFloorYk(String theFloor);
 }

ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java

@@ -193,4 +193,35 @@ public class MydoJobServiceImpl implements IMydoJobService
     public Integer selectMydoJobCount() {
         return mydoJobMapper.selectMydoJobCount();
     }
+
+    @Override
+    public Integer selectMydoJobIn() {
+        return mydoJobMapper.selectMydoJobIn();
+    }
+
+    @Override
+    public Integer selectMydoJobCountOut() {
+        return mydoJobMapper.selectMydoJobCountOut();
+    }
+
+    @Override
+    public Integer selectByJobOut(Integer currFloor) {
+
+        return  mydoJobMapper.selectByJobOut(currFloor);
+    }
+
+    @Override
+    public Integer selectByJobOutIsOne(Integer currFloor) {
+        return mydoJobMapper.selectByJobOutIsOne(currFloor);
+    }
+
+    @Override
+    public Integer selectMydoJobExit(String exit) {
+        return mydoJobMapper.selectMydoJobExit(exit);
+    }
+
+    @Override
+    public Integer selectTheFloorYk(String theFloor) {
+        return mydoJobMapper.selectTheFloorYk(theFloor);
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/agv/mapper/AgvQueueMapper.java

@@ -1,5 +1,6 @@
 package com.ruoyi.queue.agv.mapper;
 
+import java.util.HashMap;
 import java.util.List;
 import com.ruoyi.queue.agv.domain.AgvQueue;
 
@@ -69,4 +70,6 @@ public interface AgvQueueMapper
     AgvQueue selectAgvQueueByStatus();
 
     void insertHistory(String reqCode);
+
+    void selectKx(HashMap<String, Object> map);
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/IAgvQueueService.java

@@ -1,5 +1,6 @@
 package com.ruoyi.queue.agv.service;
 
+import java.util.HashMap;
 import java.util.List;
 import com.ruoyi.queue.agv.domain.AgvQueue;
 
@@ -73,4 +74,6 @@ public interface IAgvQueueService
      * @param reqCode
      */
     void insertHistory(String reqCode);
+
+    void selectKx(HashMap<String, Object> map);
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/impl/AgvQueueServiceImpl.java

@@ -1,5 +1,6 @@
 package com.ruoyi.queue.agv.service.impl;
 
+import java.util.HashMap;
 import java.util.List;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -105,4 +106,9 @@ public class AgvQueueServiceImpl implements IAgvQueueService
     public void insertHistory(String reqCode) {
         agvQueueMapper.insertHistory(reqCode);
     }
+
+    @Override
+    public void selectKx(HashMap<String, Object> map) {
+        agvQueueMapper.selectKx(map);
+    }
 }

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

@@ -10,7 +10,8 @@ import org.apache.ibatis.annotations.Param;
  * @author ruoyi
  * @date 2025-11-21
  */
-public interface WcsSrgvQueueMapper {
+public interface WcsSrgvQueueMapper 
+{
     /**
      * 查询四向小车任务队列
      * 
@@ -28,6 +29,9 @@ public interface WcsSrgvQueueMapper {
     public WcsSrgvQueue selectWcsSrgvQueueByFloor(String theFloor);
 
 
+
+
+
     /**
      * 查询四向小车任务队列列表
      * 
@@ -76,4 +80,5 @@ public interface WcsSrgvQueueMapper {
 
     Integer selectByEndSite();
 
+    List<String> selectTaskNosByGuids(String[] guids);
 }

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

@@ -1,10 +1,12 @@
 package com.ruoyi.queue.srgv.service.impl;
 
+import java.util.ArrayList;
 import java.util.List;
 
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjUtil;
+import com.ruoyi.job.mapper.MydoJobMapper;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish;
 import com.ruoyi.queue.srgv.mapper.WcsSrgvQueueFinishMapper;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -26,7 +28,8 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
     private WcsSrgvQueueMapper wcsSrgvQueueMapper;
     @Autowired
     private WcsSrgvQueueFinishMapper wcsSrgvQueueFinishMapper;
-
+    @Autowired
+    private MydoJobMapper mydoJobMapper;
     /**
      * 查询四向小车任务队列
      *
@@ -100,9 +103,29 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
     @Override
     public int deleteWcsSrgvQueueByGuids(String[] guids)
     {
+        if (guids == null || guids.length == 0) {
+            return 0;
+        }
+        List<String> taskNos = wcsSrgvQueueMapper.selectTaskNosByGuids(guids);
+        deleteMydoJobsByTaskNos(taskNos);
         return wcsSrgvQueueMapper.deleteWcsSrgvQueueByGuids(guids);
     }
 
+    private void deleteMydoJobsByTaskNos(List<String> taskNos) {
+        if (taskNos == null || taskNos.isEmpty()) {
+            return;
+        }
+        List<String> validTaskNos = new ArrayList<>();
+        for (String taskNo : taskNos) {
+            if (taskNo != null && !"".equals(taskNo)) {
+                validTaskNos.add(taskNo);
+            }
+        }
+        if (!validTaskNos.isEmpty()) {
+            mydoJobMapper.deleteMydoJobByTaskNos(validTaskNos);
+        }
+    }
+
     /**
      * 删除四向小车任务队列信息
      *
@@ -131,7 +154,6 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
         return wcsSrgvQueueMapper.selectByCaogoPlaceSite(siteId);
     }
 
-
     @Override
     public Integer selectByEndSite() {
         return wcsSrgvQueueMapper.selectByEndSite();

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

@@ -73,6 +73,8 @@ public class PlcCdzRead implements Runnable {
             ddsx1 = SoftBasic.ByteToHexString(read2.Content);
             deviceCdz.setStatus(ParseUtil.optInt(0, ddsx1));
 //            deviceCdz.setModel(ParseUtil.optInt(2, ddsx1));
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -116,8 +118,8 @@ public class PlcCdzRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
+        if (siemensS7Net != null) {
-            readWriteNet.ConnectClose();
+            siemensS7Net.ConnectClose();
         }
         setIsConnect(false);
     }

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ddj/PlcDdjRead.java

@@ -123,8 +123,8 @@ public class PlcDdjRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
+        if (siemensS7Net != null) {
-            readWriteNet.ConnectClose();
+            siemensS7Net.ConnectClose();
         }
         setIsConnect(false);
     }

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

@@ -78,29 +78,39 @@ public class PlcSrgvRead implements Runnable {
         OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("4068", (short) 15);//2400-2414
         if (read1.IsSuccess) {
             setValueByByte1(read1.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
 
         OperateResultExOne<byte[]> read5 = modbusTcpNet.Read("4081", (short) 2);//2400-2414
         if (read5.IsSuccess) {
             setValueByByte5(read1.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
 
         //读取二段任务 小车是否接收完成1段作业
         OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("1000", (short) 2);//2400-2414
         if (read3.IsSuccess) {
             setValueByByte3(read3.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
 
         //读取双字
         OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4060", (short) 8);// 4800-4807任务号、原点、目标点、当前
         if (read2.IsSuccess) {
             setValueByByte2(read2.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
 
         //        //读取双字，路径
         OperateResultExOne<byte[]> read4 = modbusTcpNet.Read("6000", (short) 800);// 5000-5799 路径 400个
         if (read4.IsSuccess) {
             setValueByByte4(read4.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
     }
 
@@ -234,8 +244,8 @@ public class PlcSrgvRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
+        if (modbusTcpNet != null) {
-            readWriteNet.ConnectClose();
+            modbusTcpNet.ConnectClose();
         }
         setIsConnect(false);
     }

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

@@ -97,6 +97,7 @@ public class PlcSsjRead implements Runnable {
             ddsx1 = SoftBasic.ByteToHexString(read2.Content);
             ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
             ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
+            ssjDevice.setErrorCode(ParseUtil.optInt(8,ddsx1));
             ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
 
         }
@@ -135,6 +136,8 @@ public class PlcSsjRead implements Runnable {
             ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
 //            ssjDevice.setTrayCode(ParseUtil.optString(14, 12, ddsx1));
 //            ssjDevice.setModel(ParseUtil.optInt(28, ddsx1));
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -155,6 +158,8 @@ public class PlcSsjRead implements Runnable {
 //            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
 //            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
 
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -192,6 +197,8 @@ public class PlcSsjRead implements Runnable {
                 //去除bytes中
                 ssjDevice.setTrayCode(ParseUtil.filterAndConvert(trayCodeRead.Content));
             }
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -235,8 +242,8 @@ public class PlcSsjRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
+        if (siemensS7Net != null) {
-            readWriteNet.ConnectClose();
+            siemensS7Net.ConnectClose();
         }
         setIsConnect(false);
     }

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

@@ -126,8 +126,8 @@ public class PlcTsjRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
+        if (siemensS7Net != null) {
-            readWriteNet.ConnectClose();
+            siemensS7Net.ConnectClose();
         }
         setIsConnect(false);
     }

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

@@ -23,6 +23,9 @@ import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.time.temporal.ChronoUnit;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -67,6 +70,19 @@ public class CdzThread implements Runnable {
         }
     }
 
+    public static boolean isMoreThan30Min(String timeStr, String pattern) {
+        // 1. 创建格式化器
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern(pattern);
+        // 2. 解析字符串为时间对象
+        LocalDateTime targetTime = LocalDateTime.parse(timeStr, formatter);
+        // 3. 获取当前系统时间
+        LocalDateTime now = LocalDateTime.now();
+        // 4. 计算两个时间相差的总分钟（可正可负）
+        long diffMinutes = ChronoUnit.MINUTES.between(targetTime, now);
+        // 取绝对值：不管是过去/未来时间，只要间隔超30分钟就满足
+        long absDiff = Math.abs(diffMinutes);
+        return absDiff > 30;
+    }
 
     void dispatch() {
         Integer count = mydoJobService.selectMydoJobCount();
@@ -79,7 +95,7 @@ public class CdzThread implements Runnable {
             if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() != 3 && deviceSrgv.getChargeFlag() != 2) {
                 if (deviceSrgv.getBattery() <= LITTLE_BETTERY) {
                     littleBatterySRgv.add(deviceSrgv);
-                } else if (deviceSrgv.getBattery() <= MIDDLE_BETTERY && count == 0) {
+                } else if (deviceSrgv.getBattery() <= MIDDLE_BETTERY && isMoreThan30Min(deviceSrgv.getLastTime(),"yyyy-MM-dd HH:mm:ss")) {
                     middleBatterySRgv.add(deviceSrgv);
                 }
             }
@@ -136,11 +152,11 @@ public class CdzThread implements Runnable {
         }
 
         //生成断电任务  有任务且电量大于50
-
         List<DeviceCdz> deviceCdzdd = deviceCdzService.selectDeviceCdzHasSRgvList();
         for (DeviceCdz deviceCdz : deviceCdzdd) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
-            if (((deviceSrgv.getBattery() >= JOB_BETTERY && count > 0) || deviceSrgv.getBattery() >= MAX_BETTERY)
+            //(deviceSrgv.getBattery() >= JOB_BETTERY && count > 0) ||
+            if (( deviceSrgv.getBattery() >= MAX_BETTERY)
                     && deviceSrgv.getWorkMode() == 5
                     && deviceSrgv.getChargeFlag() == 2 && deviceCdz.getStatus() == 1) {
                 createChargingOutJob(PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()), deviceCdz);

