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

ruoyi-admin/pom.xml

@@ -83,12 +83,6 @@
             <artifactId>slf4j-api</artifactId>
         </dependency>
 
-        <dependency>
-            <groupId>org.springframework.boot</groupId>
-            <artifactId>spring-boot-starter-test</artifactId>
-            <scope>test</scope>
-        </dependency>
-
         <!--    plc连接库    -->
         <dependency>
             <groupId>org.apache.plc4x</groupId>
@@ -112,11 +106,6 @@
 
     <build>
         <plugins>
-            <plugin>
-                <groupId>org.apache.maven.plugins</groupId>
-                <artifactId>maven-surefire-plugin</artifactId>
-                <version>3.2.5</version>
-            </plugin>
             <plugin>
                 <groupId>org.springframework.boot</groupId>
                 <artifactId>spring-boot-maven-plugin</artifactId>

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/Wcs2WmsController.java

@@ -53,6 +53,12 @@ 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/agv/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java

@@ -14,143 +14,187 @@ import java.util.UUID;
 @Data
 public class GenAgvSchedulingTaskRequest {
     /**
-     * 请求编号
+     * 起始站点
-     * 同一个请求重复提交， 使用同一编号
      */
-    @NotNull
+    private String FromStation;
-    private String reqCode = UUID.randomUUID().toString();
+    
     /**
-     * 请求时间
+     * 目的站点
-     * 格式: “yyyy-MM-dd HH:mm:ss”
      */
-    private String reqTime = LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"));
+    private String ToStation;
+    
     /**
-     *  客户端编号
+     * 任务类型（以实际的任务类型为准）
-     *  客户端编号，如PDA，HCWMS等
      */
-    private String clientCode;
+    private String Type;
+    
     /**
-     * 令牌号
+     * 类名
-     * 由调度系统颁发
      */
-    private String tokenCode;
+    private String ClassName;
+    
     /**
-     * 任务类型
+     * 任务引导ID
-     * 内置任务类型:
-     *      厂内货架搬运: F01
-     *      厂内货架空满交换: F02
-     *      辊筒搬运接驳:F03
-     *      厂内货架出库AGV待命:F04
-     *      旋转货架: F05
-     *      厂内电梯任务: F06
-     * 以下为叉车专用任务类型
-     *      高位货架到工作台: F11
-     *      工作台到高位货架: F12
-     *      巷道到工作台: F13
-     *      工作台到巷道: F14
-     *      高位货架到工作台(接驳) : F15
-     *      工作台到高位货架 (接驳) : F16
-     *      巷道到工作台(接驳) : F17
-     *      工作台到巷道(接驳) : F18
-     *      叉车电梯主任务: F20
      */
-    @NotNull
+    private String TaskGuideId;
-    private String taskTyp;
     /**
-     * 容器类型（叉车/CTU专用） 叉车项目必传
+     * 订单 ID
      */
-    private String ctnrTyp;
+    private String OrderId;
+    
     /**
-     * 容器编号 (叉车/CTU专用）
+     * 触发ID
      */
-    private String ctnrCode; //
+    private String TriggerId;
+    
     /**
-     * 容器数量（叉车堆叠专用），默认值1，仅记录堆叠的数量不记录堆叠的每个容器号
+     * 扩展字段4
      */
-    private String ctnrNum;
+    private String Extend4;
+    
     /**
-     * 任务模式
+     * 扩展字段5
-     * 0-普通move  1-出库move  2-入库move  3-移库move
      */
-    private String taskMode;
+    private String Extend5;
+    
     /**
-     * 工作位
+     * 扩展字段6
-     * 与RCS-2000端配置的位置名称一致, 工作位名称为字母\数字\或组合
      */
-    private String wbCode;
+    private String Extend6;
+    
     /**
-     * 位置路径
+     * 扩展字段7
-     * AGV关键路径位置集合，与任务类型中模板配置的位置路径一一对应。待现场地图部署、配置完成后可获取
      */
-    private List<PositionCodeData> positionCodePath;
+    private String Extend7;
+    
     /**
-     * 货架编号
+     * 扩展字段8
-     * 不指定货架可以为空
      */
-    private String podCode;
+    private String Extend8;
+    
     /**
-     * 货架方向
+     * 扩展字段9
-     * “180”,”0”,”90”,”-90” 分别对应地图的”左”,”右”,”上”,”下”
-     * 不指定方向可以为空
-     * 如果终点不是工作台或工作台未配置操作方向则货架拣货方向podDir作为终点方向
-     * 如果工作台配有操作方向，则系统会根据货架拣货方向podDir和工作台操作方向计算货架终点方向
      */
-    private String podDir;
+    private String Extend9;
+    
     /**
-     * 货架类型, 传空时表示随机找个货架
+     * 任务附加信息
-     * 找空货架传参方式如下：
-     * -1: 代表不关心货架类型, 找到空货架即可.
-     * -2: 代表从工作位获取关联货架类型, 如果未配置, 只找空货架.
-     * 货架类型编号: 只找该货架类型的空货架
      */
-    private String podTyp;
+    private TaskAdditionallInfo TaskAdditionallInfo;
+    
     /**
-     * 物料批次
+     * 任务附加信息类
-     * 物料批次或货架上的物料唯一编码,生成任务单时,货架与物料直接绑定时使用. （通过同时传podCode和materialLot来绑定或通过 wbCode 找到位置上的货架和materialLot来绑定）
-     * 如果是区域/策略内查找货架，可以匹配对应物料批次的货架，支持以下值：
-     * 0：区域/策略内查找空货架
-     * 1：区域/策略内查找满货架
-     * 其他值：查找指定物料批次对应的货架
-     * 巷道任务通过该字段传入特征值
      */
-    private String materialLot;
+    @Data
-    /**
+    public static class TaskAdditionallInfo {
-     * 优先级
+        /**
-     * 从（1~127）级，最大优先级最高。为空时，采用任务模板的优先级
+         * 任务ID
-     */
+         */
-    private String priority;
+        private String TaskId;
-    /**
+        
-     * AGV编号
+        /**
-     * 填写表示指定某一编号的AGV执行该任务
+         * 库存ID
-     */
+         */
-    private String agvCode;
+        private String StockId;
-    /**
+        
-     * 任务单号
+        /**
-     * 选填, 不填系统自动生成
+         * 任务引导ID
-     */
+         */
-    private String taskCode;
+        private String TaskGuideId;
-    /**
+        
-     * 组编号
+        /**
-     * CTU场景下用于按组出库，同组任务优先拼车。 如业务需要任务组间或组内按顺序出库，则需调用料箱顺序出库（CTU）接口。
+         * 触发ID
-     * 潜伏式场景下，通过组号来管理顺序出库的顺序，组号小的优先出库。
+         */
-     */
+        private String TriggerId;
-    private String groupId;
+        
-    /**
+        /**
-     * 设备类型
+         * 下一任务添加阶段
-     */
+         */
-    private String agvTyp;
+        private String NextTaskAddStage;
-    /**
+        
-     * 选择策略
+        /**
-     * 区域/策略中挑选货架以及根据物料批次挑选货架时的先进先出规则，支持以下4个值：
+         * 链ID
-     * 1：按照货架到达储位的时间顺序，先进先出
+         */
-     * 2：按照货架到达储位的时间顺序，先进后出
+        private String ChainId;
-     * 9：按照货架绑定物料批次的时间顺序，先进先出
+        
-     * 10：按照货架绑定物料批次的时间顺序，先进后出
+        /**
-     */
+         * 链类型
-    private String positionSelStrategy;
+         */
-    /**
+        private Integer ChainType;
-     * 自定义数据
+        
-     */
+        /**
-    private String data;
+         * 链排序
-
+         */
+        private Integer ChainSort;
+        
+        /**
+         * 图号
+         */
+        private String FigureNo;
+        
+        /**
+         * 尺寸
+         */
+        private String Size;
+        
+        /**
+         * 箱号
+         */
+        private String BoxNo;
+        
+        /**
+         * 物料
+         */
+        private String Mater;
+        
+        /**
+         * 相关数量
+         */
+        private Integer RelatedCount;
+        
+        /**
+         * 序列号
+         */
+        private String SerialNo;
+        
+        /**
+         * 重量
+         */
+        private String Weight;
+        
+        /**
+         * 站点号
+         */
+        private String StationNo;
+        
+        /**
+         * 手动计数
+         */
+        private String HandCount;
+        
+        /**
+         * 批次
+         */
+        private String Batch;
+        
+        /**
+         * 前置相关任务ID
+         */
+        private String PreviousRelatedTaskId;
+        
+        /**
+         * 下一相关任务ID
+         */
+        private String NextRelatedTaskId;
+        
+        /**
+         * 级联任务开始
+         */
+        private String CascadeTaskBeginning;
+        
+        /**
+         * 级联任务结束
+         */
+        private String CascadeTaskEnding;
+    }
 }