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

@@ -115,8 +115,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             createCarOutQueue();
                             // 充电任务队列
                             inCharging(deviceSrgv);
-                            // 充电完成调离
+
-//                            outCharging(deviceSrgv);
 
                         } else {
                             log.error("小车设备为空");
@@ -191,10 +190,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     wcsSrgvQueue.setEndSite("tsj");
                     wcsSrgvQueue.setDefault02("8");
 
-                    Integer count = wcsSagvQueueMapper.selectTsj();
+//                    Integer count = wcsSagvQueueMapper.selectTsj();
-                    if (count > 0) {
+//                    if (count > 0) {
-                        return;
+//                        return;
-                    }
+//                    }
                 }
                 // TODO 如果小车的当前点和小车的充电点位置一样，直接生成已经下发的队列 等着充电就可以
 //                if (deviceSrgv.getCurrSite().equals(chargingSite)) {
@@ -230,14 +229,19 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * 生成出库小车队列
      */
     private void createCarOutQueue() {
-
-
         List<MydoJob> mydoJobs = mydoJobService.selectMydoJobOut();
-
         if (!mydoJobs.isEmpty()) {
             for (MydoJob mydoJob1 : mydoJobs) {
+          // 根据 当前层的 出库任务查询是否存在当前层的移库任务，如果有直接return;
+//                String theFloor = mydoJob1.getTheFloor();
+//               Integer count= mydoJobService.selectTheFloorYk(theFloor);
+//               if (count>0){
+//                   return;
+//               }
+
                 WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
                 if (wcsSrgvQueue1 == null) {
+
                     ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
                     List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
                             .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 1)
@@ -247,18 +251,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             .collect(Collectors.toList());
                     if (!deviceSrgvList.isEmpty()) {
                         DeviceSrgv deviceSrgv = null;
-                        /*for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
+
-                            //优先出库层，如果没有优先邻近层
-                            if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
-                                deviceSrgv = deviceSrgv1;
-                                break;
-                            } else if (deviceSrgv == null || (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv1.getCurrFloor())) < (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv.getCurrFloor()))) {
-                                WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
-                                if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
-                                    deviceSrgv = deviceSrgv1;
-                                }
-                            }
-                        }*/
                         WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
                         wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
                         List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
@@ -266,25 +259,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
                         //先找流程相等的小车
                         List<DeviceSrgv> currentFloorCarList = deviceSrgvList.stream().filter(x -> x.getCurrFloor().toString().equals(mydoJob1.getTheFloor())).collect(Collectors.toList());
-//                        int z = 100000;
-//                        for (DeviceSrgv srgv : currentFloorCarList) {
-//                            // 坐标截取和转换（保留你的原有逻辑）
-//                            Integer startX = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 0, 2));
-//                            Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
-//                            Integer startY = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 2, 4));
-//                            Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
-//
-//                            // 计算当前小车到取货点的曼哈顿距离   TODO  先算Y 再算X  如果Y相等再算X
-////                            int tempZ = Math.abs(startX - endX) + Math.abs(startY - endY);
-//                            int tempZ = Math.abs(startY - endY) != 0 ? Math.abs(startY - endY) : Math.abs(startX - endX);
-//
-//                            // 核心修正：只要当前tempZ比记录的最小z更小，就更新z和对应的小车
-//                            if (tempZ < z) {
-//                                z = tempZ; // 把z更新为当前更小的距离
-//                                deviceSrgv = srgv; // 记录这个更近的小车
-//                                log.info("楼层相等，找到更近小车 距离{} srgv:{}", tempZ, srgv);
-//                            }
-//                        }
 
 
                         int minYDistance = 100000; // 记录最小的Y轴距离
@@ -309,8 +283,7 @@ 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;
@@ -329,7 +302,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                     WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
                                     if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
                                         deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
-                                        log.info("楼层bu相等:{}", deviceSrgv);
+                                        log.info("楼层不相等:{}", deviceSrgv);
 
                                     }
                                 }
@@ -369,13 +342,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                     //终点是提升机
                                     endSite = "tsj";
                                 }
-//                                if (endSite.equals("tsj")) {
+                                String ssj1 = null;
-//                                    Integer count = wcsSagvQueueMapper.selectTsj();
+                                String ssj2 = null;
-//                                    if (count > 0) {
-//                                        return;
-//                                    }
-//                                }
-
                                 mydoJob1.setExitId(null);
                                 WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
                                 String cargoPlaceSite = "";
@@ -390,21 +358,50 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                                 String ssj = "";
                                                 if (deviceSsj1.getName().equals("TD1001")) {
                                                     s = "050101";
-                                                    ssj = "L1004";
+                                                    ssj1 = "L1004";
                                                 } else {
                                                     s = "070101";
-                                                    ssj = "L1005";
+                                                    ssj2 = "L1005";
                                                 }
-                                                Integer count = mydoJobService.selectExit(ssj);
+
-                                                if (count >= 0 && count <= 1) {
+                                            }
-                                                    mydoJob1.setExitId(ssj);
+                                        }
+                                    }
+                                    Integer count1 = 0;
+                                    Integer count2 = 0;
+                                    if (ssj1 != null) {
+                                        count1 = mydoJobService.selectExit(ssj1);
+                                    }
+                                    if (ssj2 != null) {
+                                        count2 = mydoJobService.selectExit(ssj2);
+                                    }
+                                    if (ssj1 != null && ssj2 != null) {
+                                        if (count1 < count2) {
+                                            mydoJob1.setExitId(ssj1);
+                                            mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
                                             mydoJobService.updateMydoJob(mydoJob1);
-                                                    outModelSSJ.add(s);
+                                            outModelSSJ.add("050101");
-                                                    break;
+                                        } else {
+                                            mydoJob1.setExitId(ssj2);
+                                            mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                                            mydoJobService.updateMydoJob(mydoJob1);
+                                            outModelSSJ.add("070101");
                                         }
                                     }
+                                    if (ssj1 != null && ssj2 == null) {
+                                        mydoJob1.setExitId(ssj1);
+                                        mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                                        mydoJobService.updateMydoJob(mydoJob1);
+                                        outModelSSJ.add("050101");
                                     }
+                                    if (ssj1 == null && ssj2 != null) {
+                                        mydoJob1.setExitId(ssj2);
+                                        mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                                        mydoJobService.updateMydoJob(mydoJob1);
+                                        outModelSSJ.add("070101");
                                     }
+
+
                                     cargoPlaceSite = wcsSagvQueueMapper.selectMinCountJob(outModelSSJ);
                                     if (Objects.equals(cargoPlaceSite, "")) {
                                         return;
@@ -423,37 +420,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
                                     WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
                                     wcsSrgvMap3.setRemark("cache");
-//                                    List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
+
-//                                    for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
+                                }
-//                                        //deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
+
-//                                        if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
+                                // 强复合作业控制，如果车在取货放货点，判断是否有要入库的作业，有的话则直接退出，让小车开始进入库的
-//                                            //生成小车到缓存点队列
+                                Integer InJobCount = mydoJobService.selectMydoJobIn();
-//                                            WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+                                if (deviceSrgv != null && (deviceSrgv.getCurrSite().equals("070101") || deviceSrgv.getCurrSite().equals("050101")) && InJobCount > 0) {
-//                                            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
+                                    return;
-//                                            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-//                                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
-//                                            if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
-//                                                WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
-//                                                wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
-//                                                wcsSrgvQueue3.setTaskNo("11111");
-//                                                wcsSrgvQueue3.setTaskType("1");
-//                                                wcsSrgvQueue3.setPriority(Long.parseLong("2"));
-//                                                wcsSrgvQueue3.setCargo("1");
-//                                                wcsSrgvQueue3.setIssued(issued);
-//                                                wcsSrgvQueue3.setExecutionStatus(executionStatus);
-//                                                wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
-//                                                wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-//                                                wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
-//                                                wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
-//                                                wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
-//                                                wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-//                                                wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-//                                                wcsSrgvQueue3.setDefault02("4");
-//                                                wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
-//                                                wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
-//                                            }
-//                                        }
-//                                    }
                                 }
 
 
@@ -497,8 +470,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     }
                 }
             }
-
-
         }
     }
 
@@ -540,16 +511,21 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             return;
                         }
                         List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-
                         //取货地址
                         String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
-
                         //先找层数相等的小车
                         List<DeviceSrgv> currentFloorCarList = deviceSrgvList.stream().filter(x -> x.getCurrFloor().toString().equals(mydoJob1.getTheFloor())).collect(Collectors.toList());
                         int minYDistance = 100000; // 记录最小的Y轴距离
                         int minXDistance = 100000; // 记录最小的X轴距离
                         DeviceSrgv bestSrgv = null; // 最终选中的最优小车
+                        Integer count = wcsSagvQueueMapper.selectByCaogoPlaceSite("070101");
+                        Integer counts = wcsSagvQueueMapper.selectByCaogoPlaceSite("050101");
+                        // 暂时不加限制
+//                        if (currentFloorCarList.size() == 0 && (counts > 0 || count > 0)) {
+//                            return;
+//                        }
 
+                        // 先找目标层小车
                         for (DeviceSrgv srgv : currentFloorCarList) {
                             // 坐标截取和转换（保留原有逻辑）
                             Integer startX = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 0, 2));
@@ -562,19 +538,17 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             int currentXDistance = Math.abs(startX - endX);
 
                             // 2. 核心逻辑：优先按Y轴排序，Y轴相同再按X轴排序
+                            // 用 if-else if 合并，互斥判断
                             if (currentYDistance < minYDistance) {
-                                // 情况1：当前Y轴距离更小，直接更新最优解
+                                // Y更近
                                 minYDistance = currentYDistance;
                                 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) {
-                            }
+                                // Y相同，比X
-                            if (currentYDistance == minYDistance) {
-                                // 情况2：Y轴距离相同，比较X轴距离
                                 if (currentXDistance < minXDistance) {
                                     minXDistance = currentXDistance;
                                     bestSrgv = srgv;
-                                    log.info("楼层相等，找到更近小车(X轴更优) Y距离{} X距离{} srgv:{}", currentYDistance, currentXDistance, srgv);
                                 }
                             }
                         }
@@ -582,32 +556,82 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         // 最终选中的小车赋值给deviceSrgv（保持原有变量名兼容）
                         deviceSrgv = bestSrgv;
                         if (deviceSrgv == null) {
-                            //如果未选择到小车，找目标层小车
+                            //如果没找到目标层小车 先找一层的车
                             for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
-                                if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
+                                if (deviceSrgv1.getCurrFloor().toString().equals("1")) {
                                     WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
                                     if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
-                                        deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
+                                        Integer startX = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 0, 2));
-                                        log.info("楼层bu相等:{}", deviceSrgv);
+                                        Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
+                                        Integer startY = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 2, 4));
+                                        Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
 