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

@@ -150,4 +150,6 @@ public interface IApiService
     AjaxResult insertAgvQuene(HashMap<String, Object> objectObjectHashMap);
 
     void finishAgvJob(String container);
+
+    AjaxResult tidyVehicleSnapshot();
 }

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

@@ -68,6 +68,8 @@ public interface IRequestLogService
      */
     public RequestLog getRequestLog(String url, String param, String endPoint);
 
+    public RequestLog getRequestLogAgv(String url, String endPoint, String param);
+
     /**
      * 接收请求，并插入日志
      * @param url

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

@@ -17,8 +17,10 @@ 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.bas.cargospace.mapper.BasCargoSpaceMapper;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.utils.DateUtils;
 import com.ruoyi.job.domain.MydoJob;
@@ -55,9 +57,9 @@ public class ApiServiceImpl implements IApiService {
     @Autowired
     private IMydoJobService mydoJobService;
     @Autowired
-    private BasCargoSpaceMapper basCargoSpaceMapper;
-    @Autowired
     private IAgvContainerTaskService agvContainerTaskService;
+    @Autowired
+    private DeviceSrgvMapper deviceSrgvMapper;
 
 
     /**
@@ -362,20 +364,6 @@ public class ApiServiceImpl implements IApiService {
 
     @Override
     public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) {
-        Integer jobType = parseOutboundJobType(receiveOutJob);
-        if (jobType == null || jobType < 20) {
-            String rawType = receiveOutJob == null ? null : receiveOutJob.getInOrOut();
-            return AjaxResult.error("WCS 无法识别作业类型 " + rawType + "，任务未接收");
-        }
-        if (jobType != 30) {
-            String cargoSpaceId = receiveOutJob.getCargoSpaceId();
-            if (basCargoSpaceMapper.selectBasCargoSpaceByCargoSpaceId(cargoSpaceId) == null) {
-                return AjaxResult.error("WCS 未找到出库货位 " + cargoSpaceId + "，任务未接收");
-            }
-            if (basCargoSpaceMapper.countOutboundBlockingPositions(cargoSpaceId) > 0) {
-                return AjaxResult.error("同通道外侧货位尚未清空，等待前置移库完成");
-            }
-        }
         MydoJob mydoJob = new MydoJob();
         mydoJob.setJobId(receiveOutJob.getJobId());
         mydoJob.setTaskNo(receiveOutJob.getTaskNo());
@@ -399,17 +387,6 @@ public class ApiServiceImpl implements IApiService {
 
     }
 
-    private Integer parseOutboundJobType(ReceiveJob job) {
-        if (job == null || job.getInOrOut() == null) {
-            return null;
-        }
-        try {
-            return Integer.valueOf(job.getInOrOut());
-        } catch (NumberFormatException ignored) {
-            return null;
-        }
-    }
-
     @Override
     public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) {
         MydoJob mydoJob = new MydoJob();
@@ -541,4 +518,38 @@ public class ApiServiceImpl implements IApiService {
         }
     }
 
+    @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/bas/cargospace/mapper/BasCargoSpaceMapper.java

@@ -20,11 +20,6 @@ public interface BasCargoSpaceMapper
      */
     public BasCargoSpace selectBasCargoSpaceByCargoSpaceId(String cargoSpaceId);
 
-    /**
-     * Count occupied positions or unfinished outbound jobs outside the requested position.
-     */
-    int countOutboundBlockingPositions(@Param("cargoSpaceId") String cargoSpaceId);
-
     /**
      * 查询库存信息列表
      * 

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

@@ -67,6 +67,8 @@ public interface AgvQueueMapper
      */
     AgvQueue selectAgvQueueByTaskCode(String taskCode);
 
+    AgvQueue selectAgvQueueByStatus();
+
     void insertHistory(String reqCode);
 
     void selectKx(HashMap<String, Object> map);

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

@@ -67,6 +67,8 @@ public interface IAgvQueueService
      */
     AgvQueue selectAgvQueueByTaskCode(String taskCode);
 
+    AgvQueue selectAgvQueueByStatus();
+
     /**
      * 插入agv完成历史
      * @param reqCode

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

@@ -97,6 +97,11 @@ public class AgvQueueServiceImpl implements IAgvQueueService
         return agvQueueMapper.selectAgvQueueByTaskCode(taskCode);
     }
 
+    @Override
+    public AgvQueue selectAgvQueueByStatus() {
+        return agvQueueMapper.selectAgvQueueByStatus();
+    }
+
     @Override
     public void insertHistory(String reqCode) {
         agvQueueMapper.insertHistory(reqCode);

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

@@ -60,26 +60,6 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <include refid="selectBasCargoSpaceVo"/>
         where cargo_space_id = #{cargoSpaceId}
     </select>
-
-    <select id="countOutboundBlockingPositions" resultType="int">
-        SELECT COUNT(1)
-        FROM bas_cargo_space outer_space
-        INNER JOIN bas_cargo_space requested
-            ON requested.cargo_space_id = #{cargoSpaceId}
-           AND outer_space.the_floor = requested.the_floor
-           AND outer_space.group_coding_no = requested.group_coding_no
-           AND outer_space.group_coding &gt; requested.group_coding
-        WHERE NULLIF(LTRIM(RTRIM(outer_space.tray_code)), '') IS NOT NULL
-           OR ISNULL(NULLIF(LTRIM(RTRIM(outer_space.status)), ''), '0') &lt;&gt; '0'
-           OR ISNULL(NULLIF(LTRIM(RTRIM(outer_space.locked)), ''), '0') &lt;&gt; '0'
-           OR EXISTS (
-                SELECT 1
-                FROM mydo_job_wcs pending
-                WHERE pending.cargo_space_id = outer_space.cargo_space_id
-                  AND pending.in_or_out &gt;= 20
-                  AND ISNULL(pending.status, '') &lt;&gt; '4'
-           )
-    </select>
     <select id="selectBasCargoSpaceByWmsCargoSpaceId"
             resultMap="BasCargoSpaceResult">
         <include refid="selectBasCargoSpaceVo"/>

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

@@ -62,6 +62,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where task_code = #{taskCode}
     </select>
 
+    <select id="selectAgvQueueByStatus" resultMap="AgvQueueResult">
+        select top(1)* from agv_queue
+        where status=0
+    </select>
+
     <insert id="insertAgvQueue" parameterType="AgvQueue">
         insert into agv_queue
         <trim prefix="(" suffix=")" suffixOverrides=",">

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

@@ -262,10 +262,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                 a.target_cargo_space_id,
                 ROW_NUMBER() OVER (
                     PARTITION BY b.the_floor, b.group_coding_no
-                    ORDER BY b.group_coding DESC,
+                    ORDER BY b.group_coding  desc
-                             CASE WHEN a.in_or_out = 30 THEN 0 ELSE 1 END,
-                             a.create_time ASC,
-                             a.job_id ASC
                     ) AS rn
             FROM mydo_job_wcs a
                      INNER JOIN bas_cargo_space b