+                                        // 1. 计算当前小车到目标点的Y轴、X轴绝对距离
+                                        int currentYDistance = Math.abs(startY - endY);
+                                        int currentXDistance = Math.abs(startX - endX);
+
+                                        // 2. 核心逻辑：优先按Y轴排序，Y轴相同再按X轴排序
+                                        // 用 if-else if 合并，互斥判断
+                                        if (currentYDistance < minYDistance) {
+                                            // Y更近
+                                            minYDistance = currentYDistance;
+                                            minXDistance = currentXDistance;
+                                            deviceSrgv = deviceSrgv1;
+                                        } else if (currentYDistance == minYDistance) {
+                                            // Y相同，比X
+                                            if (currentXDistance < minXDistance) {
+                                                minXDistance = currentXDistance;
+                                                deviceSrgv = deviceSrgv1;
+                                            }
+                                        }
+                                    }
+                                    // 一层的车没有 再找不等于作业层的车
+                                } else if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
+                                    WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
+                                    if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
+                                        Integer startX = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 0, 2));
+                                        Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
+                                        Integer startY = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 2, 4));
+                                        Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
+
+                                        // 1. 计算当前小车到目标点的Y轴、X轴绝对距离
+                                        int currentYDistance = Math.abs(startY - endY);
+                                        int currentXDistance = Math.abs(startX - endX);
+
+                                        // 2. 核心逻辑：优先按Y轴排序，Y轴相同再按X轴排序
+                                        // 用 if-else if 合并，互斥判断
+                                        if (currentYDistance < minYDistance) {
+                                            // Y更近
+                                            minYDistance = currentYDistance;
+                                            minXDistance = currentXDistance;
+                                            deviceSrgv = deviceSrgv1;
+                                        } else if (currentYDistance == minYDistance) {
+                                            // Y相同，比X
+                                            if (currentXDistance < minXDistance) {
+                                                minXDistance = currentXDistance;
+                                                deviceSrgv = deviceSrgv1;
                                             }
                                         }
                                     }
                                 }
-//                        // 如果目标层小车也没有 找其他层小车
+                            }
-//                        if (deviceSrgv==null){
+                        }
-//                            for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
+
-//                                if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
+                        if (deviceSrgv != null) {
-//                                    WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
+                            Integer currFloor = deviceSrgv.getCurrFloor();
-//                                    if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
+                            String currSite = deviceSrgv.getCurrSite();
-//                                        deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
+                            Integer i = mydoJobService.selectByJobOut(currFloor);
-//                                        log.info("楼层bu相等:{}", deviceSrgv);
+                            Integer a = mydoJobService.selectByJobOutIsOne(currFloor);
-//
+                            if (i > 0 && currFloor > 1) {
-//                                    }
+                                return;
-//                                }
+                            }
-//                            }
+                            // 车在一层 并且一层的出库任务还有，并且车的当前点位不在取货放货点
-//
+                            if (currFloor == 1 && a > 0 && !deviceSrgv.getCurrSite().equals("070101") && !deviceSrgv.getCurrSite().equals("050101")) {
-//                        }
+                                return;
+                            }
+                        }
+
+
                         if (deviceSrgv != null) {
 
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
@@ -634,61 +658,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                     // 小车不在1楼
                                     endSite = "tsj";
                                 }
-//                                if (endSite.equals("tsj")) {
-//                                    Integer count = wcsSagvQueueMapper.selectTsj();
-//                                    if (count > 0) {
-//                                        return;
-//                                    }
-//                                }
 
 
-                                //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
-                                // 如果当前有其他小车也要去入库点取货  TODO 判断的是如果当前车要去取货点，但是取货点有车的的情况
-//                                List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
-//                                        .filter(d -> d.getWorkMode() == 5
-//                                                && d.getStatus() == 1
-//                                                && d.getCurrSite().equals(cargoPickSite))
-//                                        .collect(Collectors.toList());
-                                // 和当前小车不是一个 那么就生成一个去离母通道最近的点
-//                                if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
-//                                    WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
-//                                    wcsSrgvMap3.setSiteId("07070"+sameSiteDevices.get(0).getCurrFloor());
-//                                    List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
-//                                    for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
-//
-//                                        if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
-//                                            WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-//                                            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
-//                                            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-//                                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
-//                                            if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
-//                                                //生成占位小车到缓存点队列
-//                                                WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
-//                                                wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
-//                                                wcsSrgvQueue3.setTaskNo(String.valueOf(taskCache));
-//                                                wcsSrgvQueue3.setTaskType("1");
-//                                                wcsSrgvQueue3.setPriority(Long.parseLong("2"));
-//                                                wcsSrgvQueue3.setCargo("1");
-//                                                wcsSrgvQueue3.setIssued(issued);
-//                                                wcsSrgvQueue3.setExecutionStatus(executionStatus);
-//                                                wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
-//                                                wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-//                                                wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
-//                                                wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
-//                                                wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
-//                                                wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-//                                                wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-//                                                wcsSrgvQueue3.setDefault02("4");
-//                                                wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
-//                                                wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
-//                                                taskCache++;
-//                                                return;
-//                                            }
-//                                        }
-//
-//                                    }
-//                                }
-
 
                                 //生成小车取货队列
                                 WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
@@ -716,15 +687,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 }
                                 wcsSrgvQueue.setDefault07("1");
                                 wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
+                                mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                                mydoJobService.updateMydoJob(mydoJob1);
 
                             }
                         }
                     }
                 }
             }
-
         }
-
     }
 
     /**
@@ -761,6 +732,134 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     }
 
+    /**
+     * 公共方法：生成小车避让任务
+     */
+    private void buildAvoidTask(String agvId, DeviceSrgv device, Integer floor) {
+        ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
+        List<DeviceSrgv> deviceSrgvs = deviceSrgvMap.values().stream()
+                .filter(d -> d.getWorkMode() == 5
+                        && d.getStatus() == 1
+                        && d.getCurrFloor().equals(floor))
+                .collect(Collectors.toList());
+        ArrayList<String> sites = new ArrayList<>();
+        for (DeviceSrgv d : deviceSrgvs) {
+            sites.add(d.getCurrSite());
+        }
+        List<WcsSrgvMap> cacheMaps = wcsSrgvMapService.selectNotInsite("cache", floor, sites);
+        if (CollUtil.isEmpty(cacheMaps)) {
+            log.warn("楼层 {} 无可用避让缓存点，无法生成避让任务", floor);
+            return;
+        }
+
+        // 生成阻挡车的避让任务
+        WcsSrgvQueue taskB = new WcsSrgvQueue();
+        taskB.setGuid(UUID.randomUUID().toString());
+        taskB.setTaskNo(String.valueOf(taskCache));
+        taskB.setAgvId(agvId);
+        taskB.setTaskType("4");      // 避让任务
+        taskB.setDefault02("4");     // 业务类型标识为点到点
+        taskB.setPriority(9L);       // 高优先级
+        taskB.setIssued("0");        // 未下发
+        taskB.setExecutionStatus("1");
+        taskB.setStartSite(device.getCurrSite());
+        taskB.setCargoPickSite(device.getCurrSite());
+
+        // 选择避让缓存点
+        if (cacheMaps.size() > 1) {
+            Integer count = wcsSagvQueueMapper.selectByCaogoPlaceSite(cacheMaps.get(0).getSiteId());
+            if (count > 0) {
+                taskB.setCargoPlaceSite(cacheMaps.get(1).getSiteId());
+                taskB.setEndSite(cacheMaps.get(1).getSiteId());
+            } else {
+                taskB.setCargoPlaceSite(cacheMaps.get(0).getSiteId());
+                taskB.setEndSite(cacheMaps.get(0).getSiteId());
+            }
+        } else {
+            taskB.setCargoPlaceSite(cacheMaps.get(0).getSiteId());
+            taskB.setEndSite(cacheMaps.get(0).getSiteId());
+        }
+
+        taskB.setTheFloor(floor.toString());
+        taskB.setDefault07(floor.toString());
+        taskB.setCreateDate(DateUtil.now());
+        wcsSagvQueueMapper.insertWcsSrgvQueue(taskB);
+        taskCache++;
+    }
+
+    /**
+     * 处理通道占用避让：目标通道有其他车则生成避让任务
+     *
+     * @param currDevice   当前调度小车
+     * @param floor        当前楼层
+     * @param shortestPath 最短路径
+     * @return true=已触发避让，当前车需等待；false=通道无占用，正常走后续逻辑
+     */
+    private boolean handleChannelAvoid(DeviceSrgv currDevice, Integer floor, List<int[]> shortestPath) {
+        // 1. 取路径终点坐标
+        int[] lastPoint = shortestPath.get(shortestPath.size() - 1);
+        int x = lastPoint[0];
+        int y = lastPoint[1];
+
+        // 2. 根据坐标查询站点及所属通道
+        WcsSrgvMap queryMap = new WcsSrgvMap();
+        queryMap.setX(x);
+        queryMap.setY(y);
+        queryMap.setZ(floor);
+        List<WcsSrgvMap> siteList = wcsSrgvMapService.selectWcsSrgvMapList(queryMap);
+        if (CollUtil.isEmpty(siteList)) {
+            return false;
+        }
+        // 目标通道ID
+        String targetChannelId = siteList.get(0).getSpaceArea();
+        if (StrUtil.isBlank(targetChannelId)) {
+            return false;
+        }
+
+        // 3. 筛选：同楼层、同通道、非当前车、空闲可调度的小车
+        List<Map.Entry<String, DeviceSrgv>> channelCarList = PlcSrgvRead.deviceSrgvMap.entrySet().stream()
+                .filter(entry -> entry.getValue() != null)
+                // 同楼层
+                .filter(entry -> floor.equals(entry.getValue().getCurrFloor()))
+                // 不是当前调度的车
+                .filter(entry -> !Objects.equals(Convert.toStr(currDevice.getDeviceId()), entry.getKey()))
+                // 空闲可调度状态（和原有避让状态保持一致）
+                .filter(entry -> entry.getValue().getWorkMode() == 5
+                        && entry.getValue().getStatus() == 1)
+                // 车辆当前站点属于目标通道
+                .filter(entry -> {
+                    String currSite = entry.getValue().getCurrSite();
+                    WcsSrgvMap siteParam = new WcsSrgvMap();
+                    siteParam.setSiteId(currSite);
+                    siteParam.setZ(floor);
+                    List<WcsSrgvMap> siteInfos = wcsSrgvMapService.selectWcsSrgvMapList(siteParam);
+                    return CollUtil.isNotEmpty(siteInfos)
+                            && targetChannelId.equals(siteInfos.get(0).getSpaceArea());
+                })
+                .collect(Collectors.toList());
+
+        // 4. 通道内无其他车，无需避让
+        if (CollUtil.isEmpty(channelCarList)) {
+            return false;
+        }
+
+        // 5. 取通道内第一台占用车，生成避让任务
+        Map.Entry<String, DeviceSrgv> blockCar = channelCarList.get(0);
+        String blockAgvId = blockCar.getKey();
+        DeviceSrgv blockDevice = blockCar.getValue();
+
+        // 查询阻挡车是否已有任务，无任务才生成避让
+        WcsSrgvQueue checkQueue = new WcsSrgvQueue();
+        checkQueue.setAgvId(blockAgvId);
+        List<WcsSrgvQueue> existQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(checkQueue);
+        if (CollUtil.isEmpty(existQueues)) {
+            buildAvoidTask(blockAgvId, blockDevice, floor);
+            log.info("通道 {} 内存在小车 {}，已生成通道避让任务", targetChannelId, blockAgvId);
+        }
+        // 触发避让，当前小车等待
+        return true;
+    }
+
     /**
      * 小车发送点对点任务
      */
@@ -805,15 +904,51 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         //处理地图
         int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv, floor);
-
         //计算最短路径
         List<int[]> shortestPath = PathFinder.findShortestPath(emptyMap, arrByRoadSite.get(startSite).getX(), arrByRoadSite.get(startSite).getY(), arrByRoadSite.get(endSite).getX(), arrByRoadSite.get(endSite).getY());
 
         // TODO 小车避让 目前只针对同层最多两台车 并且点位设置到了050201   判断地图中取的路径 不能直达说明有车阻挡 直接返回-1 用-1判断小车阻挡调离小车
         if (shortestPath.size() > 0) {
-            if (shortestPath.size() == 1 && shortestPath.get(0)[0] == -1) {
+
+            // ===================== 新增：通道占用避让判断 开始 =====================
+            boolean channelNeedAvoid = handleChannelAvoid(deviceSrgv, floor, shortestPath);
+            if (channelNeedAvoid) {
                 return false;
             }
+            // ===================== 新增：通道占用避让判断 结束 =====================
+
+            if (shortestPath.size() == 1 && shortestPath.get(0)[0] == -1) {
+                // 如果阻挡了 则找一个出库缓存点 让车先过去
+                // 执行队列不是空的 且在一层 并且车在提升机里面 要去的目标点也是队列的目标点，则直接让车先去缓存出库点
+                if (floor == 1 && "090501".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite()) && "2".equals(wcsSrgvQueue.getDefault02())) {
+                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+                    wcsSrgvMapParam.setRemark("outCache");
+                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+                    List<String> cacheSite = wcsSrgvMaps.stream().sorted(Comparator.comparing(WcsSrgvMap::getSiteId)).map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+                    List<String> currentSRgvSite = new ArrayList<>();
+                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+                    }
+                    cacheSite.removeAll(currentSRgvSite);
+                    if (CollUtil.isNotEmpty(cacheSite)) {
+                        for (String cache : cacheSite) {
+                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+                            wcsSrgvQueueParam.setEndSite(cache);
+
+                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
+                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
+                                wcsSrgvQueue.setDefault02("7");
+                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                                shortestPath = null;
+                                break;
+                            }
+                        }
+                    }
+                }
+                return false;
+            }
+            // 空车避让
             String endBlockAgv = null;
             DeviceSrgv endBlockDevice = null;
             if (arrByRoadSite != null && !arrByRoadSite.isEmpty()) {
@@ -861,6 +996,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             WcsSrgvQueue wcsSrgvQueueBR = new WcsSrgvQueue();
             wcsSrgvQueueBR.setAgvId(endBlockAgv);
             List<WcsSrgvQueue> wcsSrgvQueueBRS = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueBR);
+            // 如果车无执行队列，可以直接生成避让执行队列
             if (endBlockDevice != null && wcsSrgvQueueBRS.isEmpty()) {
                 // 选择当前层最近且可达的缓存点（避让点）
                 ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
@@ -920,63 +1056,65 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
 
         //判断是否能规划出最短路径
-        if (shortestPath == null || shortestPath.isEmpty()) {
+//        if (shortestPath == null || shortestPath.isEmpty()) {
-            //判断是否是1层 空车取货 或者 满车放货
+//            //判断是否是1层 空车取货 或者 满车放货
-            if (floor == 1) {
+//            if (floor == 1) {
-
+//
-                if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) {
+//                if ("2".equals(wcsSrgvQueue.getDefault02()) && "090501".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) {
-                    //1层满车放货
+//                    //1层满车放货
-                    //修改终点到出库缓存点
+//                    //修改终点到出库缓存点
-                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+//                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
-                    wcsSrgvMapParam.setRemark("outCache");
+//                    wcsSrgvMapParam.setRemark("outCache");
-                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+//                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
-                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+//                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
-                    List<String> currentSRgvSite = new ArrayList<>();
+//                    List<String> currentSRgvSite = new ArrayList<>();
-                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+//                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
-                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+//                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
-                    }
+//                    }
-                    cacheSite.removeAll(currentSRgvSite);
+//                    cacheSite.removeAll(currentSRgvSite);
-                    if (CollUtil.isNotEmpty(cacheSite)) {
+//                    if (CollUtil.isNotEmpty(cacheSite)) {
-                        for (String cache : cacheSite) {
+//                        for (String cache : cacheSite) {
-                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+//                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
-                            wcsSrgvQueueParam.setEndSite(cache);
+//                            wcsSrgvQueueParam.setEndSite(cache);
-                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+//
-                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
+//                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
-                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
+//                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
-                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+//                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
-                                break;
+//                                wcsSrgvQueue.setDefault02("7");
-                            }
+//                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-                        }
+//                                break;
-                    }
+//                            }
-                }
+//                        }
-                if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())) {
+//                    }
-                    //1层空车取货
+//                }
-                    //修改终点到避让点
+//                if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())) {
-                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+//                    //1层空车取货
-                    wcsSrgvMapParam.setRemark("cache");
+//                    //修改终点到避让点
-                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+//                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
-                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+//                    wcsSrgvMapParam.setRemark("cache");
-                    List<String> currentSRgvSite = new ArrayList<>();
+//                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
-                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+//                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
-                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+//                    List<String> currentSRgvSite = new ArrayList<>();
-                    }
+//                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
-                    cacheSite.removeAll(currentSRgvSite);
+//                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
-                    if (CollUtil.isNotEmpty(cacheSite)) {
+//                    }
-                        for (String cache : cacheSite) {
+//                    cacheSite.removeAll(currentSRgvSite);
-                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+//                    if (CollUtil.isNotEmpty(cacheSite)) {
-                            wcsSrgvQueueParam.setEndSite(cache);
+//                        for (String cache : cacheSite) {
-                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+//                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
-                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
+//                            wcsSrgvQueueParam.setEndSite(cache);
-                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
+//                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
-                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+//                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
-                                break;
+//                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
-                            }
+//                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-                        }
+//                                break;
-                    }
+//                            }
-                }
+//                        }
-            }
+//                    }
-            return false;
+//                }
-        }
+//            }
+//            return false;
+//        }
 
 
         //获取拐点路径
@@ -1118,7 +1256,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             }
             //  TODO  这段下发有问题
             if (wcsSrgvQueue.getDefault08().equals("2") && deviceSrgv.getSpare5().equals("1")) {
-
                 sendDataList = new ArrayList<>();
                 SendData2 path = new SendData2();
                 path.setAddress("4404");//地址
@@ -1359,7 +1496,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * @return
      */
     private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
-
+        //更新小车待机时间
+        deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId());
         String groupCodingNo = basCargoSpaceService.selecGroupCodingBySite(currSite);
         String siteId = basCargoSpaceService.selectMaxSiteIdByNo(groupCodingNo);
         List<String> sites = new ArrayList<>();
@@ -1377,26 +1515,34 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             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
+            // 处理出库缓存点任务  让070301 的先走 走了之后再执行090301的任务 再070301 走完之前不能执行090301的任务
-            if (wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))) {
+            if (wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite)) && wcsSrgvQueue.getDefault02().equals("7")) {
-                //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 wcsSrgvQueue1 = new WcsSrgvQueue();
-//                wcsSrgvQueue.setExecutionStatus("4");
+                wcsSrgvQueue1.setEndSite("070301");
-//                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue1);
-//                wcsSrgvQueue.setIssued("0");
+
-//                wcsSrgvQueue.setExecutionStatus("1");
+                WcsSrgvQueue wcsSrgvQueue2 = new WcsSrgvQueue();
-//                wcsSrgvQueue.setStartSite(currSite);
+                wcsSrgvQueue2.setStartSite("070301");
-//                if ("1".equals(taskType)) {
+                List<WcsSrgvQueue> wcsSrgvQueueOut = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue2);
-//                    wcsSrgvQueue.setEndSite(cargoPickSite);
+                // 如果当前站点为090301 判断是否有070301的任务要来 如果要来就等着 等到070301的任务先走了再让小车开始动
-//                } else if ("2".equals(taskType)) {
+                if (currSite.equals("090301") && CollUtil.isNotEmpty(wcsSrgvQueues) && CollUtil.isNotEmpty(wcsSrgvQueueOut)) {
-//                    wcsSrgvQueue.setEndSite(cargoPlaceSite);
+                    return;
-//                }
+                }
-//                wcsSrgvQueue.setTheFloor("1");
+                MydoJob mydoJobyk = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
-//                wcsSrgvQueue.setDefault07("1");
+                if (!mydoJobyk.getInOrOut().equals("30")) {
-//                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                    wcsSrgvQueue.setEndSite(wcsSrgvQueue.getCargoPlaceSite());
-//                return;
+                    wcsSrgvQueue.setDefault02("2");
+                    wcsSrgvQueue.setIssued("0");
+                    wcsSrgvQueue.setExecutionStatus("1");
+                    wcsSrgvQueue.setTaskType("2");
+                    wcsSrgvQueue.setStartSite(currSite);
+                    wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                    wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                    return;
+                }
+
             }
             //空车任务  且当前车的位置和取货位置相同
             if ("1".equals(taskType) && (cargoPickSite.equals(currSite) || (wcsSrgvQueue.getDefault06() != null && wcsSrgvQueue.getDefault06().equals(currSite)) || sites.contains(currSite))) {
@@ -1450,6 +1596,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         //请求wms生成库存 插入回传表
                         MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
                         if (mydoJob != null) {
+                            mydoJob.setFinishTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                            mydoJob.setStatus("4");
+                            mydoJobService.updateMydoJob(mydoJob);
                             JobCallBack jobCallBack = new JobCallBack();
                             jobCallBack.setType(wcsSrgvQueue.getDefault02());
                             jobCallBack.setMydojobId(mydoJob.getJobId());
@@ -1459,12 +1608,18 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             jobCallBackService.insertJobCallBack(jobCallBack);
                             mydoJobService.insertHistory(mydoJob.getJobId());
                             mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
+                            wcsSrgvQueue.setExecutionStatus("4");
+                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                         }
                         break;
 