ruoyi-admin/src/test/java/com/ruoyi/api/service/impl/ApiServiceImplTest.java

@@ -1,113 +0,0 @@
-package com.ruoyi.api.service.impl;
-
-import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
-import com.ruoyi.bas.cargospace.domain.BasCargoSpace;
-import com.ruoyi.bas.cargospace.mapper.BasCargoSpaceMapper;
-import com.ruoyi.common.core.domain.AjaxResult;
-import com.ruoyi.job.service.IMydoJobService;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.extension.ExtendWith;
-import org.mockito.Mock;
-import org.mockito.junit.jupiter.MockitoExtension;
-import org.springframework.test.util.ReflectionTestUtils;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.mockito.ArgumentMatchers.any;
-import static org.mockito.Mockito.never;
-import static org.mockito.Mockito.verify;
-import static org.mockito.Mockito.when;
-
-@ExtendWith(MockitoExtension.class)
-class ApiServiceImplTest {
-    @Mock
-    private IMydoJobService mydoJobService;
-    @Mock
-    private BasCargoSpaceMapper basCargoSpaceMapper;
-
-    private ApiServiceImpl service;
-
-    @BeforeEach
-    void setUp() {
-        service = new ApiServiceImpl();
-        ReflectionTestUtils.setField(service, "mydoJobService", mydoJobService);
-        ReflectionTestUtils.setField(service, "basCargoSpaceMapper", basCargoSpaceMapper);
-    }
-
-    @Test
-    void blockedOrdinaryOutboundIsNotInserted() {
-        ReceiveJob job = outbound("60979", "130803", "20");
-        when(basCargoSpaceMapper.selectBasCargoSpaceByCargoSpaceId("130803"))
-                .thenReturn(cargoSpace("130803"));
-        when(basCargoSpaceMapper.countOutboundBlockingPositions("130803")).thenReturn(1);
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(500, result.get(AjaxResult.CODE_TAG));
-        assertEquals("同通道外侧货位尚未清空，等待前置移库完成", result.get(AjaxResult.MSG_TAG));
-        verify(mydoJobService, never()).insertMydoJob(any());
-    }
-
-    @Test
-    void moveJobBypassesOutboundGuard() {
-        ReceiveJob job = outbound("80183", "120703", "30");
-        when(mydoJobService.insertMydoJob(any())).thenReturn(1);
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(200, result.get(AjaxResult.CODE_TAG));
-        verify(basCargoSpaceMapper, never()).countOutboundBlockingPositions(any());
-        verify(mydoJobService).insertMydoJob(any());
-    }
-
-    @Test
-    void unblockedOrdinaryOutboundIsInserted() {
-        ReceiveJob job = outbound("60979", "130803", "20");
-        when(basCargoSpaceMapper.selectBasCargoSpaceByCargoSpaceId("130803"))
-                .thenReturn(cargoSpace("130803"));
-        when(basCargoSpaceMapper.countOutboundBlockingPositions("130803")).thenReturn(0);
-        when(mydoJobService.insertMydoJob(any())).thenReturn(1);
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(200, result.get(AjaxResult.CODE_TAG));
-        verify(mydoJobService).insertMydoJob(any());
-    }
-
-    @Test
-    void unknownCargoSpaceIsRejectedInsteadOfAssumedSafe() {
-        ReceiveJob job = outbound("60979", "UNKNOWN", "20");
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(500, result.get(AjaxResult.CODE_TAG));
-        assertEquals("WCS 未找到出库货位 UNKNOWN，任务未接收", result.get(AjaxResult.MSG_TAG));
-        verify(mydoJobService, never()).insertMydoJob(any());
-    }
-
-    @Test
-    void invalidOutboundTypeIsRejectedInsteadOfBypassingGuard() {
-        ReceiveJob job = outbound("60979", "130803", "invalid");
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(500, result.get(AjaxResult.CODE_TAG));
-        assertEquals("WCS 无法识别作业类型 invalid，任务未接收", result.get(AjaxResult.MSG_TAG));
-        verify(mydoJobService, never()).insertMydoJob(any());
-    }
-
-    private ReceiveJob outbound(String jobId, String cargoSpaceId, String inOrOut) {
-        ReceiveJob job = new ReceiveJob();
-        job.setJobId(jobId);
-        job.setCargoSpaceId(cargoSpaceId);
-        job.setInOrOut(inOrOut);
-        job.setClassId("1");
-        return job;
-    }
-
-    private BasCargoSpace cargoSpace(String cargoSpaceId) {
-        BasCargoSpace cargoSpace = new BasCargoSpace();
-        cargoSpace.setCargoSpaceId(cargoSpaceId);
-        return cargoSpace;
-    }
-}

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

@@ -119,6 +119,7 @@ public class SecurityConfig
                             .antMatchers("/api/agv/**").permitAll()
                             .antMatchers("/device/api/**").permitAll()
                             .antMatchers("/wcs2Wms/api/**").permitAll()
+                            .antMatchers("/agv/api/**").permitAll()
                             .antMatchers("/test/**").permitAll()
                             .antMatchers("/largeScreen/monitor/**").permitAll()
                             // 除上面外的所有请求全部需要鉴权认证

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/src/views/device/ssj/index.vue

@@ -157,7 +157,6 @@ export default {
           { key: 'kx', label: '空闲', value: d.kx, dict: 'ssj_kx' },
           { key: 'dw', label: '到位', value: d.dw, dict: 'ssj_dw' },
           { key: 'exception', label: '异常', value: d.exception, dict: 'ssj_ex'},
-
         ]
       }
       if (dev.kind === 'srgv') {

ruoyi-ui/vue.config.js

@@ -9,7 +9,7 @@ const CompressionPlugin = require('compression-webpack-plugin')
 
 const name = process.env.VUE_APP_TITLE || 'FORTUCKY WCS SYSTEM' // 网页标题
 
-const baseUrl = 'http://localhost:8081' // 后端接口地址（你的后端端口是8081）
+const baseUrl = 'http://192.168.188.236:8081' // 后端接口地址（你的后端端口是8081）
 
 const port = process.env.port || process.env.npm_config_port || 80 // 前端端口
 
@@ -18,6 +18,7 @@ module.exports = {
   outputDir: 'dist',
   assetsDir: 'static',
   productionSourceMap: false,
+  parallel: false,
   transpileDependencies: ['quill'],
   devServer: {
     host: '0.0.0.0',