                     case "2":
                         MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
                         if (mydoJobOut != null && (cargoPlaceSite.equals(currSite))) {
+                            mydoJobOut.setFinishTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                            mydoJobOut.setStatus("4");
+                            mydoJobService.updateMydoJob(mydoJobOut);
                             log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]", wcsSrgvQueue.getTaskNo(), currSite, cargoPlaceSite);
                             JobCallBack jobCallBack = new JobCallBack();
                             jobCallBack.setType(wcsSrgvQueue.getDefault02());
@@ -1473,15 +1628,63 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             jobCallBack.setTaskNo(Convert.toLong(mydoJobOut.getTaskNo()));
                             jobCallBack.setCreateTime(new Date());
                             jobCallBackService.insertJobCallBack(jobCallBack);
-                            // 不是线边整托线边直出的删除作业
                             if (!mydoJobOut.getInOrOut().equals("22")) {
                                 mydoJobService.insertHistory(mydoJobOut.getJobId());
                                 mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
                             }
+//
+
+                            wcsSrgvQueue.setExecutionStatus("4");
+                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                         }
+                        if (mydoJobOut != null && wcsSrgvQueue.getDefault06() != null && !wcsSrgvQueue.getDefault06().equals("") && siteId != null && !wcsSrgvQueue.getCargoPlaceSite().equals(siteId) && siteId.equals(wcsSrgvQueue.getDefault06())) {
+                            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) {
+
+                                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";
+                                }
+
+
+                                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
+                                    }
+                                }
+                                // 更新目标点，修改执行队列
+                                wcsSrgvQueue.setEndSite(endSite);
+                                wcsSrgvQueue.setDefault02(xfType);
+                                wcsSrgvQueue.setTheFloor(wcsSrgvMapq.getTheLayer().toString());
+                                wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
+                                wcsSrgvQueue.setIssued("0");
+                                wcsSrgvQueue.setDefault06(null);
+                                wcsSrgvQueue.setExecutionStatus("1");
+                                wcsSrgvQueue.setTaskType("2");
+                            }
+                            wcsSrgvQueue.setStartSite(currSite);
+                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                            wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                        }
+
                     case "7"://移库，变动库存
                         MydoJob mydoJobyk = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
-                        if (mydoJobyk != null) {
+                        if (mydoJobyk != null && mydoJobyk.getInOrOut().equals("30")) {
+                            mydoJobyk.setFinishTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+                            mydoJobyk.setStatus("4");
+                            mydoJobService.updateMydoJob(mydoJobyk);
                             JobCallBack jobCallBack = new JobCallBack();
                             jobCallBack.setType(wcsSrgvQueue.getDefault02());
                             jobCallBack.setMydojobId(mydoJobyk.getJobId());
@@ -1491,15 +1694,17 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             jobCallBackService.insertJobCallBack(jobCallBack);
                             mydoJobService.insertHistory(mydoJobyk.getJobId());
                             mydoJobService.deleteMydoJobByJobId(mydoJobyk.getJobId());
+                            wcsSrgvQueue.setExecutionStatus("4");
+                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                         }
+                        break;
 
                     default:
                         break;
                 }
                 //删除队列，插入历史表
-                wcsSrgvQueue.setExecutionStatus("4");
+
-                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
 
                 // 充电任务  并且小车也是充电任务
             } else if ("3".equals(taskType) && wcsSrgvQueue.getDefault02().equals("3")) {
@@ -1538,8 +1743,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
             }
 
-            //更新小车待机时间
+
-//            deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId());
         }
 
     }

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

@@ -46,6 +46,13 @@ public class SsjThread implements Runnable {
         ssjCodes2.add("L1004");
         ssjCodes2.add("L1005");
         ssjCodeList.put("road", ssjCodes2);
+
+        ArrayList<String> ssjCodes4 = new ArrayList<>();
+        ssjCodes4.add("L1006");
+        ssjCodes4.add("L1003");
+        ssjCodeList.put("error", ssjCodes4);
+
+
         mydoJobService = SpringUtils.getBean(IMydoJobService.class);
         jobCallBackService = SpringUtils.getBean(IJobCallBackService.class);
         apiService = SpringUtils.getBean(IApiService.class);
@@ -97,7 +104,43 @@ public class SsjThread implements Runnable {
                                 log.error(e.getMessage(), e);
                             }
                         }
+
+
+                    case "error":
+                        for (String ssjCode : ssjCodeList.get("error")) {
+                            try {
+                                if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) {
+                                    inDispatchError(PlcSsjRead.deviceSsjMap.get(ssjCode));
+                                } else {
+                                    log.error("设备不存在 ssjCode{}", ssjCode);
                                 }
+                            } catch (RuntimeException e) {
+                                log.error(e.getMessage(), e);
+                            }
+                        }
+
+                }
+            }
+        }
+    }
+
+    private void inDispatchError(DeviceSsj deviceSsj) {
+        if (deviceSsj.getErrorCode() > 0) {
+            if (deviceSsj.getDeviceCode().equals("L1003")) {
+                String code = "TD1001";
+                String errorCode = String.valueOf(deviceSsj.getErrorCode());
+                HashMap<String, Object> objectObjectHashMap = new HashMap<>();
+                objectObjectHashMap.put("deviceCode", code);
+                objectObjectHashMap.put("errorCode", errorCode);
+                apiService.updateLedError(objectObjectHashMap);
+            }
+            if (deviceSsj.getDeviceCode().equals("L1006")) {
+                String code = "TD1008";
+                String errorCode = String.valueOf(deviceSsj.getErrorCode());
+                HashMap<String, Object> objectObjectHashMap = new HashMap<>();
+                objectObjectHashMap.put("deviceCode", code);
+                objectObjectHashMap.put("errorCode", errorCode);
+                apiService.updateLedError(objectObjectHashMap);
             }
         }
     }
@@ -106,9 +149,16 @@ public class SsjThread implements Runnable {
     void inDispatch(DeviceSsj deviceSsj) {
         //出库到位
         if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 0) {
+            HashMap<String, Object> objectObjectHashMap = new HashMap<>();
+            objectObjectHashMap.put("deviceCode", deviceSsj.getDeviceCode());
+            objectObjectHashMap.put("taskNo", deviceSsj.getTaskNo());
+            apiService.updateLed(objectObjectHashMap);
+
             MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(deviceSsj.getTaskNo()));
             if (mydoJob != null && mydoJob.getInOrOut().equals("22")) {
                 // 新增agv执行队列，以及调用wms后台任务过账
+                AjaxResult ajaxResult1 = apiService.insertAgvQuene(objectObjectHashMap);
+                if (ajaxResult1.get("code").equals("200")) {
                     HashMap<String, Object> map = new HashMap<>();
                     map.put("trayCode", mydoJob.getTrayCode());
                     //拉取
@@ -120,19 +170,28 @@ public class SsjThread implements Runnable {
                 }
             }
         }
+    }
 
     void inDispatch1(DeviceSsj deviceSsj) {
         if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode().trim())) {
             String trayCode = deviceSsj.getTrayCode().trim();
             MydoJob getMydoJob = mydoJobService.selectMydoJobByTrayCode(trayCode);
-            if (getMydoJob != null && deviceSsj.getTaskNo() < 1000) {
+            if (getMydoJob == null && deviceSsj.getTaskNo() < 1000) {
-                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), getMydoJob.getTaskNo(), 1, 1);
+                String exit = "";
-                if (i == 1) {
+                if (deviceSsj.getDeviceCode().equals("GS1002")) {
-                    getMydoJob.setStatus("3");
+                    exit = "L1004";
-                    mydoJobService.updateMydoJob(getMydoJob);
+                }
-                    log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", getMydoJob.getTaskNo());
+                if (deviceSsj.getDeviceCode().equals("GS1007")) {
+                    exit = "L1005";
+                }
+                Integer count = mydoJobService.selectMydoJobExit(exit);
+                if (count > 0) {
+                    int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
+                    if (i == 1) {
+                        log.info(deviceSsj.getDeviceCode() + "有相应入口的出库作业，下发退回，去向2 条码" + deviceSsj.getTrayCode());
+                        return;
+                    }
                 }
-            } else {
                 //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());
@@ -182,12 +241,13 @@ public class SsjThread implements Runnable {
         if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 1000) {
 
             MydoJob mydoJob1 = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(deviceSsj.getTaskNo()));
-            if (mydoJob1.getCargoSpaceId() != null) {
+            if (mydoJob1 != null && mydoJob1.getCargoSpaceId() != null) {
                 return;
             }
-
+            if (mydoJob1 != null && Integer.parseInt(mydoJob1.getInOrOut()) < 20) {
                 HashMap<String, Object> map = new HashMap<>();
                 map.put("taskNo", deviceSsj.getTaskNo());
+                map.put("deviceCode", deviceSsj.getDeviceCode());
                 //拉取
                 AjaxResult ajaxResult = apiService.sendCargoSpace(map);
                 if (ajaxResult.isSuccess()) {
@@ -195,14 +255,14 @@ public class SsjThread implements Runnable {
                     String cargoSpaceId = data.getCargoSpaceId();
                     String theFloor = data.getClassId();
                     MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
-                if (mydoJob != null) {
+                    if (mydoJob != null && cargoSpaceId != null && !cargoSpaceId.equals("")) {
                         mydoJob.setTheFloor(theFloor);
                         mydoJob.setCargoSpaceId(cargoSpaceId);
                         mydoJob.setExecutionPhase("2");
                         mydoJobService.updateMydoJob(mydoJob);
                     }
                 }
-
+            }
         }
     }
 }

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

@@ -26,9 +26,7 @@ import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
-import java.util.Date;
+import java.util.*;
-import java.util.Iterator;
-import java.util.List;
 import java.util.stream.Collectors;
 
 @Slf4j
@@ -41,7 +39,7 @@ public class TsjThread implements Runnable {
     private IWcsSrgvQueueService wcsSrgvQueueService;
     private IMydoJobService mydoJobService;
     private IWcsSrgvMapService wcsSrgvMapService;
-
+    public IWcsSrgvQueueService wcsSagvQueueMapper;
 
     public void init() {
         tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class);
@@ -50,6 +48,7 @@ public class TsjThread implements Runnable {
         wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
         wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);
 
+
     }
 
     @Override
@@ -104,6 +103,10 @@ public class TsjThread implements Runnable {
         if (czfs == 2 && sbzt == 2 && jdbz == 2 && rwh > 500) {
             createSRgvQueueTsjQd(rwh, tsj);
         }
+        // 提升机放货途中 取消当前小车的路径
+        if (czfs == 2 && sbzt == 2 && jdbz == 3 && rwh > 500) {
+            removePathCar(rwh, tsj);
+        }
 
         /*
          * 2、任务完成
@@ -126,6 +129,15 @@ public class TsjThread implements Runnable {
 
     }
 
+    private void removePathCar(Long rwh, DeviceTsj tsj) {
+        WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(String.valueOf(rwh));
+        DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(wcsSrgvQueue.getAgvId());
+        if (!deviceSrgv.getCurrSite().equals("07050"+wcsSrgvQueue.getTheFloor()) && tsj.getHczt() == 1 && !wcsSrgvQueue.getPathInfo().isEmpty() && java.util.Arrays.asList(wcsSrgvQueue.getPathInfo().trim().replaceAll(",$", "").split(",")).contains("07050"+wcsSrgvQueue.getTheFloor())&&wcsSrgvQueue.getEndSite().equals("tsj")) {
+            wcsSrgvQueue.setPathInfo("");
+            wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
+        }
+    }
+
     // 下发提升机启动
     private void createSRgvQueueTsjQd(Long rwh, DeviceTsj tsj) {
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
@@ -186,9 +198,42 @@ public class TsjThread implements Runnable {
                     break;
                 case "2":
                     //出库
-//                    startSite="tsj";
                     startSite = "09050" + tsj.getDqcs();
+                    // 如果提升机当前层等于1 并且是出库任务，更新出库点位为出库缓存点
+//                    Integer i = mydoJobService.selectMydoJobCountOut();
+                    if (tsj.getDqcs() == 1 && "2".equals(wcsSrgvQueue.getDefault02())) {
+                        WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+                        wcsSrgvMapParam.setRemark("outCache");
+                        List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+                        List<String> cacheSite = wcsSrgvMaps.stream().sorted(Comparator.comparing(WcsSrgvMap::getSiteId)).map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+                        List<String> currentSRgvSite = new ArrayList<>();
+                        // 判断是否有车是在一样的位置
+                        for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+                            currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+                        }
+                        cacheSite.removeAll(currentSRgvSite);
+                        if (CollUtil.isNotEmpty(cacheSite)) {
+                            for (String cache : cacheSite) {
+                                WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+                                wcsSrgvQueueParam.setEndSite(cache);
+                                // 判断是否有车要去这个缓存点  没有就更新
+                                List<WcsSrgvQueue> wcsSrgvQueues1 = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+//                                WcsSrgvQueue wcsSrgvQueueParam1 = new WcsSrgvQueue();
+//                                wcsSrgvQueueParam1.setStartSite(cache);
+//                                // 并且从缓存点走的
+//                                List<WcsSrgvQueue> wcsSrgvQueues2 = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam1);
+                                if (CollUtil.isEmpty(wcsSrgvQueues1)) {
+                                    wcsSrgvQueue.setStartSite(startSite);
+                                    wcsSrgvQueue.setEndSite(cacheSite.get(0));
+                                    wcsSrgvQueue.setDefault02("7");
+                                    wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
+                                    return;
+                                }
+                            }
+                        }
+                    } else {
                         endSite = wcsSrgvQueue.getCargoPlaceSite();
+                    }
                     break;
                 case "3":
                     break;
@@ -218,7 +263,7 @@ public class TsjThread implements Runnable {
                                 List<DeviceSrgv> collect = PlcSrgvRead.deviceSrgvMap.values().stream().filter(d ->
                                                 d.getCurrSite().equals(cargoPickSite))
                                         .collect(Collectors.toList());
-                                if (count > 0 || !collect.isEmpty()) {
+                                if ((count > 0 || !collect.isEmpty()) && tsj.getDqcs() == 1) {
                                     wcsSrgvQueue.setEndSite("070301");
                                 } else {
                                     wcsSrgvQueue.setEndSite(cargoPickSite);
@@ -267,7 +312,8 @@ public class TsjThread implements Runnable {
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
             Integer count = tsjDeviceExecutionQueueService.selectCount();
-            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0 && count == 0) {
+            WcsSrgvQueue wcsSrgvQueue1 = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(String.valueOf(deviceSrgv.getTaskNo()));
+            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0 && count == 0 && wcsSrgvQueue1.getEndSite().equals("tsj")) {
                 //请求进入输送机
                 WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
                 sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));

ruoyi-admin/src/main/java/com/ruoyi/system/controller/AgvContainerTaskController.java

@@ -0,0 +1,104 @@
+package com.ruoyi.system.controller;
+
+import java.util.List;
+import javax.servlet.http.HttpServletResponse;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.DeleteMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import com.ruoyi.common.annotation.Log;
+import com.ruoyi.common.core.controller.BaseController;
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.common.enums.BusinessType;
+import com.ruoyi.system.domain.AgvContainerTask;
+import com.ruoyi.system.service.IAgvContainerTaskService;
+import com.ruoyi.common.utils.poi.ExcelUtil;
+import com.ruoyi.common.core.page.TableDataInfo;
+
+/**
+ * agv料架搬运任务Controller
+ * 
+ * @author ruoyi
+ * @date 2026-05-15
+ */
+@RestController
+@RequestMapping("/system/task")
+public class AgvContainerTaskController extends BaseController
+{
+    @Autowired
+    private IAgvContainerTaskService agvContainerTaskService;
+
+    /**
+     * 查询agv料架搬运任务列表
+     */
+    @PreAuthorize("@ss.hasPermi('system:task:list')")
+    @GetMapping("/list")
+    public TableDataInfo list(AgvContainerTask agvContainerTask)
+    {
+        startPage();
+        List<AgvContainerTask> list = agvContainerTaskService.selectAgvContainerTaskList(agvContainerTask);
+        return getDataTable(list);
+    }
+
+    /**
+     * 导出agv料架搬运任务列表
+     */
+    @PreAuthorize("@ss.hasPermi('system:task:export')")
+    @Log(title = "agv料架搬运任务", businessType = BusinessType.EXPORT)
+    @PostMapping("/export")
+    public void export(HttpServletResponse response, AgvContainerTask agvContainerTask)
+    {
+        List<AgvContainerTask> list = agvContainerTaskService.selectAgvContainerTaskList(agvContainerTask);
+        ExcelUtil<AgvContainerTask> util = new ExcelUtil<AgvContainerTask>(AgvContainerTask.class);
+        util.exportExcel(response, list, "agv料架搬运任务数据");
+    }
+
+    /**
+     * 获取agv料架搬运任务详细信息
+     */
+    @PreAuthorize("@ss.hasPermi('system:task:query')")
+    @GetMapping(value = "/{id}")
+    public AjaxResult getInfo(@PathVariable("id") Long id)
+    {
+        return success(agvContainerTaskService.selectAgvContainerTaskById(id));
+    }
+
+    /**
+     * 新增agv料架搬运任务
+     */
+    @PreAuthorize("@ss.hasPermi('system:task:add')")
+    @Log(title = "agv料架搬运任务", businessType = BusinessType.INSERT)
+    @PostMapping
+    public AjaxResult add(@RequestBody AgvContainerTask agvContainerTask)
+    {
+        return toAjax(agvContainerTaskService.insertAgvContainerTask(agvContainerTask));
+    }
+
+    /**
+     * 修改agv料架搬运任务
+     */
+    @PreAuthorize("@ss.hasPermi('system:task:edit')")
+    @Log(title = "agv料架搬运任务", businessType = BusinessType.UPDATE)
+    @PutMapping
+    public AjaxResult edit(@RequestBody AgvContainerTask agvContainerTask)
+    {
+        return toAjax(agvContainerTaskService.updateAgvContainerTask(agvContainerTask));
+    }
+
+    /**
+     * 删除agv料架搬运任务
+     */
+    @PreAuthorize("@ss.hasPermi('system:task:remove')")
+    @Log(title = "agv料架搬运任务", businessType = BusinessType.DELETE)
+	@DeleteMapping("/{ids}")
+    public AjaxResult remove(@PathVariable Long[] ids)
+    {
+        return toAjax(agvContainerTaskService.deleteAgvContainerTaskByIds(ids));
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/system/domain/AgvContainerTask.java

@@ -0,0 +1,173 @@
+package com.ruoyi.system.domain;
+
+import org.apache.commons.lang3.builder.ToStringBuilder;
+import org.apache.commons.lang3.builder.ToStringStyle;
+import com.ruoyi.common.annotation.Excel;
+import com.ruoyi.common.core.domain.BaseEntity;
+
+/**
+ * agv料架搬运任务对象 agv_container_task
+ * 
+ * @author ruoyi
+ * @date 2026-05-15
+ */
+public class AgvContainerTask extends BaseEntity
+{
+    private static final long serialVersionUID = 1L;
+
+    /** $column.columnComment */
+    private Long id;
+
+    /** 作业编码 */
+    @Excel(name = "作业编码")
+    private String container;
+
+    /** 起点 */
+    @Excel(name = "起点")
+    private String startPoint;
+
+    /** 终点 */
+    @Excel(name = "终点")
+    private String endPoint;
+
+    /** 开始时间 */
+    @Excel(name = "开始时间")
+    private String startTime;
+
+    /** 结束时间 */
+    @Excel(name = "结束时间")
+    private String finishTime;
+
+    /** 任务号 */
+    @Excel(name = "任务号")
+    private String taskNo;
+
+    /** 任务状态 0-创建 1-执行中 2-完成 */
+    @Excel(name = "任务状态 0-创建 1-执行中 2-完成")
+    private String status;
+
+    /** 任务类型 */
+    @Excel(name = "任务类型")
+    private String spare1;
+
+    /** 托盘码 */
+    @Excel(name = "托盘码")
+    private String spare2;
+
+    public void setId(Long id) 
+    {
+        this.id = id;
+    }
+
+    public Long getId() 
+    {
+        return id;
+    }
+
+    public void setContainer(String container) 
+    {
+        this.container = container;
+    }
+
+    public String getContainer() 
+    {
+        return container;
+    }
+
+    public void setStartPoint(String startPoint) 
+    {
+        this.startPoint = startPoint;
+    }
+
+    public String getStartPoint() 
+    {
+        return startPoint;
+    }
+
+    public void setEndPoint(String endPoint) 
+    {
+        this.endPoint = endPoint;
+    }
+
+    public String getEndPoint() 
+    {
+        return endPoint;
+    }
+
+    public void setStartTime(String startTime) 
+    {
+        this.startTime = startTime;
+    }
+
+    public String getStartTime() 
+    {
+        return startTime;
+    }
+
+    public void setFinishTime(String finishTime) 
+    {
+        this.finishTime = finishTime;
+    }
+
+    public String getFinishTime() 
+    {
+        return finishTime;
+    }
+
+    public void setTaskNo(String taskNo) 
+    {
+        this.taskNo = taskNo;
+    }
+
+    public String getTaskNo() 
+    {
+        return taskNo;
+    }
+
+    public void setStatus(String status) 
+    {
+        this.status = status;
+    }
+
+    public String getStatus() 
+    {
+        return status;
+    }
+
+    public void setSpare1(String spare1) 
+    {
+        this.spare1 = spare1;
+    }
+
+    public String getSpare1() 
+    {
+        return spare1;
+    }
+
+    public void setSpare2(String spare2) 
+    {
+        this.spare2 = spare2;
+    }
+
+    public String getSpare2() 
+    {
+        return spare2;
+    }
+
+    @Override
+    public String toString() {
+        return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
+            .append("id", getId())
+            .append("container", getContainer())
+            .append("startPoint", getStartPoint())
+            .append("endPoint", getEndPoint())
+            .append("createTime", getCreateTime())
+            .append("startTime", getStartTime())
+            .append("finishTime", getFinishTime())
+            .append("taskNo", getTaskNo())
+            .append("status", getStatus())
+            .append("spare1", getSpare1())
+            .append("spare2", getSpare2())
+            .toString();
+    }
+}

ruoyi-admin/src/main/java/com/ruoyi/system/mapper/AgvContainerTaskMapper.java

@@ -0,0 +1,68 @@
+package com.ruoyi.system.mapper;
+
+import java.util.List;
+import com.ruoyi.system.domain.AgvContainerTask;
+
+/**
+ * agv料架搬运任务Mapper接口
+ * 
+ * @author ruoyi
+ * @date 2026-05-15
+ */
+public interface AgvContainerTaskMapper 
+{
+    /**
+     * 查询agv料架搬运任务
+     * 
+     * @param id agv料架搬运任务主键
+     * @return agv料架搬运任务
+     */
+    public AgvContainerTask selectAgvContainerTaskById(Long id);
+
+    /**
+     * 查询agv料架搬运任务列表
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return agv料架搬运任务集合
+     */
+    public List<AgvContainerTask> selectAgvContainerTaskList(AgvContainerTask agvContainerTask);
+
+    /**
+     * 新增agv料架搬运任务
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return 结果
+     */
+    public int insertAgvContainerTask(AgvContainerTask agvContainerTask);
+
+    /**
+     * 修改agv料架搬运任务
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return 结果
+     */
+    public int updateAgvContainerTask(AgvContainerTask agvContainerTask);
+
+    /**
+     * 删除agv料架搬运任务
+     * 
+     * @param id agv料架搬运任务主键
+     * @return 结果
+     */
+    public int deleteAgvContainerTaskById(Long id);
+
+    public int deleteAgvContainerTaskByContainer(String orderId);
+    /**
+     * 批量删除agv料架搬运任务
+     * 
+     * @param ids 需要删除的数据主键集合
+     * @return 结果
+     */
+    public int deleteAgvContainerTaskByIds(Long[] ids);
+
+    void insertAgvContainerTaskFinish(String orderId);
+
+    void updateAgvContainerTaskByOrder(String orderId);
+
+    AgvContainerTask selectAgvContainerFinishOne();
+}

ruoyi-admin/src/main/java/com/ruoyi/system/service/IAgvContainerTaskService.java

@@ -0,0 +1,63 @@
+package com.ruoyi.system.service;
+
+import java.util.List;
+import com.ruoyi.system.domain.AgvContainerTask;
+
+/**
+ * agv料架搬运任务Service接口
+ * 
+ * @author ruoyi
+ * @date 2026-05-15
+ */
+public interface IAgvContainerTaskService 
+{
+    /**
+     * 查询agv料架搬运任务
+     * 
+     * @param id agv料架搬运任务主键
+     * @return agv料架搬运任务
+     */
+    public AgvContainerTask selectAgvContainerTaskById(Long id);
+
+    /**
+     * 查询agv料架搬运任务列表
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return agv料架搬运任务集合
+     */
+    public List<AgvContainerTask> selectAgvContainerTaskList(AgvContainerTask agvContainerTask);
+
+    /**
+     * 新增agv料架搬运任务
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return 结果
+     */
+    public int insertAgvContainerTask(AgvContainerTask agvContainerTask);
+
+    /**
+     * 修改agv料架搬运任务
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return 结果
+     */
+    public int updateAgvContainerTask(AgvContainerTask agvContainerTask);
+
+    /**
+     * 批量删除agv料架搬运任务
+     * 
+     * @param ids 需要删除的agv料架搬运任务主键集合
+     * @return 结果
+     */
+    public int deleteAgvContainerTaskByIds(Long[] ids);
+
+    /**
+     * 删除agv料架搬运任务信息
+     * 
+     * @param id agv料架搬运任务主键
+     * @return 结果
+     */
+    public int deleteAgvContainerTaskById(Long id);
+
+    void deleteAgvContainerTaskByOrderId(String container);
+}

ruoyi-admin/src/main/java/com/ruoyi/system/service/impl/AgvContainerTaskServiceImpl.java

@@ -0,0 +1,100 @@
+package com.ruoyi.system.service.impl;
+
+import java.util.List;
+import com.ruoyi.common.utils.DateUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import com.ruoyi.system.mapper.AgvContainerTaskMapper;
+import com.ruoyi.system.domain.AgvContainerTask;
+import com.ruoyi.system.service.IAgvContainerTaskService;
+
+/**
+ * agv料架搬运任务Service业务层处理
+ * 
+ * @author ruoyi
+ * @date 2026-05-15
+ */
+@Service
+public class AgvContainerTaskServiceImpl implements IAgvContainerTaskService 
+{
+    @Autowired
+    private AgvContainerTaskMapper agvContainerTaskMapper;
+
+    /**
+     * 查询agv料架搬运任务
+     * 
+     * @param id agv料架搬运任务主键
+     * @return agv料架搬运任务
+     */
+    @Override
+    public AgvContainerTask selectAgvContainerTaskById(Long id)
+    {
+        return agvContainerTaskMapper.selectAgvContainerTaskById(id);
+    }
+
+    /**
+     * 查询agv料架搬运任务列表
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return agv料架搬运任务
+     */
+    @Override
+    public List<AgvContainerTask> selectAgvContainerTaskList(AgvContainerTask agvContainerTask)
+    {
+        return agvContainerTaskMapper.selectAgvContainerTaskList(agvContainerTask);
+    }
+
+    /**
+     * 新增agv料架搬运任务
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return 结果
+     */
+    @Override
+    public int insertAgvContainerTask(AgvContainerTask agvContainerTask)
+    {
+        agvContainerTask.setCreateTime(DateUtils.getNowDate());
+        return agvContainerTaskMapper.insertAgvContainerTask(agvContainerTask);
+    }
+
+    /**
+     * 修改agv料架搬运任务
+     * 
+     * @param agvContainerTask agv料架搬运任务
+     * @return 结果
+     */
+    @Override
+    public int updateAgvContainerTask(AgvContainerTask agvContainerTask)
+    {
+        return agvContainerTaskMapper.updateAgvContainerTask(agvContainerTask);
+    }
+
+    /**
+     * 批量删除agv料架搬运任务
+     * 
+     * @param ids 需要删除的agv料架搬运任务主键
+     * @return 结果
+     */
+    @Override
+    public int deleteAgvContainerTaskByIds(Long[] ids)
+    {
+        return agvContainerTaskMapper.deleteAgvContainerTaskByIds(ids);
+    }
+
+    /**
+     * 删除agv料架搬运任务信息
+     * 
+     * @param id agv料架搬运任务主键
+     * @return 结果
+     */
+    @Override
+    public int deleteAgvContainerTaskById(Long id)
+    {
+        return agvContainerTaskMapper.deleteAgvContainerTaskById(id);
+    }
+
+    @Override
+    public void deleteAgvContainerTaskByOrderId(String container) {
+         agvContainerTaskMapper.deleteAgvContainerTaskByContainer(container);
+    }
+}

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

@@ -149,4 +149,13 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             #{reqCode}
         </foreach>
     </delete>
+    <select id="selectKx" parameterType="java.util.Map" statementType="CALLABLE">
+        {call proc_select_kx(#{v_position,mode=IN,jdbcType=VARCHAR},
+                                   #{v_orderId,mode=IN,jdbcType=VARCHAR},
+                                   #{v_type,mode=IN,jdbcType=VARCHAR},
+                                   #{v_result,mode=OUT,jdbcType=INTEGER},
+                                   #{v_result_msg,mode=OUT,jdbcType=VARCHAR})}
+    </select>
+
+
 </mapper>

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

@@ -182,7 +182,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <trim prefix="SET" suffixOverrides=",">
             <if test="setFloor != null">set_floor = #{setFloor},</if>
             <if test="powerTime != null">power_time = #{powerTime},</if>
-            <if test="lastTime != null">last_time = #{lastTime},</if>
+
             <if test="agvStatus != null">agv_status = #{agvStatus},</if>
             <if test="taskNo != null">task_no = #{taskNo},</if>
             <if test="srcSite != null">src_site = #{srcSite},</if>
@@ -227,6 +227,6 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </delete>
 
     <update id="updateLastTimeByAgvId" parameterType="String">
-        update  device_srgv set last_time =getdate() where agv_id=#{agvId}
+        update  device_srgv set last_time =convert(varchar,getdate(),120) where guid=#{agvId}
     </update>
 </mapper>

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

@@ -47,8 +47,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="priority != null "> and priority = #{priority}</if>
             <if test="executionPhase != null  and executionPhase != ''"> and execution_phase = #{executionPhase}</if>
             <if test="inOrOut != null  and inOrOut != ''"> and in_or_out = #{inOrOut}</if>
-            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
+            <if test="startTime != null  and startTime != ''"> and finish_time &gt;= #{startTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time &lt;= #{finishTime}</if>
             <if test="entranceId != null  and entranceId != ''"> and entrance_id = #{entranceId}</if>
             <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
@@ -229,8 +229,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="priority != null "> and priority = #{priority}</if>
             <if test="executionPhase != null  and executionPhase != ''"> and execution_phase = #{executionPhase}</if>
             <if test="inOrOut != null  and inOrOut != ''"> and in_or_out = #{inOrOut}</if>
-            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
+            <if test="startTime != null  and startTime != ''"> and finish_time &gt;= #{startTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time &lt;= #{finishTime}</if>
             <if test="entranceId != null  and entranceId != ''"> and entrance_id = #{entranceId}</if>
             <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
@@ -256,45 +256,32 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                 b.group_coding_no,
                 b.the_floor,
                 b.group_coding,
-        a.task_no AS task_no,
+                a.task_no,
-        a.job_id AS job_id,
+                a.job_id,
-        a.in_or_out,  -- 之前新增的字段
+                a.in_or_out,
-        a.target_cargo_space_id,  -- 新增字段：加入target_cargo_space_id
+                a.target_cargo_space_id,
-        ROW_NUMBER() OVER (PARTITION BY b.the_floor ORDER BY b.group_coding DESC) AS rn
+                ROW_NUMBER() OVER (
-        FROM
+                    PARTITION BY b.the_floor, b.group_coding_no
-        mydo_job_wcs a
+                    ORDER BY b.group_coding  desc
+                    ) AS rn
+            FROM mydo_job_wcs a
                      INNER JOIN bas_cargo_space b
                                 ON a.cargo_space_id = b.cargo_space_id
                                     AND a.the_floor = b.the_floor
-        WHERE
+            WHERE a.in_or_out >= 20
-        a.in_or_out >= 20
-        AND a.status = '1'
-        GROUP BY
-        b.group_coding_no,
-        b.cargo_space_id,
-        b.the_floor,
-        b.group_coding,
-        a.task_no,
-        a.job_id,
-        a.create_time,
-        a.in_or_out,  -- 之前新增的分组字段
-        a.target_cargo_space_id  -- 分组字段中新增：必须加入GROUP BY
         )
         SELECT
             cargo_space_id,
             group_coding_no,
             the_floor,
+            group_coding,
             task_no,
             job_id,
-        in_or_out,  -- 之前新增的展示字段
+            in_or_out,
-        target_cargo_space_id  -- 最终查询结果中显示该字段
+            target_cargo_space_id
-        FROM
+        FROM floor_group
-        floor_group
+        WHERE rn = 1          -- ✅ 每次每层每个通道只取 1 条
-        WHERE
+        ORDER BY group_coding DESC;
-        rn &lt;= 1
-        ORDER BY
-        group_coding DESC;
-
     </select>
     <select id="selectMydoJobByTrayCode" resultMap="MydoJobResult">
         <include refid="selectMydoJobVo"/>
@@ -310,5 +297,37 @@ select count(1) from mydo_job_wcs where in_or_out>=20 and  exit_id = #{exitId}
         select count(1) from mydo_job_wcs
 
     </select>
+    <select id="selectMydoJobIn" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where in_or_out &lt;20 and cargo_space_id is null and status='3' and execution_phase='1'
+    </select>
+
+    <select id="selectMydoJobCountOut" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where in_or_out>20
+    </select>
+    <select id="selectByJobOut" parameterType="java.lang.Integer" resultType="java.lang.Integer">
+        select count(1)
+        from mydo_job_wcs
+        where in_or_out > 20
+          and status = '1'
+    </select>
+
+    <select id="selectByJobOutIsOne" parameterType="java.lang.Integer" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where in_or_out>20 and status='1' and the_floor=1
+    </select>
+
+    <select id="selectMydoJobExit" parameterType="string" resultType="integer">
+        select count(1) from mydo_job_wcs where in_or_out>20 and exit_id=#{exit}
+    </select>
+
+    <select id="selectTheFloorYk" parameterType="string" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where the_floor=#{theFloor} and in_or_out=30
+    </select>
+
+    <delete id="deleteMydoJobByTaskNos">
+        delete from mydo_job_wcs where task_no in
+        <foreach item="taskNo" collection="taskNos" open="(" separator="," close=")">
+            #{taskNo}
+        </foreach>
+    </delete>
 
 </mapper>

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

@@ -227,5 +227,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </select>
 
 
-
+    <select id="selectTaskNosByGuids" parameterType="String" resultType="string">
+        select task_no from wcs_srgv_queue where guid in
+        <foreach item="guid" collection="array" open="(" separator="," close=")">
+            #{guid}
+        </foreach>
+    </select>
 </mapper>

ruoyi-admin/src/main/resources/mapper/system/AgvContainerTaskMapper.xml

@@ -0,0 +1,116 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.ruoyi.system.mapper.AgvContainerTaskMapper">
+    
+    <resultMap type="AgvContainerTask" id="AgvContainerTaskResult">
+        <result property="id"    column="id"    />
+        <result property="container"    column="container"    />
+        <result property="startPoint"    column="start_point"    />
+        <result property="endPoint"    column="end_point"    />
+        <result property="createTime"    column="create_time"    />
+        <result property="startTime"    column="start_time"    />
+        <result property="finishTime"    column="finish_time"    />
+        <result property="taskNo"    column="task_no"    />
+        <result property="status"    column="status"    />
+        <result property="spare1"    column="spare1"    />
+        <result property="spare2"    column="spare2"    />
+    </resultMap>
+
+    <sql id="selectAgvContainerTaskVo">
+        select id, container, start_point, end_point, create_time, start_time, finish_time, task_no, status, spare1, spare2 from agv_container_task
+    </sql>
+
+    <select id="selectAgvContainerTaskList" parameterType="AgvContainerTask" resultMap="AgvContainerTaskResult">
+        <include refid="selectAgvContainerTaskVo"/>
+        <where>  
+            <if test="container != null  and container != ''"> and container = #{container}</if>
+            <if test="startPoint != null  and startPoint != ''"> and start_point = #{startPoint}</if>
+            <if test="endPoint != null  and endPoint != ''"> and end_point = #{endPoint}</if>
+            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
+            <if test="taskNo != null  and taskNo != ''"> and task_no = #{taskNo}</if>
+            <if test="status != null  and status != ''"> and status = #{status}</if>
+            <if test="spare1 != null  and spare1 != ''"> and spare1 = #{spare1}</if>
+            <if test="spare2 != null  and spare2 != ''"> and spare2 = #{spare2}</if>
+        </where>
+    </select>
+    
+    <select id="selectAgvContainerTaskById" parameterType="Long" resultMap="AgvContainerTaskResult">
+        <include refid="selectAgvContainerTaskVo"/>
+        where id = #{id}
+    </select>
+
+    <insert id="insertAgvContainerTask" parameterType="AgvContainerTask" useGeneratedKeys="true" keyProperty="id">
+        insert into agv_container_task
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="container != null">container,</if>
+            <if test="startPoint != null">start_point,</if>
+            <if test="endPoint != null">end_point,</if>
+            <if test="createTime != null">create_time,</if>
+            <if test="startTime != null">start_time,</if>
+            <if test="finishTime != null">finish_time,</if>
+            <if test="taskNo != null">task_no,</if>
+            <if test="status != null">status,</if>
+            <if test="spare1 != null">spare1,</if>
+            <if test="spare2 != null">spare2,</if>
+         </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="container != null">#{container},</if>
+            <if test="startPoint != null">#{startPoint},</if>
+            <if test="endPoint != null">#{endPoint},</if>
+            <if test="createTime != null">#{createTime},</if>
+            <if test="startTime != null">#{startTime},</if>
+            <if test="finishTime != null">#{finishTime},</if>
+            <if test="taskNo != null">#{taskNo},</if>
+            <if test="status != null">#{status},</if>
+            <if test="spare1 != null">#{spare1},</if>
+            <if test="spare2 != null">#{spare2},</if>
+         </trim>
+    </insert>
+
+    <update id="updateAgvContainerTask" parameterType="AgvContainerTask">
+        update agv_container_task
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="container != null">container = #{container},</if>
+            <if test="startPoint != null">start_point = #{startPoint},</if>
+            <if test="endPoint != null">end_point = #{endPoint},</if>
+            <if test="createTime != null">create_time = #{createTime},</if>
+            <if test="startTime != null">start_time = #{startTime},</if>
+            <if test="finishTime != null">finish_time = #{finishTime},</if>
+            <if test="taskNo != null">task_no = #{taskNo},</if>
+            <if test="status != null">status = #{status},</if>
+            <if test="spare1 != null">spare1 = #{spare1},</if>
+            <if test="spare2 != null">spare2 = #{spare2},</if>
+        </trim>
+        where id = #{id}
+    </update>
+
+    <delete id="deleteAgvContainerTaskById" parameterType="Long">
+        delete from agv_container_task where id = #{id}
+    </delete>
+    <delete id="deleteAgvContainerTaskByContainer" parameterType="string">
+        delete from agv_container_task where container = #{container}
+    </delete>
+
+    <delete id="deleteAgvContainerTaskByIds" parameterType="String">
+        delete from agv_container_task where id in 
+        <foreach item="id" collection="array" open="(" separator="," close=")">
+            #{id}
+        </foreach>
+    </delete>
+
+    <select id="insertAgvContainerTaskFinish" parameterType="string">
+        insert into agv_container_task_finish select * from  agv_container_task  where container=#{orderId}
+    </select>
+
+    <update id="updateAgvContainerTaskByOrder" parameterType="string">
+        update agv_container_task set status='2' where  container=#{orderId}
+    </update>
+
+    <select id="selectAgvContainerFinishOne" resultMap="AgvContainerTaskResult">
+        select top 1 *  from agv_container_task where status='2'
+    </select>
+
+</mapper>

ruoyi-common/src/main/java/com/ruoyi/common/core/domain/AjaxResult.java

@@ -26,9 +26,7 @@ public class AjaxResult extends HashMap<String, Object>
     /**
      * 初始化一个新创建的 AjaxResult 对象，使其表示一个空消息。
      */
-    public AjaxResult()
+
-    {
-    }
 
     /**
      * 初始化一个新创建的 AjaxResult 对象

ruoyi-framework/src/main/java/com/ruoyi/framework/config/SecurityConfig.java

@@ -116,7 +116,7 @@ public class SecurityConfig
                             .antMatchers(HttpMethod.GET, "/", "/*.html", "/**/*.html", "/**/*.css", "/**/*.js", "/profile/**").permitAll()
                             .antMatchers("/swagger-ui.html", "/changeLanguage", "/swagger-resources/**", "/webjars/**", "/*/api-docs", "/druid/**", "/pda/**").permitAll()
                             .antMatchers("/device/operation/**").permitAll()
-                            .antMatchers("/agv/api/**").permitAll()
+                            .antMatchers("/api/agv/**").permitAll()
                             .antMatchers("/device/api/**").permitAll()
                             .antMatchers("/wcs2Wms/api/**").permitAll()
                             .antMatchers("/agv/api/**").permitAll()

ruoyi-ui/src/api/algorithm/tidy.js

@@ -0,0 +1,9 @@
+import request from '@/utils/request'
+
+export function getTidyStatus() {
+  return request({ url: '/algorithm/tidy/status', method: 'get' })
+}
+
+export function updateTidyMode(mode) {
+  return request({ url: '/algorithm/tidy/mode', method: 'put', data: { mode } })
+}

ruoyi-ui/src/views/algorithm/tidy/index.vue

@@ -0,0 +1,33 @@
+<template>
+  <div class="app-container tidy-page">
+    <el-card>
+      <div slot="header"><span>理货控制</span></div>
+      <el-switch v-model="manual" active-text="手动理货" inactive-text="自动理货" :disabled="loading || !hasEdit" @change="changeMode" />
+      <span class="mode-status">当前模式：{{ modeLabel }}</span>
+    </el-card>
+  </div>
+</template>
+
+<script>
+import { getTidyStatus, updateTidyMode } from '@/api/algorithm/tidy'
+
+export default {
+  name: 'TidyControl',
+  data() { return { manual: false, mode: 'AUTO', loading: false, timer: null, hasEdit: this.$auth.hasPermi('algorithm:tidy:edit') } },
+  computed: { modeLabel() { return this.mode === 'MANUAL' ? '手动' : '自动' } },
+  created() { this.refresh(); this.timer = setInterval(this.refresh, 5000) },
+  beforeDestroy() { if (this.timer) { clearInterval(this.timer); this.timer = null } },
+  methods: {
+    refresh() { getTidyStatus().then(res => { const data = res.data || {}; this.mode = data.mode || 'AUTO'; this.manual = this.mode === 'MANUAL' }).catch(() => {}) },
+    changeMode(value) {
+      const previous = this.mode
+      this.loading = true
+      updateTidyMode(value ? 'MANUAL' : 'AUTO').then(res => { const data = res.data || {}; this.mode = data.mode || (value ? 'MANUAL' : 'AUTO') }).catch(() => { this.manual = previous === 'MANUAL'; this.$message.error('理货模式切换失败') }).finally(() => { this.loading = false })
+    }
+  }
+}
+</script>
+
+<style scoped>
+.mode-status { margin-left: 16px; color: #606266; }
+</style>

ruoyi-ui/vue.config.js

@@ -18,6 +18,7 @@ module.exports = {
   outputDir: 'dist',
   assetsDir: 'static',
   productionSourceMap: false,
+  parallel: false,
   transpileDependencies: ['quill'],
   devServer: {
     host: '0.0.0.0',